CHANGELOG.md

@@ -16,12 +16,53 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v2.2.0] to be released
+
+TODO: New firmware package version.
+
+## Changed
+
+- Removed PTME busy/ready signals. Those were not used anyway because register reads are used now.
+
+## Fixed
+
+- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
+
+# [v2.1.0] to be released
+
+## Changed
+
+- Adapt EM configuration to include all GomSpace PCDU devices except the ACU. For the ACU
+  (which broke), a dummy will still be used.
+- Event Manager queue depth is configurable now.
+- Do not construct and schedule broken TMP1075 device anymore.
+- Do not track payload modes in system mode tables.
+- ACS modes derived from system modes.
+
+## Added
+
+- Add the remaining system modes.
+
+## Fixed
+
+- Host build is working again. Added reduced live TM helper which schedules the PUS and CFDP
+  funnel.
+
+# [v2.0.5] to be released
+
+- The dual lane assembly transition failed handler started new transitions towards the current mode
+  instead of the target mode. This means that if the dual lane assembly never reached the initial
+  submode (e.g. mode normal and submode dual side), it will transition back to the current mode,
+  which miht be `MODE_OFF`. Furthermore, this can lead to invalid internal states, so the subsequent
+  recovery handling becomes stuck in the custom recovery sequence when swichting power back on.
+- The dual lane custom recovery handling was adapted to always perform proper power switch handling
+  irrespective of current or target modes.
+
 # [v2.0.4] 2023-04-19
 
 ## Fixed
 
-- The dual lane assembly device handlers did not properly set their datasets
+- The dual lane assembly datasets were not marked invalid properly on OFF transitions.
-  to invalid on off transitions
 
 # [v2.0.3] 2023-04-17
 

CMakeLists.txt

@@ -146,8 +146,11 @@ set(OBSW_ADD_TMP_DEVICES
     ${INIT_VAL}
     CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
-    ${INIT_VAL}
+    1
     CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_GOMSPACE_ACU
+    ${INIT_VAL}
+    CACHE STRING "Add GomSpace ACU submodule")
 set(OBSW_ADD_RW
     ${INIT_VAL}
     CACHE STRING "Add RW modules")

bsp_hosted/ObjectFactory.cpp

@@ -64,8 +64,9 @@ void ObjectFactory::produce(void* args) {
   PersistentTmStores persistentStores;
   auto sdcMan = new DummySdCardManager("/tmp");
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
-                                       &tmStore, persistentStores);
+                                       &tmStore, persistentStores, 120);
 
+  new TmFunnelHandler(objects::LIVE_TM_TASK, *pusFunnel, *cfdpFunnel);
   auto* dummyGpioIF = new DummyGpioIF();
   auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
   std::vector<ReturnValue_t> switcherList;

bsp_hosted/scheduling.cpp

@@ -59,19 +59,15 @@ void scheduling::initTasks() {
       "DIST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    sif::error << "adding CCSDS distributor failed" << std::endl;
+    sif::error << "Adding CCSDS distributor failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    sif::error << "adding PUS distributor failed" << std::endl;
+    sif::error << "Adding PUS distributor failed" << std::endl;
-  }
-  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != returnvalue::OK) {
-    sif::error << "adding TM funnel failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
   if (result != returnvalue::OK) {
-    sif::error << "adding CFDP distributor failed" << std::endl;
+    sif::error << "Adding CFDP distributor failed" << std::endl;
   }
   result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
   if (result != returnvalue::OK) {
@@ -95,6 +91,13 @@ void scheduling::initTasks() {
     sif::error << "Add component UDP Polling failed" << std::endl;
   }
 
