CHANGELOG.md

@@ -16,9 +16,11 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-# [v2.2.0] to be released
+# [v4.0.0] to be released
 
-# [v2.1.0] to be released
+# [v3.0.0] to be released
+
+- `eive-tmtc` version v4.0.0
 
 ## Changed
 
@@ -33,19 +35,83 @@ will consitute of a breaking change warranting a new major release:
   CMake from selecting wrong cross-compilers if multiple cross-compilers with the same name are used
   on the same system.
 - Add ACS board for EM by default now.
+- Add support for MPSoC HK packet.
+- Add support for MPSoC Flash Directory Content Report.
+- Dynamically enable and disable HK packets for MPSoC on `ON` and `OFF` commands.
+- Add support for MPSoC Flash Directory Content Report.
+- Larger allowed path and file sizes for STR and PLOC MPSoC modules.
+- More robust MPSoC flash read and write command data handling.
+- Increase frequency of payload handlers from 0.8 seconds to 0.5 seconds.
+- Disable missed deadlines per default. Not useful in orbit, and triggers all the time on the EM
+  build after a number of subsequent runs, without any apparent reason (deadlines are not actually
+  missed, thread usage displayed is nominal)
+- TM store dumpes will not be cancelled anymore if the transmitter is off. The dump can be cancelled
+  with an OFF command, and the PTME is perfectly capable of dumping without the transmitter being
+  on.
+- Transmitter state is not taken into account anymore for writing into the PTME. The PTME should
+  be perfectly capable of generating a valid CADU, even when the transmitter is not ON for any
+  reason.
+- OFF mode is ignores in TM store for determining whether a store will be written. The modes will
+  only be used to cancel a transfer.
+- Handling of multiple RWs in the ACS Controller is improved and can be changed by parameter
+  commands.
+- The Directory Listing direct dumper now has a state machine to stagger the directory listing dump.
+  This is required because very large dumps will overload the queue capacities in the framework.
+- The PUS Service 8 now has larger queue sizes to handle more action replies. The PUS Service 1
+  also has a larger queue size to handle a lot of step replies now.
+- Moved PDU `vcc` and `vbat` variable from auxiliary dataset to core dataset.
+- Tweak TCP/IP configuration: Only the TCP server will be included on the EM. For the FM, no
+  TCP/IP servers will be included by default.
 
 ## Added
 
 - Add the remaining system modes.
+- PLOC MPSoC flash read command working.
+- BPX battery handler is added for EM by default.
+- ACU dummy HK sets
+- IMTQ HK sets
+- IMTQ dummy now handles power switch
+- Added some new ACS parameters
+- Enabled decimation filter for the ADIS GYRs
+- Enabled second low-pass filter for L3GD20H GYRs
 
 ## Fixed
 
+- CFDP low level protocol bugfix. Requires `fsfw` update and `tmtc` update.
 - Compile fix if SCEX is compiled for the EM.
 - Set up Rad Sensor chip select even for EM to avoid SPI bus issues.
 - Correct ADIS Gyroscope type configuration for the EM, where the 16507 type is used instead of the
   16505 type.
 - Host build is working again. Added reduced live TM helper which schedules the PUS and CFDP
   funnel.
+- PLOC Supervisor handler now has a power switcher assigned to make PLOC power switching work
+  without an additional PCDU power switch command.
+- The PLOC Supervisor handler now waits for the replies to the `SET_TIME` command to verify working
+  communication.
+- The PLOC MPSoC now waits 10 cycles before going to on. These wait cycles are necessary because
+  the MPSoC is not ready to process commands without this additional boot time.
+- Fixed correction for `GPS Altitude` in case the sensor data is out of the expected bonds.
+- PLOC MPSoC special communication is now scheduled, which allows flash read and flash write
+  commands to work.
+- Fixed the MPSoC flash write command.
+- Added missing ACS parameter.
+- HK TM store: The HK store dump success event was triggered for cancelled HK dumps.
+- When a PUS parsing error occured while parsing a TM store file, the dump completion procedure
+  was always executed.
+- Some smaller logic fixes in the TM store base class
+- Fixed usage of C `abs` instead of C++ `std::abs`, which results in MTQ commands not being
+  scaled correctly between 1Am² and 0.2Am².
+- TCS Heater Handler: Always trigger mode event if a heater goes `OFF` or `ON`. This event might
+  soon replace the `HEATER_WENT_ON` and `HEATER_WENT_OFF` events.
+- Prevent spam of TCS controller heater unavailability event if all heaters are in external control.
+- TCS heater switch info set contained invalid values because of a faulty `memcpy` in the TCS
+  controller. There is not crash risk but the heater states were invalid.
+- STR datasets were not set to invalid on shutdown.
+- Fixed usage of quaternion valid flag, which does not actually represent the validity of the
+  quaternion.
+- Various fixes for the pointing modes of the `ACS Controller`. All modes should work now as
+  intended.
+- The variance for the ADIS GYRs now represents the used `-3` version and not the `-1` version
 - CFDP funnel did not route packets to live channel VC0
 
 # [v2.0.5] 2023-05-11

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 2)
+set(OBSW_VERSION_MAJOR 3)
 set(OBSW_VERSION_MINOR 0)
-set(OBSW_VERSION_REVISION 5)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
@@ -79,12 +79,19 @@ else()
   set(INIT_VAL 1)
   set(OBSW_STAR_TRACKER_GROUND_CONFIG 0)
 endif()
+
+set(OBSW_ADD_TMTC_TCP_SERVER
+    ${OBSW_Q7S_EM}
+    CACHE STRING "Add TCP TMTC Server")
+set(OBSW_ADD_TMTC_UDP_SERVER
+    0
+    CACHE STRING "Add UDP TMTC Server")
 set(OBSW_ADD_MGT
     ${INIT_VAL}
     CACHE STRING "Add MGT module")
 set(OBSW_ADD_BPX_BATTERY_HANDLER
-    ${INIT_VAL}
+    1
-    CACHE STRING "Add MGT module")
+    CACHE STRING "Add BPX battery module")
 set(OBSW_ADD_STAR_TRACKER
     ${INIT_VAL}
     CACHE STRING "Add Startracker module")
@@ -98,7 +105,7 @@ set(OBSW_ADD_THERMAL_TEMP_INSERTER
     ${OBSW_Q7S_EM}
     CACHE STRING "Add thermal sensor temperature inserter")
 set(OBSW_ADD_ACS_BOARD
-    1
+    ${INIT_VAL}
     CACHE STRING "Add ACS board module")
 set(OBSW_ADD_GPS_CTRL
     ${INIT_VAL}

bsp_hosted/ObjectFactory.cpp

@@ -39,7 +39,7 @@
 #include "devices/gpioIds.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "linux/payload/PlocMpsocHandler.h"
-#include "linux/payload/PlocMpsocHelper.h"
+#include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/PlocSupervisorHandler.h"
 #include "linux/payload/PlocSupvUartMan.h"
 #include "test/gpio/DummyGpioIF.h"
@@ -62,6 +62,10 @@ void ObjectFactory::produce(void* args) {
   StorageManagerIF* tmStore;
   StorageManagerIF* ipcStore;
   PersistentTmStores persistentStores;
+  bool enableHkSets = false;
+#if OBSW_ENABLE_PERIODIC_HK == 1
+  enableHkSets = true;
+#endif
   auto sdcMan = new DummySdCardManager("/tmp");
   ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
                                        &tmStore, persistentStores, 120);
@@ -82,8 +86,8 @@ void ObjectFactory::produce(void* args) {
   auto mpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, mpscoDev, uart::PLOC_MPSOC_BAUD,
                                     mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   mpsocCookie->setNoFixedSizeReply();
-  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
-  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
+  new PlocMpsocHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
                        plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
                        objects::PLOC_SUPERVISOR_HANDLER);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
@@ -101,7 +105,7 @@ void ObjectFactory::produce(void* args) {
 #endif
 
   dummy::DummyCfg cfg;
-  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF);
+  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets);
 
   HeaterHandler* heaterHandler = nullptr;
   // new ThermalController(objects::THERMAL_CONTROLLER);

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 291 translations.
+ * @brief    Auto-generated event translation file. Contains 295 translations.
  * @details
- * Generated on: 2023-04-17 11:34:19
+ * Generated on: 2023-05-17 17:15:34
  */
 #include "translateEvents.h"
 
@@ -197,6 +197,10 @@ const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
 const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
 const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
 const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
+const char *MPSOC_FLASH_READ_PACKET_ERROR_STRING = "MPSOC_FLASH_READ_PACKET_ERROR";
+const char *MPSOC_FLASH_READ_FAILED_STRING = "MPSOC_FLASH_READ_FAILED";
+const char *MPSOC_FLASH_READ_SUCCESSFUL_STRING = "MPSOC_FLASH_READ_SUCCESSFUL";
+const char *MPSOC_READ_TIMEOUT_STRING = "MPSOC_READ_TIMEOUT";
 const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
 const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
 const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@@ -683,6 +687,14 @@ const char *translateEvents(Event event) {
       return MPSOC_TM_SIZE_ERROR_STRING;
     case (12613):
       return MPSOC_TM_CRC_MISSMATCH_STRING;
+    case (12614):
+      return MPSOC_FLASH_READ_PACKET_ERROR_STRING;
+    case (12615):
+      return MPSOC_FLASH_READ_FAILED_STRING;
+    case (12616):
+      return MPSOC_FLASH_READ_SUCCESSFUL_STRING;
+    case (12617):
+      return MPSOC_READ_TIMEOUT_STRING;
     case (12700):
       return TRANSITION_BACK_TO_OFF_STRING;
     case (12701):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-04-17 11:34:19
+ * Generated on: 2023-05-17 17:15:34
  */
 #include "translateObjects.h"
 

bsp_q7s/OBSWConfig.h.in

@@ -67,12 +67,12 @@
 // because UDP packets are not allowed in the VPN
 // This will cause the OBSW to initialize the TMTC bridge responsible for exchanging data with the
 // CCSDS IP Cores. 
-#define OBSW_ADD_TMTC_TCP_SERVER                    1
+#define OBSW_ADD_TMTC_TCP_SERVER                    @OBSW_ADD_TMTC_TCP_SERVER@
-#define OBSW_ADD_TMTC_UDP_SERVER                    1
+#define OBSW_ADD_TMTC_UDP_SERVER                    @OBSW_ADD_TMTC_UDP_SERVER@
 
 // Can be used to switch device to NORMAL mode immediately
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    0
-#define OBSW_PRINT_MISSED_DEADLINES                 1
+#define OBSW_PRINT_MISSED_DEADLINES                 0
 
 #define OBSW_MPSOC_JTAG_BOOT                        0
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             @OBSW_STAR_TRACKER_GROUND_CONFIG@

bsp_q7s/core/CoreController.cpp

@@ -112,6 +112,9 @@ void CoreController::performControlOperation() {
   sdStateMachine();
   performMountedSdCardOperations();
   readHkData();
+  if (dumpContext.active) {
+    dirListingDumpHandler();
+  }
 
   if (shellCmdIsExecuting) {
     bool replyReceived = false;
@@ -1038,7 +1041,6 @@ ReturnValue_t CoreController::actionListDirectoryDumpDirectly(ActionId_t actionI
       return returnvalue::FAILED;
     }
   }
-  std::array<uint8_t, 1024> dirListingBuf{};
   dirListingBuf[8] = parser.compressionOptionSet();
   // First four bytes reserved for segment index. One byte for compression option information
   std::strcpy(reinterpret_cast<char *>(dirListingBuf.data() + 2 * sizeof(uint32_t) + 1), repoName);
@@ -1047,38 +1049,47 @@ ReturnValue_t CoreController::actionListDirectoryDumpDirectly(ActionId_t actionI
     return returnvalue::FAILED;
   }
   std::error_code e;
-  size_t totalFileSize = std::filesystem::file_size(LIST_DIR_DUMP_WORK_FILE, e);
+  dumpContext.totalFileSize = std::filesystem::file_size(LIST_DIR_DUMP_WORK_FILE, e);
-  uint32_t segmentIdx = 0;
+  dumpContext.segmentIdx = 0;
-  size_t dumpedBytes = 0;
+  dumpContext.dumpedBytes = 0;
   size_t nextDumpLen = 0;
   size_t dummy = 0;
-  size_t maxDumpLen = dirListingBuf.size() - 2 * sizeof(uint32_t) - 1 - repoNameLen - 1;
+  dumpContext.maxDumpLen = dirListingBuf.size() - 2 * sizeof(uint32_t) - 1 - repoNameLen - 1;
-  size_t listingDataOffset = 2 * sizeof(uint32_t) + 1 + repoNameLen + 1;
+  dumpContext.listingDataOffset = 2 * sizeof(uint32_t) + 1 + repoNameLen + 1;
-  uint32_t chunks = totalFileSize / maxDumpLen;
+  uint32_t chunks = dumpContext.totalFileSize / dumpContext.maxDumpLen;
-  if (totalFileSize % maxDumpLen != 0) {
+  if (dumpContext.totalFileSize % dumpContext.maxDumpLen != 0) {
     chunks++;
   }
   SerializeAdapter::serialize(&chunks, dirListingBuf.data() + sizeof(uint32_t), &dummy,
                               dirListingBuf.size() - sizeof(uint32_t),
                               SerializeIF::Endianness::NETWORK);
-  while (dumpedBytes < totalFileSize) {
+  while (dumpContext.dumpedBytes < dumpContext.totalFileSize) {
-    ifile.seekg(dumpedBytes, std::ios::beg);
+    ifile.seekg(dumpContext.dumpedBytes, std::ios::beg);
-    nextDumpLen = maxDumpLen;
+    nextDumpLen = dumpContext.maxDumpLen;
-    if (totalFileSize - dumpedBytes < maxDumpLen) {
+    if (dumpContext.totalFileSize - dumpContext.dumpedBytes < dumpContext.maxDumpLen) {
-      nextDumpLen = totalFileSize - dumpedBytes;
+      nextDumpLen = dumpContext.totalFileSize - dumpContext.dumpedBytes;
     }
-    SerializeAdapter::serialize(&segmentIdx, dirListingBuf.data(), &dummy, dirListingBuf.size(),
+    SerializeAdapter::serialize(&dumpContext.segmentIdx, dirListingBuf.data(), &dummy,
-                                SerializeIF::Endianness::NETWORK);
+                                dirListingBuf.size(), SerializeIF::Endianness::NETWORK);
-    ifile.read(reinterpret_cast<char *>(dirListingBuf.data() + listingDataOffset), nextDumpLen);
+    ifile.read(reinterpret_cast<char *>(dirListingBuf.data() + dumpContext.listingDataOffset),
+               nextDumpLen);
     result = actionHelper.reportData(commandedBy, actionId, dirListingBuf.data(),
-                                     listingDataOffset + nextDumpLen);
+                                     dumpContext.listingDataOffset + nextDumpLen);
     if (result != returnvalue::OK) {
       // Remove work file when we are done
       std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
       return result;
     }
-    segmentIdx++;
+    dumpContext.segmentIdx++;
-    dumpedBytes += nextDumpLen;
+    dumpContext.dumpedBytes += nextDumpLen;
+    // Dump takes multiple task cycles, so cache the dump state and continue dump the next cycles.
+    if (dumpContext.segmentIdx == 10) {
+      dumpContext.active = true;
+      dumpContext.firstDump = true;
+      dumpContext.commander = commandedBy;
+      dumpContext.actionId = actionId;
+      return returnvalue::OK;
+    }
   }
   // Remove work file when we are done
   std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
@@ -2346,6 +2357,54 @@ MessageQueueId_t CoreController::getCommandQueue() const {
   return ExtendedControllerBase::getCommandQueue();
 }
 
+void CoreController::dirListingDumpHandler() {
+  if (dumpContext.firstDump) {
+    dumpContext.firstDump = false;
+    return;
+  }
+  size_t nextDumpLen = 0;
+  size_t dummy = 0;
+  ReturnValue_t result;
+  std::error_code e;
+  std::ifstream ifile(LIST_DIR_DUMP_WORK_FILE, std::ios::binary);
+  if (ifile.bad()) {
+    return;
+  }
+  while (dumpContext.dumpedBytes < dumpContext.totalFileSize) {
+    ifile.seekg(dumpContext.dumpedBytes, std::ios::beg);
+    nextDumpLen = dumpContext.maxDumpLen;
+    if (dumpContext.totalFileSize - dumpContext.dumpedBytes < dumpContext.maxDumpLen) {
+      nextDumpLen = dumpContext.totalFileSize - dumpContext.dumpedBytes;
+    }
+    SerializeAdapter::serialize(&dumpContext.segmentIdx, dirListingBuf.data(), &dummy,
+                                dirListingBuf.size(), SerializeIF::Endianness::NETWORK);
+    ifile.read(reinterpret_cast<char *>(dirListingBuf.data() + dumpContext.listingDataOffset),
+               nextDumpLen);
+    result =
+        actionHelper.reportData(dumpContext.commander, dumpContext.actionId, dirListingBuf.data(),
+                                dumpContext.listingDataOffset + nextDumpLen);
+    if (result != returnvalue::OK) {
+      // Remove work file when we are done
+      std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
+      dumpContext.active = false;
+      actionHelper.finish(false, dumpContext.commander, dumpContext.actionId, result);
+      return;
+    }
+    dumpContext.segmentIdx++;
+    dumpContext.dumpedBytes += nextDumpLen;
+    // Dump takes multiple task cycles, so cache the dump state and continue dump the next cycles.
+    if (dumpContext.segmentIdx == 10) {
+      break;
+    }
+  }
+  if (dumpContext.dumpedBytes >= dumpContext.totalFileSize) {
+    actionHelper.finish(true, dumpContext.commander, dumpContext.actionId, result);
+    dumpContext.active = false;
+    // Remove work file when we are done
+    std::filesystem::remove(LIST_DIR_DUMP_WORK_FILE, e);
+  }
+}
+
 bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();

bsp_q7s/core/CoreController.h

@@ -177,6 +177,20 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
     DeviceCommandId_t actionId;
   } sdCommandingInfo;
 
+  struct DirListingDumpContext {
+    bool active;
+    bool firstDump;
+    size_t dumpedBytes;
+    size_t totalFileSize;
+    size_t listingDataOffset;
+    size_t maxDumpLen;
+    uint32_t segmentIdx;
+    MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
+    DeviceCommandId_t actionId;
+  };
+  std::array<uint8_t, 1024> dirListingBuf{};
+  DirListingDumpContext dumpContext{};
+
   RebootFile rebootFile = {};
 
   CommandExecutor cmdExecutor;
@@ -274,6 +288,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   void rewriteRebootFile(RebootFile file);
   void announceBootCounts();
   void readHkData();
+  void dirListingDumpHandler();
   bool isNumber(const std::string& s);
 };
 

bsp_q7s/core/ObjectFactory.cpp

@@ -10,10 +10,10 @@
 #include <linux/com/SyrlinksComHandler.h>
 #include <linux/payload/PlocMemoryDumper.h>
 #include <linux/payload/PlocMpsocHandler.h>
-#include <linux/payload/PlocMpsocHelper.h>
+#include <linux/payload/PlocMpsocSpecialComHelper.h>
 #include <linux/payload/PlocSupervisorHandler.h>
 #include <linux/payload/ScexUartReader.h>
-#include <linux/payload/plocMpscoDefs.h>
+#include <linux/payload/plocMpsocHelpers.h>
 #include <linux/power/CspComIF.h>
 #include <mission/acs/GyrL3gCustomHandler.h>
 #include <mission/acs/MgmLis3CustomHandler.h>
@@ -623,8 +623,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
       new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
                        serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   mpsocCookie->setNoFixedSizeReply();
-  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
+  auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
-  auto* mpsocHandler = new PlocMPSoCHandler(
+  auto* mpsocHandler = new PlocMpsocHandler(
       objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
       Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
   mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
@@ -644,6 +644,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
                                                 Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
                                                 power::PDU1_CH6_PLOC_12V, *supvHelper);
+  supvHandler->setPowerSwitcher(&pwrSwitch);
   supvHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
@@ -804,7 +805,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   // Core task which handles the HK store and takes care of dumping it as TM using a VC directly
   auto* hkStore = new PersistentSingleTmStoreTask(
       objects::HK_STORE_AND_TM_TASK, args.ipcStore, *args.stores.hkStore, *vc,
-      persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_STORE_DONE, *SdCardManager::instance(),
+      persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_CANCELLED, *SdCardManager::instance(),
       PTME_LOCKED);
   hkStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 

bsp_q7s/core/scheduling.cpp

@@ -345,7 +345,6 @@ void scheduling::initTasks() {
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_MPSOC == 1
   PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
       "PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@@ -366,7 +365,7 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
   plTask->addComponent(objects::CAM_SWITCHER);
   scheduling::addMpsocSupvHandlers(plTask);
   scheduling::scheduleScexDev(plTask);
@@ -472,6 +471,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+#if OBSW_ADD_PLOC_MPSOC == 1
+  mpsocHelperTask->startTask();
+#endif
   plTask->startTask();
 
