update events

Merge branch 'main' of https://egit.irs.uni-stuttgart.de/eive/eive-tmtc
2022-11-16 15:25:20 +01:00 · 2022-11-15 17:44:35 +01:00 · 2022-11-14 17:10:30 +01:00 · 2022-11-14 17:10:18 +01:00 · 2022-11-14 10:56:14 +01:00 · 2022-11-10 18:07:36 +01:00
75 changed files with 2305 additions and 1477 deletions
--- a/.run/ACU.run.xml
+++ b/.run/ACU.run.xml
@@ -21,4 +21,26 @@
    <option name="INPUT_FILE" value="" />
    <method v="2" />
  </configuration>
+  <configuration default="false" name="ACU" type="PythonConfigurationType" factoryName="Python" folderName="Power">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s acu -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
 </component>
--- a/Closure.run.xml
+++ b/Closure.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="CFDP Test File Small" type="PythonConfigurationType" factoryName="Python" folderName="CFDP">
+  <configuration default="false" name="CFDP Test File Small No Closure" type="PythonConfigurationType" factoryName="Python" folderName="CFDP">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
@@ -13,7 +13,7 @@
    <option name="ADD_SOURCE_ROOTS" value="true" />
    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
-    <option name="PARAMETERS" value="cfdp filetest/cfdp_test.txt /tmp/cfdp_test.txt -d 0.2" />
+    <option name="PARAMETERS" value="cfdp filetest/cfdp_test.txt /tmp/cfdp_test.txt --no-closure -d 0.2" />
    <option name="SHOW_COMMAND_LINE" value="false" />
    <option name="EMULATE_TERMINAL" value="false" />
    <option name="MODULE_MODE" value="false" />
--- a/.run/IMTQ_Test_UDP.run.xml
+++ b/.run/IMTQ_Test_UDP.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Test UDP" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Dipole" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
@@ -13,7 +13,7 @@
    <option name="ADD_SOURCE_ROOTS" value="true" />
    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
-    <option name="PARAMETERS" value="-m seqcmd -c udp -s imtq -l -d 4" />
+    <option name="PARAMETERS" value="-s imtq -o set_dipole -l" />
    <option name="SHOW_COMMAND_LINE" value="false" />
    <option name="EMULATE_TERMINAL" value="true" />
    <option name="MODULE_MODE" value="false" />
--- a/.run/IMTQ_Get_Commanded_Dipole.run.xml
+++ b/.run/IMTQ_Get_Commanded_Dipole.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Get Commanded Dipole" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Get Commanded Dipole" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/.run/IMTQ_Neg_X_Test.run.xml
+++ b/.run/IMTQ_Neg_X_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Neg X Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Neg X Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/.run/IMTQ_Neg_Y_Test.run.xml
+++ b/.run/IMTQ_Neg_Y_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Neg Y Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Neg Y Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/.run/IMTQ_Neg_Z_Test.run.xml
+++ b/.run/IMTQ_Neg_Z_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Neg Z Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Neg Z Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/.run/IMTQ_Pos_X_Test.run.xml
+++ b/.run/IMTQ_Pos_X_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Pos X Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Pos X Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/.run/IMTQ_Pos_Y_Test.run.xml
+++ b/.run/IMTQ_Pos_Y_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Pos Y Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Pos Y Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/.run/IMTQ_Pos_Z_Test.run.xml
+++ b/.run/IMTQ_Pos_Z_Test.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="IMTQ Pos Z Test" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="IMTQ Pos Z Test" type="PythonConfigurationType" factoryName="Python" folderName="IMTQ">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/.run/P60_Dock_Commanding.run.xml
+++ b/.run/P60_Dock_Commanding.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="P60 Dock Commanding" type="PythonConfigurationType" factoryName="Python" folderName="Power">
+  <configuration default="false" name="P60 Dock" type="PythonConfigurationType" factoryName="Python" folderName="Power">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/Commanding.run.xml
+++ b/Commanding.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="PDU1 Commanding" type="PythonConfigurationType" factoryName="Python" folderName="Power">
+  <configuration default="false" name="PDU1" type="PythonConfigurationType" factoryName="Python" folderName="Power">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/Commanding.run.xml
+++ b/Commanding.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="PDU2 Commanding" type="PythonConfigurationType" factoryName="Python" folderName="Power">
+  <configuration default="false" name="PDU2" type="PythonConfigurationType" factoryName="Python" folderName="Power">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
--- a/.run/_IMTQ_Command_Dipole.run.xml
+++ b/.run/_IMTQ_Command_Dipole.run.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name=" IMTQ Command Dipole" type="PythonConfigurationType" factoryName="Python" folderName="Devices">
+  <configuration default="false" name="RW All Off" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
    <module name="tmtc" />
    <option name="INTERPRETER_OPTIONS" value="" />
    <option name="PARENT_ENVS" value="true" />
@@ -13,7 +13,7 @@
    <option name="ADD_SOURCE_ROOTS" value="true" />
    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
-    <option name="PARAMETERS" value="-c udp -s imtq -o 7 -l -d 4 --hk" />
+    <option name="PARAMETERS" value="-s rw_ass -o speed_off -d 0.1 -l" />
    <option name="SHOW_COMMAND_LINE" value="false" />
    <option name="EMULATE_TERMINAL" value="true" />
    <option name="MODULE_MODE" value="false" />
--- a/On.run.xml
+++ b/On.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW All On" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_ass -o speed_up -d 0.1 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/.run/RW1.run.xml
+++ b/.run/RW1.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW1" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_1 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/.run/RW2.run.xml
+++ b/.run/RW2.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW2" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_2 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/.run/RW3.run.xml
+++ b/.run/RW3.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW3" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_3 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/.run/RW4.run.xml
+++ b/.run/RW4.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="RW4" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s rw_4 -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/Deployment.run.xml
+++ b/Deployment.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="SA Deployment" type="PythonConfigurationType" factoryName="Python" folderName="Core">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s sa_depl -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/Cells.run.xml
+++ b/Cells.run.xml
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="SCEX All Cells" type="PythonConfigurationType" factoryName="Python" folderName="SCEX">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s scex -o allcells -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/.run/Subsystem
+++ b/.run/Subsystem
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Subsystem IDLE" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s acs_subsystem -o idle -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/.run/Subsystem
+++ b/.run/Subsystem
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Subsystem OFF" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s acs_subsystem -o safe -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/.run/Subsystem
+++ b/.run/Subsystem
@@ -0,0 +1,24 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Subsystem SAFE" type="PythonConfigurationType" factoryName="Python" folderName="ACS">
+    <module name="tmtc" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
+    <option name="PARAMETERS" value="-s acs_subsystem -o safe -l" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
--- a/listener.run.xml
+++ b/listener.run.xml
@@ -13,7 +13,7 @@
    <option name="ADD_SOURCE_ROOTS" value="true" />
    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/tmtcc.py" />
-    <option name="PARAMETERS" value="-l" />
+    <option name="PARAMETERS" value="tmtc -l" />
    <option name="SHOW_COMMAND_LINE" value="false" />
    <option name="EMULATE_TERMINAL" value="false" />
    <option name="MODULE_MODE" value="false" />
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,7 +10,11 @@ list yields a list of all related PRs for each release.

 # [unreleased]

-# [v1.13.0]
+- Bugfixes for IMTQ TM handling
+- Updates S/A deployment command
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/118
+
+# [v1.13.0] 13.10.2022

 - CFDP integration
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/113
--- a/config/definitions.py
+++ b/config/definitions.py
@@ -6,11 +6,18 @@

 import enum

+from spacepackets import PacketType
+from spacepackets.ccsds import PacketId
 from spacepackets.util import UnsignedByteField

 PUS_APID = 0x65
-SPACE_PACKET_IDS = (0x08 << 8 | PUS_APID,)
 CFDP_APID = 0x66
+PUS_PACKET_ID = PacketId(PacketType.TM, True, PUS_APID)
+CFDP_PACKET_ID = PacketId(PacketType.TM, False, CFDP_APID)
+SPACE_PACKET_IDS = (
+    PUS_PACKET_ID.raw(),
+    CFDP_PACKET_ID.raw(),
+)