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, nullptr, &RR_SCHEDULING);
+  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
+  }
+
   PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
       "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
@@ -149,7 +152,7 @@ void scheduling::initTasks() {
       "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
   result = thermalTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
+    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
   result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
   if (result != returnvalue::OK) {
@@ -217,6 +220,7 @@ void scheduling::initTasks() {
   tmtcDistributor->startTask();
   udpPollingTask->startTask();
   tcpPollingTask->startTask();
+  liveTmTask->startTask();
 
   pusHighPrio->startTask();
   pusMedPrio->startTask();

bsp_q7s/OBSWConfig.h.in

@@ -22,6 +22,9 @@
 #define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1
 
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
+// This define is necessary because the EM setup has the P60 dock module, but no ACU on the P60
+// module because it broke.
+#define OBSW_ADD_GOMSPACE_ACU                       @OBSW_ADD_GOMSPACE_ACU@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
 #define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@

bsp_q7s/boardconfig/busConf.h

@@ -82,14 +82,12 @@ static constexpr char EN_RW_4[] = "enable_rw_4";
 
 static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
 static constexpr char ENABLE_RADFET[] = "enable_radfet";
-static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
+
 static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
-static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
 static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
-static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
 static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
-static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
 static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
+
 static constexpr char PTME_RESETN[] = "ptme_resetn";
 
 static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";

bsp_q7s/core/ObjectFactory.cpp

@@ -189,7 +189,6 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new SerialComIF(objects::UART_COM_IF);
   *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
-  //*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
@@ -197,7 +196,6 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
   CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
   CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
-  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
 
   auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
   P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
@@ -211,9 +209,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
                                              pdu2CspCookie, pdu2Fdir, enableHkSets);
 
+#if OBSW_ADD_GOMSPACE_ACU == 1
+  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
   auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
   ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
                                           acuFdir, enableHkSets);
+#endif
   auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
 
   /**
@@ -223,7 +224,9 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   p60dockhandler->setModeNormal();
   pdu1handler->setModeNormal();
   pdu2handler->setModeNormal();
+#if OBSW_ADD_GOMSPACE_ACU == 1
   acuhandler->setModeNormal();
+#endif
   if (pwrSwitcher != nullptr) {
     *pwrSwitcher = pcduHandler;
   }
@@ -741,20 +744,12 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
   GpioCookie* gpioCookiePtmeIp = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
   gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
   gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
   gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
@@ -763,17 +758,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
   // Creating virtual channel interfaces
-  VirtualChannelIF* vc0 =
+  VirtualChannelIF* vc0 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY,
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
                                               q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
-  VirtualChannelIF* vc1 =
+  VirtualChannelIF* vc1 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY,
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
                                               q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
-  VirtualChannelIF* vc2 =
+  VirtualChannelIF* vc2 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY,
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
                                               q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
-  VirtualChannelIF* vc3 =
+  VirtualChannelIF* vc3 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY,
-      new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
                                               q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);

bsp_q7s/em/emObjectFactory.cpp

@@ -36,7 +36,8 @@ void ObjectFactory::produce(void* args) {
 
   PersistentTmStores stores;
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores);
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
+                                       200);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;
@@ -56,6 +57,11 @@ void ObjectFactory::produce(void* args) {
 #endif
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
+  // The ACU broke.
+  dummyCfg.addOnlyAcuDummy = true;
+#endif
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  dummyCfg.addBpxBattDummy = false;
 #endif
 #if OBSW_ADD_ACS_BOARD == 1
   dummyCfg.addAcsBoardDummies = false;
@@ -89,7 +95,7 @@ void ObjectFactory::produce(void* args) {
   // createRadSensorComponent(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
+  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true);
 #else
   // Still add all GPIOs for EM.
   GpioCookie* acsBoardGpios = new GpioCookie();

bsp_q7s/fmObjectFactory.cpp

@@ -32,7 +32,8 @@ void ObjectFactory::produce(void* args) {
 
   PersistentTmStores stores;
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
-                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores);
+                                       *SdCardManager::instance(), &ipcStore, &tmStore, stores,
+                                       200);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;

common/config/devices/gpioIds.h

@@ -93,15 +93,10 @@ enum gpioId_t {
   EN_RW_CS,
 
   SPI_MUX,
-
   VC0_PAPB_EMPTY,
-  VC0_PAPB_BUSY,
   VC1_PAPB_EMPTY,
-  VC1_PAPB_BUSY,
   VC2_PAPB_EMPTY,
-  VC2_PAPB_BUSY,
   VC3_PAPB_EMPTY,
-  VC3_PAPB_BUSY,
   PTME_RESETN,
 
