fixed the bug

CHANGELOG.md

@@ -16,30 +16,6 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v8.1.0] 2024-05-29
-
-## Fixed
-
-- Small fix for transition failure handling of the MPSoC when the `START_MPSOC` action command
-  to the supervisor fails.
-- Fixed inits of arrays within the `MEKF` not being zeros.
-- Important bugfix for PLOC SUPV: The SUPV previously was able to steal packets from the special
-  communication helper, for example during software updates.
-- Corrected sigma of STR for `MEKF`.
-
-## Added
-
-- Added new command to cancel the PLOC SUPV special communication helper.
-
-# [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 
@@ -56,8 +32,6 @@ will consitute of a breaking change warranting a new major release:
 
 # [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

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 8)
-set(OBSW_VERSION_MINOR 1)
+set(OBSW_VERSION_MINOR 0)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)

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):

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"
 

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"
@@ -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(
+  auto* mpsocHandler = new FreshMpsocHandler(dhbConf, *mpsocCommunication, *specialComHelper,
-      dhbConf, *mpsocCommunication, *specialComHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
+                                             Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-      objects::PLOC_SUPERVISOR_HANDLER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
+                                             objects::PLOC_SUPERVISOR_HANDLER);
   mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1

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
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
-11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;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

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
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/plocMpsocHelpers.h
-11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;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

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):

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"
 

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):

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"
 

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,
+                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
-                                     PowerSwitchIF& powerSwitcher, power::Switch_t camSwitchId)
     : FreshDeviceHandlerBase(cfg),
       comInterface(comInterface),
       specialComHelper(specialComHelper),
       commandActionHelper(this),
       uartIsolatorSwitch(uartIsolatorSwitch),
       hkReport(this),
-      supervisorHandler(supervisorHandler),
+      supervisorHandler(supervisorHandler) {
-      powerSwitcher(powerSwitcher),
-      camSwitchId(camSwitchId) {
   commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
   eventQueue = QueueFactory::instance()->createMessageQueue(10);
   spParams.maxSize = sizeof(commandBuffer);
@@ -84,13 +77,8 @@ void FreshMpsocHandler::performDefaultDeviceOperation() {
     }
   }
 
-  // We checked the action queue beforehand, so action commands should always be performed
+  if (mode == MODE_NORMAL and not activeCmdInfo.pending) {
-  // before normal commands.
+    // TODO: Take care of regular periodic commanding here.
-  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 (activeCmdInfo.pending and activeCmdInfo.cmdCountdown.hasTimedOut()) {
@@ -236,11 +224,6 @@ 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;
 }
@@ -313,6 +296,8 @@ 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;
 }
@@ -337,10 +322,6 @@ 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 +357,7 @@ void FreshMpsocHandler::handleTransitionToOn() {
   if (startupState == StartupState::DONE) {
     setMode(targetMode, targetSubmode);
     transitionState = TransitionState::NONE;
-    if (targetMode == MODE_NORMAL) {
     hkReport.setReportingEnabled(true);
-    }
     powerState = PowerState::IDLE;
     startupState = StartupState::IDLE;
   }
@@ -456,7 +435,7 @@ void FreshMpsocHandler::handleActionCommandFailure(ActionId_t actionId, ReturnVa
       if (actionId != supv::START_MPSOC) {
         return;
       }
-      sif::info << "FreshMpsocHandler::handleActionCommandFailure: MPSoC boot command failed"
+      sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
                 << std::endl;
       // This is commonly the case when the MPSoC is already operational. Thus the power state is
       // set to on here
@@ -590,8 +569,8 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
       result = commandTcSimplexStreamFile(commandData, commandDataLen);
       break;
     }
-    case (mpsoc::TC_SPLIT_FILE): {
+    case (mpsoc::TC_SIMPLEX_STORE_FILE): {
-      result = commandTcSplitFile(commandData, commandDataLen);
+      result = commandTcSimplexStoreFile(commandData, commandDataLen);
       break;
     }
     case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
@@ -606,13 +585,6 @@ ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
   }
 
   if (result == returnvalue::OK) {
-    commandInitHandling(actionId, commandedBy);
-  }
-
-  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.
@@ -620,6 +592,9 @@ void FreshMpsocHandler::commandInitHandling(ActionId_t actionId, MessageQueueId_
     comInterface.getComHelper().flushUartRxBuffer();
   }
 