 CFDP_LOCAL_ENTITY_ID = UnsignedByteField(byte_len=2, val=1)
 CFDP_REMOTE_ENTITY_ID = UnsignedByteField(byte_len=2, val=CFDP_APID)
@@ -51,8 +58,10 @@ class CustomServiceList(str, enum.Enum):
    STR_IMG_HELPER = "str_img_helper"
    SYRLINKS = "syrlinks"
    ACS_CTRL = "acs_ctrl"
-    ACS_ASS = "acs_ass"
-    SUS_ASS = "sus_ass"
+    ACS_SS = "acs_subsystem"
+    PL_SS = "pl_subsystem"
+    ACS_BRD_ASS = "acs_brd_ass"
+    SUS_BRD_ASS = "sus_brd_ass"
    TCS = "tcs"
    TCS_ASS = "tcs_ass"
    TIME = "time"
--- a/config/events.csv
+++ b/config/events.csv
@@ -80,6 +80,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
+10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
+10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
@@ -92,45 +95,53 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
 11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;;mission/devices/HeaterHandler.h
 11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;;mission/devices/HeaterHandler.h
-11500;0x2cec;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11501;0x2ced;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
-11502;0x2cee;DEPLOYMENT_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11503;0x2cef;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
-11504;0x2cf0;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11500;0x2cec;BURN_PHASE_START;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
+11501;0x2ced;BURN_PHASE_DONE;INFO;P1: Burn duration in milliseconds, P2: Dry run flag;mission/devices/SolarArrayDeploymentHandler.h
+11502;0x2cee;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11503;0x2cef;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11504;0x2cf0;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11505;0x2cf1;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;;mission/devices/SolarArrayDeploymentHandler.h
 11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/devices/ploc/PlocMPSoCHandler.h
 11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
 11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
 11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/devices/ploc/PlocMPSoCHandler.h
-11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
-11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/IMTQHandler.h
+11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/ImtqHandler.h
+11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/ImtqHandler.h
 11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
 11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
 11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
-12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
-12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
-12005;0x2ee5;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
+12002;0x2ee2;SUPV_UNKNOWN_TM;LOW;Unhandled event. P1: APID, P2: Service ID;linux/devices/ploc/PlocSupervisorHandler.h
+12003;0x2ee3;SUPV_UNINIMPLEMENTED_TM;LOW;;linux/devices/ploc/PlocSupervisorHandler.h
+12004;0x2ee4;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
+12005;0x2ee5;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux/devices/ploc/PlocSupervisorHandler.h
+12006;0x2ee6;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
+12007;0x2ee7;SUPV_HELPER_EXECUTING;LOW;Supervisor helper currently executing a command;linux/devices/ploc/PlocSupervisorHandler.h
+12008;0x2ee8;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux/devices/ploc/PlocSupervisorHandler.h
 12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/fs/SdCardManager.h
 12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/fs/SdCardManager.h
 12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
 12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux/devices/ploc/PlocMemoryDumper.h
 12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux/devices/ploc/PlocMemoryDumper.h
-12401;0x3071;INVALID_TC_FRAME;HIGH;;linux/obc/PdecHandler.h
-12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/obc/PdecHandler.h
-12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux/obc/PdecHandler.h
-12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/obc/PdecHandler.h
-12405;0x3075;LOST_CARRIER_LOCK_PDEC;INFO;Lost carrier lock;linux/obc/PdecHandler.h
-12406;0x3076;LOST_BIT_LOCK_PDEC;INFO;Lost bit lock;linux/obc/PdecHandler.h
+12401;0x3071;INVALID_TC_FRAME;HIGH;;linux/ipcore/PdecHandler.h
+12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/ipcore/PdecHandler.h
+12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux/ipcore/PdecHandler.h
+12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/ipcore/PdecHandler.h
+12405;0x3075;LOST_CARRIER_LOCK_PDEC;INFO;Lost carrier lock;linux/ipcore/PdecHandler.h
+12406;0x3076;LOST_BIT_LOCK_PDEC;INFO;Lost bit lock;linux/ipcore/PdecHandler.h
+12407;0x3077;POLL_ERROR_PDEC;MEDIUM;;linux/ipcore/PdecHandler.h
 12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
 12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
 12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
@@ -174,48 +185,51 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
 12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
-12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/AcsBoardAssembly.h
-12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/AcsBoardAssembly.h
-12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/AcsBoardAssembly.h
-12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/AcsBoardAssembly.h
-12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/SusAssembly.h
-12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/SusAssembly.h
-12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/SusAssembly.h
-12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/SusAssembly.h
-13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/TcsBoardAssembly.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/AcsBoardAssembly.h
+12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/AcsBoardAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/objects/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/objects/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/objects/SusAssembly.h
+12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/objects/SusAssembly.h
+13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/objects/TcsBoardAssembly.h
 13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
 13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
 13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
 13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
-13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux/devices/ploc/PlocSupvHelper.h
-13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux/devices/ploc/PlocSupvHelper.h
-13602;0x3522;SUPV_CONTINUE_UPDATE_FAILED;LOW;Continue update command failed;linux/devices/ploc/PlocSupvHelper.h
-13603;0x3523;SUPV_CONTINUE_UPDATE_SUCCESSFUL;LOW;Continue update command successful;linux/devices/ploc/PlocSupvHelper.h
-13604;0x3524;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux/devices/ploc/PlocSupvHelper.h
-13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvHelper.h
-13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvHelper.h
-13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvHelper.h
-13608;0x3528;SUPV_MEM_CHECK_OK;INFO;;linux/devices/ploc/PlocSupvHelper.h
-13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;;linux/devices/ploc/PlocSupvHelper.h
-13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvHelper.h
-13617;0x3531;SUPV_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 supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13618;0x3532;SUPV_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 supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13619;0x3533;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvHelper.h
-13620;0x3534;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13621;0x3535;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13622;0x3536;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux/devices/ploc/PlocSupvHelper.h
-13623;0x3537;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13624;0x3538;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvHelper.h
-13625;0x3539;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvHelper.h
-13626;0x353a;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvHelper.h
-13627;0x353b;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvHelper.h
-13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvHelper.h
-13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvHelper.h
-13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvHelper.h
+13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux/devices/ploc/PlocSupvUartMan.h
+13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux/devices/ploc/PlocSupvUartMan.h
+13602;0x3522;SUPV_CONTINUE_UPDATE_FAILED;LOW;Continue update command failed;linux/devices/ploc/PlocSupvUartMan.h
+13603;0x3523;SUPV_CONTINUE_UPDATE_SUCCESSFUL;LOW;Continue update command successful;linux/devices/ploc/PlocSupvUartMan.h
+13604;0x3524;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux/devices/ploc/PlocSupvUartMan.h
+13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux/devices/ploc/PlocSupvUartMan.h
+13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux/devices/ploc/PlocSupvUartMan.h
+13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux/devices/ploc/PlocSupvUartMan.h
+13608;0x3528;SUPV_MEM_CHECK_OK;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13609;0x3529;SUPV_MEM_CHECK_FAIL;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13616;0x3530;SUPV_SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13617;0x3531;SUPV_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 supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13618;0x3532;SUPV_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 supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13619;0x3533;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocSupvUartMan.h
+13620;0x3534;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13621;0x3535;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13622;0x3536;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux/devices/ploc/PlocSupvUartMan.h
+13623;0x3537;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13624;0x3538;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux/devices/ploc/PlocSupvUartMan.h
+13625;0x3539;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux/devices/ploc/PlocSupvUartMan.h
+13626;0x353a;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux/devices/ploc/PlocSupvUartMan.h
+13627;0x353b;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
+13628;0x353c;SUPV_REPLY_SIZE_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13629;0x353d;SUPV_REPLY_CRC_MISSMATCH;LOW;;linux/devices/ploc/PlocSupvUartMan.h
+13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
+13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
+13632;0x3540;HDLC_CRC_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
 13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
 13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
 13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
 13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+13704;0x3588;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
 13800;0x35e8;MISSING_PACKET;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;;mission/devices/devicedefinitions/ScexDefinitions.h
--- a/config/object_ids.py
+++ b/config/object_ids.py
@@ -122,6 +122,8 @@ SUS_5_N_LOC_XFYMZB_PT_ZB = bytes([0x44, 0x12, 0x00, 0x37])
 SUS_11_R_LOC_XBYMZB_PT_ZB = bytes([0x44, 0x12, 0x00, 0x43])

 # System and Assembly Objects
+ACS_SUBSYSTEM_ID = bytes([0x73, 0x01, 0x00, 0x01])
+PL_SUBSYSTEM_ID = bytes([0x73, 0x01, 0x00, 0x02])
 ACS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x01])
 SUS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x02])
 TCS_BOARD_ASS_ID = bytes([0x73, 0x00, 0x00, 0x03])
--- a/config/objects.csv
+++ b/config/objects.csv
@@ -50,8 +50,12 @@
 0x44330032;SCEX
 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
 0x444100A4;HEATER_HANDLER
-0x44420004;TMP1075_HANDLER_1
-0x44420005;TMP1075_HANDLER_2
+0x44420004;TMP1075_HANDLER_TCS_0
+0x44420005;TMP1075_HANDLER_TCS_1
+0x44420006;TMP1075_HANDLER_PLPCDU_0
+0x44420007;TMP1075_HANDLER_PLPCDU_1
+0x44420008;TMP1075_HANDLER_IF_BOARD
+0x44420009;TMP1075_HANDLER_OBC_IF_BOARD
 0x44420016;RTD_0_IC3_PLOC_HEATSPREADER
 0x44420017;RTD_1_IC4_PLOC_MISSIONBOARD
 0x44420018;RTD_2_IC5_4K_CAMERA
@@ -131,8 +135,14 @@
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS
 0x73000004;RW_ASS
-0x73000005;CFDP_HANDLER
-0x73000006;CFDP_DISTRIBUTOR
+0x73000006;CAM_SWITCHER
 0x73000100;TM_FUNNEL
+0x73000101;PUS_TM_FUNNEL
+0x73000102;CFDP_TM_FUNNEL
+0x73000205;CFDP_HANDLER
+0x73000206;CFDP_DISTRIBUTOR
+0x73010000;EIVE_SYSTEM
+0x73010001;ACS_SUBSYSTEM
+0x73010002;PL_SUBSYSTEM
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT
--- a/config/returnvalues.csv
+++ b/config/returnvalues.csv
@@ -9,6 +9,14 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
 0x66a3;SADPL_SwitchingDeplSa1Failed;;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
 0x66a4;SADPL_SwitchingDeplSa2Failed;;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
+0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
+0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x52b0;RWHA_SpiWriteFailure;;176;RW_HANDLER;mission/devices/RwHandler.h
 0x52b1;RWHA_SpiReadFailure;Used by the spi send function to tell a failing read call;177;RW_HANDLER;mission/devices/RwHandler.h
 0x52b2;RWHA_MissingStartSign;Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E;178;RW_HANDLER;mission/devices/RwHandler.h
@@ -27,14 +35,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x5d03;GOMS_InvalidParamSize;;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d04;GOMS_InvalidPayloadSize;;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
 0x5d05;GOMS_UnknownReplyId;;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h
-0x51a0;IMTQ_InvalidCommandCode;;160;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a1;IMTQ_ParameterMissing;;161;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a2;IMTQ_ParameterInvalid;;162;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a3;IMTQ_CcUnavailable;;163;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a4;IMTQ_InternalProcessingError;;164;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/IMTQHandler.h
-0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/IMTQHandler.h
 0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
 0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
 0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
@@ -49,7 +49,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4fa3;HEATER_InvalidSwitchNr;;163;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa4;HEATER_MainSwitchSetTimeout;;164;HEATER_HANDLER;mission/devices/HeaterHandler.h
 0x4fa5;HEATER_CommandAlreadyWaiting;;165;HEATER_HANDLER;mission/devices/HeaterHandler.h
-0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CCSDSHandler.h
+0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h
 0x4500;HSPI_OpeningFileFailed;;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4501;HSPI_FullDuplexTransferFailed;;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
 0x4502;HSPI_HalfDuplexTransferFailed;;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h
@@ -60,9 +60,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4805;HGIO_GpioDuplicateDetected;;5;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
 0x4806;HGIO_GpioInitFailed;;6;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
 0x4807;HGIO_GpioGetValueFailed;;7;HAL_GPIO;fsfw/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
-0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/uart/UartComIF.h
-0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/uart/UartComIF.h
-0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/uart/UartComIF.h
+0x4601;HURT_UartReadFailure;;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4602;HURT_UartReadSizeMissmatch;;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
+0x4603;HURT_UartRxBufferTooSmall;;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4400;UXOS_ExecutionFinished;Execution of the current command has finished;0;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4401;UXOS_CommandPending;Command is pending. This will also be returned if the user tries to load another command but a command is still pending;1;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4402;UXOS_BytesRead;Some bytes have been read from the executing process;2;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
@@ -101,10 +101,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x38a6;SGP4_SatelliteHasDecayed;;166;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
 0x38b1;SGP4_TleTooOld;;177;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
 0x38b2;SGP4_TleNotInitialized;;178;SGP4PROPAGATOR_CLASS;fsfw/src/fsfw/coordinates/Sgp4Propagator.h
-0x1101;AL_Full;;1;ARRAY_LIST;fsfw/src/fsfw/container/ArrayList.h
-0x1501;FM_KeyAlreadyExists;;1;FIXED_MAP;fsfw/src/fsfw/container/FixedMap.h
-0x1502;FM_MapFull;;2;FIXED_MAP;fsfw/src/fsfw/container/FixedMap.h
-0x1503;FM_KeyDoesNotExist;;3;FIXED_MAP;fsfw/src/fsfw/container/FixedMap.h
 0x1801;FF_Full;;1;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
 0x1802;FF_Empty;;2;FIFO_CLASS;fsfw/src/fsfw/container/FIFOBase.h
 0x1601;FMM_MapFull;;1;FIXED_MULTIMAP;fsfw/src/fsfw/container/FixedOrderedMultimap.h
@@ -325,6 +321,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x360a;CFDP_InvalidPduFormat;;10;CFDP;fsfw/src/fsfw/cfdp/definitions.h
 0x4300;FILS_GenericFileError;;0;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4301;FILS_GenericDirError;;1;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
+0x4302;FILS_FilesystemInactive;;2;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4303;FILS_GenericRenameError;;3;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4304;FILS_IsBusy;;4;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
 0x4305;FILS_InvalidParameters;;5;FILE_SYSTEM;fsfw/src/fsfw/filesystem/HasFileSystemIF.h
--- a/deps/tmtccmd
+++ b/deps/tmtccmd
--- a/gomspace/gomspace_common.py
+++ b/gomspace/gomspace_common.py
@@ -31,46 +31,6 @@ class GomspaceDeviceActionIds(enum.IntEnum):
    PRINT_LATCHUPS = 33