   PDEC_RESET,

dummies/helperFactory.cpp

@@ -45,7 +45,9 @@
 void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
   new ComIFDummy(objects::DUMMY_COM_IF);
   auto* comCookieDummy = new ComCookieDummy();
+  if (cfg.addBpxBattDummy) {
     new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  }
   if (cfg.addCoreCtrlCfg) {
     new CoreControllerDummy(objects::CORE_CONTROLLER);
   }
@@ -75,8 +77,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   imtqDummy->enableThermalModule(ThermalStateCfg());
   imtqDummy->connectModeTreeParent(*imtqAssy);
-  if (cfg.addPowerDummies) {
+  if (cfg.addOnlyAcuDummy) {
     new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  } else if (cfg.addPowerDummies) {
     new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);

dummies/helperFactory.h

@@ -6,9 +6,13 @@ class GpioIF;
 
 namespace dummy {
 
+// Default values targeted towards EM.
 struct DummyCfg {
   bool addCoreCtrlCfg = true;
+  // Special variant because the ACU broke. Overrides addPowerDummies, only ACU dummy will be added.
+  bool addOnlyAcuDummy = false;
   bool addPowerDummies = true;
+  bool addBpxBattDummy = true;
   bool addSyrlinksDummies = true;
   bool addAcsBoardDummies = true;
   bool addSusDummies = true;

linux/ipcore/PapbVcInterface.cpp

@@ -7,13 +7,9 @@
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
+PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId,
-                                 gpioId_t papbEmptyId, std::string uioFile, int mapNum)
+                                 std::string uioFile, int mapNum)
-    : gpioComIF(gpioComIF),
+    : gpioComIF(gpioComIF), papbEmptyId(papbEmptyId), uioFile(std::move(uioFile)), mapNum(mapNum) {}
-      papbBusyId(papbBusyId),
-      papbEmptyId(papbEmptyId),
-      uioFile(std::move(uioFile)),
-      mapNum(mapNum) {}
 
 PapbVcInterface::~PapbVcInterface() {}
 
@@ -99,7 +95,7 @@ void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
 void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
 ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
-                                                      bool checkReadyState) const {
+                                                      bool checkReadyForPacketState) const {
   uint32_t busyIdx = 0;
   nextDelay.tv_nsec = FIRST_DELAY_PAPB_POLLING_NS;
 
@@ -108,13 +104,16 @@ ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
     // Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
     uint32_t reg = *vcBaseReg;
     bool busy = (reg >> 5) & 0b1;
-    bool ready = (reg >> 6) & 0b1;
+    bool readyForPacket = (reg >> 6) & 0b1;
-    if (not busy) {
+    if (checkReadyForPacketState) {
+      if (not busy and readyForPacket) {
         return returnvalue::OK;
-    }
+      } else if (not busy and not readyForPacket) {
-    if (checkReadyState and not ready) {
         return PAPB_BUSY;
       }
+    } else if (not busy) {
+      return returnvalue::OK;
+    }
 
     busyIdx++;
     if (busyIdx >= maxPollRetries) {
@@ -131,24 +130,22 @@ ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
   return returnvalue::OK;
 }
 