 #if OBSW_ADD_TEST_CODE == 1

bsp_q7s/em/emObjectFactory.cpp

@@ -52,12 +52,12 @@ void ObjectFactory::produce(void* args) {
   // level components.
   dummy::DummyCfg dummyCfg;
   dummyCfg.addCoreCtrlCfg = false;
+  dummyCfg.addCamSwitcherDummy = false;
 #if OBSW_ADD_SYRLINKS == 1
   dummyCfg.addSyrlinksDummies = false;
 #endif
 #if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
   dummyCfg.addPlocDummies = false;
-  dummyCfg.addCamSwitcherDummy = false;
 #endif
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
@@ -79,7 +79,7 @@ void ObjectFactory::produce(void* args) {
 #endif
   satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
 
-  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
+  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
 
@@ -97,10 +97,10 @@ void ObjectFactory::produce(void* args) {
   // TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
   //       and will cause xsc_boot_copy commands to always boot to 0 0
   // createRadSensorComponent(gpioComIF);
-  // Still initialize chip select to avoid SPI bus issues.
-  createRadSensorChipSelect(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
+  // Still initialize chip select to avoid SPI bus issues.
+  createRadSensorChipSelect(gpioComIF);
   createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
                            adis1650x::Type::ADIS16507);
 #else

common/config/eive/definitions.h

@@ -34,8 +34,8 @@ static constexpr uint32_t STR_IMG_HELPER_QUEUE_SIZE = 50;
 static constexpr uint8_t LIVE_TM = 0;
 
 /* Limits for filename and path checks */
-static constexpr uint32_t MAX_PATH_SIZE = 100;
+static constexpr uint32_t MAX_PATH_SIZE = 200;
-static constexpr uint32_t MAX_FILENAME_SIZE = 50;
+static constexpr uint32_t MAX_FILENAME_SIZE = 100;
 
 static constexpr uint32_t SA_DEPL_INIT_BUFFER_SECS = 120;
 // Burn time for autonomous deployment
@@ -58,7 +58,9 @@ static constexpr uint32_t CFDP_STORE_QUEUE_SIZE = 300;
 
 static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
 static constexpr uint32_t MAX_CFDP_FUNNEL_QUEUE_DEPTH = 80;
+static constexpr uint32_t VERIFICATION_SERVICE_QUEUE_DEPTH = 120;
 static constexpr uint32_t HK_SERVICE_QUEUE_DEPTH = 60;
+static constexpr uint32_t ACTION_SERVICE_QUEUE_DEPTH = 60;
 
 static constexpr uint32_t MAX_STORED_CMDS_UDP = 150;
 static constexpr uint32_t MAX_STORED_CMDS_TCP = 180;

dummies/AcuDummy.cpp

@@ -2,8 +2,11 @@
 
 #include <mission/power/gsDefs.h>
 
-AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      coreHk(this),
+      auxHk(this),
+      enableHkSets(enableHkSets) {}
 
 AcuDummy::~AcuDummy() {}
 
@@ -37,7 +40,49 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
+  using namespace ACU;
+  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNELS, new PoolEntry<int16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_VCC, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_VBAT, new PoolEntry<uint16_t>({0}));
+
   localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES,
                            new PoolEntry<float>({10.0, 10.0, 10.0}, true));
+
+  localDataPoolMap.emplace(pool::ACU_MPPT_MODE, new PoolEntry<uint8_t>({0}));
+
+  localDataPoolMap.emplace(pool::ACU_VBOOST_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_POWER_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_DAC_ENABLES, new PoolEntry<uint8_t>(3));
+  localDataPoolMap.emplace(pool::ACU_DAC_RAW_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_BOOTCNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_UPTIME, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_RESET_CAUSE, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_MPPT_TIME, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_MPPT_PERIOD, new PoolEntry<uint16_t>({0}));
+
+  localDataPoolMap.emplace(pool::ACU_DEVICES, new PoolEntry<uint8_t>(8));
+  localDataPoolMap.emplace(pool::ACU_DEVICES_STATUS, new PoolEntry<uint8_t>(8));
+
+  localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
+
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
   return returnvalue::OK;
 }
+
+LocalPoolDataSetBase *AcuDummy::getDataSetHandle(sid_t sid) {
+  if (sid == coreHk.getSid()) {
+    return &coreHk;
+  } else if (sid == auxHk.getSid()) {
+    return &auxHk;
+  }
+  return nullptr;
+}

dummies/AcuDummy.h

@@ -2,6 +2,7 @@
 #define DUMMIES_ACUDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/power/gsDefs.h>
 
 class AcuDummy : public DeviceHandlerBase {
  public:
@@ -11,10 +12,14 @@ class AcuDummy : public DeviceHandlerBase {
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
-  AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets);
   virtual ~AcuDummy();
 
  protected:
+  ACU::CoreHk coreHk;
+  ACU::AuxHk auxHk;
+  bool enableHkSets;
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@@ -28,6 +33,7 @@ class AcuDummy : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
 };
 
 #endif /* DUMMIES_ACUDUMMY_H_ */

dummies/ImtqDummy.cpp

@@ -2,8 +2,13 @@
 
 #include <mission/acs/imtqHelpers.h>
 
-ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
+ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+                     power::Switch_t pwrSwitcher, bool enableHkSets)
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      setNoTorque(this),
+      setWithTorque(this),
+      enableHkSets(enableHkSets),
+      switcher(pwrSwitcher) {}
 
 ImtqDummy::~ImtqDummy() = default;
 
@@ -11,6 +16,15 @@ void ImtqDummy::doStartUp() { setMode(MODE_NORMAL); }
 
 void ImtqDummy::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
+ReturnValue_t ImtqDummy::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
+  if (switcher != power::NO_SWITCH) {
+    *numberOfSwitches = 1;
+    *switches = &switcher;
+    return returnvalue::OK;
+  }
+  return DeviceHandlerBase::NO_SWITCH;
+}
+
 ReturnValue_t ImtqDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
 
 ReturnValue_t ImtqDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
@@ -45,5 +59,37 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
   localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry<int16_t>({0, 0, 0}));
   localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry<uint16_t>({0}));
+
+  // ENG HK No Torque
+  localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::DIGITAL_CURRENT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_CURRENT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS, &coilCurrentsMilliampsNoTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES, &coilTempsNoTorque);
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
+
+  // ENG HK With Torque
+  localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::DIGITAL_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS_WT, &coilCurrentsMilliampsWithTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES_WT, &coilTempsWithTorque);
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
+
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(setNoTorque.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(setWithTorque.getSid(), enableHkSets, 30.0));
   return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }
+
+LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) {
+  if (sid == setNoTorque.getSid()) {
+    return &setNoTorque;
+  } else if (sid == setWithTorque.getSid()) {
+    return &setWithTorque;
+  }
+  return nullptr;
+}

dummies/ImtqDummy.h

@@ -3,6 +3,8 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
+#include "mission/acs/imtqHelpers.h"
+
 class ImtqDummy : public DeviceHandlerBase {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@@ -11,10 +13,35 @@ class ImtqDummy : public DeviceHandlerBase {
   static const uint8_t SIMPLE_COMMAND_DATA = 1;
   static const uint8_t PERIODIC_REPLY_DATA = 2;
 
-  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+            power::Switch_t pwrSwitcher, bool enableHkSets);
   ~ImtqDummy() override;
 
  protected:
+  ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
+  imtq::HkDatasetNoTorque setNoTorque;
+  imtq::HkDatasetWithTorque setWithTorque;
+  bool enableHkSets;
+
+  PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
+  PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
+
+  PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
+  PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
+  PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
+  PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
+  PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
+  PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
+  PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
+  PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
+  PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
+
+  power::Switch_t switcher = power::NO_SWITCH;
+
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@@ -28,6 +55,7 @@ class ImtqDummy : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
 };
 
 #endif /* DUMMIES_IMTQDUMMY_H_ */

dummies/helperFactory.cpp

@@ -42,7 +42,8 @@
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/tcs/defs.h"
 
-void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
+void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF,
+                          bool enableHkSets) {
   new ComIFDummy(objects::DUMMY_COM_IF);
   auto* comCookieDummy = new ComCookieDummy();
   if (cfg.addBpxBattDummy) {
@@ -74,12 +75,15 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   }
   auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
   imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
-  auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy,
+                                  power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
   imtqDummy->enableThermalModule(ThermalStateCfg());
+  imtqDummy->setPowerSwitcher(&pwrSwitcher);
   imtqDummy->connectModeTreeParent(*imtqAssy);
   if (cfg.addOnlyAcuDummy) {
-    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
   } else if (cfg.addPowerDummies) {
+    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
     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

@@ -22,6 +22,6 @@ struct DummyCfg {
   bool addCamSwitcherDummy = false;
 };
 
-void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF);
+void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets);
 
 }  // namespace dummy

fsfw

@@ -1 +1 @@
-Subproject commit 5eb9ee8bc1e6f8640cbea46febd11e4b92241881
+Subproject commit 5322de059916efcf874b10ccc766b46e53d2470b

generators/bsp_hosted_events.csv

@@ -177,20 +177,24 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/acs/StrComHandler.h
 12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/acs/StrComHandler.h
 12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/acs/StrComHandler.h
-12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/payload/PlocMpsocHelper.h
+12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/payload/PlocMpsocSpecialComHelper.h
-12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/payload/PlocMpsocHelper.h
+12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;INFO;Flash write successful;linux/payload/PlocMpsocSpecialComHelper.h
-12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/payload/PlocMpsocHelper.h
+12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
-12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
+12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
-12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
+12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
-12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
+12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
-12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
+12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
-12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
+12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
-12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
+12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
-12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
+12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
-12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
+12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
-12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHelper.h
+12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocSpecialComHelper.h
-12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/payload/PlocMpsocHelper.h
+12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
-12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/payload/PlocMpsocHelper.h
+12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
+12614;0x3146;MPSOC_FLASH_READ_PACKET_ERROR;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
+12615;0x3147;MPSOC_FLASH_READ_FAILED;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
+12616;0x3148;MPSOC_FLASH_READ_SUCCESSFUL;INFO;No description;linux/payload/PlocMpsocSpecialComHelper.h
+12617;0x3149;MPSOC_READ_TIMEOUT;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
 12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/payload/PayloadPcduHandler.h
 12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/payload/PayloadPcduHandler.h
 12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/payload/PayloadPcduHandler.h
@@ -274,7 +278,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14105;0x3719;CAMERA_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
-14108;0x371c;MGT_OVERHEATING;MEDIUM;No description;mission/controller/tcsDefs.h
+14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
 14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

generators/bsp_q7s_events.csv

@@ -177,20 +177,24 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/acs/StrComHandler.h
 12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/acs/StrComHandler.h
 12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/acs/StrComHandler.h
-12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/payload/PlocMpsocHelper.h
+12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/payload/PlocMpsocSpecialComHelper.h
-12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/payload/PlocMpsocHelper.h
+12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;INFO;Flash write successful;linux/payload/PlocMpsocSpecialComHelper.h
-12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/payload/PlocMpsocHelper.h
+12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
-12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
+12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
-12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
+12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
-12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
+12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
-12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocHelper.h
+12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/payload/PlocMpsocSpecialComHelper.h
-12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
+12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
-12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
+12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
-12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
+12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
-12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocHelper.h
+12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/payload/PlocMpsocSpecialComHelper.h
-12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHelper.h
+12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocSpecialComHelper.h
-12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/payload/PlocMpsocHelper.h
+12612;0x3144;MPSOC_TM_SIZE_ERROR;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
-12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/payload/PlocMpsocHelper.h
+12613;0x3145;MPSOC_TM_CRC_MISSMATCH;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
+12614;0x3146;MPSOC_FLASH_READ_PACKET_ERROR;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
+12615;0x3147;MPSOC_FLASH_READ_FAILED;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
+12616;0x3148;MPSOC_FLASH_READ_SUCCESSFUL;INFO;No description;linux/payload/PlocMpsocSpecialComHelper.h
+12617;0x3149;MPSOC_READ_TIMEOUT;LOW;No description;linux/payload/PlocMpsocSpecialComHelper.h
 12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/payload/PayloadPcduHandler.h
 12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/payload/PayloadPcduHandler.h
 12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/payload/PayloadPcduHandler.h
@@ -274,7 +278,7 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14105;0x3719;CAMERA_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14106;0x371a;PCDU_SYSTEM_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14107;0x371b;HEATER_NOT_OFF_FOR_OFF_MODE;MEDIUM;No description;mission/controller/tcsDefs.h
-14108;0x371c;MGT_OVERHEATING;MEDIUM;No description;mission/controller/tcsDefs.h
+14108;0x371c;MGT_OVERHEATING;HIGH;No description;mission/controller/tcsDefs.h
 14201;0x3779;TX_TIMER_EXPIRED;INFO;The transmit timer to protect the Syrlinks expired P1: The current timer value;mission/system/com/ComSubsystem.h
 14202;0x377a;BIT_LOCK_TX_ON;INFO;Transmitter will be turned on due to detection of bitlock;mission/system/com/ComSubsystem.h
 14300;0x37dc;POSSIBLE_FILE_CORRUPTION;LOW;P1: Result code of TM packet parser. P2: Timestamp of possibly corrupt file as a unix timestamp.;mission/persistentTmStoreDefs.h

generators/bsp_q7s_returnvalues.csv

@@ -478,8 +478,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x53b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
 0x53b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
 0x53b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;mission/acs/str/StarTrackerHandler.h
-0x54e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);224;DWLPWRON_CMD;linux/payload/plocMpscoDefs.h
+0x54e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);224;DWLPWRON_CMD;linux/payload/plocMpsocHelpers.h
-0x54e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);225;DWLPWRON_CMD;linux/payload/plocMpscoDefs.h
+0x54e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);225;DWLPWRON_CMD;linux/payload/plocMpsocHelpers.h
 0x5700;PLSPVhLP_RequestDone;No description;0;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
 0x5701;PLSPVhLP_NoPacketFound;No description;1;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
 0x5702;PLSPVhLP_DecodeBufTooSmall;No description;2;PLOC_SUPV_HELPER;linux/payload/PlocSupvUartMan.h
@@ -543,7 +543,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.h
 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h
-0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/payload/PlocMpsocHelper.h
+0x65a0;PLMPHLP_FileWriteError;File error occured for file transfers from OBC to the MPSoC.;160;PLOC_MPSOC_HELPER;linux/payload/PlocMpsocSpecialComHelper.h
+0x65a1;PLMPHLP_FileReadError;File error occured for file transfers from MPSoC to OBC.;161;PLOC_MPSOC_HELPER;linux/payload/PlocMpsocSpecialComHelper.h
 0x66a0;SADPL_CommandNotSupported;No description;160;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x66a1;SADPL_DeploymentAlreadyExecuting;No description;161;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x66a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 291 translations.
+ * @brief    Auto-generated event translation file. Contains 295 translations.
  * @details
- * Generated on: 2023-04-17 11:34:19
+ * Generated on: 2023-05-17 17:15:34
  */
 #include "translateEvents.h"
 
@@ -197,6 +197,10 @@ const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
 const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
 const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
 const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
+const char *MPSOC_FLASH_READ_PACKET_ERROR_STRING = "MPSOC_FLASH_READ_PACKET_ERROR";
+const char *MPSOC_FLASH_READ_FAILED_STRING = "MPSOC_FLASH_READ_FAILED";
+const char *MPSOC_FLASH_READ_SUCCESSFUL_STRING = "MPSOC_FLASH_READ_SUCCESSFUL";
+const char *MPSOC_READ_TIMEOUT_STRING = "MPSOC_READ_TIMEOUT";
 const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
 const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
 const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@@ -683,6 +687,14 @@ const char *translateEvents(Event event) {
       return MPSOC_TM_SIZE_ERROR_STRING;
     case (12613):
       return MPSOC_TM_CRC_MISSMATCH_STRING;
+    case (12614):
+      return MPSOC_FLASH_READ_PACKET_ERROR_STRING;
+    case (12615):
+      return MPSOC_FLASH_READ_FAILED_STRING;
+    case (12616):
+      return MPSOC_FLASH_READ_SUCCESSFUL_STRING;
+    case (12617):
+      return MPSOC_READ_TIMEOUT_STRING;
     case (12700):
       return TRANSITION_BACK_TO_OFF_STRING;
     case (12701):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-17 11:34:19
+ * Generated on: 2023-05-17 17:15:34
  */
 #include "translateObjects.h"
 

linux/acs/AcsBoardPolling.cpp

@@ -113,6 +113,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != adis.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         adis.type = req->type;
+        adis.decRate = req->cfg.decRateReg;
         // The initial countdown is handled by the device handler now.
         // adis.countdown.setTimeout(adis1650x::START_UP_TIME);
         if (adis.type == adis1650x::Type::ADIS16507) {
@@ -376,6 +377,80 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
   }
 }
 
+ReturnValue_t AcsBoardPolling::writeAdisReg(SpiCookie& cookie) {
+  ReturnValue_t result = returnvalue::OK;
+  int retval = 0;
+  // Prepare transfer
+  int fileDescriptor = 0;
+  std::string device = spiComIF.getSpiDev();
+  UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  if (fileHelper.getOpenResult() != returnvalue::OK) {
+    return spi::OPENING_FILE_FAILED;
+  }
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  cookie.getSpiParameters(spiMode, spiSpeed, nullptr);
+  spiComIF.setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+  cookie.assignWriteBuffer(cmdBuf.data());
+  cookie.setTransferSize(2);
+
+  gpioId_t gpioId = cookie.getChipSelectPin();
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 0;
+  MutexIF* mutex = spiComIF.getCsMutex();
+  cookie.getMutexParams(timeoutType, timeoutMs);
+  if (mutex == nullptr) {
+    sif::warning << "GyroADIS16507Handler::spiSendCallback: "
+                    "Mutex or GPIO interface invalid"
+                 << std::endl;
+    return returnvalue::FAILED;
+  }
+
+  size_t idx = 0;
+  spi_ioc_transfer* transferStruct = cookie.getTransferStructHandle();
+  uint64_t origTx = transferStruct->tx_buf;
+  uint64_t origRx = transferStruct->rx_buf;
+  for (idx = 0; idx < 4; idx += 2) {
+    result = mutex->lockMutex(timeoutType, timeoutMs);
+    if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "AcsBoardPolling: Failed to lock mutex" << std::endl;
+#endif
+      return result;
+    }
+    // Pull SPI CS low. For now, no support for active high given
+    if (gpioId != gpio::NO_GPIO) {
+      gpioIF.pullLow(gpioId);
+    }
+
+    // Execute transfer
+    // Initiate a full duplex SPI transfer.
+    retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie.getTransferStructHandle());
+    if (retval < 0) {
+      utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+      result = spi::FULL_DUPLEX_TRANSFER_FAILED;
+    }
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+    comIf->performSpiWiretapping(cookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+
+    if (gpioId != gpio::NO_GPIO) {
+      gpioIF.pullHigh(gpioId);
+    }
+    mutex->unlockMutex();
+
+    transferStruct->tx_buf += 2;
+    transferStruct->rx_buf += 2;
+    if (idx < 4) {
+      usleep(adis1650x::STALL_TIME_MICROSECONDS);
+    }
+  }
+  transferStruct->tx_buf = origTx;
+  transferStruct->rx_buf = origRx;
+  cookie.setTransferSize(0);
+  return returnvalue::OK;
+}
+
 ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen) {
   ReturnValue_t result = returnvalue::OK;
   int retval = 0;
@@ -455,15 +530,20 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
   ReturnValue_t result;
   acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
   bool mustPerformStartup = false;
+  uint16_t decRate = 0;
   {
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mode = gyro.mode;
+    decRate = gyro.decRate;
     mustPerformStartup = gyro.performStartup;
   }
   if (mode == acs::SimpleSensorMode::OFF) {
     return;
   }
   if (mustPerformStartup) {
+    adis1650x::prepareWriteRegCommand(adis1650x::DEC_RATE_REG, decRate, cmdBuf.data(),
+                                      cmdBuf.size());
+    writeAdisReg(*gyro.cookie);
     uint8_t regList[6];
     // Read configuration
     regList[0] = adis1650x::DIAG_STAT_REG;
@@ -491,13 +571,19 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
       gyro.replyResult = returnvalue::FAILED;
       return;
     }
+    uint16_t decRateReadBack = (rawReply[10] << 8) | rawReply[11];
+    if (decRateReadBack != decRate) {
+      sif::warning << "AcsPollingTask: DEC rate configuration failed. Read " << decRateReadBack
+                   << ", expected " << decRate << std::endl;
+      gyro.replyResult = returnvalue::FAILED;
+    }
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     gyro.ownReply.cfgWasSet = true;
     gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
     gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
     gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
     gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
-    gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
+    gyro.ownReply.cfg.decRateReg = decRateReadBack;
     gyro.ownReply.cfg.prodId = prodId;
     gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
     gyro.performStartup = false;

linux/acs/AcsBoardPolling.h

@@ -37,6 +37,7 @@ class AcsBoardPolling : public SystemObject,
 
   struct GyroAdis : public DevBase {
     adis1650x::Type type;
+    uint16_t decRate;
     Countdown countdown;
     acs::Adis1650XReply ownReply;
     acs::Adis1650XReply readerReply;
@@ -84,6 +85,8 @@ class AcsBoardPolling : public SystemObject,
   void gyroAdisHandler(GyroAdis& gyro);
   void mgmLis3Handler(MgmLis3& mgm);
   void mgmRm3100Handler(MgmRm3100& mgm);
+  // This fumction configures the register as specified on p.21 of the datasheet.
+  ReturnValue_t writeAdisReg(SpiCookie& cookie);
   // Special readout: 16us stall time between small 2 byte transfers.
   ReturnValue_t readAdisCfg(SpiCookie& spiCookie, size_t transferLen);
 };