-class GomspaceOpCodes:
-    # Request HK
-    REQUEST_CORE_HK_ONCE = ["hk_core"]
-    REQUEST_AUX_HK_ONCE = ["hk_aux"]
-    PRINT_SWITCH_V_I = ["print_switch_vi"]
-    PRINT_LATCHUPS = ["print_latchups"]
-    GET_PARAM = ["get_param"]
-    SET_INTEGER_PARAM = ["set_int_param"]
-    SAVE_TABLE = ["save_table"]
-    RESET_GND_WATCHDOG = ["reset_gnd_wdt"]
-    SAVE_TABLE_DEFAULT = ["save_table_default"]
-    LOAD_TABLE = ["load_table"]
-    REQUEST_CONFIG_TABLE = ["cfg_table"]
-
-
-class GsInfo:
-    REQUEST_CORE_HK_ONCE = "Requesting Core HK once"
-    REQUEST_AUX_HK_ONCE = "Requesting Aux HK once"
-    PRINT_SWITCH_V_I = "Print Switch V I Info"
-    PRINT_LATCHUPS = "Print latchups"
-    GET_PARAMETER = "Get parameter"
-    SET_PARAMETER = "Set  integer parameter"
-    REQUEST_CONFIG_TABLE = "Request Config Table"
-    RESET_GND_WATCHDOG = "Reset GND watchdog"
-    SAVE_TABLE = "Save table non-volatile (file)"
-    SAVE_TABLE_DEFAULT = "Save table non-volatile (default)"
-    LOAD_TABLE = "Load Table"
-
-
-class SetIds:
-    PDU_1_CORE = 1
-    PDU_1_AUX = 2
-    PDU_2_CORE = 3
-    PDU_2_AUX = 4
-    P60_CORE = 5
-    P60_AUX = 6
-    ACU_CORE = 7
-    ACU_AUX = 8
-
-
 class ParamTypes(enum.Enum):
    U8 = 0
    U16 = 1
--- a/pus_tc/cmd_definitions.py
+++ b/pus_tc/cmd_definitions.py
@@ -21,13 +21,6 @@ def get_eive_service_op_code_dict() -> TmtcDefinitionWrapper:
        info="PUS Service 5 Event",
        op_code_entry=srv_5,
    )
-    srv_17 = OpCodeEntry()
-    srv_17.add("0", "Ping Test")
-    def_wrapper.add_service(
-        name=CoreServiceList.SERVICE_17_ALT,
-        info="PUS Service 17 Test",
-        op_code_entry=srv_17,
-    )
    call_all_definitions_providers(def_wrapper)
    return def_wrapper

@@ -128,30 +121,6 @@ def add_str_cmds(defs: TmtcDefinitionWrapper):
    defs.add_service(CustomServiceList.STAR_TRACKER.value, "Star Tracker", oce)


-@tmtc_definitions_provider
-def add_syrlinks_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add("0", "Syrlinks Handler: Set mode off")
-    oce.add("1", "Syrlinks Handler: Set mode on")
-    oce.add("2", "Syrlinks Handler: Set mode normal")
-    oce.add("3", "Syrlinks Handler: Set TX standby")
-    oce.add("4", "Syrlinks Handler: Set TX modulation")
-    oce.add("5", "Syrlinks Handler: Set TX carrier wave")
-    oce.add("6", "Syrlinks Handler: Read TX status")
-    oce.add("7", "Syrlinks Handler: Read TX waveform")
-    oce.add("8", "Syrlinks Handler: Read TX AGC value high byte")
-    oce.add("9", "Syrlinks Handler: Read TX AGC value low byte")
-    oce.add("12", "Syrlinks Handler: Write LCL config")
-    oce.add("13", "Syrlinks Handler: Read RX status registers")
-    oce.add("14", "Syrlinks Handler: Read LCL config register")
-    oce.add("15", "Syrlinks Handler: Set waveform OQPSK")
-    oce.add("16", "Syrlinks Handler: Set waveform BPSK")
-    oce.add("17", "Syrlinks Handler: Set second config")
-    oce.add("18", "Syrlinks Handler: Enable debug output")
-    oce.add("19", "Syrlinks Handler: Disable debug output")
-    defs.add_service(CustomServiceList.SYRLINKS.value, "Syrlinks Handler", oce)
-
-
@tmtc_definitions_provider
 def add_bpx_cmd_definitions(defs: TmtcDefinitionWrapper):
    oce = OpCodeEntry()
@@ -185,87 +154,10 @@ def add_time_cmds(defs: TmtcDefinitionWrapper):
    )


-@tmtc_definitions_provider
-def add_imtq_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add("0", "Mode Off")
-    oce.add("1", "Mode On")
-    oce.add("2", "Mode Normal")
-    oce.add("3", "IMTQ perform pos X self test")
-    oce.add("4", "IMTQ perform neg X self test")
-    oce.add("5", "IMTQ perform pos Y self test")
-    oce.add("6", "IMTQ perform neg Y self test")
-    oce.add("7", "IMTQ perform pos Z self test")
-    oce.add("8", "IMTQ perform neg Z self test")
-    oce.add("9", "IMTQ command dipole")
-    oce.add("10", "IMTQ get commanded dipole")
-    oce.add("11", "IMTQ get engineering hk set")
-    oce.add("12", "IMTQ get calibrated MTM measurement one shot")
-    oce.add("13", "IMTQ get raw MTM measurement one shot")
-    defs.add_service(CustomServiceList.IMTQ.value, "IMQT Device", oce)
-
-
@tmtc_definitions_provider
 def add_system_cmds(defs: TmtcDefinitionWrapper):
-    from pus_tc.system.acs import AcsOpCodes, SusOpCodes
    import pus_tc.system.controllers as controllers

-    oce = OpCodeEntry()
-    oce.add(
-        keys=AcsOpCodes.ACS_ASS_A_SIDE,
-        info="Switch to ACS board A side",
-    )
-    oce.add(
-        keys=AcsOpCodes.ACS_ASS_B_SIDE,
-        info="Switch to ACS board B side",
-    )
-    oce.add(
-        keys=AcsOpCodes.ACS_ASS_DUAL_MODE,
-        info="Switch to ACS board dual mode",
-    )
-    oce.add(
-        keys=AcsOpCodes.ACS_ASS_A_ON,
-        info="Switch ACS board A side on",
-    )
-    oce.add(
-        keys=AcsOpCodes.ACS_ASS_B_ON,
-        info="Switch ACS board B side on",
-    )
-    oce.add(
-        keys=AcsOpCodes.ACS_ASS_DUAL_ON,
-        info="Switch ACS board dual mode on",
-    )
-    oce.add(
-        keys=AcsOpCodes.ACS_ASS_OFF,
-        info="Switch off ACS board",
-    )
-    defs.add_service(
-        name=CustomServiceList.ACS_ASS.value, info="ACS Assemblies", op_code_entry=oce
-    )
-
-    oce = OpCodeEntry()
-    oce.add(
-        keys=SusOpCodes.SUS_ASS_NOM_SIDE,
-        info="Switch SUS board to nominal side",
-    )
-    oce.add(
-        keys=SusOpCodes.SUS_ASS_RED_SIDE,
-        info="Switch SUS board to redundant side",
-    )
-    oce.add(
-        keys=SusOpCodes.SUS_ASS_OFF,
-        info="Switch off SUS board",
-    )
-    oce.add(
-        keys=SusOpCodes.SUS_ASS_DUAL_MODE,
-        info="Switch SUS board to dual mode",
-    )
-    defs.add_service(
-        name=CustomServiceList.SUS_ASS.value,
-        info="SUS Assembly",
-        op_code_entry=oce,
-    )
-
    oce = OpCodeEntry()
    oce.add(
        keys=controllers.OpCodes.THERMAL_CONTROLLER,
--- a/pus_tc/devs/imtq.py
+++ b/pus_tc/devs/imtq.py
@@ -1,202 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-@file   imtq.py
-@brief  Tests for the ISIS IMTQ (Magnettorquer) device handler
-@author J. Meier
-@date   25.03.2021
-"""
-import struct
-
-from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.tc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_3_fsfw_hk import (
-    make_sid,
-    generate_one_diag_command,
-    generate_one_hk_command,
-)
-from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes
-from tmtccmd.util import ObjectIdU32
-
-
-class ImtqSetIds:
-    ENG_HK_SET = 1
-    CAL_MTM_SET = 2
-    RAW_MTM_SET = 3
-    POSITIVE_X_TEST = 4
-    NEGATIVE_X_TEST = 5
-    POSITIVE_Y_TEST = 6
-    NEGATIVE_Y_TEST = 7
-    POSITIVE_Z_TEST = 8
-    NEGATIVE_Z_TEST = 9
-
-
-class ImtqActionIds:
-    start_actuation_dipole = bytearray([0x0, 0x0, 0x0, 0x02])
-    get_commanded_dipole = bytearray([0x0, 0x0, 0x0, 0x03])
-    perform_positive_x_test = bytearray([0x0, 0x0, 0x0, 0x07])
-    perform_negative_x_test = bytearray([0x0, 0x0, 0x0, 0x08])
-    perform_positive_y_test = bytearray([0x0, 0x0, 0x0, 0x09])
-    perform_negative_y_test = bytearray([0x0, 0x0, 0x0, 0x0A])
-    perform_positive_z_test = bytearray([0x0, 0x0, 0x0, 0x0B])
-    perform_negative_z_test = bytearray([0x0, 0x0, 0x0, 0x0C])
-    # Initiates the reading of the last performed self test. After sending this command the results
-    # can be downlinked via the housekeeping service by using the appropriate set ids listed above.
-    read_self_test_results = bytearray([0x0, 0x0, 0x0, 0x0D])
-
-
-def pack_imtq_test_into(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
-    q.add_log_cmd(
-        f"Testing ISIS IMTQ handler with object id: {object_id.as_hex_string}"
-    )
-
-    if op_code == "0":
-        q.add_log_cmd("IMTQ: Set mode off")
-        command = pack_mode_data(object_id.as_bytes, Modes.OFF, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == "1":
-        q.add_log_cmd("IMTQ: Set mode on")
-        command = pack_mode_data(object_id.as_bytes, Modes.ON, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == "2":
-        q.add_log_cmd("IMTQ: Mode Normal")
-        command = pack_mode_data(object_id.as_bytes, Modes.NORMAL, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
-    if op_code == "3":
-        q.add_log_cmd("IMTQ: Perform positive x self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_positive_x_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Initiate reading of positive x self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Request dataset with positive x self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_X_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "4":
-        q.add_log_cmd("IMTQ: Perform negative x self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_negative_x_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Initiate reading of negative x self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Request dataset with negative x self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_X_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "5":
-        q.add_log_cmd("IMTQ: Perform positive y self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_positive_y_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Initiate reading of positive y self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Request dataset with positive y self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "6":
-        q.add_log_cmd("IMTQ: Perform negative y self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_negative_y_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Initiate reading of negative y self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Request dataset with negative y self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Y_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "7":
-        q.add_log_cmd("IMTQ: Perform positive z self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_positive_z_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Initiate reading of positive z self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-        q.add_log_cmd("IMTQ: Request dataset with positive z self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "8":
-        q.add_log_cmd("IMTQ: Perform negative z self test")
-        command = object_id.as_bytes + ImtqActionIds.perform_negative_z_test
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Initiate reading of negative z self test results")
-        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-        q.add_log_cmd("IMTQ: Request dataset with negative z self test results")
-        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Z_TEST)
-        q.add_pus_tc(generate_one_hk_command(sid))
-
-    if op_code == "9":
-        q.add_log_cmd("IMTQ: Commanding dipole")
-        x_dipole = 0
-        y_dipole = 0
-        z_dipole = 0
-        duration = 0  # ms
-        q.add_pus_tc(
-            pack_dipole_command(
-                object_id.as_bytes, x_dipole, y_dipole, z_dipole, duration
-            )
-        )
-
-    if op_code == "10":
-        q.add_log_cmd("IMTQ: Get commanded dipole")
-        command = object_id.as_bytes + ImtqActionIds.get_commanded_dipole
-        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
-
-    if op_code == "11":
-        q.add_log_cmd("IMTQ: Get engineering hk set")
-        q.add_pus_tc(
-            generate_one_diag_command(
-                sid=make_sid(object_id=object_id.as_bytes, set_id=ImtqSetIds.ENG_HK_SET)
-            )
-        )
-
-    if op_code == "12":
-        q.add_log_cmd("IMTQ: Get calibrated MTM hk set")
-        q.add_pus_tc(
-            generate_one_diag_command(
-                sid=make_sid(
-                    object_id=object_id.as_bytes, set_id=ImtqSetIds.CAL_MTM_SET
-                )
-            )
-        )
-
-    if op_code == "13":
-        q.add_log_cmd("IMTQ: Get raw MTM hk set")
-        q.add_pus_tc(
-            generate_one_diag_command(
-                sid=make_sid(
-                    object_id=object_id.as_bytes, set_id=ImtqSetIds.RAW_MTM_SET
-                )
-            )
-        )
-
-
-def pack_dipole_command(
-    object_id: bytes, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
-) -> PusTelecommand:
-    """This function packs the command causing the ISIS IMTQ to generate a dipole.
-    @param object_id    The object id of the IMTQ handler.
-    @param x_dipole   The dipole of the x coil in 10^-4*Am^2 (max. 2000)
-    @param y_dipole   The dipole of the y coil in 10^-4*Am^2 (max. 2000)
-    @param z_dipole   The dipole of the z coil in 10^-4*Am^2 (max. 2000)
-    @param duration  The duration in milliseconds the dipole will be generated by the coils.
-                     When set to 0, the dipole will be generated until a new dipole actuation
-                     command is sent.
-    """
-    action_id = ImtqActionIds.start_actuation_dipole
-    command = object_id + action_id
-    command += struct.pack("!h", x_dipole)
-    command += struct.pack("!h", y_dipole)
-    command += struct.pack("!h", z_dipole)
-    command += struct.pack("!h", duration)
-    command = PusTelecommand(service=8, subservice=128, app_data=command)
-    return command
--- a/pus_tc/devs/plpcdu.py
+++ b/pus_tc/devs/plpcdu.py
@@ -11,6 +11,8 @@ from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_3_fsfw_hk import (
    make_sid,
    generate_one_diag_command,
+    enable_periodic_hk_command_with_interval,
+    disable_periodic_hk_command,
 )
 from tmtccmd.tc.pus_11_tc_sched import (
    generate_enable_tc_sched_cmd,
@@ -30,31 +32,32 @@ LOGGER = get_console_logger()