-void PapbVcInterface::isVcInterfaceBufferEmpty() {
+bool PapbVcInterface::isVcInterfaceBufferEmpty() {
   ReturnValue_t result = returnvalue::OK;
   gpio::Levels papbEmptyState = gpio::Levels::HIGH;
 
   result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
 
   if (result != returnvalue::OK) {
-    sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
+    sif::error << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
                << std::endl;
-    return;
+    return true;
   }
 
   if (papbEmptyState == gpio::Levels::HIGH) {
-    sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
+    return true;
-  } else {
-    sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
   }
-  return;
+  return false;
 }
 
 bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }

linux/ipcore/PapbVcInterface.h

@@ -30,8 +30,7 @@ class PapbVcInterface : public VirtualChannelIF {
    * @param uioFile       UIO file providing access to the PAPB bus
    * @param mapNum        Map number of UIO map associated with this virtual channel
    */
-  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, gpioId_t papbEmptyId,
+  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum);
-                  std::string uioFile, int mapNum);
   virtual ~PapbVcInterface();
 
   bool isBusy() const override;
@@ -83,9 +82,6 @@ class PapbVcInterface : public VirtualChannelIF {
   static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
 
   LinuxLibgpioIF* gpioComIF = nullptr;
-
-  /** Pulled to low when virtual channel not ready to receive data */
-  gpioId_t papbBusyId = gpio::NO_GPIO;
   /** High when external buffer memory of virtual channel is empty */
   gpioId_t papbEmptyId = gpio::NO_GPIO;
 
@@ -120,13 +116,14 @@ class PapbVcInterface : public VirtualChannelIF {
    *
    * @return  returnvalue::OK when ready to receive data else PAPB_BUSY.
    */
-  inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
+  inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries,
+                                              bool checkReadyForPacketState) const;
 
   /**
    * @brief   This function can be used for debugging to check whether there are packets in
    *          the packet buffer of the virtual channel or not.
    */
-  void isVcInterfaceBufferEmpty();
+  bool isVcInterfaceBufferEmpty();
 
   /**
    * @brief   This function sends a complete telemetry transfer frame data field (1105 bytes)

mission/acs/defs.h

@@ -3,6 +3,7 @@
 
 #include <eive/eventSubsystemIds.h>
 #include <fsfw/modes/HasModesIF.h>
+#include <mission/sysDefs.h>
 
 namespace acs {
 
@@ -11,12 +12,12 @@ enum class SimpleSensorMode { NORMAL = 0, OFF = 1 };
 // These modes are the modes of the ACS controller and of the ACS subsystem.
 enum AcsMode : Mode_t {
   OFF = HasModesIF::MODE_OFF,
-  SAFE = 10,
+  SAFE = satsystem::Mode::SAFE,
-  PTG_IDLE = 11,
+  PTG_IDLE = satsystem::Mode::PTG_IDLE,
-  PTG_NADIR = 12,
+  PTG_NADIR = satsystem::Mode::PTG_NADIR,
-  PTG_TARGET = 13,
+  PTG_TARGET = satsystem::Mode::PTG_TARGET,
-  PTG_TARGET_GS = 14,
+  PTG_TARGET_GS = satsystem::Mode::PTG_TARGET_GS,
-  PTG_INERTIAL = 15,
+  PTG_INERTIAL = satsystem::Mode::PTG_INERTIAL,
 };
 
 enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 };

mission/genericFactory.cpp

@@ -96,9 +96,10 @@ std::atomic_bool tcs::TCS_BOARD_SHORTLY_UNAVAILABLE = false;
 void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel,
                                           CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
                                           StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
-                                          PersistentTmStores& stores) {
+                                          PersistentTmStores& stores,
+                                          uint32_t eventManagerQueueDepth) {
   // Framework objects
-  new EventManager(objects::EVENT_MANAGER, 160);
+  new EventManager(objects::EVENT_MANAGER, eventManagerQueueDepth);
   auto healthTable = new HealthTable(objects::HEALTH_TABLE);
   if (healthTable_ != nullptr) {
     *healthTable_ = healthTable;