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 291 translations.
+ * @brief    Auto-generated event translation file. Contains 295 translations.
  * @details
- * Generated on: 2023-04-17 11:34:19
+ * Generated on: 2023-05-17 17:15:34
  */
 #include "translateEvents.h"
 
@@ -197,6 +197,10 @@ const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
 const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
 const char *MPSOC_TM_SIZE_ERROR_STRING = "MPSOC_TM_SIZE_ERROR";
 const char *MPSOC_TM_CRC_MISSMATCH_STRING = "MPSOC_TM_CRC_MISSMATCH";
+const char *MPSOC_FLASH_READ_PACKET_ERROR_STRING = "MPSOC_FLASH_READ_PACKET_ERROR";
+const char *MPSOC_FLASH_READ_FAILED_STRING = "MPSOC_FLASH_READ_FAILED";
+const char *MPSOC_FLASH_READ_SUCCESSFUL_STRING = "MPSOC_FLASH_READ_SUCCESSFUL";
+const char *MPSOC_READ_TIMEOUT_STRING = "MPSOC_READ_TIMEOUT";
 const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
 const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
 const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@@ -683,6 +687,14 @@ const char *translateEvents(Event event) {
       return MPSOC_TM_SIZE_ERROR_STRING;
     case (12613):
       return MPSOC_TM_CRC_MISSMATCH_STRING;
+    case (12614):
+      return MPSOC_FLASH_READ_PACKET_ERROR_STRING;
+    case (12615):
+      return MPSOC_FLASH_READ_FAILED_STRING;
+    case (12616):
+      return MPSOC_FLASH_READ_SUCCESSFUL_STRING;
+    case (12617):
+      return MPSOC_READ_TIMEOUT_STRING;
     case (12700):
       return TRANSITION_BACK_TO_OFF_STRING;
     case (12701):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-17 11:34:19
+ * Generated on: 2023-05-17 17:15:34
  */
 #include "translateObjects.h"
 

linux/payload/CMakeLists.txt

@@ -2,7 +2,8 @@ target_sources(
   ${OBSW_NAME}
   PUBLIC PlocMemoryDumper.cpp
          PlocMpsocHandler.cpp
-         PlocMpsocHelper.cpp
+         PlocMpsocSpecialComHelper.cpp
+         plocMpsocHelpers.cpp
          PlocSupervisorHandler.cpp
          PlocSupvUartMan.cpp
          ScexDleParser.cpp

linux/payload/PlocMpsocHandler.h

@@ -1,9 +1,9 @@
 #ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
 #define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
 
-#include <linux/payload/PlocMpsocHelper.h>
+#include <linux/payload/PlocMpsocSpecialComHelper.h>
 #include <linux/payload/mpsocRetvals.h>
-#include <linux/payload/plocMpscoDefs.h>
+#include <linux/payload/plocMpsocHelpers.h>
 #include <linux/payload/plocSupvDefs.h>
 
 #include <string>
@@ -28,9 +28,10 @@
  * @note The sequence count in the space packets must be incremented with each received and sent
  *       packet otherwise the MPSoC will reply with an acknowledgment failure report.
  *
- * @author	J. Meier
+ * NOTE: This is not an example for a good device handler, DO NOT USE THIS AS A REFERENCE HANDLER.
+ * @author	J. Meier, R. Mueller
  */
-class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
+class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
  public:
   /**
    * @brief Constructor
@@ -43,10 +44,10 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
    *                            module in the programmable logic
    * @param supervisorHandler   Object ID of the supervisor handler
    */
-  PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
+  PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                   PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
+                   PlocMpsocSpecialComHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
                    object_id_t supervisorHandler);
-  virtual ~PlocMPSoCHandler();
+  virtual ~PlocMpsocHandler();
   virtual ReturnValue_t initialize() override;
   ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size) override;
@@ -77,7 +78,9 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
                                       uint8_t expectedReplies = 1, bool useAlternateId = false,
                                       DeviceCommandId_t alternateReplyID = 0) override;
   size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
-  virtual ReturnValue_t doSendReadHook() override;
+  ReturnValue_t doSendReadHook() override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  bool dontCheckQueue() override;
 
  private:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
@@ -103,7 +106,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
 
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
-  static const uint8_t STATUS_OFFSET = 10;
+
+  mpsoc::HkReport hkReport;
 
   MessageQueueIF* eventQueue = nullptr;
   MessageQueueIF* commandActionHelperQueue = nullptr;
@@ -114,6 +118,41 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   SpacePacketCreator creator;
   ploc::SpTcParams spParams = ploc::SpTcParams(creator);
 
+  PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
+  PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
+  PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
+  PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
+  PoolEntry<float> peSysmonTemp = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
+  PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
+  PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
+  PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
+  PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
+  PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
+  PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
+  PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
+  PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
+
   /**
    * This variable is used to store the id of the next reply to receive. This is necessary
    * because the PLOC sends as reply to each command at least one acknowledgment and execution
@@ -123,13 +162,14 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
 
   SerialComIF* uartComIf = nullptr;
 
-  PlocMPSoCHelper* plocMPSoCHelper = nullptr;
+  PlocMpsocSpecialComHelper* specialComHelper = nullptr;
   Gpio uartIsolatorSwitch;
   object_id_t supervisorHandler = 0;
   CommandActionHelper commandActionHelper;
 
   // Used to block incoming commands when MPSoC helper class is currently executing a command
-  bool plocMPSoCHelperExecuting = false;
+  bool specialComHelperExecuting = false;
+  bool commandIsPending = false;
 
   struct TmMemReadReport {
     static const uint8_t FIX_SIZE = 14;
@@ -137,20 +177,18 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   };
 
   TmMemReadReport tmMemReadReport;
-
+  Countdown cmdCountdown = Countdown(10000);
-  struct TmCamCmdRpt {
-    size_t rememberSpacePacketSize = 0;
-  };
-
-  TmCamCmdRpt tmCamCmdRpt;
 
   struct TelemetryBuffer {
     uint16_t length = 0;
     uint8_t buffer[mpsoc::SP_MAX_SIZE];
   };
 
+  size_t foundPacketLen = 0;
   TelemetryBuffer tmBuffer;
+  uint32_t waitCycles = 0;
 
+  enum class StartupState { IDLE, HW_INIT, WAIT_CYCLES, DONE } startupState = StartupState::IDLE;
   enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
 
   PowerState powerState = PowerState::OFF;
@@ -167,6 +205,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   ReturnValue_t prepareTcReplayStop();
   ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcDownlinkPwrOff();
+  ReturnValue_t prepareTcGetHkReport();
+  ReturnValue_t prepareTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcModeIdle();
@@ -174,7 +214,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   ReturnValue_t prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcModeSnapshot();
-  void finishTcPrep(size_t packetLen);
+  ReturnValue_t finishTcPrep(mpsoc::TcBase& tcBase);
 
   /**
    * @brief   This function checks the crc of the received PLOC reply.
@@ -213,6 +253,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
    */
   ReturnValue_t handleMemoryReadReport(const uint8_t* data);
 
+  ReturnValue_t handleGetHkReport(const uint8_t* data);
   ReturnValue_t handleCamCmdRpt(const uint8_t* data);
 
   /**
@@ -231,7 +272,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
    * @param dataSize  Size of telemetry in bytes.
    * @param replyId   Id of the reply. This will be added to the ActionMessage.
    */
-  void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
+  void handleDeviceTm(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
 
   /**
    * @brief   In case an acknowledgment failure reply has been received this function disables
@@ -255,15 +296,11 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
    */
   void disableExeReportReply();
 
-  void printStatus(const uint8_t* data);
-
   ReturnValue_t prepareTcModeReplay();
 
-  uint16_t getStatus(const uint8_t* data);
+  void cmdDoneHandler(bool success, ReturnValue_t result);
 
   void handleActionCommandFailure(ActionId_t actionId);
-
-  std::string getStatusString(uint16_t status);
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

linux/payload/PlocMpsocHelper.cpp

@@ -1,355 +0,0 @@
-#include <linux/payload/PlocMpsocHelper.h>
-
-#include <filesystem>
-#include <fstream>
-
-#ifdef XIPHOS_Q7S
-#include "bsp_q7s/fs/FilesystemHelper.h"
-#endif
-
-#include "mission/utility/Timestamp.h"
-
-using namespace ploc;
-
-PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) {
-  spParams.buf = commandBuffer;
-  spParams.maxSize = sizeof(commandBuffer);
-}
-
-PlocMPSoCHelper::~PlocMPSoCHelper() {}
-
-ReturnValue_t PlocMPSoCHelper::initialize() {
-#ifdef XIPHOS_Q7S
-  sdcMan = SdCardManager::instance();
-  if (sdcMan == nullptr) {
-    sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
-  ReturnValue_t result = returnvalue::OK;
-  semaphore.acquire();
-  while (true) {
-#if OBSW_THREAD_TRACING == 1
-    trace::threadTrace(opCounter, "PLOC MPSOC Helper");
-#endif
-    switch (internalState) {
-      case InternalState::IDLE: {
-        semaphore.acquire();
-        break;
-      }
-      case InternalState::FLASH_WRITE: {
-        result = performFlashWrite();
-        if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
-        } else {
-          triggerEvent(MPSOC_FLASH_WRITE_FAILED);
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      default:
-        sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
-        break;
-    }
-  }
-}
-
-ReturnValue_t PlocMPSoCHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
-  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
-  if (uartComIF == nullptr) {
-    sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
-void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
-
-void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
-  sequenceCount = sequenceCount_;
-}
-
-ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) {
-  ReturnValue_t result = returnvalue::OK;
-#ifdef XIPHOS_Q7S
-  result = FilesystemHelper::checkPath(obcFile);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = FilesystemHelper::fileExists(mpsocFile);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-#endif
-#ifdef TE0720_1CFA
-  if (not std::filesystem::exists(obcFile)) {
-    sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
-                 << std::endl;
-    return returnvalue::FAILED;
-  }
-#endif
-
-  flashWrite.obcFile = obcFile;
-  flashWrite.mpsocFile = mpsocFile;
-  internalState = InternalState::FLASH_WRITE;
-  result = resetHelper();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMPSoCHelper::resetHelper() {
-  ReturnValue_t result = returnvalue::OK;
-  semaphore.release();
-  spParams.buf = commandBuffer;
-  terminate = false;
-  result = uartComIF->flushUartRxBuffer(comCookie);
-  return result;
-}
-
-void PlocMPSoCHelper::stopProcess() { terminate = true; }
-
-ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
-  ReturnValue_t result = returnvalue::OK;
-  result = flashfopen();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  uint8_t tempData[mpsoc::MAX_DATA_SIZE];
-  std::ifstream file(flashWrite.obcFile, std::ifstream::binary);
-  // Set position of next character to end of file input stream
-  file.seekg(0, file.end);
-  // tellg returns position of character in input stream
-  size_t remainingSize = file.tellg();
-  size_t dataLength = 0;
-  size_t bytesRead = 0;
-  while (remainingSize > 0) {
-    if (terminate) {
-      return returnvalue::OK;
-    }
-    if (remainingSize > mpsoc::MAX_DATA_SIZE) {
-      dataLength = mpsoc::MAX_DATA_SIZE;
-    } else {
-      dataLength = remainingSize;
-    }
-    if (file.is_open()) {
-      file.seekg(bytesRead, file.beg);
-      file.read(reinterpret_cast<char*>(tempData), dataLength);
-      bytesRead += dataLength;
-      remainingSize -= dataLength;
-    } else {
-      return FILE_CLOSED_ACCIDENTALLY;
-    }
-    (*sequenceCount)++;
-    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
-    result = tc.buildPacket(tempData, dataLength);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = handlePacketTransmission(tc);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-  }
-  result = flashfclose();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMPSoCHelper::flashfopen() {
-  ReturnValue_t result = returnvalue::OK;
-  spParams.buf = commandBuffer;
-  (*sequenceCount)++;
-  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
-  result = flashFopen.createPacket(flashWrite.mpsocFile, mpsoc::FlashFopen::APPEND);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handlePacketTransmission(flashFopen);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMPSoCHelper::flashfclose() {
-  ReturnValue_t result = returnvalue::OK;
-  spParams.buf = commandBuffer;
-  (*sequenceCount)++;
-  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
-  result = flashFclose.createPacket(flashWrite.mpsocFile);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handlePacketTransmission(flashFclose);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(ploc::SpTcBase& tc) {
-  ReturnValue_t result = returnvalue::OK;
-  result = sendCommand(tc);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleAck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = handleExe();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMPSoCHelper::sendCommand(ploc::SpTcBase& tc) {
-  ReturnValue_t result = returnvalue::OK;
-  result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
-  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));
-    return result;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMPSoCHelper::handleAck() {
-  ReturnValue_t result = returnvalue::OK;
-  result = handleTmReception(mpsoc::SIZE_ACK_REPORT);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
-  result = checkReceivedTm(tmPacket);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  uint16_t apid = tmPacket.getApid();
-  if (apid != mpsoc::apid::ACK_SUCCESS) {
-    handleAckApidFailure(apid);
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
-void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
-  if (apid == mpsoc::apid::ACK_FAILURE) {
-    triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
-    sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
-                 << "report" << std::endl;
-  } else {
-    triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
-    sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
-                 << "but received space packet with apid " << std::hex << apid << std::endl;
-  }
-}
-
-ReturnValue_t PlocMPSoCHelper::handleExe() {
-  ReturnValue_t result = returnvalue::OK;
-
-  result = handleTmReception(mpsoc::SIZE_EXE_REPORT);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  ploc::SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
-  result = checkReceivedTm(tmPacket);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  uint16_t apid = tmPacket.getApid();
-  if (apid != mpsoc::apid::EXE_SUCCESS) {
-    handleExeApidFailure(apid);
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
-}
-
-void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
-  if (apid == mpsoc::apid::EXE_FAILURE) {
-    triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
-    sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
-                 << "report" << std::endl;
-  } else {
-    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
-    sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
-                 << "but received space packet with apid " << std::hex << apid << std::endl;
-  }
-}
-
-ReturnValue_t PlocMPSoCHelper::handleTmReception(size_t remainingBytes) {
-  ReturnValue_t result = returnvalue::OK;
-  size_t readBytes = 0;
-  size_t currentBytes = 0;
-  for (int retries = 0; retries < RETRIES; retries++) {
-    result = receive(tmBuf.data() + readBytes, &currentBytes, remainingBytes);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    readBytes += currentBytes;
-    remainingBytes = remainingBytes - currentBytes;
-    if (remainingBytes == 0) {
-      break;
-    }
-  }
-  if (remainingBytes != 0) {
-    sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
-    triggerEvent(MPSOC_MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
-    return returnvalue::FAILED;
-  }
-  return result;
-}
-
-ReturnValue_t PlocMPSoCHelper::checkReceivedTm(SpTmReader& reader) {
-  ReturnValue_t result = reader.checkSize();
-  if (result != returnvalue::OK) {
-    sif::error << "PlocMPSoCHelper::handleTmReception: Size check on received TM failed"
-               << std::endl;
-    triggerEvent(MPSOC_TM_SIZE_ERROR);
-    return result;
-  }
-  reader.checkCrc();
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
-    triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
-    return result;
-  }
-  (*sequenceCount)++;
-  uint16_t recvSeqCnt = reader.getSequenceCount();
-  if (recvSeqCnt != *sequenceCount) {
-    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
-    *sequenceCount = recvSeqCnt;
-  }
-  return returnvalue::OK;
-}
-
-ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
-  ReturnValue_t result = returnvalue::OK;
-  uint8_t* buffer = nullptr;
-  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
-    triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
-                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
-    return returnvalue::FAILED;
-  }
-  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
-    triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
-    return returnvalue::FAILED;
-  }
-  if (*readBytes > 0) {
-    std::memcpy(data, buffer, *readBytes);
-  }
-  return result;
-}