 class OpCodes:
-    SWITCH_HPA_ON_PROC = ["0", "proc-hpa"]
+    SWITCH_HPA_ON_PROC = ["0", "proc_hpa"]
    SWITCH_ON = ["2", "on"]
    SWITCH_OFF = ["3", "off"]
-    NORMAL_SSR = ["4", "nml-ssr"]
-    NORMAL_DRO = ["5", "nml-dro"]
-    NORMAL_X8 = ["6", "nml-x8"]
-    NORMAL_TX = ["7", "nml-tx"]
-    NORMAL_MPA = ["8", "nml-mpa"]
-    NORMAL_HPA = ["9", "nml-hpa"]
+    NORMAL_SSR = ["4", "nml_ssr"]
+    NORMAL_DRO = ["5", "nml_dro"]
+    NORMAL_X8 = ["6", "nml_x8"]
+    NORMAL_TX = ["7", "nml_tx"]
+    NORMAL_MPA = ["8", "nml_mpa"]
+    NORMAL_HPA = ["9", "nml_hpa"]

-    REQ_OS_HK = ["8", "hk-os"]
+    ENABLE_HK = ["enable_hk"]
+    DISABLE_HK = ["disable_hk"]
+    REQ_OS_HK = ["hk_os"]

-    INJECT_SSR_TO_DRO_FAILURE = ["10", "inject-ssr-dro-fault"]
-    INJECT_DRO_TO_X8_FAILURE = ["11", "inject-dro-x8-fault"]
-    INJECT_X8_TO_TX_FAILURE = ["12", "inject-x8-tx-fault"]
-    INJECT_TX_TO_MPA_FAILURE = ["13", "inject-tx-mpa-fault"]
-    INJECT_MPA_TO_HPA_FAILURE = ["14", "inject-mpa-hpa-fault"]
-    INJECT_ALL_ON_FAILURE = ["15", "inject-all-on-fault"]
+    INJECT_SSR_TO_DRO_FAILURE = ["10", "inject_ssr_dro_fault"]
+    INJECT_DRO_TO_X8_FAILURE = ["11", "inject_dro_x8_fault"]
+    INJECT_X8_TO_TX_FAILURE = ["12", "inject_x8_tx_fault"]
+    INJECT_TX_TO_MPA_FAILURE = ["13", "inject_tx_mpa_fault"]
+    INJECT_MPA_TO_HPA_FAILURE = ["14", "inject_mpa_hpa_fault"]
+    INJECT_ALL_ON_FAILURE = ["15", "inject_all_on_fault"]


 class Info:
-    NORMAL = "PL PCDU ADC modules normal"
-    SWITCH_HPA_ON_PROC = "Switch HPA on procedure"
-    SWITCH_ON = "Switching PL PCDU on"
-    SWITCH_OFF = "Switching PL PCDU off"
+    NORMAL = "ADC modules normal"
+    SWITCH_ON = "Switching on"
+    SWITCH_OFF = "Switching off"
    NORMAL_SSR = f"{NORMAL}, SSR on"
    NORMAL_DRO = f"{NORMAL},DRO on"
    NORMAL_X8 = f"{NORMAL}, X8 on"
@@ -62,6 +65,9 @@ class Info:
    NORMAL_MPA = f"{NORMAL}, MPA on"
    NORMAL_HPA = f"{NORMAL}, HPA on"
    REQ_OS_HK = "Request One Shot HK"
+    SWITCH_HPA_ON_PROC = "Switch HPA on procedure"
+    ENABLE_HK = "Enable HK"
+    DISABLE_HK = "Disable HK"