mission/genericFactory.h

@@ -45,7 +45,7 @@ namespace ObjectFactory {
 void produceGenericObjects(HealthTableIF** healthTable, PusTmFunnel** pusFunnel,
                            CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan,
                            StorageManagerIF** ipcStore, StorageManagerIF** tmStore,
-                           PersistentTmStores& stores);
+                           PersistentTmStores& stores, uint32_t eventManagerQueueDepth);
 void createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
                                    HeaterHandler*& heaterHandler);
 

mission/scheduling.cpp

@@ -5,9 +5,11 @@
 #include "fsfw/tasks/PeriodicTaskIF.h"
 
 void scheduling::scheduleTmpTempSensors(PeriodicTaskIF* tmpTask) {
-  const std::array<object_id_t, 5> tmpIds = {
+  const std::array<object_id_t, 4> tmpIds = {objects::TMP1075_HANDLER_TCS_0,
-      objects::TMP1075_HANDLER_TCS_0, objects::TMP1075_HANDLER_TCS_1,
+                                             objects::TMP1075_HANDLER_TCS_1,
-      objects::TMP1075_HANDLER_PLPCDU_0, objects::TMP1075_HANDLER_PLPCDU_1,
+                                             objects::TMP1075_HANDLER_PLPCDU_0,
+                                             // damaged.
+                                             // objects::TMP1075_HANDLER_PLPCDU_1,
                                              objects::TMP1075_HANDLER_IF_BOARD};
   for (const auto& tmpId : tmpIds) {
     tmpTask->addComponent(tmpId, DeviceHandlerIF::PERFORM_OPERATION);

mission/sysDefs.h

@@ -1,16 +1,28 @@
 #ifndef MISSION_SYSDEFS_H_
 #define MISSION_SYSDEFS_H_
 
-#include <atomic>
+#include <fsfw/action/ActionMessage.h>
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/modes/ModeMessage.h>
+#include <fsfw/serialize/SerializeIF.h>
 
-#include "acs/defs.h"
+#include <atomic>
+#include <cstring>
 
 extern std::atomic_uint16_t I2C_FATAL_ERRORS;
 
 namespace satsystem {
 
-enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE };
+enum Mode : Mode_t {
-
+  BOOT = 5,
+  // DO NOT CHANGE THE ORDER starting from here, breaks ACS mode checks.
+  SAFE = 10,
+  PTG_IDLE = 11,
+  PTG_NADIR = 12,
+  PTG_TARGET = 13,
+  PTG_TARGET_GS = 14,
+  PTG_INERTIAL = 15,
+};
 }
 
 namespace xsc {

mission/system/EiveSystem.cpp

@@ -39,18 +39,22 @@ void EiveSystem::announceMode(bool recursive) {
       modeStr = "POINTING IDLE";
       break;
     }
-    case (acs::AcsMode::PTG_INERTIAL): {
+    case (satsystem::Mode::PTG_NADIR): {
-      modeStr = "POINTING INERTIAL";
+      modeStr = "POINTING NADIR";
       break;
     }
-    case (acs::AcsMode::PTG_TARGET): {
+    case (satsystem::Mode::PTG_TARGET): {
       modeStr = "POINTING TARGET";
       break;
     }
-    case (acs::AcsMode::PTG_TARGET_GS): {
+    case (satsystem::Mode::PTG_TARGET_GS): {
       modeStr = "POINTING TARGET GS";
       break;
     }
+    case (satsystem::Mode::PTG_INERTIAL): {
+      modeStr = "POINTING INERTIAL";
+      break;
+    }
   }
   sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
   return Subsystem::announceMode(recursive);

mission/system/acs/DualLaneAssemblyBase.cpp

@@ -183,11 +183,11 @@ void DualLaneAssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
   // transition to dual mode.
   if (not tryingOtherSide) {
     triggerEvent(CANT_KEEP_MODE, mode, submode);
-    startTransition(mode, nextSubmode);
+    startTransition(targetMode, nextSubmode);
     tryingOtherSide = true;
   } else {
-    triggerEvent(transitionOtherSideFailedEvent, mode, targetSubmode);
+    triggerEvent(transitionOtherSideFailedEvent, targetMode, targetSubmode);
-    startTransition(mode, Submodes::DUAL_MODE);
+    startTransition(targetMode, Submodes::DUAL_MODE);
   }
 }
 