+  return result;
+}
+
 ReturnValue_t FreshMpsocHandler::commandTcMemWrite(const uint8_t* commandData,
                                                    size_t commandDataLen) {
   ReturnValue_t result = returnvalue::OK;
@@ -768,14 +743,14 @@ ReturnValue_t FreshMpsocHandler::commandTcSimplexStreamFile(const uint8_t* comma
   return returnvalue::OK;
 }
 
-ReturnValue_t FreshMpsocHandler::commandTcSplitFile(const uint8_t* commandData,
+ReturnValue_t FreshMpsocHandler::commandTcSimplexStoreFile(const uint8_t* commandData,
                                                            size_t commandDataLen) {
-  mpsoc::TcSplitFile tcSplitFile(spParams, commandSequenceCount);
+  mpsoc::TcSimplexStoreFile tcSimplexStoreFile(spParams, commandSequenceCount);
-  ReturnValue_t result = tcSplitFile.setPayload(commandData, commandDataLen);
+  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;
 }
 
@@ -809,15 +784,11 @@ ReturnValue_t FreshMpsocHandler::commandTcModeSnapshot() {
 
 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 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);
@@ -865,6 +836,8 @@ void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
 ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
   ReturnValue_t result = returnvalue::OK;
 
+  // SpacePacketReader spacePacket;
+  // spacePacket.setReadOnlyData(start, remainingSize);
   const auto& replyReader = comInterface.getSpReader();
   if (replyReader.isNull()) {
     return returnvalue::FAILED;
@@ -916,14 +889,15 @@ 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
+    // TODO: Trigger event for possible missing reply packet to inform operator.
-    // think this is properly implemented and used on the MPSoC side anymore.
   }
   lastReplySequenceCount = sequenceCount;
 
@@ -978,6 +952,7 @@ 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);
@@ -1224,7 +1199,6 @@ bool FreshMpsocHandler::handleHwStartup() {
   if (powerState == PowerState::SUPV_FAILED) {
     setMode(MODE_OFF);
     powerState = PowerState::IDLE;
-    transitionState = TransitionState::NONE;
     return false;
   }
   if (powerState == PowerState::PENDING_STARTUP) {
@@ -1262,9 +1236,7 @@ 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);
-      }
       powerState = PowerState::DONE;
     }
   }

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"
@@ -6,8 +5,6 @@
 #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"
@@ -21,8 +18,7 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
 
   FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                     PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
-                    object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
+                    object_id_t supervisorHandler);
-                    power::Switch_t camSwitchId);
 
   /**
    * Periodic helper executed function, implemented by child class.
@@ -132,8 +128,6 @@ 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;
@@ -187,7 +181,7 @@ 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();
 
@@ -208,5 +202,4 @@ class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsI
   void commandSubmodeTransition();
   void commonSpecialComInit();
   void commonSpecialComStop();
-  void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
 };

linux/payload/FreshSupvHandler.cpp

@@ -241,10 +241,6 @@ ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueI
       uartManager->initiateUpdateContinuation();
       return EXECUTION_FINISHED;
     }
-    case ABORT_LONGER_REQUEST: {
-      uartManager->stop();
-      return EXECUTION_FINISHED;
-    }
     case MEMORY_CHECK_WITH_FILE: {
       UpdateParams params;
       result = extractBaseParams(&data, size, params);
@@ -853,10 +849,6 @@ ReturnValue_t FreshSupvHandler::prepareWipeMramCmd(const uint8_t* commandData, s
 ReturnValue_t FreshSupvHandler::parseTmPackets() {
   uint8_t* receivedData = nullptr;
   size_t receivedSize = 0;
-  // We do not want to steal packets from the long request handler.
-  if (uartManager->longerRequestActive()) {
-    return returnvalue::OK;
-  }
   while (true) {
     ReturnValue_t result =
         uartManager->readReceivedMessage(comCookie, &receivedData, &receivedSize);

linux/payload/MpsocCommunication.h

@@ -9,8 +9,8 @@
 #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_TX_WIRETAPPING = true;
-static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
+static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = true;
 
 class MpsocCommunication : public SystemObject {
  public:

linux/payload/PlocMpsocSpecialComHelper.cpp

@@ -179,12 +179,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
 
 ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
   std::error_code e;
-  if (std::filesystem::exists(flashReadAndWrite.obcFile)) {
+  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
-    // Truncate the file first.
+  if (ofile.bad()) {
-    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()) {
     return returnvalue::FAILED;
   }
   ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);

linux/payload/plocMpsocHelpers.h

@@ -8,16 +8,12 @@
 #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;
 