 class SetIds(enum.IntEnum):
@@ -128,6 +134,7 @@ def add_pl_pcdu_cmds(defs: TmtcDefinitionWrapper):
    oce.add(keys=OpCodes.NORMAL_MPA, info=Info.NORMAL_MPA)
    oce.add(keys=OpCodes.NORMAL_HPA, info=Info.NORMAL_HPA)
    oce.add(keys=OpCodes.REQ_OS_HK, info=Info.REQ_OS_HK)
+    oce.add(keys=OpCodes.ENABLE_HK, info=Info.ENABLE_HK)
    oce.add(
        keys=OpCodes.INJECT_SSR_TO_DRO_FAILURE,
        info="Inject failure SSR to DRO transition",
@@ -157,6 +164,22 @@ def pack_pl_pcdu_commands(q: DefaultPusQueueHelper, op_code: str):
        pack_pl_pcdu_mode_cmd(q=q, info=Info.SWITCH_ON, mode=Modes.ON, submode=0)
    if op_code in OpCodes.SWITCH_OFF:
        pack_pl_pcdu_mode_cmd(q=q, info=Info.SWITCH_OFF, mode=Modes.OFF, submode=0)
+    if op_code in OpCodes.ENABLE_HK:
+        interval = float(
+            input("Please enter HK collection interval in floating point seconds: ")
+        )
+        cmds = enable_periodic_hk_command_with_interval(
+            diag=True, sid=make_sid(PL_PCDU_ID, SetIds.ADC), interval_seconds=interval
+        )
+        q.add_log_cmd(f"Enable PL PCDU HK with interval of {interval} seconds")
+        for cmd in cmds:
+            q.add_pus_tc(cmd)
+    if op_code in OpCodes.DISABLE_HK:
+        cmd = disable_periodic_hk_command(
+            diag=True, sid=make_sid(PL_PCDU_ID, SetIds.ADC)
+        )
+        q.add_log_cmd("Disabling PL PCDU HK")
+        q.add_pus_tc(cmd)
    if op_code in OpCodes.NORMAL_SSR:
        pack_pl_pcdu_mode_cmd(
            q=q,
--- a/pus_tc/devs/reaction_wheels.py
+++ b/pus_tc/devs/reaction_wheels.py
@@ -1,219 +0,0 @@
-# -*- coding: utf-8 -*-
-"""reaction_wheels.py
-@brief  Tests for the reaction wheel handler
-@author J. Meier
-@date   20.06.2021
-"""
-import struct
-
-from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
-from tmtccmd.config.tmtc import tmtc_definitions_provider
-from tmtccmd.tc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_3_fsfw_hk import (
-    generate_one_hk_command,
-    generate_one_diag_command,
-    make_sid,
-)
-from spacepackets.ecss.tc import PusTelecommand
-from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
-from config.definitions import CustomServiceList
-
-
-class OpCodesDevs:
-    SPEED = ["0", "speed"]
-    ON = ["1", "on"]
-    NML = ["2", "nml"]
-    OFF = ["3", "off"]
-    GET_STATUS = ["4", "status"]
-    GET_TM = ["5", "tm"]
-
-
-class InfoDevs:
-    SPEED = "Set speed"
-    ON = "Set On"
-    NML = "Set Normal"
-    OFF = "Set Off"
-    GET_STATUS = "Get Status HK"
-    GET_TM = "Get TM HK"
-
-
-class OpCodesAss:
-    ON = ["0", "on"]
-    NML = ["1", "nml"]
-    OFF = ["2", "off"]
-
-
-class InfoAss:
-    ON = "Mode On: 3/4 RWs min. on"
-    NML = "Mode Normal: 3/4 RWs min. normal"
-    OFF = "Mode Off: All RWs off"
-
-
-class RwSetIds:
-    STATUS_SET_ID = 4
-    TEMPERATURE_SET_ID = 8
-    LAST_RESET = 2
-    TM_SET = 9
-
-
-class RwCommandIds:
-    RESET_MCU = bytearray([0x0, 0x0, 0x0, 0x01])
-    # Reads status information from reaction wheel into dataset with id 4
-    GET_RW_STATUS = bytearray([0x0, 0x0, 0x0, 0x04])
-    INIT_RW_CONTROLLER = bytearray([0x0, 0x0, 0x0, 0x05])
-    SET_SPEED = bytearray([0x0, 0x0, 0x0, 0x06])
-    # Reads temperature from reaction wheel into dataset with id 8
-    GET_TEMPERATURE = bytearray([0x0, 0x0, 0x0, 0x08])
-    GET_TM = bytearray([0x0, 0x0, 0x0, 0x09])
-
-
-class SpeedDefinitions:
-    RPM_100 = 1000
-    RPM_5000 = 5000
-
-
-class RampTime:
-    MS_1000 = 1000
-
-
-@tmtc_definitions_provider
-def add_rw_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    oce.add(info=InfoDevs.SPEED, keys=OpCodesDevs.SPEED)
-    oce.add(info=InfoDevs.ON, keys=OpCodesDevs.ON)
-    oce.add(info=InfoDevs.OFF, keys=OpCodesDevs.OFF)
-    oce.add(info=InfoDevs.NML, keys=OpCodesDevs.NML)
-    oce.add(info=InfoDevs.GET_STATUS, keys=OpCodesDevs.GET_STATUS)
-    oce.add(info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM)
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_1.value,
-        info="Reaction Wheel 1",
-        op_code_entry=oce,
-    )
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_2.value,
-        info="Reaction Wheel 2",
-        op_code_entry=oce,
-    )
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_3.value,
-        info="Reaction Wheel 3",
-        op_code_entry=oce,
-    )
-    defs.add_service(
-        name=CustomServiceList.REACTION_WHEEL_4.value,
-        info="Reaction Wheel 4",
-        op_code_entry=oce,
-    )
-    oce = OpCodeEntry()
-    oce.add(info=InfoAss.ON, keys=OpCodesAss.ON)
-    oce.add(info=InfoAss.NML, keys=OpCodesAss.NML)
-    oce.add(info=InfoAss.OFF, keys=OpCodesAss.OFF)
-    defs.add_service(
-        name=CustomServiceList.RW_ASSEMBLY.value,
-        info="Reaction Wheel Assembly",
-        op_code_entry=oce,
-    )
-
-
-def pack_single_rw_test_into(
-    object_id: bytes, rw_idx: int, q: DefaultPusQueueHelper, op_code: str
-):
-    if op_code in OpCodesDevs.SPEED:
-        speed = int(input("Specify speed [0.1 RPM]: "))
-        ramp_time = int(input("Specify ramp time [ms]: "))
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.SPEED}")
-        q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
-
-    if op_code in OpCodesDevs.ON:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ON}")
-        mode_data = pack_mode_data(object_id, Modes.ON, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
-
-    if op_code in OpCodesDevs.NML:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.NML}")
-        mode_data = pack_mode_data(object_id, Modes.NORMAL, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
-
-    if op_code in OpCodesDevs.OFF:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.OFF}")
-        mode_data = pack_mode_data(object_id, Modes.OFF, 0)
-        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
-
-    if op_code in OpCodesDevs.GET_TM:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_TM}")
-        q.add_pus_tc(
-            generate_one_hk_command(
-                sid=make_sid(object_id=object_id, set_id=RwSetIds.TM_SET)
-            )
-        )
-    if op_code in OpCodesDevs.GET_STATUS:
-        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_STATUS}")
-        q.add_pus_tc(
-            generate_one_diag_command(
-                sid=make_sid(object_id=object_id, set_id=RwSetIds.STATUS_SET_ID)
-            )
-        )
-
-
-def pack_rw_ass_cmds(q: DefaultPusQueueHelper, object_id: bytes, op_code: str):
-    if op_code in OpCodesAss.OFF:
-        data = pack_mode_data(object_id=object_id, mode=Modes.OFF, submode=0)
-        q.add_pus_tc(
-            PusTelecommand(
-                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
-            )
-        )
-    if op_code in OpCodesAss.ON:
-        data = pack_mode_data(object_id=object_id, mode=Modes.ON, submode=0)
-        q.add_pus_tc(
-            PusTelecommand(
-                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
-            )
-        )
-    if op_code in OpCodesAss.NML:
-        data = pack_mode_data(object_id=object_id, mode=Modes.NORMAL, submode=0)
-        q.add_pus_tc(
-            PusTelecommand(
-                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
-            )
-        )
-
-
-def pack_set_speed_command(
-    object_id: bytes, speed: int, ramp_time_ms: int
-) -> PusTelecommand:
-    """With this function a command is packed to set the speed of a reaction wheel
-    :param object_id: The object id of the reaction wheel handler.
-    :param speed: Valid speeds are [-65000, -1000] and [1000, 65000]. Values are
-        specified in 0.1 * RPM
-    :param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
-        Valid times are 10 - 10000 ms
-    """
-    if speed > 0:
-        if speed < 1000 or speed > 65000:
-            raise ValueError(
-                "Invalid RW speed specified. "
-                "Allowed range is [1000, 65000] 0.1 * RPM"
-            )
-    elif speed < 0:
-        if speed < -65000 or speed > -1000:
-            raise ValueError(
-                "Invalid RW speed specified. "
-                "Allowed range is [-65000, -1000] 0.1 * RPM"
-            )
-    else:
-        # Speed is 0
-        pass
-
-    if ramp_time_ms < 0 or (
-        ramp_time_ms > 0 and (ramp_time_ms > 10000 or ramp_time_ms < 10)
-    ):
-        raise ValueError("Invalid Ramp Speed time. Allowed range is [10-10000] ms")
-    command_id = RwCommandIds.SET_SPEED
-    command = bytearray()
-    command += object_id + command_id
-    command = command + struct.pack("!i", speed)
-    command = command + ramp_time_ms.to_bytes(length=2, byteorder="big")
-    command = PusTelecommand(service=8, subservice=128, app_data=command)
-    return command
--- a/pus_tc/devs/solar_array_deployment.py
+++ b/pus_tc/devs/solar_array_deployment.py
@@ -1,22 +0,0 @@
-# -*- coding: utf-8 -*-
-"""
-@file   solar_array_deployment.py
-@brief  The test function in this file simply returns a command which triggers the solar array deployment.
-@author J. Meier
-@date   15.02.2021
-"""
-from spacepackets.ecss import PusTelecommand
-from tmtccmd.tc import DefaultPusQueueHelper
-
-
-class ActionIds:
-    DEPLOY_SOLAR_ARRAYS = bytearray([0x0, 0x0, 0x0, 0x5])
-
-
-def pack_solar_array_deployment_test_into(
-    object_id: bytearray, q: DefaultPusQueueHelper
-):
-    q.add_log_cmd("Testing S/A Deployment")
-
-    command = object_id + ActionIds.DEPLOY_SOLAR_ARRAYS
-    q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
--- a/pus_tc/devs/syrlinks_hk_handler.py
+++ b/pus_tc/devs/syrlinks_hk_handler.py
@@ -5,6 +5,12 @@
@author J. Meier
@date   13.12.2020
 """
+from config.definitions import CustomServiceList
+from tmtccmd.config.tmtc import (
+    tmtc_definitions_provider,
+    TmtcDefinitionWrapper,
+    OpCodeEntry,
+)
 from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_3_fsfw_hk import make_sid, generate_one_hk_command
 from spacepackets.ecss.tc import PusTelecommand
@@ -20,7 +26,11 @@ class SetIds:


 class OpCodes:
-    NORMAL = ["2", "nml"]
+    OFF = "off"
+    ON = "on"
+    NORMAL = "nml"
+    STANDBY = "standby"
+    MODULATION = "modulation"