@@ -205,7 +205,8 @@ bool DualLaneAssemblyBase::checkAndHandleRecovery() {
     opCode = pwrStateMachine.fsm();
     if (opCode == OpCodes::TO_OFF_DONE or opCode == OpCodes::TIMEOUT_OCCURED) {
       customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON;
-      pwrStateMachine.start(targetMode, targetSubmode);
+      // Command power back on in any case.
+      pwrStateMachine.start(HasModesIF::MODE_ON, targetSubmode);
     }
   }
   if (customRecoveryStates == POWER_SWITCHING_ON) {

mission/system/systemTree.cpp

@@ -22,6 +22,10 @@ const auto check = subsystem::checkInsert;
 void buildBootSequence(Subsystem& ss, ModeListEntry& eh);
 void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
 void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh);
+void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh);
 }  // namespace
 
 static const auto OFF = HasModesIF::MODE_OFF;
@@ -40,6 +44,10 @@ void satsystem::init() {
   buildBootSequence(EIVE_SYSTEM, entry);
   buildSafeSequence(EIVE_SYSTEM, entry);
   buildIdleSequence(EIVE_SYSTEM, entry);
+  buildPtgNadirSequence(EIVE_SYSTEM, entry);
+  buildPtgTargetSequence(EIVE_SYSTEM, entry);
+  buildPtgTargetGsSequence(EIVE_SYSTEM, entry);
+  buildPtgInertialSequence(EIVE_SYSTEM, entry);
   EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0);
 }
 
@@ -68,88 +76,44 @@ auto EIVE_TABLE_IDLE_TRANS_0 =
 auto EIVE_TABLE_IDLE_TRANS_1 =
     std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());
 
+auto EIVE_SEQUENCE_PTG_NADIR =
+    std::make_pair(satsystem::Mode::PTG_NADIR, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_NADIR_TGT =
+    std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_NADIR_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_NADIR_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_PTG_TARGET =
+    std::make_pair(satsystem::Mode::PTG_TARGET, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_TGT =
+    std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_PTG_TARGET_GS =
+    std::make_pair(satsystem::Mode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_GS_TGT =
+    std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_GS_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_TARGET_GS_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
+auto EIVE_SEQUENCE_PTG_INERTIAL =
+    std::make_pair(satsystem::Mode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_INERTIAL_TGT =
+    std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_INERTIAL_TRANS_0 =
+    std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+auto EIVE_TABLE_PTG_INERTIAL_TRANS_1 =
+    std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 5>());
+
 namespace {
 