linux/payload/PlocMpsocSpecialComHelper.cpp

@@ -0,0 +1,544 @@
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <linux/payload/PlocMpsocSpecialComHelper.h>
+#include <unistd.h>
+
+#include <filesystem>
+#include <fstream>
+
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/fs/FilesystemHelper.h"
+#endif
+
+#include "mission/utility/Timestamp.h"
+
+using namespace ploc;
+
+PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId)
+    : SystemObject(objectId) {
+  spParams.buf = commandBuffer;
+  spParams.maxSize = sizeof(commandBuffer);
+}
+
+PlocMpsocSpecialComHelper::~PlocMpsocSpecialComHelper() {}
+
+ReturnValue_t PlocMpsocSpecialComHelper::initialize() {
+#ifdef XIPHOS_Q7S
+  sdcMan = SdCardManager::instance();
+  if (sdcMan == nullptr) {
+    sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
+    return returnvalue::FAILED;
+  }
+#endif
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode) {
+  ReturnValue_t result = returnvalue::OK;
+  semaphore.acquire();
+  while (true) {
+#if OBSW_THREAD_TRACING == 1
+    trace::threadTrace(opCounter, "PLOC MPSOC Helper");
+#endif
+    switch (internalState) {
+      case InternalState::IDLE: {
+        semaphore.acquire();
+        break;
+      }
+      case InternalState::FLASH_WRITE: {
+        result = performFlashWrite();
+        if (result == returnvalue::OK) {
+          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
+        } else {
+          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      case InternalState::FLASH_READ: {
+        result = performFlashRead();
+        if (result == returnvalue::OK) {
+          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
+        } else {
+          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      default:
+        sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
+        break;
+    }
+  }
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
+  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
+  if (uartComIF == nullptr) {
+    sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+void PlocMpsocSpecialComHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
+
+void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
+  sequenceCount = sequenceCount_;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
+                                                         std::string mpsocFile) {
+  if (internalState != InternalState::IDLE) {
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  internalState = InternalState::FLASH_WRITE;
+  return semaphore.release();
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::startFlashRead(std::string obcFile, std::string mpsocFile,
+                                                        size_t readFileSize) {
+  if (internalState != InternalState::IDLE) {
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  flashReadAndWrite.totalReadSize = readFileSize;
+  internalState = InternalState::FLASH_READ;
+  return semaphore.release();
+}
+
+void PlocMpsocSpecialComHelper::resetHelper() {
+  spParams.buf = commandBuffer;
+  terminate = false;
+  uartComIF->flushUartRxBuffer(comCookie);
+}
+
+void PlocMpsocSpecialComHelper::stopProcess() { terminate = true; }
+
+ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
+  ReturnValue_t result = returnvalue::OK;
+  std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary);
+  if (file.bad()) {
+    return returnvalue::FAILED;
+  }
+  result = flashfopen(mpsoc::FileAccessModes::WRITE | mpsoc::FileAccessModes::OPEN_ALWAYS);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  // Set position of next character to end of file input stream
+  file.seekg(0, file.end);
+  // tellg returns position of character in input stream
+  size_t remainingSize = file.tellg();
+  size_t dataLength = 0;
+  size_t bytesRead = 0;
+  while (remainingSize > 0) {
+    if (terminate) {
+      return returnvalue::OK;
+    }
+    // The minus 4 is necessary for unknown reasons. Maybe some bug in the ILH software?
+    if (remainingSize > mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4) {
+      dataLength = mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4;
+    } else {
+      dataLength = remainingSize;
+    }
+    if (file.bad() or not file.is_open()) {
+      return FILE_WRITE_ERROR;
+    }
+    file.seekg(bytesRead, file.beg);
+    file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
+    bytesRead += dataLength;
+    remainingSize -= dataLength;
+    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
+    result = tc.setPayload(fileBuf.data(), dataLength);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = tc.finishPacket();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    (*sequenceCount)++;
+    result = handlePacketTransmissionNoReply(tc);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  result = flashfclose();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
+  std::error_code e;
+  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
+  if (ofile.bad()) {
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
+  if (result != returnvalue::OK) {
+    std::filesystem::remove(flashReadAndWrite.obcFile, e);
+    return result;
+  }
+  size_t readSoFar = 0;
+  size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
+  while (readSoFar < flashReadAndWrite.totalReadSize) {
+    if (terminate) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return returnvalue::OK;
+    }
+    nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
+    if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
+      nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
+    }
+    if (ofile.bad() or not ofile.is_open()) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return FILE_READ_ERROR;
+    }
+    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
+    result = flashReadRequest.setPayload(nextReadSize);
+    if (result != returnvalue::OK) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return result;
+    }
+    result = flashReadRequest.finishPacket();
+    if (result != returnvalue::OK) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return result;
+    }
+    (*sequenceCount)++;
+    result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
+    if (result != returnvalue::OK) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return result;
+    }
+    readSoFar += nextReadSize;
+  }
+  result = flashfclose();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
+  spParams.buf = commandBuffer;
+  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
+  ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = flashFopen.finishPacket();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  (*sequenceCount)++;
+  result = handlePacketTransmissionNoReply(flashFopen);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
+  spParams.buf = commandBuffer;
+  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
+  ReturnValue_t result = flashFclose.finishPacket();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  (*sequenceCount)++;
+  result = handlePacketTransmissionNoReply(flashFclose);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc,
+                                                                           std::ofstream& ofile,
+                                                                           size_t expectedReadLen) {
+  ReturnValue_t result = sendCommand(tc);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = handleTmReception();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  // We have the nominal case where the flash read report appears first, or the case where we
+  // get an EXE failure immediately.
+  if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
+    result = handleFlashReadReply(ofile, expectedReadLen);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    return handleExe();
+  } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
+    handleExeFailure();
+  } else {
+    triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
+    sif::warning << "PLOC MPSoC: Expected execution report "
+                 << "but received space packet with apid " << std::hex << spReader.getApid()
+                 << std::endl;
+  }
+  return returnvalue::FAILED;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
+  ReturnValue_t result = sendCommand(tc);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return handleExe();
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
+  ReturnValue_t result = returnvalue::OK;
+  result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
+  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));
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
+  ReturnValue_t result = returnvalue::OK;
+  result = handleTmReception();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = checkReceivedTm();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  uint16_t apid = spReader.getApid();
+  if (apid != mpsoc::apid::ACK_SUCCESS) {
+    handleAckApidFailure(spReader);
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+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());
+    sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
+    triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
+  } else {
+    triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
+                 << "but received space packet with apid " << std::hex << apid << std::endl;
+  }
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
+  ReturnValue_t result = returnvalue::OK;
+
+  result = handleTmReception();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = checkReceivedTm();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  uint16_t apid = spReader.getApid();
+  if (apid == mpsoc::apid::EXE_FAILURE) {
+    handleExeFailure();
+    return returnvalue::FAILED;
+  } else if (apid != mpsoc::apid::EXE_SUCCESS) {
+    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    sif::warning << "PLOC MPSoC: Expected execution report "
+                 << "but received space packet with apid " << std::hex << apid << std::endl;
+  }
+  return returnvalue::OK;
+}
+
+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));
+}
+
+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 = receive(tmBuf.data() + readBytes, 6, &currentBytes);
+    if (result != returnvalue::OK) {
+      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;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofile,
+                                                              size_t expectedReadLen) {
+  ReturnValue_t result = checkReceivedTm();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  uint16_t apid = spReader.getApid();
+  if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
+    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
+    sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
+    return result;
+  }
+  const uint8_t* packetData = spReader.getPacketData();
+  size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
+  uint32_t receivedReadLen = 0;
+  // I think this is buggy, weird stuff in the short name field.
+  //  std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
+  //  if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 11)) {
+  //    sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and "
+  //                    "received file name"
+  //                 << std::endl;
+  //    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR);
+  //    return returnvalue::FAILED;
+  //  }
+  packetData += 12;
+  result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy,
+                                         SerializeIF::Endianness::NETWORK);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  if (receivedReadLen != expectedReadLen) {
+    sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and "
+                    "received read length"
+                 << std::endl;
+    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR);
+    return returnvalue::FAILED;
+  }
+  ofile.write(reinterpret_cast<const char*>(packetData), receivedReadLen);
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::fileCheck(std::string obcFile) {
+#ifdef XIPHOS_Q7S
+  ReturnValue_t result = FilesystemHelper::checkPath(obcFile);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+#elif defined(TE0720_1CFA)
+  if (not std::filesystem::exists(obcFile)) {
+    sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
+                 << std::endl;
+    return returnvalue::FAILED;
+  }
+#endif
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string obcFile,
+                                                                   std::string mpsocFile) {
+  ReturnValue_t result = fileCheck(obcFile);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  flashReadAndWrite.obcFile = std::move(obcFile);
+  flashReadAndWrite.mpsocFile = std::move(mpsocFile);
+  resetHelper();
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
+  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;
+  }
+  spReader.checkCrc();
+  if (result != returnvalue::OK) {
+    sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
+    triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
+    return result;
+  }
+  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::receive(uint8_t* data, size_t requestBytes,
+                                                 size_t* readBytes) {
+  ReturnValue_t result = returnvalue::OK;
+  uint8_t* buffer = nullptr;
+  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
+  if (result != returnvalue::OK) {
+    sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
+    triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
+                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
+    return returnvalue::FAILED;
+  }
+  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
+  if (result != returnvalue::OK) {
+    sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
+    triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
+    return returnvalue::FAILED;
+  }
+  if (*readBytes > 0) {
+    std::memcpy(data, buffer, *readBytes);
+  }
+  return result;
+}

linux/payload/PlocMpsocSpecialComHelper.h

@@ -1,11 +1,12 @@
 #ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
 #define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
 
-#include <linux/payload/plocMpscoDefs.h>
+#include <linux/payload/plocMpsocHelpers.h>
 #include <mission/utility/trace.h>
 
 #include <string>
 
+#include "OBSWConfig.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/osal/linux/BinarySemaphore.h"
@@ -22,14 +23,14 @@
  *          MPSoC and OBC.
  * @author  J. Meier
  */
-class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
+class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF {
  public:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
 
   //! [EXPORT] : [COMMENT] Flash write fails
   static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
   //! [EXPORT] : [COMMENT] Flash write successful
-  static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
+  static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::INFO);
   //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
   //! to the MPSoC
   //! P1: Return value returned by the communication interface sendMessage function
@@ -71,9 +72,19 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
   static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
   static const Event MPSOC_TM_SIZE_ERROR = MAKE_EVENT(12, severity::LOW);
   static const Event MPSOC_TM_CRC_MISSMATCH = MAKE_EVENT(13, severity::LOW);
+  static const Event MPSOC_FLASH_READ_PACKET_ERROR = MAKE_EVENT(14, severity::LOW);
+  static const Event MPSOC_FLASH_READ_FAILED = MAKE_EVENT(15, severity::LOW);
+  static const Event MPSOC_FLASH_READ_SUCCESSFUL = MAKE_EVENT(16, severity::INFO);
+  static const Event MPSOC_READ_TIMEOUT = MAKE_EVENT(17, severity::LOW);
 
-  PlocMPSoCHelper(object_id_t objectId);
+  enum FlashReadErrorType : uint32_t {
-  virtual ~PlocMPSoCHelper();
+    FLASH_READ_APID_ERROR = 0,
+    FLASH_READ_FILENAME_ERROR = 1,
+    FLASH_READ_READLEN_ERROR = 2
+  };
+
+  PlocMpsocSpecialComHelper(object_id_t objectId);
+  virtual ~PlocMpsocSpecialComHelper();
 
   ReturnValue_t initialize() override;
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
@@ -90,6 +101,14 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
    * @return  returnvalue::OK if successful, otherwise error return value
    */
   ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile);
+  /**
+   *
+   * @param obcFile Full target file name on OBC
+   * @param mpsocFile The file on the MPSoC which should be copied ot the OBC
+   * @param readFileSize The size of the file on the MPSoC.
+   * @return
+   */
+  ReturnValue_t startFlashRead(std::string obcFile, std::string mpsocFile, size_t readFileSize);
 
   /**
    * @brief   Can be used to interrupt a running data transfer.
@@ -104,20 +123,25 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
 
-  //! [EXPORT] : [COMMENT] File accidentally close
+  //! [EXPORT] : [COMMENT] File error occured for file transfers from OBC to the MPSoC.
-  static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
+  static const ReturnValue_t FILE_WRITE_ERROR = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] File error occured for file transfers from MPSoC to OBC.
+  static const ReturnValue_t FILE_READ_ERROR = MAKE_RETURN_CODE(0xA1);
 
   // Maximum number of times the communication interface retries polling data from the reply
   // buffer
   static const int RETRIES = 10000;
 
-  struct FlashWrite {
+  struct FlashInfo {
     std::string obcFile;
     std::string mpsocFile;
   };
 
-  struct FlashWrite flashWrite;
+  struct FlashRead : public FlashInfo {
+    size_t totalReadSize = 0;
+  };
 
+  struct FlashRead flashReadAndWrite;
 #if OBSW_THREAD_TRACING == 1
   uint32_t opCounter = 0;
 #endif
@@ -134,7 +158,10 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
   SpacePacketCreator creator;
   ploc::SpTcParams spParams = ploc::SpTcParams(creator);
 
-  std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf;
+  Countdown tmCountdown = Countdown(5000);
+
+  std::array<uint8_t, mpsoc::SP_MAX_DATA_SIZE> fileBuf{};
+  std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf{};
 
   bool terminate = false;
 
@@ -147,20 +174,27 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
   CookieIF* comCookie = nullptr;
   // Sequence count, must be set by Ploc MPSoC Handler
   SourceSequenceCounter* sequenceCount = nullptr;
+  ploc::SpTmReader spReader;
 
-  ReturnValue_t resetHelper();
+  void resetHelper();
   ReturnValue_t performFlashWrite();
-  ReturnValue_t flashfopen();
+  ReturnValue_t performFlashRead();
+  ReturnValue_t flashfopen(uint8_t accessMode);
   ReturnValue_t flashfclose();
-  ReturnValue_t handlePacketTransmission(ploc::SpTcBase& tc);
+  ReturnValue_t handlePacketTransmissionNoReply(ploc::SpTcBase& tc);
+  ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc, std::ofstream& ofile,
+                                                  size_t expectedReadLen);
+  ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
   ReturnValue_t sendCommand(ploc::SpTcBase& tc);
-  ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
+  ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
   ReturnValue_t handleAck();
   ReturnValue_t handleExe();
-  void handleAckApidFailure(uint16_t apid);
+  ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
-  void handleExeApidFailure(uint16_t apid);
+  ReturnValue_t fileCheck(std::string obcFile);
-  ReturnValue_t handleTmReception(size_t remainingBytes);
+  void handleAckApidFailure(const ploc::SpTmReader& reader);
-  ReturnValue_t checkReceivedTm(ploc::SpTmReader& reader);
+  void handleExeFailure();
+  ReturnValue_t handleTmReception();
+  ReturnValue_t checkReceivedTm();
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */

linux/payload/PlocSupervisorHandler.cpp

@@ -151,7 +151,7 @@ void PlocSupervisorHandler::doStartUp() {
       }
     }
   }
-  if (startupState == StartupState::SET_TIME_EXECUTING) {
+  if (startupState == StartupState::TIME_WAS_SET) {
     startupState = StartupState::ON;
   }
   if (startupState == StartupState::ON) {
@@ -176,7 +176,7 @@ ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t*
 ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   if (startupState == StartupState::SET_TIME) {
     *id = supv::SET_TIME_REF;
-    startupState = StartupState::SET_TIME_EXECUTING;
+    startupState = StartupState::WAIT_FOR_TIME_REPLY;
     return buildCommandFromCommand(*id, nullptr, 0);
   }
   return NOTHING_TO_SEND;
@@ -1909,6 +1909,10 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionSuccessReport(ExecutionRepor
     case supv::SET_TIME_REF: {
       // We could only allow proper bootup when the time was set successfully, but
       // this makes debugging difficult.
+
+      if (startupState == StartupState::WAIT_FOR_TIME_REPLY) {
+        startupState = StartupState::TIME_WAS_SET;
+      }
       break;
     }
     default:

linux/payload/PlocSupervisorHandler.h

@@ -99,7 +99,14 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   static const uint32_t MRAM_DUMP_TIMEOUT = 60000;
   // 4 s
   static const uint32_t BOOT_TIMEOUT = 4000;
-  enum class StartupState : uint8_t { OFF, BOOTING, SET_TIME, SET_TIME_EXECUTING, ON };
+  enum class StartupState : uint8_t {
+    OFF,
+    BOOTING,
+    SET_TIME,
+    WAIT_FOR_TIME_REPLY,
+    TIME_WAS_SET,
+    ON
+  };
 
   static constexpr bool SET_TIME_DURING_BOOT = true;
 

linux/payload/plocMpsocHelpers.cpp

@@ -0,0 +1,95 @@
+#include "plocMpsocHelpers.h"
+
+uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
+  return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
+}
+std::string mpsoc::getStatusString(uint16_t status) {
+  switch (status) {
+    case (mpsoc::status_code::UNKNOWN_APID): {
+      return "Unknown APID";
+      break;
+    }
+    case (mpsoc::status_code::INCORRECT_LENGTH): {
+      return "Incorrect length";
+      break;
+    }
+    case (mpsoc::status_code::INCORRECT_CRC): {
+      return "Incorrect crc";
+      break;
+    }
+    case (mpsoc::status_code::INCORRECT_PKT_SEQ_CNT): {
+      return "Incorrect packet sequence count";
+      break;
+    }
+    case (mpsoc::status_code::TC_NOT_ALLOWED_IN_MODE): {
+      return "TC not allowed in this mode";
+      break;
+    }
+    case (mpsoc::status_code::TC_EXEUTION_DISABLED): {
+      return "TC execution disabled";
+      break;
+    }
+    case (mpsoc::status_code::FLASH_MOUNT_FAILED): {
+      return "Flash mount failed";
+      break;
+    }
+    case (mpsoc::status_code::FLASH_FILE_ALREADY_OPEN): {
+      return "Flash file already open";
+      break;
+    }
+    case (mpsoc::status_code::FLASH_FILE_ALREADY_CLOSED): {
+      return "Flash file already closed";
+      break;
+    }
+    case (mpsoc::status_code::FLASH_FILE_OPEN_FAILED): {
+      return "Flash file open failed";
+      break;
+    }
+    case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
+      return "Flash file not open";
+      break;
+    }
+    case (mpsoc::status_code::FLASH_UNMOUNT_FAILED): {
+      return "Flash unmount failed";
+      break;
+    }
+    case (mpsoc::status_code::HEAP_ALLOCATION_FAILED): {
+      return "Heap allocation failed";
+      break;
+    }
+    case (mpsoc::status_code::INVALID_PARAMETER): {
+      return "Invalid parameter";
+      break;
+    }
+    case (mpsoc::status_code::NOT_INITIALIZED): {
+      return "Not initialized";
+      break;
+    }
+    case (mpsoc::status_code::REBOOT_IMMINENT): {
+      return "Reboot imminent";
+      break;
+    }
+    case (mpsoc::status_code::CORRUPT_DATA): {
+      return "Corrupt data";
+      break;
+    }
+    case (mpsoc::status_code::FLASH_CORRECTABLE_MISMATCH): {
+      return "Flash correctable mismatch";
+      break;
+    }
+    case (mpsoc::status_code::FLASH_UNCORRECTABLE_MISMATCH): {
+      return "Flash uncorrectable mismatch";
+      break;
+    }
+    case (mpsoc::status_code::DEFAULT_ERROR_CODE): {
+      return "Default error code";
+      break;
+    }
+    default:
+      std::stringstream ss;
+      ss << "0x" << std::hex << status;
+      return ss.str().c_str();
+      break;
+  }
+  return "";
+}

linux/payload/plocMpsocHelpers.h

@@ -1,6 +1,7 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
 
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <linux/payload/mpsocRetvals.h>
 #include <mission/payload/plocSpBase.h>
@@ -12,6 +13,61 @@
 
 namespace mpsoc {
 
+enum FileAccessModes : uint8_t {
+  // Opens a file, fails if the file does not exist.
+  OPEN_EXISTING = 0x00,
+  READ = 0x01,
+  WRITE = 0x02,
+  // Creates a new file, fails if it already exists.
+  CREATE_NEW = 0x04,
+  // Creates a new file, existing file is truncated and overwritten.
+  CREATE_ALWAYS = 0x08,
+  // Opens the file if it is existing. If not, a new file is created.
+  OPEN_ALWAYS = 0x10,
+  OPEN_APPEND = 0x30
+};
+
+static constexpr uint32_t HK_SET_ID = 0;
+
+namespace poolid {
+enum {
+  STATUS = 0,
+  MODE = 1,
+  DOWNLINK_PWR_ON = 2,
+  DOWNLINK_REPLY_ACTIIVE = 3,
+  DOWNLINK_JESD_SYNC_STATUS = 4,
+  DOWNLINK_DAC_STATUS = 5,
+  CAM_STATUS = 6,
+  CAM_SDI_STATUS = 7,
+  CAM_FPGA_TEMP = 8,
+  CAM_SOC_TEMP = 9,
+  SYSMON_TEMP = 10,
+  SYSMON_VCCINT = 11,
+  SYSMON_VCCAUX = 12,
+  SYSMON_VCCBRAM = 13,
+  SYSMON_VCCPAUX = 14,
+  SYSMON_VCCPINT = 15,
+  SYSMON_VCCPDRO = 16,
+  SYSMON_MB12V = 17,
+  SYSMON_MB3V3 = 18,
+  SYSMON_MB1V8 = 19,
+  SYSMON_VCC12V = 20,
+  SYSMON_VCC5V = 21,
+  SYSMON_VCC3V3 = 22,
+  SYSMON_VCC3V3VA = 23,
+  SYSMON_VCC2V5DDR = 24,
+  SYSMON_VCC1V2DDR = 25,
+  SYSMON_VCC0V9 = 26,
+  SYSMON_VCC0V6VTT = 27,
+  SYSMON_SAFE_COTS_CUR = 28,
+  SYSMON_NVM4_XO_CUR = 29,
+  SEM_UNCORRECTABLE_ERRS = 30,
+  SEM_CORRECTABLE_ERRS = 31,
+  SEM_STATUS = 32,
+  REBOOT_MPSOC_REQUIRED = 33,
+};
+}
+
 static const DeviceCommandId_t NONE = 0;
 static const DeviceCommandId_t TC_MEM_WRITE = 1;
 static const DeviceCommandId_t TC_MEM_READ = 2;
@@ -20,7 +76,7 @@ static const DeviceCommandId_t EXE_REPORT = 5;
 static const DeviceCommandId_t TM_MEMORY_READ_REPORT = 6;
 static const DeviceCommandId_t TC_FLASHFOPEN = 7;
 static const DeviceCommandId_t TC_FLASHFCLOSE = 8;
-static const DeviceCommandId_t TC_FLASHWRITE = 9;
+static const DeviceCommandId_t TC_FLASH_WRITE_FULL_FILE = 9;
 static const DeviceCommandId_t TC_FLASHDELETE = 10;
 static const DeviceCommandId_t TC_REPLAY_START = 11;
 static const DeviceCommandId_t TC_REPLAY_STOP = 12;
@@ -37,6 +93,11 @@ static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22;
 static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23;
 static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24;
 static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25;
+static const DeviceCommandId_t TC_GET_HK_REPORT = 26;
+static const DeviceCommandId_t TM_GET_HK_REPORT = 27;
+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;
 
 // Will reset the sequence count of the OBSW
 static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
@@ -45,6 +106,7 @@ 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;
 