 class CommandIds:
@@ -41,28 +51,52 @@ class CommandIds:
    DISABLE_DEBUG = 21


+@tmtc_definitions_provider
+def add_syrlinks_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(OpCodes.OFF, "Syrlinks Handler: Set mode off")
+    oce.add(OpCodes.ON, "Syrlinks Handler: Set mode on")
+    oce.add(OpCodes.NORMAL, "Syrlinks Handler: Set mode normal")
+    oce.add(OpCodes.STANDBY, "Syrlinks Handler: Set TX standby")
+    oce.add(OpCodes.MODULATION, "Syrlinks Handler: Set TX modulation")
+    oce.add("5", "Syrlinks Handler: Set TX carrier wave")
+    oce.add("6", "Syrlinks Handler: Read TX status")
+    oce.add("7", "Syrlinks Handler: Read TX waveform")
+    oce.add("8", "Syrlinks Handler: Read TX AGC value high byte")
+    oce.add("9", "Syrlinks Handler: Read TX AGC value low byte")
+    oce.add("12", "Syrlinks Handler: Write LCL config")
+    oce.add("13", "Syrlinks Handler: Read RX status registers")
+    oce.add("14", "Syrlinks Handler: Read LCL config register")
+    oce.add("15", "Syrlinks Handler: Set waveform OQPSK")
+    oce.add("16", "Syrlinks Handler: Set waveform BPSK")
+    oce.add("17", "Syrlinks Handler: Set second config")
+    oce.add("18", "Syrlinks Handler: Enable debug output")
+    oce.add("19", "Syrlinks Handler: Disable debug output")
+    defs.add_service(CustomServiceList.SYRLINKS.value, "Syrlinks Handler", oce)
+
+
 def pack_syrlinks_command(
    object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
 ):
    obyt = object_id.as_bytes
    q.add_log_cmd(f"Testing Syrlinks with object id: {object_id.as_hex_string}")
-    if op_code == "0":
+    if op_code == OpCodes.OFF:
        q.add_log_cmd("Syrlinks: Set mode off")
        data = pack_mode_data(obyt, Modes.OFF, 0)
        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == "1":
+    if op_code == OpCodes.ON:
        q.add_log_cmd("Syrlinks: Set mode on")
        data = pack_mode_data(obyt, Modes.ON, 0)
        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == "2":
+    if op_code == OpCodes.NORMAL:
        q.add_log_cmd("Syrlinks: Mode Normal")
        data = pack_mode_data(obyt, Modes.NORMAL, 0)
        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=data))
-    if op_code == "3":
+    if op_code == OpCodes.STANDBY:
        q.add_log_cmd("syrlinks: Set TX mode standby")
        data = obyt + struct.pack("!I", CommandIds.SET_TX_MODE_STANDBY)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
-    if op_code == "4":
+    if op_code == OpCodes.MODULATION:
        q.add_log_cmd("syrlinks: Set TX mode modulation")
        data = obyt + struct.pack("!I", CommandIds.SET_TX_MODE_MODULATION)
        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=data))
--- a/pus_tc/procedure_packer.py
+++ b/pus_tc/procedure_packer.py
@@ -27,19 +27,19 @@ from tmtc.power.p60dock import pack_p60dock_cmds
 from tmtc.power.pdu2 import pack_pdu2_commands
 from tmtc.power.pdu1 import pack_pdu1_commands
 from tmtc.power.acu import pack_acu_commands
-from pus_tc.devs.solar_array_deployment import pack_solar_array_deployment_test_into
-from pus_tc.devs.imtq import pack_imtq_test_into
+from tmtc.acs.imtq import pack_imtq_test_into
 from pus_tc.devs.tmp1075 import pack_tmp1075_test_into
 from pus_tc.devs.heater import pack_heater_cmds
-from pus_tc.devs.reaction_wheels import pack_single_rw_test_into, pack_rw_ass_cmds
+from tmtc.acs.reaction_wheels import pack_single_rw_test_into, pack_rw_ass_cmds
 from pus_tc.devs.rad_sensor import pack_rad_sensor_test_into
-from tmtc.ploc_memory_dumper import pack_ploc_memory_dumper_cmd
+from tmtc.payload.ploc_memory_dumper import pack_ploc_memory_dumper_cmd
 from pus_tc.devs.ccsds_handler import pack_ccsds_handler_test
 from pus_tc.system.core import pack_core_commands
 from pus_tc.devs.star_tracker import pack_star_tracker_commands
 from pus_tc.devs.syrlinks_hk_handler import pack_syrlinks_command
 from pus_tc.devs.gps import pack_gps_command
-from pus_tc.system.acs import pack_acs_command, pack_sus_cmds
+from tmtc.acs.acs_board import pack_acs_command
+from tmtc.acs.sus_board import pack_sus_cmds
 from pus_tc.devs.plpcdu import pack_pl_pcdu_commands
 from pus_tc.devs.str_img_helper import pack_str_img_helper_command
 from pus_tc.system.tcs import pack_tcs_sys_commands
@@ -65,7 +65,6 @@ from config.object_ids import (
    PDEC_HANDLER_ID,
    STR_IMG_HELPER_ID,
    SYRLINKS_HANDLER_ID,
-    SOLAR_ARRAY_DEPLOYMENT_ID,
    RW_ASSEMBLY,
    get_object_ids,
 )
@@ -85,11 +84,6 @@ def handle_default_procedure(
    obj_id_man = get_object_ids()
    if service == CoreServiceList.SERVICE_5.value:
        return pack_generic_service_5_test_into(q=queue_helper)
-    if (
-        service == CoreServiceList.SERVICE_17
-        or service == CoreServiceList.SERVICE_17_ALT
-    ):
-        return queue_helper.add_pus_tc(pack_service_17_ping_command())
    if service == CoreServiceList.SERVICE_200.value:
        return pack_service_200_test_into(q=queue_helper)
    if service == CustomServiceList.P60DOCK.value:
@@ -106,8 +100,6 @@ def handle_default_procedure(
    if service == CustomServiceList.ACU.value:
        object_id = cast(ObjectIdU32, obj_id_man.get(ACU_HANDLER_ID))
        return pack_acu_commands(object_id=object_id, q=queue_helper, op_code=op_code)
-    # if service == CustomServiceList.BPX_BATTERY.value:
-    #    return pack_bpx_commands(q=queue_helper, op_code=op_code)
    if service == CustomServiceList.TCS.value:
        return pack_tcs_sys_commands(q=queue_helper, op_code=op_code)
    if service == CustomServiceList.TMP1075_1.value:
@@ -185,18 +177,10 @@ def handle_default_procedure(
        return pack_syrlinks_command(
            object_id=object_id, q=queue_helper, op_code=op_code
        )
-    if service == CustomServiceList.SA_DEPLYOMENT.value:
-        return pack_solar_array_deployment_test_into(
-            object_id=SOLAR_ARRAY_DEPLOYMENT_ID, q=queue_helper
-        )
    if service == CustomServiceList.PROCEDURE.value:
        return pack_proc_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.SUS_ASS.value:
-        return pack_sus_cmds(q=queue_helper, op_code=op_code)
    if service == CustomServiceList.PL_PCDU.value:
        return pack_pl_pcdu_commands(q=queue_helper, op_code=op_code)
-    if service == CustomServiceList.ACS_ASS.value:
-        return pack_acs_command(q=queue_helper, op_code=op_code)
    if service == CustomServiceList.TCS_ASS.value:
        return pack_tcs_sys_commands(q=queue_helper, op_code=op_code)
    if service == CustomServiceList.RW_ASSEMBLY.value:
--- a/pus_tc/system/acs.py
+++ b/pus_tc/system/acs.py
@@ -1,124 +0,0 @@
-import enum
-
-from tmtccmd.tc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_200_fsfw_modes import Modes
-from config.object_ids import ACS_BOARD_ASS_ID, SUS_BOARD_ASS_ID
-
-from .common import command_mode
-
-
-class AcsOpCodes:
-    ACS_ASS_A_SIDE = ["0", "acs-a"]
-    ACS_ASS_B_SIDE = ["1", "acs-b"]
-    ACS_ASS_DUAL_MODE = ["2", "acs-d"]
-    ACS_ASS_OFF = ["3", "acs-off"]
-    ACS_ASS_A_ON = ["4", "acs-ao"]
-    ACS_ASS_B_ON = ["5", "acs-bo"]
-    ACS_ASS_DUAL_ON = ["6", "acs-do"]
-
-
-class SusOpCodes:
-    SUS_ASS_NOM_SIDE = ["0", "sus-nom"]
-    SUS_ASS_RED_SIDE = ["1", "sus-red"]
-    SUS_ASS_DUAL_MODE = ["2", "sus-d"]
-    SUS_ASS_OFF = ["3", "sus-off"]
-
-
-class DualSideSubmodes(enum.IntEnum):
-    A_SIDE = 0
-    B_SIDE = 1
-    DUAL_SIDE = 2
-
-
-def pack_acs_command(q: DefaultPusQueueHelper, op_code: str):
-    if op_code in AcsOpCodes.ACS_ASS_A_SIDE:
-        command_mode(
-            object_id=ACS_BOARD_ASS_ID,
-            mode=Modes.NORMAL,
-            submode=DualSideSubmodes.A_SIDE,
-            q=q,
-            info="Switching to ACS board assembly A side",
-        )
-    if op_code in AcsOpCodes.ACS_ASS_B_SIDE:
-        command_mode(
-            object_id=ACS_BOARD_ASS_ID,
-            mode=Modes.NORMAL,
-            submode=DualSideSubmodes.B_SIDE,
-            q=q,
-            info="Switching to ACS board assembly B side",
-        )
-    if op_code in AcsOpCodes.ACS_ASS_DUAL_MODE:
-        command_mode(
-            object_id=ACS_BOARD_ASS_ID,
-            mode=Modes.NORMAL,
-            submode=DualSideSubmodes.DUAL_SIDE,
-            q=q,
-            info="Switching to ACS board assembly dual mode",
-        )
-    if op_code in AcsOpCodes.ACS_ASS_A_ON:
-        command_mode(
-            object_id=ACS_BOARD_ASS_ID,
-            mode=Modes.ON,
-            submode=DualSideSubmodes.A_SIDE,
-            q=q,
-            info="Switching ACS board assembly A side on",
-        )
-    if op_code in AcsOpCodes.ACS_ASS_B_ON:
-        command_mode(
-            object_id=ACS_BOARD_ASS_ID,
-            mode=Modes.ON,
-            submode=DualSideSubmodes.B_SIDE,
-            q=q,
-            info="Switching ACS board assembly B side on",
-        )
-    if op_code in AcsOpCodes.ACS_ASS_DUAL_ON:
-        command_mode(
-            object_id=ACS_BOARD_ASS_ID,
-            mode=Modes.ON,
-            submode=DualSideSubmodes.B_SIDE,
-            q=q,
-            info="Switching ACS board assembly dual side on",
-        )
-    if op_code in AcsOpCodes.ACS_ASS_OFF:
-        command_mode(
-            object_id=ACS_BOARD_ASS_ID,
-            mode=Modes.OFF,
-            submode=0,
-            q=q,
-            info="Switching to ACS board assembly off",
-        )
-
-
-def pack_sus_cmds(q: DefaultPusQueueHelper, op_code: str):
-    if op_code in SusOpCodes.SUS_ASS_NOM_SIDE:
-        command_mode(
-            object_id=SUS_BOARD_ASS_ID,
-            mode=Modes.NORMAL,
-            submode=DualSideSubmodes.A_SIDE,
-            q=q,
-            info="Switching to SUS board to nominal side",
-        )
-    if op_code in SusOpCodes.SUS_ASS_RED_SIDE:
-        command_mode(
-            object_id=SUS_BOARD_ASS_ID,
-            mode=Modes.NORMAL,
-            submode=DualSideSubmodes.B_SIDE,
-            q=q,
-            info="Switching to SUS board to redundant side",
-        )
-    if op_code in SusOpCodes.SUS_ASS_OFF:
-        command_mode(
-            object_id=SUS_BOARD_ASS_ID,
-            mode=Modes.OFF,
-            submode=0,
-            q=q,
-            info="Switching SUS board off",
-        )
-    if op_code in SusOpCodes.SUS_ASS_DUAL_MODE:
-        command_mode(
-            object_id=SUS_BOARD_ASS_ID,
-            mode=Modes.NORMAL,
-            submode=DualSideSubmodes.DUAL_SIDE,
-            q=q,
-            info="Switching to SUS board to dual side",
-        )
--- a/pus_tc/system/controllers.py
+++ b/pus_tc/system/controllers.py
@@ -4,7 +4,7 @@ from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_200_fsfw_modes import Modes
 from tmtccmd.util import ObjectIdU32, ObjectIdBase

-from .common import command_mode
+from tmtc.common import pack_mode_cmd_with_info
 import config.object_ids as obj_ids

 from pus_tc.prompt_parameters import prompt_parameters_cli, prompt_parameters_gui
@@ -36,7 +36,7 @@ def pack_cmd_ctrl_to_prompted_mode(
        print("Invalid Mode, defaulting to OFF")
        mode = 0
    submode = int(parameters["Submode"])
-    command_mode(
+    pack_mode_cmd_with_info(
        object_id=object_id.as_bytes,
        mode=mode,
        submode=submode,
@@ -48,7 +48,7 @@ def pack_cmd_ctrl_to_prompted_mode(
 def pack_cmd_ctrl_to_off(
    q: DefaultPusQueueHelper, object_id: Union[ObjectIdBase, ObjectIdU32]
 ):
-    command_mode(
+    pack_mode_cmd_with_info(
        object_id=object_id.as_bytes,
        mode=Modes.OFF,
        submode=0,
@@ -58,7 +58,7 @@ def pack_cmd_ctrl_to_off(


 def pack_cmd_ctrl_to_on(q: DefaultPusQueueHelper, object_id: ObjectIdU32):
-    command_mode(
+    pack_mode_cmd_with_info(
        object_id=object_id.as_bytes,
        mode=Modes.ON,
        submode=0,
@@ -70,7 +70,7 @@ def pack_cmd_ctrl_to_on(q: DefaultPusQueueHelper, object_id: ObjectIdU32):
 def pack_cmd_ctrl_to_nml(
    q: DefaultPusQueueHelper, object_id: Union[ObjectIdBase, ObjectIdU32]
 ):
-    command_mode(
+    pack_mode_cmd_with_info(
        object_id=object_id.as_bytes,
        mode=Modes.NORMAL,
        submode=0,
--- a/pus_tc/system/proc.py
+++ b/pus_tc/system/proc.py
@@ -2,7 +2,6 @@ from __future__ import annotations

 import time
 from datetime import timedelta
-from typing import List

 from config.definitions import CustomServiceList
 from config.object_ids import get_object_ids
@@ -22,25 +21,24 @@ import config.object_ids as oids
 from pus_tc.system.tcs import OpCodes as TcsOpCodes
 from pus_tc.devs.bpx_batt import BpxSetIds
 from pus_tc.system.core import SetIds as CoreSetIds
-from gomspace.gomspace_common import SetIds as GsSetIds
+from tmtc.power.common_power import SetIds as GsSetIds
 from pus_tc.devs.rad_sensor import SetIds as RadSetIds
 from pus_tc.devs.mgms import MgmLis3SetIds as MgmLis3SetIds_0_2
 from pus_tc.devs.mgms import MgmRm3100SetIds as MgmRm3100SetIds_1_3
 from pus_tc.devs.gyros import AdisGyroSetIds as AdisGyroSetIds_0_2
 from pus_tc.devs.gyros import L3gGyroSetIds as L3gGyroSetIds_1_3
-from pus_tc.devs.syrlinks_hk_handler import OpCodes as SyrlinksOpCodes
 from pus_tc.devs.syrlinks_hk_handler import SetIds as SyrlinksSetIds
-from pus_tc.devs.star_tracker import OpCodes as StrOpCodes
 from pus_tc.devs.gps import SetIds as GpsSetIds
-from pus_tc.devs.imtq import ImtqSetIds
+from tmtc.acs.imtq import ImtqSetIds
 from pus_tc.devs.sus import SetIds
 from pus_tc.devs.star_tracker import SetIds as StrSetIds
-from pus_tc.devs.reaction_wheels import RwSetIds
+from tmtc.acs.reaction_wheels import RwSetIds, rw_speed_up_cmd_consec
 from pus_tc.system.controllers import pack_cmd_ctrl_to_off, pack_cmd_ctrl_to_nml
-from pus_tc.system.acs import pack_acs_command, pack_sus_cmds
-from pus_tc.devs.imtq import pack_imtq_test_into, pack_dipole_command
+from tmtc.acs.acs_board import pack_acs_command
+from tmtc.acs.sus_board import pack_sus_cmds
+from tmtc.acs.imtq import pack_imtq_test_into, pack_dipole_command
 from pus_tc.devs.star_tracker import pack_star_tracker_commands
-from pus_tc.devs.reaction_wheels import pack_rw_ass_cmds, pack_set_speed_command
+from tmtc.acs.reaction_wheels import pack_rw_ass_cmds, pack_set_speed_command