 /**
@@ -60,6 +56,9 @@ class TcBase : public ploc::SpTcBase {
 void printRxPacket(const SpacePacketReader& spReader);
 void printTxPacket(const ploc::SpTcBase& tcBase);
 
+static constexpr bool MPSOC_TX_WIRETAPPING = true;
+static constexpr bool MPSOC_RX_WIRETAPPING = true;
+
 static constexpr uint32_t DEFAULT_CMD_TIMEOUT_MS = 5000;
 static constexpr uint32_t CMD_TIMEOUT_MKFS = 15000;
 
@@ -113,11 +112,7 @@ 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 };
 
@@ -210,7 +205,7 @@ 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;
@@ -220,6 +215,8 @@ 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 };
@@ -1056,9 +1053,9 @@ class TcSimplexStreamFile : public TcBase {
 /**
  * @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) {

linux/payload/plocSupvDefs.h

@@ -159,7 +159,6 @@ static const DeviceCommandId_t ENABLE_NVMS = 59;
 static const DeviceCommandId_t CONTINUE_UPDATE = 60;
 static const DeviceCommandId_t MEMORY_CHECK_WITH_FILE = 61;
 static constexpr DeviceCommandId_t MEMORY_CHECK = 62;
-static constexpr DeviceCommandId_t ABORT_LONGER_REQUEST = 63;
 
 /** Reply IDs */
 enum ReplyId : DeviceCommandId_t {

mission/controller/acs/AcsParameters.h

@@ -941,7 +941,7 @@ class AcsParameters : public HasParametersIF {
   } sunModelParameters;
 
   struct KalmanFilterParameters {
-    double sensorNoiseStr = 0.0028 * DEG2RAD;
+    double sensorNoiseStr = 0.1 * DEG2RAD;
     double sensorNoiseSus = 8. * DEG2RAD;
     double sensorNoiseMgm = 4. * DEG2RAD;
     double sensorNoiseGyr = 0.1 * DEG2RAD;

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};
+  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
-  QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
+  QuaternionOperations::inverse(errorQuat, errorQuatInv);
-  VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
+  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);

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -114,13 +114,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
     return result;
   }
 
-  double measSensMatrix[matrixDimensionFactor][6] = {},
+  double measSensMatrix[matrixDimensionFactor][6] = {{0}},
-         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {},
+         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
+         measVec[matrixDimensionFactor] = {0}, estVec[matrixDimensionFactor] = {0};
   kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);
 
-  double kalmanGain[6][matrixDimensionFactor];
+  double kalmanGain[6][matrixDimensionFactor] = {{0}};
-  std::memset(kalmanGain, 0, sizeof(kalmanGain));
   result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
   if (result != returnvalue::OK) {
     reset(attitudeEstimationData);
@@ -343,11 +342,10 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
     double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
     acsctrl::AttitudeEstimationData *attitudeEstimationData) {
   // Kalman Gain: K = P * H' / (H * P * H' + R)
-  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
+  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {};
+         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-  double residualCov[6][matrixDimensionFactor], measSensMatrixTransposed[6][matrixDimensionFactor];
+         residualCov[6][matrixDimensionFactor] = {{0}},
-  std::memset(residualCov, 0, sizeof(residualCov));
+         measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};
-  std::memset(measSensMatrixTransposed, 0, sizeof(measSensMatrixTransposed));
 
   MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
                                       matrixDimensionFactor, 6);
@@ -384,7 +382,8 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me
 
 void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
                                                     double *estVec) {
-  double stateVecErr[6] = {0, 0, 0, 0, 0, 0}, plantOutputDiff[matrixDimensionFactor] = {};
+  double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
+  double plantOutputDiff[matrixDimensionFactor] = {0};
   VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
   MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
                                      matrixDimensionFactor, 1);

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"