 /**
  * SpacePacket apids of PLOC telecommands and telemetry.
@@ -57,23 +119,32 @@ static const uint16_t TC_DOWNLINK_PWR_ON = 0x113;
 static const uint16_t TC_MEM_WRITE = 0x114;
 static const uint16_t TC_MEM_READ = 0x115;
 static const uint16_t TC_CAM_TAKE_PIC = 0x116;
-static const uint16_t TC_FLASHWRITE = 0x117;
+static constexpr uint16_t TC_FLASHWRITE = 0x117;
+static constexpr uint16_t TC_FLASHREAD = 0x118;
 static const uint16_t TC_FLASHFOPEN = 0x119;
 static const uint16_t TC_FLASHFCLOSE = 0x11A;
+static constexpr uint16_t TC_FLASH_GET_DIRECTORY_CONTENT = 0x11B;
 static const uint16_t TC_FLASHDELETE = 0x11C;
+static constexpr uint16_t TC_FLASH_CREATE_DIR = 0x11D;
 static const uint16_t TC_MODE_IDLE = 0x11E;
 static const uint16_t TC_MODE_REPLAY = 0x11F;
 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 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;
-static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
+
 static const uint16_t ACK_SUCCESS = 0x400;
 static const uint16_t ACK_FAILURE = 0x401;
 static const uint16_t EXE_SUCCESS = 0x402;
 static const uint16_t EXE_FAILURE = 0x403;
+static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
+static const uint16_t TM_FLASH_READ_REPORT = 0x405;
+static constexpr uint16_t TM_FLASH_DIRECTORY_CONTENT = 0x406;
 static const uint16_t TM_CAM_CMD_RPT = 0x407;
+static constexpr uint16_t TM_HK_GET_REPORT = 0x408;
 }  // namespace apid
 
 /** Offset from first byte in space packet to first byte of data field */
@@ -83,6 +154,8 @@ static const char NULL_TERMINATOR = '\0';
 static const uint8_t MIN_SPACE_PACKET_LENGTH = 7;
 static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;
 
+static const uint8_t STATUS_OFFSET = 10;
+
 static constexpr size_t CRC_SIZE = 2;
 
 /**
@@ -106,9 +179,15 @@ static const uint16_t LENGTH_TC_MEM_READ = 8;
  * at sheet README
  */
 static constexpr size_t SP_MAX_SIZE = 1024;
-static const size_t MAX_REPLY_SIZE = SP_MAX_SIZE * 3;
+static constexpr size_t MAX_REPLY_SIZE = SP_MAX_SIZE * 3;
-static const size_t MAX_COMMAND_SIZE = SP_MAX_SIZE;
+static constexpr size_t MAX_COMMAND_SIZE = SP_MAX_SIZE;
-static const size_t MAX_DATA_SIZE = 1016;
+// 1016 bytes.
+static constexpr size_t SP_MAX_DATA_SIZE = SP_MAX_SIZE - ccsds::HEADER_LEN - CRC_SIZE;
+static constexpr size_t FLASH_READ_MIN_OVERHEAD = 16;
+// 1000 bytes.
+static const size_t MAX_FLASH_READ_DATA_SIZE = SP_MAX_DATA_SIZE - FLASH_READ_MIN_OVERHEAD;
+// 1012 bytes, 4 bytes for the write length.
+static constexpr size_t MAX_FLASH_WRITE_DATA_SIZE = SP_MAX_DATA_SIZE - sizeof(uint32_t);
 
 /**
  * The replay write sequence command has a maximum delay for the execution report which amounts to
@@ -131,7 +210,7 @@ static const uint16_t TC_EXEUTION_DISABLED = 0x5E2;
 static const uint16_t FLASH_MOUNT_FAILED = 0x5E3;
 static const uint16_t FLASH_FILE_ALREADY_CLOSED = 0x5E4;
 static const uint16_t FLASH_FILE_OPEN_FAILED = 0x5E5;
-static const uint16_t FLASH_FILE_ALREDY_OPEN = 0x5E6;
+static const uint16_t FLASH_FILE_ALREADY_OPEN = 0x5E6;
 static const uint16_t FLASH_FILE_NOT_OPEN = 0x5E7;
 static const uint16_t FLASH_UNMOUNT_FAILED = 0x5E8;
 static const uint16_t HEAP_ALLOCATION_FAILED = 0x5E9;
@@ -156,7 +235,7 @@ class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
   virtual ~TcBase() = default;
 
   // Initial length field of space packet. Will always be updated when packet is created.
-  static const uint16_t INIT_LENGTH = 2;
+  static const uint16_t INIT_LENGTH = CRC_SIZE;
 
   /**
    * @brief    Constructor
@@ -166,47 +245,23 @@ class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
    */
   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);
   }
 
-  ReturnValue_t buildPacket() { return buildPacket(nullptr, 0); }
-
   /**
-   * @brief   Function to initialize the space packet
+   * @brief   Function to finsh and write the space packet. It is expected that the user has
-   *
+   * set the payload fields in the child class*
-   * @param commandData       Pointer to command specific data
-   * @param commandDataLen    Length of command data
-   *
    * @return  returnvalue::OK if packet creation was successful, otherwise error return value
    */
-  ReturnValue_t buildPacket(const uint8_t* commandData, size_t commandDataLen) {
+  ReturnValue_t finishPacket() {
-    payloadStart = spParams.buf + ccsds::HEADER_LEN;
-    ReturnValue_t res;
-    if (commandData != nullptr and commandDataLen > 0) {
-      res = initPacket(commandData, commandDataLen);
-      if (res != returnvalue::OK) {
-        return res;
-      }
-    }
-
     updateSpFields();
-    res = checkSizeAndSerializeHeader();
+    ReturnValue_t res = checkSizeAndSerializeHeader();
     if (res != returnvalue::OK) {
       return res;
     }
     return calcAndSetCrc();
   }
-
- protected:
-  /**
-   * @brief   Must be overwritten by the child class to define the command specific parameters
-   *
-   * @param commandData       Pointer to received command data
-   * @param commandDataLen    Length of received command data
-   */
-  virtual ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
-    return returnvalue::OK;
-  }
 };
 
 /**
@@ -224,8 +279,7 @@ class TcMemRead : public TcBase {
 
   uint16_t getMemLen() const { return memLen; }
 
- protected:
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = returnvalue::OK;
     result = lengthCheck(commandDataLen);
     if (result != returnvalue::OK) {
@@ -271,8 +325,7 @@ class TcMemWrite : public TcBase {
   TcMemWrite(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_MEM_WRITE, sequenceCount) {}
 
- protected:
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = returnvalue::OK;
     result = lengthCheck(commandDataLen);
     if (result != returnvalue::OK) {
@@ -314,72 +367,58 @@ class TcMemWrite : public TcBase {
 /**
  * @brief   Class to help creation of flash fopen command.
  */
-class FlashFopen : public ploc::SpTcBase {
+class FlashFopen : public TcBase {
  public:
   FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}
+      : TcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}
 
-  static const char APPEND = 'a';
+  ReturnValue_t setPayload(std::string filename, uint8_t mode) {
-  static const char WRITE = 'w';
+    accessMode = mode;
-  static const char READ = 'r';
-
-  ReturnValue_t createPacket(std::string filename, char accessMode_) {
-    accessMode = accessMode_;
     size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode) + CRC_SIZE);
+    spParams.setFullPayloadLen(256 + sizeof(uint8_t) + CRC_SIZE);
     ReturnValue_t result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
     }
     std::memcpy(payloadStart, filename.c_str(), nameSize);
-    *(spParams.buf + nameSize) = NULL_TERMINATOR;
+    // payloadStart[nameSize] = NULL_TERMINATOR;
-    std::memcpy(payloadStart + nameSize + sizeof(NULL_TERMINATOR), &accessMode, sizeof(accessMode));
+    std::memset(payloadStart + nameSize, 0, 256 - nameSize);
-    updateSpFields();
+    // payloadStart[255] = NULL_TERMINATOR;
-    return calcAndSetCrc();
+    payloadStart[256] = accessMode;
+    return returnvalue::OK;
   }
 
  private:
-  char accessMode = APPEND;
+  uint8_t accessMode = FileAccessModes::OPEN_EXISTING;
 };
 
 /**
  * @brief   Class to help creation of flash fclose command.
  */
-class FlashFclose : public ploc::SpTcBase {
+class FlashFclose : public TcBase {
  public:
   FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {}
+      : TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
-
+    spParams.setFullPayloadLen(CRC_SIZE);
-  ReturnValue_t createPacket(std::string filename) {
-    size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
-    ReturnValue_t result = checkPayloadLen();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    std::memcpy(payloadStart, filename.c_str(), nameSize);
-    *(payloadStart + nameSize) = NULL_TERMINATOR;
-    return calcAndSetCrc();
   }
 };
 
 /**
  * @brief   Class to build flash write space packet.
  */
-class TcFlashWrite : public ploc::SpTcBase {
+class TcFlashWrite : public TcBase {
  public:
   TcFlashWrite(ploc::SpTcParams params, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid::TC_FLASHWRITE, sequenceCount) {}
+      : TcBase(params, apid::TC_FLASHWRITE, sequenceCount) {}
 
-  ReturnValue_t buildPacket(const uint8_t* writeData, uint32_t writeLen_) {
+  ReturnValue_t setPayload(const uint8_t* writeData, uint32_t writeLen_) {
-    ReturnValue_t result = returnvalue::OK;
     writeLen = writeLen_;
-    if (writeLen > MAX_DATA_SIZE) {
+    if (writeLen > MAX_FLASH_WRITE_DATA_SIZE) {
-      sif::debug << "FlashWrite::createPacket: Command data too big" << std::endl;
+      sif::error << "TcFlashWrite: Command data too big" << std::endl;
       return returnvalue::FAILED;
     }
-    spParams.setFullPayloadLen(static_cast<uint16_t>(writeLen) + 4 + CRC_SIZE);
+    spParams.setFullPayloadLen(sizeof(uint32_t) + static_cast<uint16_t>(writeLen) + CRC_SIZE);
-    result = checkPayloadLen();
+    ReturnValue_t result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
     }
@@ -389,11 +428,11 @@ class TcFlashWrite : public ploc::SpTcBase {
     if (result != returnvalue::OK) {
       return result;
     }
-    std::memcpy(payloadStart + sizeof(writeLen), writeData, writeLen);
+    std::memcpy(payloadStart + sizeof(uint32_t), writeData, writeLen);
     updateSpFields();
-    auto res = checkSizeAndSerializeHeader();
+    result = checkSizeAndSerializeHeader();
-    if (res != returnvalue::OK) {
+    if (result != returnvalue::OK) {
-      return res;
+      return result;
     }
     return calcAndSetCrc();
   }
@@ -402,15 +441,52 @@ class TcFlashWrite : public ploc::SpTcBase {
   uint32_t writeLen = 0;
 };
 
+class TcFlashRead : public TcBase {
+ public:
+  TcFlashRead(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_FLASHREAD, sequenceCount) {}
+
+  ReturnValue_t setPayload(uint32_t readLen) {
+    if (readLen > MAX_FLASH_READ_DATA_SIZE) {
+      sif::error << "TcFlashRead: Read length " << readLen << " too large" << std::endl;
+      return returnvalue::FAILED;
+    }
+    spParams.setFullPayloadLen(sizeof(uint32_t) + CRC_SIZE);
+    ReturnValue_t result = checkPayloadLen();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    size_t serializedSize = ccsds::HEADER_LEN;
+    result = SerializeAdapter::serialize(&readLen, payloadStart, &serializedSize, spParams.maxSize,
+                                         SerializeIF::Endianness::NETWORK);
+    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;
+  }
+
+  uint32_t readSize = 0;
+};
+
 /**
  * @brief   Class to help creation of flash delete command.
  */
-class TcFlashDelete : public ploc::SpTcBase {
+class TcFlashDelete : public TcBase {
  public:
   TcFlashDelete(ploc::SpTcParams params, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid::TC_FLASHDELETE, sequenceCount) {}
+      : TcBase(params, apid::TC_FLASHDELETE, sequenceCount) {}
 
-  ReturnValue_t buildPacket(std::string filename) {
+  ReturnValue_t setPayload(std::string filename) {
     size_t nameSize = filename.size();
     spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
     auto res = checkPayloadLen();
@@ -449,8 +525,7 @@ class TcReplayStart : public TcBase {
   TcReplayStart(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_REPLAY_START, sequenceCount) {}
 
- protected:
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = returnvalue::OK;
     spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
     result = lengthCheck(commandDataLen);
@@ -498,8 +573,7 @@ class TcDownlinkPwrOn : public TcBase {
   TcDownlinkPwrOn(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_DOWNLINK_PWR_ON, sequenceCount) {}
 
- protected:
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = returnvalue::OK;
     result = lengthCheck(commandDataLen);
     if (result != returnvalue::OK) {
@@ -561,6 +635,30 @@ class TcDownlinkPwrOn : public TcBase {
   }
 };
 
+class TcGetHkReport : public TcBase {
+ public:
+  TcGetHkReport(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_HK_GET_REPORT, sequenceCount) {}
+};
+
+class TcGetDirContent : public TcBase {
+ public:
+  TcGetDirContent(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_FLASH_GET_DIRECTORY_CONTENT, sequenceCount) {}
+
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
+    ReturnValue_t result = returnvalue::OK;
+    // Yeah it needs to be 256.. even if the path is shorter.
+    spParams.setFullPayloadLen(256 + CRC_SIZE);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    std::memcpy(payloadStart, commandData, commandDataLen);
+    payloadStart[255] = '\0';
+    return result;
+  }
+};
+
 /**
  * @brief   Class to build replay stop space packet.
  */
@@ -581,8 +679,7 @@ class TcReplayWriteSeq : public TcBase {
   TcReplayWriteSeq(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_REPLAY_WRITE_SEQUENCE, sequenceCount) {}
 
- protected:
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     ReturnValue_t result = returnvalue::OK;
     spParams.setFullPayloadLen(commandDataLen + sizeof(NULL_TERMINATOR) + CRC_SIZE);
     result = lengthCheck(commandDataLen);
@@ -611,36 +708,69 @@ class TcReplayWriteSeq : public TcBase {
 /**
  * @brief   Helps to extract the fields of the flash write command from the PUS packet.
  */
-class FlashWritePusCmd : public MPSoCReturnValuesIF {
+class FlashBasePusCmd : public MPSoCReturnValuesIF {
  public:
-  FlashWritePusCmd(){};
+  FlashBasePusCmd() = default;
+  virtual ~FlashBasePusCmd() = default;
 
-  ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
+  virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
     if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
       return INVALID_LENGTH;
     }
-    obcFile = std::string(reinterpret_cast<const char*>(commandData));
+    size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
-    if (obcFile.size() > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
+    if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
       return FILENAME_TOO_LONG;
     }
-    mpsocFile = std::string(
+    obcFile = std::string(reinterpret_cast<const char*>(commandData), fileLen);
-        reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR));
+    fileLen =
-    if (mpsocFile.size() > MAX_FILENAME_SIZE) {
+        strnlen(reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
+                commandDataLen - obcFile.size() - 1);
+    if (fileLen > MAX_FILENAME_SIZE) {
       return MPSOC_FILENAME_TOO_LONG;
     }
+    mpsocFile = std::string(
+        reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
+        fileLen);
     return returnvalue::OK;
   }
 
-  std::string getObcFile() { return obcFile; }
+  const std::string& getObcFile() const { return obcFile; }
 
-  std::string getMPSoCFile() { return mpsocFile; }
+  const std::string& getMPSoCFile() const { return mpsocFile; }
+
+ protected:
+  size_t getParsedSize() const {
+    return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR;
+  }
+  static const size_t SIZE_NULL_TERMINATOR = 1;
 
  private:
-  static const size_t SIZE_NULL_TERMINATOR = 1;
+  std::string obcFile;
-  std::string obcFile = "";
+  std::string mpsocFile;
-  std::string mpsocFile = "";
 };
 
+class FlashReadPusCmd : public FlashBasePusCmd {
+ public:
+  FlashReadPusCmd(){};
+
+  ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) override {
+    ReturnValue_t result = FlashBasePusCmd::extractFields(commandData, commandDataLen);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    if (commandDataLen < (getParsedSize() + 4)) {
+      return returnvalue::FAILED;
+    }
+    size_t deserDummy = 4;
+    return SerializeAdapter::deSerialize(&readSize, commandData + getParsedSize(), &deserDummy,
+                                         SerializeIF::Endianness::NETWORK);
+  }
+
+  size_t getReadSize() const { return readSize; }
+
+ private:
+  size_t readSize = 0;
+};
 /**
  * @brief   Class to build replay stop space packet.
  */
@@ -676,7 +806,7 @@ class TcCamTakePic : public TcBase {
   TcCamTakePic(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
 
-  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
     if (commandDataLen > MAX_DATA_LENGTH) {
       return INVALID_LENGTH;
     }
@@ -705,7 +835,7 @@ class TcSimplexSendFile : public TcBase {
   TcSimplexSendFile(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
 
-  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
     if (commandDataLen > MAX_DATA_LENGTH) {
       return INVALID_LENGTH;
     }
@@ -730,7 +860,7 @@ class TcDownlinkDataModulate : public TcBase {
   TcDownlinkDataModulate(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_DOWNLINK_DATA_MODULATE, sequenceCount) {}
 
-  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
     if (commandDataLen > MAX_DATA_LENGTH) {
       return INVALID_LENGTH;
     }
@@ -748,8 +878,7 @@ class TcCamcmdSend : public TcBase {
   TcCamcmdSend(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_CAM_CMD_SEND, sequenceCount) {}
 
- protected:
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-  ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
     if (commandDataLen > MAX_DATA_LENGTH) {
       return INVALID_LENGTH;
     }
@@ -774,6 +903,69 @@ class TcCamcmdSend : public TcBase {
   static const uint8_t CARRIAGE_RETURN = 0xD;
 };
 
+class HkReport : public StaticLocalDataSet<36> {
+ public:
+  HkReport(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HK_SET_ID) {}
+
+  HkReport(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, HK_SET_ID)) {}
+
+  lp_var_t<uint32_t> status = lp_var_t<uint32_t>(sid.objectId, mpsoc::poolid::STATUS, this);
+  lp_var_t<uint8_t> mode = lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::MODE, this);
+  lp_var_t<uint8_t> downlinkPwrOn =
+      lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::DOWNLINK_PWR_ON, this);
+  lp_var_t<uint8_t> downlinkReplyActive =
+      lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::DOWNLINK_REPLY_ACTIIVE, this);
+  lp_var_t<uint8_t> downlinkJesdSyncStatus =
+      lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::DOWNLINK_JESD_SYNC_STATUS, this);
+  lp_var_t<uint8_t> downlinkDacStatus =
+      lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::DOWNLINK_DAC_STATUS, this);
+  lp_var_t<uint8_t> camStatus = lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::CAM_STATUS, this);
+  lp_var_t<uint8_t> camSdiStatus =
+      lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::CAM_SDI_STATUS, this);
+  lp_var_t<float> camFpgaTemp = lp_var_t<float>(sid.objectId, mpsoc::poolid::CAM_FPGA_TEMP, this);
+  lp_var_t<float> camSocTemp = lp_var_t<float>(sid.objectId, mpsoc::poolid::CAM_SOC_TEMP, this);
+  lp_var_t<float> sysmonTemp = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_TEMP, this);
+  lp_var_t<float> sysmonVccInt = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCINT, this);
+  lp_var_t<float> sysmonVccAux = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCAUX, this);
+  lp_var_t<float> sysmonVccBram =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCBRAM, this);
+  lp_var_t<float> sysmonVccPaux =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCPAUX, this);
+  lp_var_t<float> sysmonVccPint =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCPINT, this);
+  lp_var_t<float> sysmonVccPdro =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCCPDRO, this);
+  lp_var_t<float> sysmonMb12V = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_MB12V, this);
+  lp_var_t<float> sysmonMb3V3 = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_MB3V3, this);
+  lp_var_t<float> sysmonMb1V8 = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_MB1V8, this);
+  lp_var_t<float> sysmonVcc12V = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC12V, this);
+  lp_var_t<float> sysmonVcc5V = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC5V, this);
+  lp_var_t<float> sysmonVcc3V3 = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC3V3, this);
+  lp_var_t<float> sysmonVcc3V3VA =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC3V3VA, this);
+  lp_var_t<float> sysmonVcc2V5DDR =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC2V5DDR, this);
+  lp_var_t<float> sysmonVcc1V2DDR =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC1V2DDR, this);
+  lp_var_t<float> sysmonVcc0V9 = lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC0V9, this);
+  lp_var_t<float> sysmonVcc0V6VTT =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_VCC0V6VTT, this);
+  lp_var_t<float> sysmonSafeCotsCur =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_SAFE_COTS_CUR, this);
+  lp_var_t<float> sysmonNvm4XoCur =
+      lp_var_t<float>(sid.objectId, mpsoc::poolid::SYSMON_NVM4_XO_CUR, this);
+  lp_var_t<uint16_t> semUncorrectableErrs =
+      lp_var_t<uint16_t>(sid.objectId, mpsoc::poolid::SEM_UNCORRECTABLE_ERRS, this);
+  lp_var_t<uint16_t> semCorrectableErrs =
+      lp_var_t<uint16_t>(sid.objectId, mpsoc::poolid::SEM_CORRECTABLE_ERRS, this);
+  lp_var_t<uint8_t> semStatus = lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::SEM_STATUS, this);
+  lp_var_t<uint8_t> rebootMpsocRequired =
+      lp_var_t<uint8_t>(sid.objectId, mpsoc::poolid::REBOOT_MPSOC_REQUIRED, this);
+};
+
+uint16_t getStatusFromRawData(const uint8_t* data);
+std::string getStatusString(uint16_t status);
+
 }  // namespace mpsoc
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */

mission/acs/GyrAdis1650XHandler.cpp

@@ -15,7 +15,7 @@ GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t devic
 }
 
 void GyrAdis1650XHandler::doStartUp() {
-  if (internalState != InternalState::STARTUP) {
+  if (internalState == InternalState::NONE) {
     internalState = InternalState::STARTUP;
     commandExecuted = false;
   }
@@ -24,13 +24,14 @@ void GyrAdis1650XHandler::doStartUp() {
     if (not commandExecuted) {
       warningSwitch = true;
       breakCountdown.setTimeout(adis1650x::START_UP_TIME);
+      updatePeriodicReply(true, adis1650x::REPLY);
       commandExecuted = true;
     }
-    if (breakCountdown.hasTimedOut()) {
+  }
-      updatePeriodicReply(true, adis1650x::REPLY);
+  if (internalState == InternalState::STARTUP_DONE) {
-      setMode(MODE_ON);
+    setMode(MODE_ON);
-      internalState = InternalState::NONE;
+    commandExecuted = false;
-    }
+    internalState = InternalState::NONE;
   }
 }
 