-void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildSafeSequence";
-  auto ctxc = context.c_str();
-  // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
-                 bool allowAllSubmodes = false) {
-    eh.setObject(obj);
-    eh.setMode(mode);
-    eh.setSubmode(submode);
-    if (allowAllSubmodes) {
-      eh.allowAllSubmodes();
-    }
-    check(table.insert(eh), ctxc);
-  };
-  // Insert Helper Sequence
-  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
-                 bool checkSuccess) {
-    eh.setTableId(tableId);
-    eh.setWaitSeconds(waitSeconds);
-    eh.setCheckSuccess(checkSuccess);
-    check(sequence.insert(eh), ctxc);
-  };
-
-  // Do no track submode to allow transitions to DETUMBLE submode.
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
-  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
-  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
-
-  // Build SAFE transition 0.
-  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
-  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
-  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
-        ctxc);
-
-  // Build Safe sequence
-  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
-  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
-  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
-                                     EIVE_SEQUENCE_SAFE.first)),
-        ctxc);
-}
-
-void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::buildIdleSequence";
-  auto ctxc = context.c_str();
-  // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
-    eh.setObject(obj);
-    eh.setMode(mode);
-    eh.setSubmode(submode);
-    check(table.insert(eh), ctxc);
-  };
-  // Insert Helper Sequence
-  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
-                 bool checkSuccess) {
-    eh.setTableId(tableId);
-    eh.setWaitSeconds(waitSeconds);
-    eh.setCheckSuccess(checkSuccess);
-    check(sequence.insert(eh), ctxc);
-  };
-
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
-  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
-
-  // Build IDLE transition 0
-  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
-  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_0.second);
-  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
-  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
-        ctxc);
-
-  // Build IDLE sequence
-  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
-  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
-  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
-                                     EIVE_SEQUENCE_SAFE.first)),
-        ctxc);
-}
-
 void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
   std::string context = "satsystem::buildBootSequence";
   auto ctxc = context.c_str();
@@ -194,4 +158,240 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
                                      EIVE_SEQUENCE_SAFE.first)),
         ctxc);
 }
+
+void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildSafeSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
+                 bool allowAllSubmodes = false) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Do no track submode to allow transitions to DETUMBLE submode.
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
+  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
+
+  // Build SAFE transition 0.
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
+  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
+  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
+        ctxc);
+
+  // Build Safe sequence
+  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
+}
+
+void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildIdleSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
+
+  // Build IDLE transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
+        ctxc);
+
+  // Build IDLE sequence
+  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
+                                     EIVE_SEQUENCE_SAFE.first)),
+        ctxc);
+}
+
+void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgNadirSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_NADIR_TGT.first, &EIVE_TABLE_PTG_NADIR_TGT.second)),
+        ctxc);
+
+  // Build PTG_NADIR transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_NADIR_TRANS_0.first, &EIVE_TABLE_PTG_NADIR_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_NADIR sequence
+  ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_NADIR.first, &EIVE_SEQUENCE_PTG_NADIR.second,
+                                     EIVE_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
+void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgTargetSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TGT.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_TGT.first, &EIVE_TABLE_PTG_TARGET_TGT.second)),
+        ctxc);
+
+  // Build PTG_TARGET transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_TARGET_TRANS_0.first, &EIVE_TABLE_PTG_TARGET_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_TARGET sequence
+  ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET.first,
+                                     &EIVE_SEQUENCE_PTG_TARGET.second, EIVE_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
+void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgTargetGsSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0, EIVE_TABLE_PTG_TARGET_GS_TGT.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_TARGET_GS_TGT.first, &EIVE_TABLE_PTG_TARGET_GS_TGT.second)),
+        ctxc);
+
+  // Build PTG_TARGET_GS transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0,
+      EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first,
+                               &EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_TARGET_GS sequence
+  ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first, 0, false);
+  check(
+      ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET_GS.first,
+                                   &EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_SEQUENCE_IDLE.first)),
+      ctxc);
+}
+
+void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::buildPtgInertialSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0, EIVE_TABLE_PTG_INERTIAL_TGT.second);
+  check(ss.addTable(
+            TableEntry(EIVE_TABLE_PTG_INERTIAL_TGT.first, &EIVE_TABLE_PTG_INERTIAL_TGT.second)),
+        ctxc);
+
+  // Build PTG_INERTIAL transition 0
+  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
+  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0,
+      EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
+  check(ss.addTable(TableEntry(EIVE_TABLE_PTG_INERTIAL_TRANS_0.first,
+                               &EIVE_TABLE_PTG_INERTIAL_TRANS_0.second)),
+        ctxc);
+
+  // Build PTG_INERTIAL sequence
+  ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TGT.first, 0, false);
+  ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_INERTIAL.first,
+                                     &EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_SEQUENCE_IDLE.first)),
+        ctxc);
+}
+
 }  // namespace