 class OpCodes:
@@ -247,14 +245,14 @@ def pack_proc_commands(q: DefaultPusQueueHelper, op_code: str):
    if op_code in OpCodes.PCDU_FT:
        key = KAI.PCDU_FT[0]
        pcdu_pairs = [
-            (oids.P60_DOCK_HANDLER, GsSetIds.P60_CORE),
-            (oids.PDU_1_HANDLER_ID, GsSetIds.PDU_1_CORE),
-            (oids.PDU_2_HANDLER_ID, GsSetIds.PDU_2_CORE),
-            (oids.ACU_HANDLER_ID, GsSetIds.ACU_CORE),
-            (oids.P60_DOCK_HANDLER, GsSetIds.P60_AUX),
-            (oids.PDU_1_HANDLER_ID, GsSetIds.PDU_1_AUX),
-            (oids.PDU_2_HANDLER_ID, GsSetIds.PDU_2_AUX),
-            (oids.ACU_HANDLER_ID, GsSetIds.ACU_AUX),
+            (oids.P60_DOCK_HANDLER, GsSetIds.CORE),
+            (oids.PDU_1_HANDLER_ID, GsSetIds.CORE),
+            (oids.PDU_2_HANDLER_ID, GsSetIds.CORE),
+            (oids.ACU_HANDLER_ID, GsSetIds.CORE),
+            (oids.P60_DOCK_HANDLER, GsSetIds.AUX),
+            (oids.PDU_1_HANDLER_ID, GsSetIds.AUX),
+            (oids.PDU_2_HANDLER_ID, GsSetIds.AUX),
+            (oids.ACU_HANDLER_ID, GsSetIds.AUX),
        ]

        diag_list = [
@@ -587,10 +585,10 @@ def pack_proc_commands(q: DefaultPusQueueHelper, op_code: str):
        ]
        # HK listening
        pack_generic_hk_listening_cmds(
-            tc_queue=tc_queue,
+            q=q,
            proc_key=key,
            sid_list=sid_list,
-            diag=False,
+            diag_list=[False],
            cfg=GenericHkListeningCfg.default(),
        )
    if op_code in OpCodes.STR_FT:
@@ -726,7 +724,7 @@ def enable_listen_to_hk_for_x_seconds(
 ):
    q.add_log_cmd(f"Enabling periodic HK for {device}")
    cmd_tuple = enable_periodic_hk_command_with_interval(
-        diag=diag, sid=sid, interval_seconds=interval_seconds, ssc=0
+        diag=diag, sid=sid, interval_seconds=interval_seconds
    )
    for cmd in cmd_tuple:
        q.add_pus_tc(cmd)
@@ -827,24 +825,6 @@ def rw_speed_cmd_single(
    q.add_pus_tc(pack_set_speed_command(object_id=oid, speed=0, ramp_time_ms=ramp_time))


-def rw_speed_up_cmd_consec(
-    q: DefaultPusQueueHelper, obids: List[bytes], speed: int, ramp_time: int
-):
-    for oid in obids:
-        q.add_pus_tc(
-            pack_set_speed_command(object_id=oid, speed=speed, ramp_time_ms=ramp_time)
-        )
-
-
-def rw_speed_down_cmd_consec(
-    q: DefaultPusQueueHelper, obids: List[bytes], ramp_time: int
-):
-    for oid in obids:
-        q.add_pus_tc(
-            pack_set_speed_command(object_id=oid, speed=0, ramp_time_ms=ramp_time)
-        )
-
-
 def activate_all_rws_in_sequence(
    q: DefaultPusQueueHelper, init_ssc: int, test_speed: int, test_ramp_time: int
 ):
--- a/pus_tc/system/tcs.py
+++ b/pus_tc/system/tcs.py
@@ -7,11 +7,10 @@ from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_200_fsfw_modes import Modes
 from tmtccmd.tc.pus_3_fsfw_hk import (
    make_sid,
-    generate_one_diag_command,
    generate_one_hk_command,
 )

-from .common import command_mode
+from tmtc.common import pack_mode_cmd_with_info
 from config.object_ids import TCS_BOARD_ASS_ID, TCS_CONTROLLER


@@ -62,7 +61,7 @@ def pack_tcs_sys_commands(q: DefaultPusQueueHelper, op_code: str):