@@ -61,6 +62,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
         return NOTHING_TO_SEND;
       }
       *id = adis1650x::REQUEST;
+      adisRequest.cfg.decRateReg = adis1650x::DEC_RATE;
       return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
     }
     case (InternalState::SHUTDOWN): {
@@ -91,6 +93,9 @@ ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t rem
       getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
+  if (internalState == InternalState::STARTUP) {
+    internalState = InternalState::STARTUP_DONE;
+  }
   *foundLen = remainingSize;
   if (remainingSize != sizeof(acs::Adis1650XReply)) {
     return returnvalue::FAILED;

mission/acs/GyrAdis1650XHandler.h

@@ -48,7 +48,7 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
 
   bool warningSwitch = true;
 
-  enum class InternalState { NONE, STARTUP, SHUTDOWN };
+  enum class InternalState { NONE, STARTUP, STARTUP_DONE, SHUTDOWN };
 
   InternalState internalState = InternalState::STARTUP;
   bool commandExecuted = false;

mission/acs/acsBoardPolling.h

@@ -8,11 +8,6 @@
 
 namespace acs {
 
-struct Adis1650XRequest {
-  SimpleSensorMode mode;
-  adis1650x::Type type;
-};
-
 struct Adis1650XConfig {
   uint16_t diagStat;
   uint16_t filterSetting;
@@ -22,6 +17,12 @@ struct Adis1650XConfig {
   uint16_t prodId;
 };
 
+struct Adis1650XRequest {
+  SimpleSensorMode mode;
+  adis1650x::Type type;
+  Adis1650XConfig cfg;
+};
+
 struct Adis1650XData {
   double sensitivity = 0.0;
   // Angular velocities in all axes (X, Y and Z)

mission/acs/gyroAdisHelpers.cpp

@@ -52,3 +52,14 @@ double adis1650x::rangMdlToSensitivity(uint16_t rangMdl) {
     }
   }
 }
+
+void adis1650x::prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf,
+                                       size_t maxLen) {
+  if (maxLen < 4) {
+    return;
+  }
+  outBuf[0] = regStart | adis1650x::WRITE_MASK;
+  outBuf[1] = val & 0xff;
+  outBuf[2] = (regStart + 1) | adis1650x::WRITE_MASK;
+  outBuf[3] = (val >> 8) & 0xff;
+}

mission/acs/gyroAdisHelpers.h

@@ -16,6 +16,8 @@ enum class BurstModes {
 };
 
 size_t prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf, size_t maxLen);
+void prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf, size_t maxLen);
+
 BurstModes burstModeFromMscCtrl(uint16_t mscCtrl);
 double rangMdlToSensitivity(uint16_t rangMdl);
 
@@ -92,6 +94,9 @@ static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
 static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
 static constexpr uint32_t ADIS_CFG_DATASET_ID = READ_OUT_CONFIG;
 
+static constexpr uint16_t FILT_CTRL = 0x0000;
+static constexpr uint16_t DEC_RATE = 0x00C7;
+
 enum GlobCmds : uint8_t {
   FACTORY_CALIBRATION = 0b0000'0010,
   SENSOR_SELF_TEST = 0b0000'0100,

mission/acs/str/StarTrackerHandler.cpp

@@ -17,6 +17,7 @@ extern "C" {
 #include <thread>
 
 #include "OBSWConfig.h"
+#include "eive/definitions.h"
 
 std::atomic_bool JCFG_DONE(false);
 
@@ -99,6 +100,19 @@ void StarTrackerHandler::doShutDown() {
   startupState = StartupState::IDLE;
   bootState = FwBootState::NONE;
   solutionSet.setReportingEnabled(false);
+  {
+    PoolReadGuard pg(&solutionSet);
+    solutionSet.caliQw.value = 0.0;
+    solutionSet.caliQx.value = 0.0;
+    solutionSet.caliQy.value = 0.0;
+    solutionSet.caliQz.value = 0.0;
+    solutionSet.isTrustWorthy = 0;
+    solutionSet.setValidity(false, true);
+  }
+  {
+    PoolReadGuard pg(&temperatureSet);
+    temperatureSet.setValidity(false, true);
+  }
   reinitNextSetParam = false;
   setMode(_MODE_POWER_DOWN);
 }
@@ -152,7 +166,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       return EXECUTION_FINISHED;
     }
     case (startracker::SET_JSON_FILE_NAME): {
-      if (size > MAX_PATH_SIZE) {
+      if (size > config::MAX_PATH_SIZE) {
         return FILE_PATH_TOO_LONG;
       }
       paramJsonFile = std::string(reinterpret_cast<const char*>(data), size);
@@ -189,7 +203,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       if (result != returnvalue::OK) {
         return result;
       }
-      if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
+      if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
         return FILE_PATH_TOO_LONG;
       }
       result = strHelper->startImageUpload(std::string(reinterpret_cast<const char*>(data), size));
@@ -204,7 +218,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       if (result != returnvalue::OK) {
         return result;
       }
-      if (size > MAX_PATH_SIZE) {
+      if (size > config::MAX_PATH_SIZE) {
         return FILE_PATH_TOO_LONG;
       }
       result =
@@ -228,14 +242,14 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       return EXECUTION_FINISHED;
     }
     case (startracker::CHANGE_IMAGE_DOWNLOAD_FILE): {
-      if (size > MAX_FILE_NAME) {
+      if (size > config::MAX_FILENAME_SIZE) {
         return FILENAME_TOO_LONG;
       }
       strHelper->setDownloadImageName(std::string(reinterpret_cast<const char*>(data), size));
       return EXECUTION_FINISHED;
     }
     case (startracker::SET_FLASH_READ_FILENAME): {
-      if (size > MAX_FILE_NAME) {
+      if (size > config::MAX_FILENAME_SIZE) {
         return FILENAME_TOO_LONG;
       }
       strHelper->setFlashReadFilename(std::string(reinterpret_cast<const char*>(data), size));
@@ -246,7 +260,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       if (result != returnvalue::OK) {
         return result;
       }
-      if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
+      if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
         return FILE_PATH_TOO_LONG;
       }
       result =
@@ -1568,7 +1582,7 @@ ReturnValue_t StarTrackerHandler::executeFlashReadCommand(const uint8_t* command
                << std::endl;
     return result;
   }
-  if (commandDataLen - sizeof(startRegion) - sizeof(length) > MAX_PATH_SIZE) {
+  if (commandDataLen - sizeof(startRegion) - sizeof(length) > config::MAX_PATH_SIZE) {
     sif::warning << "StarTrackerHandler::executeFlashReadCommand: Received command with invalid"
                  << " path and filename" << std::endl;
     return FILE_PATH_TOO_LONG;
@@ -1708,7 +1722,7 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData
                                                       bool reinitSet) {
   // Stopwatch watch;
   ReturnValue_t result = returnvalue::OK;
-  if (commandDataLen > MAX_PATH_SIZE) {
+  if (commandDataLen > config::MAX_PATH_SIZE) {
     return FILE_PATH_TOO_LONG;
   }
   if (reinitSet) {

mission/acs/str/StarTrackerHandler.h

@@ -144,9 +144,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
   static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW);
 
-  static const size_t MAX_PATH_SIZE = 50;
-  static const size_t MAX_FILE_NAME = 30;
-
   static const uint8_t STATUS_OFFSET = 2;
   static const uint8_t PARAMS_OFFSET = 2;
   static const uint8_t TICKS_OFFSET = 3;

mission/com/TmStoreTaskBase.cpp

@@ -94,13 +94,6 @@ void TmStoreTaskBase::cancelDump(DumpContext& ctx, PersistentTmStore& store, boo
 ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store,
                                              DumpContext& dumpContext, bool& dumpPerformed) {
   ReturnValue_t result = returnvalue::OK;
-  // The PTME might have been reset an transmitter state change, so there is no point in continuing
-  // the dump.
-  // TODO: Will be solved in a cleaner way, this is kind of a hack.
-  if (not channel.isTxOn()) {
-    cancelDump(dumpContext, store, false);
-    return returnvalue::FAILED;
-  }
   // It is assumed that the PTME will only be locked for a short period (e.g. to change datarate).
   if (not channel.isBusy() and not ptmeLocked) {
     performDump(store, dumpContext, dumpPerformed);
@@ -138,25 +131,22 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
   dumpContext.ptmeBusyCounter = 0;
   tmSinkBusyCd.resetTimer();
   ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
-  if (result != returnvalue::OK) {
+  if (fileHasSwapped and result == PersistentTmStore::DUMP_DONE) {
-    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
-  } else if (fileHasSwapped or result == PersistentTmStore::DUMP_DONE) {
     // This can happen if a file is corrupted and the next file swap completes the dump.
     dumpDoneHandler();
     return returnvalue::OK;
+  } else if (result != returnvalue::OK) {
+    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
+    return result;
   }
   dumpedLen = tmReader.getFullPacketLen();
-  // Only write to VC if mode is on, but always confirm the dump.
+  result = channel.write(tmReader.getFullData(), dumpedLen);
-  // If the mode is OFF, it is assumed the PTME is not usable and is not allowed to be written
+  if (result == DirectTmSinkIF::IS_BUSY) {
-  // (e.g. to confirm a reset or the transmitter is off anyway).
+    sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
-  if (mode == MODE_ON) {
+  } else if (result != returnvalue::OK) {
-    result = channel.write(tmReader.getFullData(), dumpedLen);
+    sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
-    if (result == DirectTmSinkIF::IS_BUSY) {
-      sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
-    } else if (result != returnvalue::OK) {
-      sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
-    }
   }
+
   result = store.confirmDump(tmReader, fileHasSwapped);
   if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK)) {
     dumpPerformed = true;

mission/com/VirtualChannel.cpp

@@ -11,23 +11,14 @@ ReturnValue_t VirtualChannel::sendNextTm(const uint8_t* data, size_t size) {
 }
 
 ReturnValue_t VirtualChannel::write(const uint8_t* data, size_t size) {
-  if (txOn) {
+  return ptme.writeToVc(vcId, data, size);
-    return ptme.writeToVc(vcId, data, size);
-  }
-  return returnvalue::OK;
 }
 
 uint8_t VirtualChannel::getVcid() const { return vcId; }
 
 const char* VirtualChannel::getName() const { return vcName.c_str(); }
 
-bool VirtualChannel::isBusy() const {
+bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); }
-  // Data is discarded, so channel is not busy.
-  if (not txOn) {
-    return false;
-  }
-  return ptme.isBusy(vcId);
-}
 
 void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }
 

mission/controller/AcsController.cpp

@@ -169,7 +169,7 @@ void AcsController::performSafe() {
   guidance.getTargetParamsSafe(sunTargetDir);
 
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
-  uint8_t safeCtrlStrat = safeCtrl.safeCtrlStrategy(
+  acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
       gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
       acsParameters.safeModeControllerParameters.useMekf,
@@ -205,11 +205,13 @@ void AcsController::performSafe() {
     case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
       safeCtrlFailure(0, 1);
       break;
+    default:
+      sif::error << "AcsController: Invalid safe mode strategy for performSafe" << std::endl;
+      break;
   }
 
-  actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
+  actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
-                          *acsParameters.magnetorquerParameter.inverseAlignment,
+                           acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
-                          acsParameters.magnetorquerParameter.dipolMax);
 
   // detumble check and switch
   if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf &&
@@ -231,8 +233,8 @@ void AcsController::performSafe() {
   }
 
   updateCtrlValData(errAng, safeCtrlStrat);
-  updateActuatorCmdData(cmdDipolMtqs);
+  updateActuatorCmdData(cmdDipoleMtqs);
-  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
+  commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                    acsParameters.magnetorquerParameter.torqueDuration);
 }
 
@@ -259,7 +261,7 @@ void AcsController::performDetumble() {
     triggerEvent(acs::MEKF_RECOVERY);
     mekfInvalidFlag = false;
   }
-  uint8_t safeCtrlStrat = detumble.detumbleStrategy(
+  acs::SafeModeStrategy safeCtrlStrat = detumble.detumbleStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(),
       mgmDataProcessed.mgmVecTotDerivative.isValid(),
       acsParameters.detumbleParameter.useFullDetumbleLaw);
@@ -279,11 +281,13 @@ void AcsController::performDetumble() {
     case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
       safeCtrlFailure(0, 1);
       break;
+    default:
+      sif::error << "AcsController: Invalid safe mode strategy for performDetumble" << std::endl;
+      break;
   }
 
-  actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
+  actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
-                          *acsParameters.magnetorquerParameter.inverseAlignment,
+                           acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
-                          acsParameters.magnetorquerParameter.dipolMax);
 
   if (mekfData.satRotRateMekf.isValid() &&
       VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
@@ -304,8 +308,8 @@ void AcsController::performDetumble() {
   }
 
   disableCtrlValData();
-  updateActuatorCmdData(cmdDipolMtqs);
+  updateActuatorCmdData(cmdDipoleMtqs);
-  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
+  commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                    acsParameters.magnetorquerParameter.torqueDuration);
 }
 
@@ -349,8 +353,10 @@ void AcsController::performPointingCtrl() {
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
   if (result == returnvalue::FAILED) {
-    if (multipleRwUnavailableCounter == 5) {
+    if (multipleRwUnavailableCounter >=
+        acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
       triggerEvent(acs::MULTIPLE_RW_INVALID);
+      multipleRwUnavailableCounter = 0;
     }
     multipleRwUnavailableCounter++;
     return;
@@ -364,24 +370,26 @@ void AcsController::performPointingCtrl() {
   // Variables required for setting actuators
   double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0}, torqueRws[4] = {0, 0, 0, 0},
          mgtDpDes[3] = {0, 0, 0};
+
   switch (mode) {
     case acs::PTG_IDLE:
-      guidance.targetQuatPtgSun(susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
+      guidance.targetQuatPtgSun(now, susDataProcessed.sunIjkModel.value, targetQuat,
+                                targetSatRotRate);
       guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
                           targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(
+      ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters,
-          &acsParameters.idleModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
-          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+                           rwTrqNs);
       VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
       break;
 
@@ -395,17 +403,17 @@ void AcsController::performPointingCtrl() {
                           errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(
+      ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters,
-          &acsParameters.targetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
-          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+                           rwTrqNs);
       VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
       break;
 
@@ -416,17 +424,17 @@ void AcsController::performPointingCtrl() {
                           targetSatRotRate, errorQuat, errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(
+      ptgCtrl.ptgNullspace(&acsParameters.gsTargetModeControllerParameters,
-          &acsParameters.gsTargetModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
-          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+                           rwTrqNs);
       VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
       break;
 
@@ -440,63 +448,61 @@ void AcsController::performPointingCtrl() {
                           errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(
+      ptgCtrl.ptgNullspace(&acsParameters.nadirModeControllerParameters,
-          &acsParameters.nadirModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
-          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+                           rwTrqNs);
       VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_INERTIAL:
       std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
-                  4 * sizeof(double));
+                  sizeof(targetQuat));
       guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
                           targetSatRotRate, acsParameters.inertialModeControllerParameters.quatRef,
                           acsParameters.inertialModeControllerParameters.refRotRate, errorQuat,
                           errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
-      ptgCtrl.ptgNullspace(
+      ptgCtrl.ptgNullspace(&acsParameters.inertialModeControllerParameters,
-          &acsParameters.inertialModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
+                           sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw2Set.currSpeed.value), &(sensorValues.rw3Set.currSpeed.value),
+                           sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
-          &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
+                           rwTrqNs);
       VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
           mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
-          &(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
+          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          &(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
+          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
       break;
     default:
-      sif::error << "AcsController: Invalid mode for performPointingCtrl";
+      sif::error << "AcsController: Invalid mode for performPointingCtrl" << std::endl;
       break;
   }
 
   actuatorCmd.cmdSpeedToRws(
       sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-      sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, torqueRws,
+      sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
-      cmdSpeedRws, acsParameters.onBoardParams.sampleTime,
+      acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel,
-      acsParameters.rwHandlingParameters.maxRwSpeed,
+      acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws);
-      acsParameters.rwHandlingParameters.inertiaWheel);
   if (enableAntiStiction) {
     ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
   }
-  actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs,
+  actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
-                          *acsParameters.magnetorquerParameter.inverseAlignment,
+                           acsParameters.magnetorquerParameter.dipoleMax, mgtDpDes, cmdDipoleMtqs);
-                          acsParameters.magnetorquerParameter.dipolMax);
 
   updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
-  updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipolMtqs);
+  updateActuatorCmdData(torqueRws, cmdSpeedRws, cmdDipoleMtqs);
-  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
+  commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],
                    acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
                    cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
                    acsParameters.rwHandlingParameters.rampTime);

mission/controller/AcsController.h

@@ -69,7 +69,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   bool mekfLost = false;
 
   int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
-  int16_t cmdDipolMtqs[3] = {0, 0, 0};
+  int16_t cmdDipoleMtqs[3] = {0, 0, 0};
 
 #if OBSW_THREAD_TRACING == 1
   uint32_t opCounter = 0;

mission/controller/ThermalController.cpp

@@ -175,7 +175,7 @@ void ThermalController::performControlOperation() {
   heaterHandler.getAllSwitchStates(heaterSwitchStateArray);
   {
     PoolReadGuard pg(&heaterInfo);
-    std::memcpy(heaterInfo.heaterSwitchState.value, heaterStates.data(), 8);
+    std::memcpy(heaterInfo.heaterSwitchState.value, heaterSwitchStateArray.data(), 8);
     {
       PoolReadGuard pg2(&currentVecPdu2);
       if (pg.getReadResult() == returnvalue::OK and pg2.getReadResult() == returnvalue::OK) {
@@ -1631,13 +1631,18 @@ bool ThermalController::selectAndReadSensorTemp(HeaterContext& htrCtx) {
 bool ThermalController::chooseHeater(heater::Switch& switchNr, heater::Switch redSwitchNr) {
   bool heaterAvailable = true;
 
-  if (heaterHandler.getHealth(switchNr) != HasHealthIF::HEALTHY) {
+  HasHealthIF::HealthState mainHealth = heaterHandler.getHealth(switchNr);
-    if (heaterHandler.getHealth(redSwitchNr) == HasHealthIF::HEALTHY) {
+  HasHealthIF::HealthState redHealth = heaterHandler.getHealth(redSwitchNr);
+  if (mainHealth != HasHealthIF::HEALTHY) {
+    if (redHealth == HasHealthIF::HEALTHY) {
       switchNr = redSwitchNr;
       redSwitchNrInUse = true;
     } else {
       heaterAvailable = false;
-      triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      // Special case: Ground might command/do something with the heaters, so prevent spam.
+      if (not(mainHealth == EXTERNAL_CONTROL and redHealth == EXTERNAL_CONTROL)) {
+        triggerEvent(tcsCtrl::NO_HEALTHY_HEATER_AVAILABLE, switchNr, redSwitchNr);
+      }
     }
   } else {
     redSwitchNrInUse = false;

mission/controller/acs/AcsParameters.cpp

@@ -290,6 +290,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x6:
           parameterWrapper->set(rwHandlingParameters.rampTime);
           break;
+        case 0x7:
+          parameterWrapper->set(rwHandlingParameters.multipleRwInvalidTimeout);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -315,7 +318,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->setMatrix(rwMatrices.without4);
           break;
         case 0x6:
-          parameterWrapper->setVector(rwMatrices.nullspace);
+          parameterWrapper->setVector(rwMatrices.nullspaceVector);
           break;
         default:
           return INVALID_IDENTIFIER_ID;
@@ -375,15 +378,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(idleModeControllerParameters.gainNullspace);
           break;
         case 0x5:
-          parameterWrapper->setVector(idleModeControllerParameters.desatMomentumRef);
+          parameterWrapper->set(idleModeControllerParameters.nullspaceSpeed);
           break;
         case 0x6:
-          parameterWrapper->set(idleModeControllerParameters.deSatGainFactor);
+          parameterWrapper->setVector(idleModeControllerParameters.desatMomentumRef);
           break;
         case 0x7:
-          parameterWrapper->set(idleModeControllerParameters.desatOn);
+          parameterWrapper->set(idleModeControllerParameters.deSatGainFactor);
           break;
         case 0x8:
+          parameterWrapper->set(idleModeControllerParameters.desatOn);
+          break;
+        case 0x9:
           parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
           break;
         default:
@@ -408,48 +414,51 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(targetModeControllerParameters.gainNullspace);
           break;
         case 0x5:
-          parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef);
+          parameterWrapper->set(targetModeControllerParameters.nullspaceSpeed);
           break;
         case 0x6:
-          parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
+          parameterWrapper->setVector(targetModeControllerParameters.desatMomentumRef);
           break;
         case 0x7:
-          parameterWrapper->set(targetModeControllerParameters.desatOn);
+          parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
           break;
         case 0x8:
-          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
+          parameterWrapper->set(targetModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->setVector(targetModeControllerParameters.refDirection);
+          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
           break;
         case 0xA:
-          parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
+          parameterWrapper->setVector(targetModeControllerParameters.refDirection);
           break;
         case 0xB:
-          parameterWrapper->setVector(targetModeControllerParameters.quatRef);
+          parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
           break;
         case 0xC:
-          parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
+          parameterWrapper->setVector(targetModeControllerParameters.quatRef);
           break;
         case 0xD:
-          parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
+          parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
           break;
         case 0xE:
-          parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
+          parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
           break;
         case 0xF:
-          parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
+          parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
           break;
         case 0x10:
-          parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
+          parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
           break;
         case 0x11:
-          parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
+          parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
           break;
         case 0x12:
-          parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
+          parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
           break;
         case 0x13:
+          parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
+          break;
+        case 0x14:
           parameterWrapper->set(targetModeControllerParameters.blindRotRate);
           break;
         default:
@@ -474,30 +483,33 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(gsTargetModeControllerParameters.gainNullspace);
           break;
         case 0x5:
-          parameterWrapper->setVector(gsTargetModeControllerParameters.desatMomentumRef);
+          parameterWrapper->set(gsTargetModeControllerParameters.nullspaceSpeed);
           break;
         case 0x6:
-          parameterWrapper->set(gsTargetModeControllerParameters.deSatGainFactor);
+          parameterWrapper->setVector(gsTargetModeControllerParameters.desatMomentumRef);
           break;
         case 0x7:
-          parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
+          parameterWrapper->set(gsTargetModeControllerParameters.deSatGainFactor);
           break;
         case 0x8:
-          parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
+          parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
+          parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
           break;
         case 0xA:
-          parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
+          parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
           break;
         case 0xB:
-          parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
+          parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
           break;
         case 0xC:
-          parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
+          parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
           break;
         case 0xD:
+          parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
+          break;
+        case 0xE:
           parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
           break;
         default:
@@ -522,24 +534,30 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(nadirModeControllerParameters.gainNullspace);
           break;
         case 0x5:
-          parameterWrapper->setVector(nadirModeControllerParameters.desatMomentumRef);
+          parameterWrapper->set(nadirModeControllerParameters.nullspaceSpeed);
           break;
         case 0x6:
-          parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor);
+          parameterWrapper->setVector(nadirModeControllerParameters.desatMomentumRef);
           break;
         case 0x7:
-          parameterWrapper->set(nadirModeControllerParameters.desatOn);
+          parameterWrapper->set(nadirModeControllerParameters.deSatGainFactor);
           break;
         case 0x8:
-          parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
+          parameterWrapper->set(nadirModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
+          parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
           break;
         case 0xA:
+          parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
+          break;
+        case 0xB:
           parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
           break;
         case 0xC:
+          parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
+          break;
+        case 0xD:
           parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
           break;
         default:
@@ -564,21 +582,24 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(inertialModeControllerParameters.gainNullspace);
           break;
         case 0x5:
-          parameterWrapper->setVector(inertialModeControllerParameters.desatMomentumRef);
+          parameterWrapper->set(inertialModeControllerParameters.nullspaceSpeed);
           break;
         case 0x6:
-          parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor);
+          parameterWrapper->setVector(inertialModeControllerParameters.desatMomentumRef);
           break;
         case 0x7:
-          parameterWrapper->set(inertialModeControllerParameters.desatOn);
+          parameterWrapper->set(inertialModeControllerParameters.deSatGainFactor);
           break;
         case 0x8:
-          parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
+          parameterWrapper->set(inertialModeControllerParameters.desatOn);
           break;
         case 0x9:
-          parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
+          parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
           break;
         case 0xA:
+          parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
+          break;
+        case 0xB:
           parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
           break;
         case 0xC:
@@ -690,7 +711,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->setMatrix(magnetorquerParameter.inverseAlignment);
           break;
         case 0x5:
-          parameterWrapper->set(magnetorquerParameter.dipolMax);
+          parameterWrapper->set(magnetorquerParameter.dipoleMax);
           break;
         case 0x6:
           parameterWrapper->set(magnetorquerParameter.torqueDuration);

mission/controller/acs/AcsParameters.h

@@ -781,9 +781,9 @@ class AcsParameters : public HasParametersIF {
 
     /* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
      * assumed to be equal for the same class of sensors */
-    float gyr02variance[3] = {pow(3.0e-3, 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
+    float gyr02variance[3] = {pow(4.6e-3, 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
-                              pow(3.0e-3, 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
+                              pow(4.6e-3, 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
-                              pow(4.3e-3, 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
+                              pow(6.1e-3, 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
     float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
     uint8_t preferAdis = false;
     float gyrFilterWeight = 0.6;
@@ -798,6 +798,8 @@ class AcsParameters : public HasParametersIF {
     double stictionTorque = 0.0006;
 
     uint16_t rampTime = 10;
+
+    uint32_t multipleRwInvalidTimeout = 25;
   } rwHandlingParameters;
 
   struct RwMatrices {
@@ -814,7 +816,7 @@ class AcsParameters : public HasParametersIF {
         {1.0864, 0, 0}, {-0.5432, -0.5432, 1.2797}, {0, 0, 0}, {-0.5432, 0.5432, 1.2797}};
     double without4[4][3] = {
         {0.5432, 0.5432, 1.2797}, {0, -1.0864, 0}, {-0.5432, 0.5432, 1.2797}, {0, 0, 0}};
-    double nullspace[4] = {-0.5000, 0.5000, -0.5000, 0.5000};
+    double nullspaceVector[4] = {-1, 1, -1, 1};
   } rwMatrices;
 
   struct SafeModeControllerParameters {
@@ -838,7 +840,9 @@ class AcsParameters : public HasParametersIF {
     double om = 0.3;
     double omMax = 1 * M_PI / 180;
     double qiMin = 0.1;
+
     double gainNullspace = 0.01;
+    double nullspaceSpeed = 32500;  // 0.1 RPM
 
     double desatMomentumRef[3] = {0, 0, 0};
     double deSatGainFactor = 1000;
@@ -931,7 +935,7 @@ class AcsParameters : public HasParametersIF {
     double mtq2orientationMatrix[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
     double alignmentMatrixMtq[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};
     double inverseAlignment[3][3] = {{0, -1, 0}, {0, 0, 1}, {-1, 0, 0}};
-    double dipolMax = 0.2;  // [Am^2]
+    double dipoleMax = 0.2;  // [Am^2]
 
     uint16_t torqueDuration = 300;  // [ms]
   } magnetorquerParameter;

mission/controller/acs/ActuatorCmd.cpp

@@ -5,11 +5,6 @@
 #include <fsfw/globalfunctions/math/QuaternionOperations.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 
-#include <cmath>
-
-#include "util/CholeskyDecomposition.h"
-#include "util/MathOperations.h"
-
 ActuatorCmd::ActuatorCmd() {}
 
 ActuatorCmd::~ActuatorCmd() {}
@@ -25,24 +20,30 @@ void ActuatorCmd::scalingTorqueRws(double *rwTrq, double maxTorque) {
   }
 }
 
-void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2,
+void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
-                                int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed,
+                                const int32_t speedRw2, const int32_t speedRw3,
-                                double sampleTime, int32_t maxRwSpeed, double inertiaWheel) {
+                                const double sampleTime, const double inertiaWheel,
-  using namespace Math;
+                                const int32_t maxRwSpeed, const double *rwTorque,
-
+                                int32_t *rwCmdSpeed) {
-  // Calculating the commanded speed in RPM for every reaction wheel
+  // group RW speed values (in 0.1 [RPM]) in vector
   int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
+
+  // calculate required RW speed as sum of current RW speed and RW speed delta
+  // delta w_rw = delta t / I_RW * torque_RW [rad/s]
   double deltaSpeed[4] = {0, 0, 0, 0};
-  double radToRpm = 60 / (2 * PI);  // factor for conversion to RPM
+  const double factor = sampleTime / inertiaWheel * RAD_PER_SEC_TO_RPM * 10;
-  //	 W_RW = Torque_RW / I_RW * delta t [rad/s]
-  double factor = sampleTime / inertiaWheel * radToRpm;
-  int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
   VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
+
+  // convert double to int32
+  int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
   for (int i = 0; i < 4; i++) {
     deltaSpeedInt[i] = std::round(deltaSpeed[i]);
   }
+
+  // sum of current RW speed and RW speed delta
   VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
-  VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
+
+  // crop values which would exceed the maximum possible RPM
   for (uint8_t i = 0; i < 4; i++) {
     if (rwCmdSpeed[i] > maxRwSpeed) {
       rwCmdSpeed[i] = maxRwSpeed;
@@ -52,24 +53,25 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
   }
 }
 
-void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
+void ActuatorCmd::cmdDipoleMtq(const double *inverseAlignment, const double maxDipole,
-                              const double *inverseAlignment, double maxDipol) {
+                               const double *dipoleMoment, int16_t *dipoleMomentActuator) {
-  // Convert to actuator frame
+  // convert to actuator frame
-  double dipolMomentActuatorDouble[3] = {0, 0, 0};
+  double dipoleMomentActuatorDouble[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(inverseAlignment, dipolMoment, dipolMomentActuatorDouble, 3, 3,
+  MatrixOperations<double>::multiply(inverseAlignment, dipoleMoment, dipoleMomentActuatorDouble, 3,
-                                     1);
+                                     3, 1);
-  // Scaling along largest element if dipol exceeds maximum
+  // scaling along largest element if dipole exceeds maximum
   uint8_t maxIdx = 0;
-  VectorOperations<double>::maxAbsValue(dipolMomentActuatorDouble, 3, &maxIdx);
+  VectorOperations<double>::maxAbsValue(dipoleMomentActuatorDouble, 3, &maxIdx);
-  double maxAbsValue = abs(dipolMomentActuatorDouble[maxIdx]);
+  double maxAbsValue = std::abs(dipoleMomentActuatorDouble[maxIdx]);
-  if (maxAbsValue > maxDipol) {
+  if (maxAbsValue > maxDipole) {
-    double scalingFactor = maxDipol / maxAbsValue;
+    double scalingFactor = maxDipole / maxAbsValue;
-    VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, scalingFactor,
+    VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, scalingFactor,
-                                        dipolMomentActuatorDouble, 3);
+                                        dipoleMomentActuatorDouble, 3);
   }
   // scale dipole from 1 Am^2 to 1e^-4 Am^2
-  VectorOperations<double>::mulScalar(dipolMomentActuatorDouble, 1e4, dipolMomentActuatorDouble, 3);
+  VectorOperations<double>::mulScalar(dipoleMomentActuatorDouble, 1e4, dipoleMomentActuatorDouble,
+                                      3);
   for (int i = 0; i < 3; i++) {
-    dipolMomentActuator[i] = std::round(dipolMomentActuatorDouble[i]);
+    dipoleMomentActuator[i] = std::round(dipoleMomentActuatorDouble[i]);
   }
 }

mission/controller/acs/ActuatorCmd.h

@@ -1,9 +1,7 @@
 #ifndef ACTUATORCMD_H_
 #define ACTUATORCMD_H_
 
-#include "MultiplicativeKalmanFilter.h"
+#include <cmath>
-#include "SensorProcessing.h"
-#include "SensorValues.h"
 
 class ActuatorCmd {
  public:
@@ -19,29 +17,30 @@ class ActuatorCmd {
   void scalingTorqueRws(double *rwTrq, double maxTorque);
 
   /*
-   * @brief:	cmdSpeedToRws()		will set the maximum possible torque for the reaction
+   * @brief:	cmdSpeedToRws()		Calculates the RPM for the reaction wheel configuration,
-   * wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
+   * given the required torque calculated by the controller. Will also scale down the RPM of the
-   * as Input to the RWs
+   * wheels if they exceed the maximum possible RPM
-   * @param:	rwTrqIn 			given torque from pointing controller
+   * @param:	rwTrq 			    given torque from pointing controller
-   * 			rwTrqNS				Nullspace torque
    * 			rwCmdSpeed			output revolutions per minute for every
    * reaction wheel
    */
-  void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3,
+  void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
-                     const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime,
+                     const int32_t speedRw3, const double sampleTime, const double inertiaWheel,
-                     int32_t maxRwSpeed, double inertiaWheel);
+                     const int32_t maxRwSpeed, const double *rwTorque, int32_t *rwCmdSpeed);
 
   /*
-   * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques
+   * @brief:	cmdDipoleMtq()			gives the commanded dipole moment for the
+   * magnetorquer
    *
-   * @param:	dipolMoment 		given dipol moment in spacecraft frame
+   * @param:	dipoleMoment 			given dipole moment in spacecraft frame
-   * 			dipolMomentActuator	resulting dipol moment in actuator reference frame
+   * 			dipoleMomentActuator	resulting dipole moment in actuator reference frame
    */
-  void cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
+  void cmdDipoleMtq(const double *inverseAlignment, const double maxDipole,
-                   const double *inverseAlignment, double maxDipol);
+                    const double *dipoleMoment, int16_t *dipoleMomentActuator);
 
  protected:
  private:
+  static constexpr double RAD_PER_SEC_TO_RPM = 60 / (2 * M_PI);
 };
 
 #endif /* ACTUATORCMD_H_ */

mission/controller/acs/Guidance.cpp

@@ -266,7 +266,8 @@ void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3]
   targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
 }
 
-void Guidance::targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double refSatRate[3]) {
+void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
+                                double targetSatRotRate[3]) {
   //-------------------------------------------------------------------------------------
   //	Calculation of target quaternion to sun
   //-------------------------------------------------------------------------------------
@@ -296,9 +297,8 @@ void Guidance::targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double
   //----------------------------------------------------------------------------
   //	Calculation of reference rotation rate
   //----------------------------------------------------------------------------
-  refSatRate[0] = 0;
+  int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
-  refSatRate[1] = 0;
+  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
-  refSatRate[2] = 0;
 }
 
 void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
@@ -412,7 +412,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl
 
 void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                           double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
-                          double errorQuat[4], double errorSatRotRate[3], double errorAngle) {
+                          double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
   // First calculate error quaternion between current and target orientation
   QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
   // Last calculate add rotation from reference quaternion
@@ -424,26 +424,17 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
   // Calculate error angle
   errorAngle = QuaternionOperations::getAngle(errorQuat, true);
 
-  // Only give back error satellite rotational rate if orientation has already been aquired
+  // Calculate error satellite rotational rate
-  if (errorAngle < 2. / 180. * M_PI) {
+  // First combine the target and reference satellite rotational rates
-    // First combine the target and reference satellite rotational rates
+  double combinedRefSatRotRate[3] = {0, 0, 0};
-    double combinedRefSatRotRate[3] = {0, 0, 0};
+  VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
-    VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
+  // Then subtract the combined required satellite rotational rates from the actual rate
-    // Then substract the combined required satellite rotational rates from the actual rate
+  VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate, 3);
-    VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate,
-                                       3);
-  } else {
-    // If orientation has not been aquired yet set satellite rotational rate to zero
-    errorSatRotRate = 0;
-  }
-
-  // target flag in matlab, importance, does look like it only gives feedback if pointing control is
-  // under 150 arcsec ??
 }
 
 void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                           double targetSatRotRate[3], double errorQuat[4],
-                          double errorSatRotRate[3], double errorAngle) {
+                          double errorSatRotRate[3], double &errorAngle) {
   // First calculate error quaternion between current and target orientation
   QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
   // Keep scalar part of quaternion positive
@@ -453,17 +444,8 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
   // Calculate error angle
   errorAngle = QuaternionOperations::getAngle(errorQuat, true);
 
-  // Only give back error satellite rotational rate if orientation has already been aquired
+  // Calculate error satellite rotational rate
-  if (errorAngle < 2. / 180. * M_PI) {
+  VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
-    // Then substract the combined required satellite rotational rates from the actual rate
-    VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
-  } else {
-    // If orientation has not been aquired yet set satellite rotational rate to zero
-    errorSatRotRate = 0;
-  }
-
-  // target flag in matlab, importance, does look like it only gives feedback if pointing control is
-  // under 150 arcsec ??
 }
 
 void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
@@ -471,20 +453,25 @@ void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double qua
   //-------------------------------------------------------------------------------------
   //	Calculation of target rotation rate
   //-------------------------------------------------------------------------------------
-  double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
+  double timeElapsed = now.tv_sec + now.tv_usec * 1e-6 -
-                       (timeSavedQuaternion.tv_sec +
+                       (timeSavedQuaternion.tv_sec + timeSavedQuaternion.tv_usec * 1e-6);
-                        timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
+  if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
+    std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
+  }
   if (timeElapsed < timeElapsedMax) {
+    double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0};
+    QuaternionOperations::inverse(quatInertialTarget, q);
+    QuaternionOperations::inverse(savedQuaternion, qS);
     double qDiff[4] = {0, 0, 0, 0};
-    VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
+    VectorOperations<double>::subtract(q, qS, qDiff, 4);
     VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
 
-    double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
+    double tgtQuatVec[3] = {q[0], q[1], q[2]};
-           qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
+    double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
     double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
-    VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
+    VectorOperations<double>::cross(tgtQuatVec, qDiffVec, sum1);
     VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
-    VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
+    VectorOperations<double>::mulScalar(qDiffVec, q[3], sum3, 3);
     VectorOperations<double>::add(sum1, sum2, sum, 3);
     VectorOperations<double>::subtract(sum, sum3, sum, 3);
     double omegaRefNew[3] = {0, 0, 0};
@@ -531,10 +518,6 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
     std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
     return returnvalue::OK;
   } else {
-    // 	    @note: This one takes the normal pseudoInverse of all four raction wheels valid.
-    //		Does not make sense, but is implemented that way in MATLAB ?!
-    //		Thought: It does not really play a role, because in case there are more then one
-    //		reaction wheel invalid the pointing control is destined to fail.
     return returnvalue::FAILED;
   }
 }

mission/controller/acs/Guidance.h

@@ -15,7 +15,7 @@ class Guidance {
   void getTargetParamsSafe(double sunTargetSafe[3]);
   ReturnValue_t solarArrayDeploymentComplete();
 
-  // Function to get the target quaternion and refence rotation rate from gps position and
+  // Function to get the target quaternion and reference rotation rate from gps position and
   // position of the ground station
   void targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], double sunDirI[3],
                                double refDirB[3], double quatBI[4], double targetQuat[4],
@@ -25,9 +25,10 @@ class Guidance {
   void targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3], double quatIX[4],
                        double targetSatRotRate[3]);
 
-  // Function to get the target quaternion and refence rotation rate for sun pointing after ground
+  // Function to get the target quaternion and reference rotation rate for sun pointing after ground
   // station
-  void targetQuatPtgSun(double sunDirI[3], double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
+                        double targetSatRotRate[3]);
 
   // Function to get the target quaternion and refence rotation rate from gps position for Nadir
   // pointing
@@ -37,15 +38,15 @@ class Guidance {
                                    double targetQuat[4], double refSatRate[3]);
 
   // @note: Calculates the error quaternion between the current orientation and the target
-  // quaternion, considering a reference quaternion. Additionally the difference between the  actual
+  // quaternion, considering a reference quaternion. Additionally the difference between the actual
   // and a desired satellite rotational rate is calculated, again considering a reference rotational
   // rate. Lastly gives back the error angle of the error quaternion.
   void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                   double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
-                  double errorQuat[4], double errorSatRotRate[3], double errorAngle);
+                  double errorQuat[4], double errorSatRotRate[3], double &errorAngle);
   void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                   double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
-                  double errorAngle);
+                  double &errorAngle);
 
   void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
                           double *targetSatRotRate);

mission/controller/acs/Navigation.cpp

@@ -19,9 +19,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
                                   acsctrl::MekfData *mekfData, AcsParameters *acsParameters) {
   double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
                       sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
-  bool quatIBValid = sensorValues->strSet.caliQx.isValid() &&
+  bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
-                     sensorValues->strSet.caliQy.isValid() &&
-                     sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
 
   if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
     mekfStatus = multiplicativeKalmanFilter.init(

mission/controller/acs/SensorProcessing.cpp

@@ -573,7 +573,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
 
     // Altitude FDIR
     if (gpsAltitude > gpsParameters->maximumFdirAltitude ||
-        gpsAltitude < gpsParameters->maximumFdirAltitude) {
+        gpsAltitude < gpsParameters->minimumFdirAltitude) {
       altitude = gpsParameters->fdirAltitude;
     } else {
       altitude = gpsAltitude;

mission/controller/acs/control/Detumble.cpp

@@ -7,8 +7,10 @@ Detumble::Detumble() {}
 
 Detumble::~Detumble() {}
 
-uint8_t Detumble::detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
+acs::SafeModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
-                                   const bool magFieldRateValid, const bool useFullDetumbleLaw) {
+                                                 const bool satRotRateValid,
+                                                 const bool magFieldRateValid,
+                                                 const bool useFullDetumbleLaw) {
   if (not magFieldValid) {
     return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
   } else if (satRotRateValid and useFullDetumbleLaw) {

mission/controller/acs/control/Detumble.h

@@ -11,8 +11,9 @@ class Detumble {
   Detumble();
   virtual ~Detumble();
 
-  uint8_t detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
+  acs::SafeModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
-                           const bool magFieldRateValid, const bool useFullDetumbleLaw);
+                                         const bool magFieldRateValid,
+                                         const bool useFullDetumbleLaw);
 
   void bDotLawFull(const double *satRotRateB, const double *magFieldB, double *magMomB,
                    double gain);

mission/controller/acs/control/PtgCtrl.cpp

@@ -5,9 +5,6 @@
 #include <fsfw/globalfunctions/math/QuaternionOperations.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/globalfunctions/sign.h>
-#include <math.h>
-
-#include "../util/MathOperations.h"
 
 PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
 
@@ -32,12 +29,13 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
   double qErrorLaw[3] = {0, 0, 0};
 
   for (int i = 0; i < 3; i++) {
-    if (abs(qError[i]) < qErrorMin) {
+    if (std::abs(qError[i]) < qErrorMin) {
       qErrorLaw[i] = qErrorMin;
     } else {
-      qErrorLaw[i] = abs(qError[i]);
+      qErrorLaw[i] = std::abs(qError[i]);
     }
   }
+
   double qErrorLawNorm = VectorOperations<double>::norm(qErrorLaw, 3);
 
   double gain1 = cInt * omMax / qErrorLawNorm;
@@ -73,7 +71,7 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
   double pErrorSign[3] = {0, 0, 0};
 
   for (int i = 0; i < 3; i++) {
-    if (abs(pError[i]) > 1) {
+    if (std::abs(pError[i]) > 1) {
       pErrorSign[i] = sign(pError[i]);
     } else {
       pErrorSign[i] = pError[i];
@@ -98,61 +96,92 @@ void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters
   VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
 }
 
+void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
+                           const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
+                           const int32_t speedRw3, double *rwTrqNs) {
+  // concentrate RW speeds as vector and convert to double
+  double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
+                        static_cast<double>(speedRw2), static_cast<double>(speedRw3)};
+  VectorOperations<double>::mulScalar(speedRws, 1e-1, speedRws, 4);
+  VectorOperations<double>::mulScalar(speedRws, RPM_TO_RAD_PER_SEC, speedRws, 4);
+
+  // calculate RPM offset utilizing the nullspace
+  double rpmOffset[4] = {0, 0, 0, 0};
+  double rpmOffsetSpeed = pointingLawParameters->nullspaceSpeed / 10 * RPM_TO_RAD_PER_SEC;
+  VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector, rpmOffsetSpeed,
+                                      rpmOffset, 4);
+
+  // calculate resulting angular momentum
+  double rwAngMomentum[4] = {0, 0, 0, 0}, diffRwSpeed[4] = {0, 0, 0, 0};
+  VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
+  VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel,
+                                      rwAngMomentum, 4);
+
+  // calculate resulting torque
+  double nullspaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MatrixOperations<double>::multiply(acsParameters->rwMatrices.nullspaceVector,
+                                     acsParameters->rwMatrices.nullspaceVector, *nullspaceMatrix, 4,
+                                     1, 4);
+  MatrixOperations<double>::multiply(*nullspaceMatrix, rwAngMomentum, rwTrqNs, 4, 4, 1);
+  VectorOperations<double>::mulScalar(rwTrqNs, -1 * pointingLawParameters->gainNullspace, rwTrqNs,
+                                      4);
+}
+
 void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
-                              double *magFieldEst, bool magFieldEstValid, double *satRate,
+                              const double *magFieldB, const bool magFieldBValid,
-                              int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
+                              const double *satRate, const int32_t speedRw0, const int32_t speedRw1,
-                              int32_t *speedRw3, double *mgtDpDes) {
+                              const int32_t speedRw2, const int32_t speedRw3, double *mgtDpDes) {
-  if (!(magFieldEstValid) || !(pointingLawParameters->desatOn)) {
+  if (not magFieldBValid or not pointingLawParameters->desatOn) {
-    mgtDpDes[0] = 0;
-    mgtDpDes[1] = 0;
-    mgtDpDes[2] = 0;
     return;
   }
 
-  // calculating momentum of satellite and momentum of reaction wheels
+  // concentrate RW speeds as vector and convert to double
-  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
+  double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
-  double momentumRwU[4] = {0, 0, 0, 0}, momentumRw[3] = {0, 0, 0};
+                        static_cast<double>(speedRw2), static_cast<double>(speedRw3)};
-  VectorOperations<double>::mulScalar(speedRws, acsParameters->rwHandlingParameters.inertiaWheel,
-                                      momentumRwU, 4);
-  MatrixOperations<double>::multiply(*(acsParameters->rwMatrices.alignmentMatrix), momentumRwU,
-                                     momentumRw, 3, 4, 1);
-  double momentumSat[3] = {0, 0, 0}, momentumTotal[3] = {0, 0, 0};
-  MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrixDeployed), satRate,
-                                     momentumSat, 3, 3, 1);
-  VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
-  // calculating momentum error
-  double deltaMomentum[3] = {0, 0, 0};
-  VectorOperations<double>::subtract(momentumTotal, pointingLawParameters->desatMomentumRef,
-                                     deltaMomentum, 3);
-  // resulting magnetic dipole command
-  double crossMomentumMagField[3] = {0, 0, 0};
-  VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
-  double normMag = VectorOperations<double>::norm(magFieldEst, 3), factor = 0;
-  factor = (pointingLawParameters->deSatGainFactor) / normMag;
-  VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
-}
 
-void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
+  // convert magFieldB from uT to T
-                           const int32_t *speedRw0, const int32_t *speedRw1,
+  double magFieldBT[3] = {0, 0, 0};
-                           const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
-  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
+
-  double wheelMomentum[4] = {0, 0, 0, 0};
+  // calculate angular momentum of the satellite
-  double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
+  double angMomentumSat[3] = {0, 0, 0};
-  // conversion to [rad/s] for further calculations
+  MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrixDeployed), satRate,
-  VectorOperations<double>::mulScalar(rpmOffset, factor, rpmOffset, 4);
+                                     angMomentumSat, 3, 3, 1);
-  VectorOperations<double>::mulScalar(speedRws, 2 * Math::PI / 60, speedRws, 4);
+
-  double diffRwSpeed[4] = {0, 0, 0, 0};
+  // calculate angular momentum of the reaction wheels with respect to the nullspace RW speed
-  VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
+  // relocate RW speed zero to nullspace RW speed
-  VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel,
+  double refSpeedRws[4] = {0, 0, 0, 0};
-                                      wheelMomentum, 4);
+  VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector,
-  double gainNs = pointingLawParameters->gainNullspace;
+                                      pointingLawParameters->nullspaceSpeed, refSpeedRws, 4);
-  double nullSpaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  VectorOperations<double>::subtract(speedRws, refSpeedRws, speedRws, 4);
-  MathOperations<double>::vecTransposeVecMatrix(acsParameters->rwMatrices.nullspace,
+  // convert speed from 10 RPM to 1 RPM
-                                                acsParameters->rwMatrices.nullspace,
+  VectorOperations<double>::mulScalar(speedRws, 1e-1, speedRws, 4);
-                                                *nullSpaceMatrix, 4);
+  // convert to rad/s
-  MatrixOperations<double>::multiply(*nullSpaceMatrix, wheelMomentum, rwTrqNs, 4, 4, 1);
+  VectorOperations<double>::mulScalar(speedRws, RPM_TO_RAD_PER_SEC, speedRws, 4);
-  VectorOperations<double>::mulScalar(rwTrqNs, gainNs, rwTrqNs, 4);
+  // calculate angular momentum of each RW
-  VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
+  double angMomentumRwU[4] = {0, 0, 0, 0};
+  VectorOperations<double>::mulScalar(speedRws, acsParameters->rwHandlingParameters.inertiaWheel,
+                                      angMomentumRwU, 4);
+  // convert RW angular momentum to body RF
+  double angMomentumRw[3] = {0, 0, 0};
+  MatrixOperations<double>::multiply(*(acsParameters->rwMatrices.alignmentMatrix), angMomentumRwU,
+                                     angMomentumRw, 3, 4, 1);
+
+  // calculate total angular momentum
+  double angMomentumTotal[3] = {0, 0, 0};
+  VectorOperations<double>::add(angMomentumSat, angMomentumRw, angMomentumTotal, 3);
+
+  // calculating momentum error
+  double deltaAngMomentum[3] = {0, 0, 0};
+  VectorOperations<double>::subtract(angMomentumTotal, pointingLawParameters->desatMomentumRef,
+                                     deltaAngMomentum, 3);
+
+  // resulting magnetic dipole command
+  double crossAngMomentumMagField[3] = {0, 0, 0};
+  VectorOperations<double>::cross(deltaAngMomentum, magFieldBT, crossAngMomentumMagField);
+  double factor =
+      pointingLawParameters->deSatGainFactor / VectorOperations<double>::norm(magFieldBT, 3);
+  VectorOperations<double>::mulScalar(crossAngMomentumMagField, factor, mgtDpDes, 3);
 }
 
 void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeeds) {
@@ -169,15 +198,9 @@ void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpee
       if (rwCmdSpeeds[i] != 0) {
         if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
             rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
-          if (currRwSpeed[i] == 0) {
+          if (rwCmdSpeeds[i] > currRwSpeed[i]) {
-            if (rwCmdSpeeds[i] > 0) {
-              rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
-            } else if (rwCmdSpeeds[i] < 0) {
-              rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
-            }
-          } else if (currRwSpeed[i] < -acsParameters->rwHandlingParameters.stictionSpeed) {
             rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
-          } else if (currRwSpeed[i] > acsParameters->rwHandlingParameters.stictionSpeed) {
+          } else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
             rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
           }
         }

mission/controller/acs/control/PtgCtrl.h

@@ -1,13 +1,10 @@
 #ifndef PTGCTRL_H_
 #define PTGCTRL_H_
 
+#include <math.h>
+#include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/acs/SensorValues.h>
 #include <stdio.h>
-#include <string.h>
-#include <time.h>
-
-#include "../AcsParameters.h"
-#include "../SensorValues.h"
-#include "eive/resultClassIds.h"
 
 class PtgCtrl {
   /*
@@ -29,14 +26,14 @@ class PtgCtrl {
   void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
               const double *deltaRate, const double *rwPseudoInv, double *torqueRws);
 
-  void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
-                       double *magFieldEst, bool magFieldEstValid, double *satRate,
-                       int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
-                       double *mgtDpDes);
-
   void ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
-                    const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
+                    const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
-                    const int32_t *speedRw3, double *rwTrqNs);
+                    const int32_t speedRw3, double *rwTrqNs);
+
+  void ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
+                       const double *magFieldB, const bool magFieldBValid, const double *satRate,
+                       const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
+                       const int32_t speedRw3, double *mgtDpDes);
 
   /* @brief: Commands the stiction torque in case wheel speed is to low
    * 		 torqueCommand  modified torque after antistiction
@@ -45,6 +42,7 @@ class PtgCtrl {
 
  private:
   const AcsParameters *acsParameters;
+  static constexpr double RPM_TO_RAD_PER_SEC = (2 * M_PI) / 60;
 };
 
 #endif /* ACS_CONTROL_PTGCTRL_H_ */

mission/controller/acs/control/SafeCtrl.cpp

@@ -9,9 +9,10 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
 
 SafeCtrl::~SafeCtrl() {}
 
-uint8_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
+acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
-                                   const bool satRotRateValid, const bool sunDirValid,
+                                                 const bool satRotRateValid, const bool sunDirValid,
-                                   const uint8_t mekfEnabled, const uint8_t dampingEnabled) {
+                                                 const uint8_t mekfEnabled,
+                                                 const uint8_t dampingEnabled) {
   if (not magFieldValid) {
     return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
   } else if (mekfEnabled and mekfValid) {

mission/controller/acs/control/SafeCtrl.h

@@ -12,9 +12,9 @@ class SafeCtrl {
   SafeCtrl(AcsParameters *acsParameters_);
   virtual ~SafeCtrl();
 
-  uint8_t safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
+  acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
-                           const bool satRotRateValid, const bool sunDirValid,
+                                         const bool satRotRateValid, const bool sunDirValid,
-                           const uint8_t mekfEnabled, const uint8_t dampingEnabled);
+                                         const uint8_t mekfEnabled, const uint8_t dampingEnabled);
 
   void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
                 const double *quatBI, const double *sunDirRefB, double *magMomB,

mission/genericFactory.cpp

@@ -49,6 +49,7 @@
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "mission/tcs/defs.h"
+#include "mission/tmtc/Service15TmStorage.h"
 #include "mission/tmtc/tmFilters.h"
 #include "objects/systemObjectList.h"
 #include "tmtc/pusIds.h"
@@ -58,15 +59,13 @@ using persTmStore::PersistentTmStores;
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
 // UDP server includes
-#include "devices/gpioIds.h"
+#include <fsfw/osal/common/UdpTcPollingTask.h>
-#include "fsfw/osal/common/UdpTcPollingTask.h"
+#include <fsfw/osal/common/UdpTmTcBridge.h>
-#include "fsfw/osal/common/UdpTmTcBridge.h"
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
 // TCP server includes
-#include "fsfw/osal/common/TcpTmTcBridge.h"
+#include <fsfw/osal/common/TcpTmTcBridge.h>
-#include "fsfw/osal/common/TcpTmTcServer.h"
+#include <fsfw/osal/common/TcpTmTcServer.h>
-#include "mission/tmtc/Service15TmStorage.h"
 #endif
 #endif
 
@@ -234,7 +233,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 
   // PUS service stack
   new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, config::EIVE_PUS_APID,
-                                      pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL, 40);
+                                      pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL,
+                                      config::VERIFICATION_SERVICE_QUEUE_DEPTH);
   new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, config::EIVE_PUS_APID,
                            pus::PUS_SERVICE_2, 3, 10);
   new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, config::EIVE_PUS_APID,
@@ -243,7 +243,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
       PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, config::EIVE_PUS_APID, pus::PUS_SERVICE_5),
       80, 160);
   new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, config::EIVE_PUS_APID,
-                                 pus::PUS_SERVICE_8, 16, 60);
+                                 pus::PUS_SERVICE_8, config::ACTION_SERVICE_QUEUE_DEPTH, 16, 60);
   new Service9TimeManagement(
       PsbParams(objects::PUS_SERVICE_9_TIME_MGMT, config::EIVE_PUS_APID, pus::PUS_SERVICE_9));
 

mission/power/GomspaceDeviceHandler.cpp

@@ -595,8 +595,8 @@ ReturnValue_t GomspaceDeviceHandler::parsePduHkTable(PDU::PduCoreHk& coreHk, PDU
   for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
     coreHk.voltages[idx] = as<uint16_t>(packet + 0x12 + (idx * 2));
   }
-  auxHk.vcc.value = as<int16_t>(packet + 0x24);
+  coreHk.vcc.value = as<int16_t>(packet + 0x24);
-  auxHk.vbat.value = as<int16_t>(packet + 0x26);
+  coreHk.vbat.value = as<int16_t>(packet + 0x26);
   coreHk.temperature = as<int16_t>(packet + 0x28) * 0.1;
 
   for (uint8_t idx = 0; idx < 3; idx++) {

mission/power/gsDefs.h

@@ -404,6 +404,11 @@ class PduCoreHk : public StaticLocalDataSet<9> {
   /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
   lp_var_t<uint8_t> battMode = lp_var_t<uint8_t>(sid.objectId, pool::PDU_BATT_MODE, this);
   lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, pool::PDU_TEMPERATURE, this);
+
+  /** Measured VCC */
+  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, pool::PDU_VCC, this);
+  /** Measured VBAT */
+  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, pool::PDU_VBAT, this);
 };
 
 class PduConfig : public StaticLocalDataSet<32> {
@@ -451,11 +456,6 @@ class PduAuxHk : public StaticLocalDataSet<36> {
 
   PduAuxHk(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
 
-  /** Measured VCC */
-  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, pool::PDU_VCC, this);
-  /** Measured VBAT */
-  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, pool::PDU_VBAT, this);
-
   /** Output converter enable status */
   lp_vec_t<uint8_t, 3> converterEnable =
       lp_vec_t<uint8_t, 3>(sid.objectId, pool::PDU_CONV_EN, this);

mission/tcs/HeaterHandler.cpp

@@ -268,6 +268,8 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switch heaterIdx) {
         triggerEvent(GPIO_PULL_HIGH_FAILED, result);
       } else {
         triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
+        EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                     MODE_ON, 0);
         {
           MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
           heater.switchState = ON;
@@ -324,6 +326,8 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switch heaterIdx) {
         heater.switchState = OFF;
       }
       triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
+      EventManagerIF::triggerEvent(helper.heaters[heaterIdx].first->getObjectId(), MODE_INFO,
+                                   MODE_OFF, 0);
       // When all switches are off, also main line switch will be turned off
       if (allSwitchesOff()) {
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);

mission/tcs/Tmp1075Definitions.h

@@ -29,7 +29,7 @@ static const uint8_t MAX_REPLY_LENGTH = GET_TEMP_REPLY_SIZE;
 
 enum Tmp1075PoolIds : lp_id_t { TEMPERATURE_C_TMP1075 };
 
-class Tmp1075Dataset : public StaticLocalDataSet<sizeof(float)> {
+class Tmp1075Dataset : public StaticLocalDataSet<2> {
  public:
   Tmp1075Dataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TMP1075_DATA_SET_ID) {}
 

mission/tmtc/PersistentTmStore.cpp

@@ -256,6 +256,7 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
   if (state == State::IDLE or dumpParams.pendingPacketDump) {
     return returnvalue::FAILED;
   }
+  fileHasSwapped = false;
   reader.setReadOnlyData(fileBuf.data() + dumpParams.currentSize,
                          fileBuf.size() - dumpParams.currentSize);
   // CRC check to fully ensure this is a valid TM
@@ -270,7 +271,6 @@ ReturnValue_t PersistentTmStore::getNextDumpPacket(PusTmReader& reader, bool& fi
     fileHasSwapped = true;
     return loadNextDumpFile();
   }
-  fileHasSwapped = false;
   dumpParams.pendingPacketDump = true;
   return returnvalue::OK;
 }

tmtc

@@ -1 +1 @@
-Subproject commit 5fbd19bb6cca0790373a809d78f2307adca9d0c8
+Subproject commit 522f273c99845f9c50aaf135b1c6f52676b975dd