 def pack_tcs_ass_cmds(q: DefaultPusQueueHelper, op_code: str):
    if op_code in OpCodes.TCS_BOARD_ASS_NORMAL:
-        command_mode(
+        pack_mode_cmd_with_info(
            object_id=TCS_BOARD_ASS_ID,
            mode=Modes.NORMAL,
            submode=0,
@@ -70,7 +69,7 @@ def pack_tcs_ass_cmds(q: DefaultPusQueueHelper, op_code: str):
            info=Info.TCS_BOARD_ASS_NORMAL,
        )
    if op_code in OpCodes.TCS_BOARD_ASS_OFF:
-        command_mode(
+        pack_mode_cmd_with_info(
            object_id=TCS_BOARD_ASS_ID,
            mode=Modes.OFF,
            submode=0,
--- a/pus_tm/action_reply_handler.py
+++ b/pus_tm/action_reply_handler.py
@@ -1,9 +1,9 @@
 import struct
 from config.object_ids import *
-from pus_tc.devs.imtq import ImtqActionIds
+from tmtc.acs.imtq import ImtqActionIds
 from pus_tm.defs import PrintWrapper
-from tmtc.ploc_mpsoc import PlocReplyIds
-from tmtc.ploc_supervisor import SupvActionIds
+from tmtc.payload.ploc_mpsoc import PlocReplyIds
+from tmtc.payload.ploc_supervisor import SupvActionIds
 from pus_tc.devs.star_tracker import StarTrackerActionIds
 from tmtc.power.tm import handle_get_param_data_reply
 from tmtccmd.logging import get_console_logger
--- a/pus_tm/devs/imtq_mgt.py
+++ b/pus_tm/devs/imtq_mgt.py
@@ -1,228 +0,0 @@
-import struct
-
-from pus_tm.defs import PrintWrapper
-from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
-
-
-def handle_eng_set(printer: FsfwTmTcPrinter, hk_data: bytes):
-    pw = PrintWrapper(printer)
-    header_list = [
-        "Digital Voltage [mV]",
-        "Analog Voltage [mV]",
-        "Digital Current [mA]",
-        "Analog Current [mA]",
-        "Coil Current X [mA]",
-        "Coil Current Y [mA]",
-        "Coil Current Z [mA]",
-        "Coil X Temperature [°C]",
-        "Coil Y Temperature [°C]",
-        "Coil Z Temperature [°C]",
-        "Coil Z Temperature [°C]",
-        "MCU Temperature [°C]",
-    ]
-    digital_voltage = struct.unpack("!H", hk_data[0:2])[0]
-    analog_voltage = struct.unpack("!H", hk_data[2:4])[0]
-    digital_current = struct.unpack("!f", hk_data[4:8])[0]
-    analog_current = struct.unpack("!f", hk_data[8:12])[0]
-    coil_x_current = struct.unpack("!f", hk_data[12:16])[0]
-    coil_y_current = struct.unpack("!f", hk_data[16:20])[0]
-    coil_z_current = struct.unpack("!f", hk_data[20:24])[0]
-    coil_x_temperature = struct.unpack("!H", hk_data[24:26])[0]
-    coil_y_temperature = struct.unpack("!H", hk_data[26:28])[0]
-    coil_z_temperature = struct.unpack("!H", hk_data[30:32])[0]
-    mcu_temperature = struct.unpack("!H", hk_data[32:34])[0]
-
-    validity_buffer = hk_data[42:]
-    content_list = [
-        digital_voltage,
-        analog_voltage,
-        digital_current,
-        analog_current,
-        coil_x_current,
-        coil_y_current,
-        coil_z_current,
-        coil_x_temperature,
-        coil_y_temperature,
-        coil_z_temperature,
-        mcu_temperature,
-    ]
-    num_of_vars = len(header_list)
-    pw.dlog(str(header_list))
-    pw.dlog(str(content_list))
-    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
-
-
-def handle_calibrated_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
-    pw = PrintWrapper(printer)
-    header_list = [
-        "Calibrated MTM X [nT]",
-        "Calibrated MTM Y [nT]",
-        "Calibrated MTM Z [nT]",
-        "Coild actuation status",
-    ]
-    mtm_x = struct.unpack("!I", hk_data[0:4])[0]
-    mtm_y = struct.unpack("!I", hk_data[4:8])[0]
-    mtm_z = struct.unpack("!I", hk_data[8:12])[0]
-    coil_actuation_status = hk_data[12]
-    validity_buffer = hk_data[12:]
-    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
-    num_of_vars = len(header_list)
-    pw.dlog(str(header_list))
-    pw.dlog(str(content_list))
-    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
-
-
-def handle_raw_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
-    pw = PrintWrapper(printer)
-    header_list = [
-        "Raw MTM X [nT]",
-        "Raw MTM Y [nT]",
-        "Raw MTM Z [nT]",
-        "Coild actuation status",
-    ]
-    mtm_x = struct.unpack("!f", hk_data[0:4])[0]
-    mtm_y = struct.unpack("!f", hk_data[4:8])[0]
-    mtm_z = struct.unpack("!f", hk_data[8:12])[0]
-    coil_actuation_status = hk_data[12]
-    validity_buffer = hk_data[12:]
-    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
-    num_of_vars = len(header_list)
-    pw.dlog(str(header_list))
-    pw.dlog(str(content_list))
-    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
-
-
-def handle_self_test_data(printer: FsfwTmTcPrinter, hk_data: bytes):
-    pw = PrintWrapper(printer)
-    header_list = [
-        "Init Err",
-        "Init Raw Mag X [nT]",
-        "Init Raw Mag Y [nT]",
-        "Init Raw Mag Z [nT]",
-        "Init Cal Mag X [nT]",
-        "Init Cal Mag Y [nT]",
-        "Init Cal Mag Z [nT]",
-        "Init Coil X Current [mA]",
-        "Init Coil Y Current [mA]",
-        "Init Coil Z Current [mA]",
-        "Init Coil X Temperature [°C]",
-        "Init Coil Y Temperature [°C]",
-        "Init Coil Z Temperature [°C]",
-        "Err",
-        "Raw Mag X [nT]",
-        "Raw Mag Y [nT]",
-        "Raw Mag Z [nT]",
-        "Cal Mag X [nT]",
-        "Cal Mag Y [nT]",
-        "Cal Mag Z [nT]",
-        "Coil X Current [mA]",
-        "Coil Y Current [mA]",
-        "Coil Z Current [mA]",
-        "Coil X Temperature [°C]",
-        "Coil Y Temperature [°C]",
-        "Coil Z Temperature [°C]",
-        "Fina Err",
-        "Fina Raw Mag X [nT]",
-        "Fina Raw Mag Y [nT]",
-        "Fina Raw Mag Z [nT]",
-        "Fina Cal Mag X [nT]",
-        "Fina Cal Mag Y [nT]",
-        "Fina Cal Mag Z [nT]",
-        "Fina Coil X Current [mA]",
-        "Fina Coil Y Current [mA]",
-        "Fina Coil Z Current [mA]",
-        "Fina Coil X Temperature [°C]",
-        "Fina Coil Y Temperature [°C]",
-        "Fina Coil Z Temperature [°C]",
-    ]
-    # INIT step (no coil actuation)
-    init_err = hk_data[0]
-    init_raw_mag_x = struct.unpack("!f", hk_data[1:5])[0]
-    init_raw_mag_y = struct.unpack("!f", hk_data[5:9])[0]
-    init_raw_mag_z = struct.unpack("!f", hk_data[9:13])[0]
-    init_cal_mag_x = struct.unpack("!f", hk_data[13:17])[0]
-    init_cal_mag_y = struct.unpack("!f", hk_data[17:21])[0]
-    init_cal_mag_z = struct.unpack("!f", hk_data[21:25])[0]
-    init_coil_x_current = struct.unpack("!f", hk_data[25:29])[0]
-    init_coil_y_current = struct.unpack("!f", hk_data[29:33])[0]
-    init_coil_z_current = struct.unpack("!f", hk_data[33:37])[0]
-    init_coil_x_temperature = struct.unpack("!H", hk_data[37:39])[0]
-    init_coil_y_temperature = struct.unpack("!H", hk_data[39:41])[0]
-    init_coil_z_temperature = struct.unpack("!H", hk_data[41:43])[0]
-
-    # Actuation step
-    err = hk_data[43]
-    raw_mag_x = struct.unpack("!f", hk_data[44:48])[0]
-    raw_mag_y = struct.unpack("!f", hk_data[48:52])[0]
-    raw_mag_z = struct.unpack("!f", hk_data[52:56])[0]
-    cal_mag_x = struct.unpack("!f", hk_data[56:60])[0]
-    cal_mag_y = struct.unpack("!f", hk_data[60:64])[0]
-    cal_mag_z = struct.unpack("!f", hk_data[64:68])[0]
-    coil_x_current = struct.unpack("!f", hk_data[68:72])[0]
-    coil_y_current = struct.unpack("!f", hk_data[72:76])[0]
-    coil_z_current = struct.unpack("!f", hk_data[76:80])[0]
-    coil_x_temperature = struct.unpack("!H", hk_data[80:82])[0]
-    coil_y_temperature = struct.unpack("!H", hk_data[82:84])[0]
-    coil_z_temperature = struct.unpack("!H", hk_data[84:86])[0]
-
-    # FINA step (no coil actuation)
-    fina_err = hk_data[86]
-    fina_raw_mag_x = struct.unpack("!f", hk_data[87:91])[0]
-    fina_raw_mag_y = struct.unpack("!f", hk_data[91:95])[0]
-    fina_raw_mag_z = struct.unpack("!f", hk_data[95:99])[0]
-    fina_cal_mag_x = struct.unpack("!f", hk_data[99:103])[0]
-    fina_cal_mag_y = struct.unpack("!f", hk_data[103:107])[0]
-    fina_cal_mag_z = struct.unpack("!f", hk_data[107:111])[0]
-    fina_coil_x_current = struct.unpack("!f", hk_data[111:115])[0]
-    fina_coil_y_current = struct.unpack("!f", hk_data[115:119])[0]
-    fina_coil_z_current = struct.unpack("!f", hk_data[119:123])[0]
-    fina_coil_x_temperature = struct.unpack("!H", hk_data[123:125])[0]
-    fina_coil_y_temperature = struct.unpack("!H", hk_data[125:127])[0]
-    fina_coil_z_temperature = struct.unpack("!H", hk_data[127:129])[0]
-
-    validity_buffer = hk_data[129:]
-    content_list = [
-        init_err,
-        init_raw_mag_x,
-        init_raw_mag_y,
-        init_raw_mag_z,
-        init_cal_mag_x,
-        init_cal_mag_y,
-        init_cal_mag_z,
-        init_coil_x_current,
-        init_coil_y_current,
-        init_coil_z_current,
-        init_coil_x_temperature,
-        init_coil_y_temperature,
-        init_coil_z_temperature,
-        err,
-        raw_mag_x,
-        init_raw_mag_y,
-        raw_mag_z,
-        cal_mag_x,
-        cal_mag_y,
-        cal_mag_z,
-        coil_x_current,
-        coil_y_current,
-        coil_z_current,
-        coil_x_temperature,
-        coil_y_temperature,
-        coil_z_temperature,
-        fina_err,
-        fina_raw_mag_x,
-        fina_raw_mag_y,
-        fina_raw_mag_z,
-        fina_cal_mag_x,
-        fina_cal_mag_y,
-        fina_cal_mag_z,
-        fina_coil_x_current,
-        fina_coil_y_current,
-        fina_coil_z_current,
-        fina_coil_x_temperature,
-        fina_coil_y_temperature,
-        fina_coil_z_temperature,
-    ]
-    num_of_vars = len(header_list)
-    pw.dlog(str(header_list))
-    pw.dlog(str(content_list))
-    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
--- a/pus_tm/devs/reaction_wheels.py
+++ b/pus_tm/devs/reaction_wheels.py
@@ -1,124 +0,0 @@
-import struct
-
-from pus_tm.defs import PrintWrapper, FsfwTmTcPrinter
-from tmtccmd.util.obj_id import ObjectIdU32
-
-
-def handle_rw_hk_data(
-    printer: FsfwTmTcPrinter, object_id: ObjectIdU32, set_id: int, hk_data: bytes
-):
-    from pus_tc.devs.reaction_wheels import RwSetIds
-
-    pw = PrintWrapper(printer)
-    current_idx = 0
-    if set_id == RwSetIds.STATUS_SET_ID:
-        pw.dlog(
-            f"Received Status HK (ID {set_id}) from Reaction Wheel {object_id.name}"
-        )
-        fmt_str = "!IiiBB"
-        inc_len = struct.calcsize(fmt_str)
-        (temp, speed, ref_speed, state, clc_mode) = struct.unpack(
-            fmt_str, hk_data[current_idx : current_idx + inc_len]
-        )
-        current_idx += inc_len
-        speed_rpm = speed / 10.0
-        ref_speed_rpm = ref_speed / 10.0
-        pw.dlog(
-            f"Temperature {temp} C | Speed {speed_rpm} rpm | Reference Speed {ref_speed_rpm} rpm"
-        )
-        pw.dlog(
-            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
-            f"4: Running, speed  changing"
-        )
-        pw.dlog(
-            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
-            f"1: High Current Mode (0.6 A)"
-        )
-        printer.print_validity_buffer(hk_data[current_idx:], 5)
-    if set_id == RwSetIds.LAST_RESET:
-        pw.dlog(
-            f"Received Last Reset HK (ID {set_id}) from Reaction Wheel {object_id.name}"
-        )
-        fmt_str = "!BB"
-        inc_len = struct.calcsize(fmt_str)
-        (last_not_cleared_reset_status, current_reset_status) = struct.unpack(
-            fmt_str, hk_data[current_idx : current_idx + inc_len]
-        )
-        current_idx += inc_len
-        pw.dlog(
-            f"Last Non-Cleared (Cached) Reset Status {last_not_cleared_reset_status} | "
-            f"Current Reset Status {current_reset_status}"
-        )
-    if set_id == RwSetIds.TM_SET:
-        pw.dlog(f"Received TM HK (ID {set_id}) from Reaction Wheel {object_id.name}")
-        fmt_str = "!BiffBBiiIIIIIIIIIIIIIIII"
-        inc_len = struct.calcsize(fmt_str)
-        (
-            last_reset_status,
-            mcu_temp,
-            pressure_sens_temp,
-            pressure,
-            state,
-            clc_mode,
-            current_speed,
-            ref_speed,
-            num_invalid_crc_packets,
-            num_invalid_len_packets,
-            num_invalid_cmd_packets,
-            num_of_cmd_executed_requests,
-            num_of_cmd_replies,
-            uart_num_of_bytes_written,
-            uart_num_of_bytes_read,
-            uart_num_parity_errors,
-            uart_num_noise_errors,
-            uart_num_frame_errors,
-            uart_num_reg_overrun_errors,
-            uart_total_num_errors,
-            spi_num_bytes_written,
-            spi_num_bytes_read,
-            spi_num_reg_overrun_errors,
-            spi_total_num_errors,
-        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
-
-        pw.dlog(
-            f"MCU Temperature {mcu_temp} | Pressure Sensore Temperature {pressure_sens_temp} C"
-        )
-        pw.dlog(f"Last Reset Status {last_reset_status}")
-        pw.dlog(
-            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
-            f"1: High Current Mode (0.6 A)"
-        )
-        pw.dlog(f"Speed {current_speed} rpm | Reference Speed {ref_speed} rpm")
-        pw.dlog(
-            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
-            f"4: Running, speed  changing"
-        )
-        pw.dlog(f"Number Of Invalid Packets:")
-        pw.dlog("CRC | Length | CMD")
-        pw.dlog(
-            f"{num_invalid_crc_packets} | {num_invalid_len_packets} | {num_invalid_cmd_packets}"
-        )
-        pw.dlog(
-            f"Num Of CMD Executed Requests {num_of_cmd_executed_requests} | "
-            f"Num of CMD Replies {num_of_cmd_replies}"
-        )
-        pw.dlog("UART COM information:")
-        pw.dlog(
-            f"NumBytesWritten | NumBytesRead | ParityErrs | NoiseErrs | FrameErrs | "
-            f"RegOverrunErrs | TotalErrs"
-        )
-        pw.dlog(
-            f"{uart_num_of_bytes_written} | {uart_num_of_bytes_read} | {uart_num_parity_errors} | "
-            f"{uart_num_noise_errors} | {uart_num_frame_errors} | {uart_num_reg_overrun_errors} | "
-            f"{uart_total_num_errors}"
-        )
-        pw.dlog("SPI COM Info:")
-        pw.dlog(f"NumBytesWritten | NumBytesRead | RegOverrunErrs | TotalErrs")
-        pw.dlog(
-            f"{spi_num_bytes_written} | {spi_num_bytes_read} | {spi_num_reg_overrun_errors} | "
-            f"{spi_total_num_errors}"
-        )
-        if current_idx > 0:
-            printer.print_validity_buffer(
-                validity_buffer=hk_data[current_idx:], num_vars=27
-            )
--- a/pus_tm/event_handler.py
+++ b/pus_tm/event_handler.py
@@ -3,6 +3,9 @@ import os.path
 from datetime import datetime
 from config.object_ids import get_object_ids
 from pus_tm.defs import PrintWrapper
+from pus_tm.verification_handler import generic_retval_printout
+from tmtc.acs.acs_subsystem import AcsModes
+from tmtccmd.tc.pus_200_fsfw_modes import Modes

 from tmtccmd.tm import Service5Tm
 from tmtccmd.logging import get_console_logger
@@ -50,6 +53,11 @@ def handle_event_packet(raw_tm: bytes, printer: FsfwTmTcPrinter):
    )
    LOGGER.info(generic_event_string)
    specific_handler = True
+    if info.name == "MODE_TRANSITION_FAILED":
+        reason = generic_retval_printout(tm.param_1)
+        for string in reason:
+            pw.dlog(f"Reason from event parameter 1: {string}")
+            pw.dlog(f"Mode, sequence or table: {tm.param_2:#08x}")
    if info.name == "SUPV_UPDATE_PROGRESS" or info.name == "WRITE_MEMORY_FAILED":
        additional_event_info = f"Additional info: {info.info}"
        context = (
@@ -59,7 +67,28 @@ def handle_event_packet(raw_tm: bytes, printer: FsfwTmTcPrinter):
        pw.dlog(additional_event_info)
        pw.dlog(context)
    if info.name == "MODE_INFO":
-        pw.dlog(f"Mode: {tm.param_1}")
+        mode_name = "Unknown"
+        if obj_name == "ACS_SUBSYSTEM":
+            if tm.param_1 == Modes.OFF:
+                mode_name = "Off"
+            elif tm.param_1 == AcsModes.IDLE:
+                mode_name = "Idle"
+            elif tm.param_1 == AcsModes.DETUMBLE:
+                mode_name = "Detumble"
+            elif tm.param_1 == AcsModes.SAFE:
+                mode_name = "Safe"
+            elif tm.param_1 == AcsModes.TARGET_PT:
+                mode_name = "Target Pointing"
+        else:
+            if tm.param_1 == Modes.OFF:
+                mode_name = "Off"
+            elif tm.param_1 == Modes.ON:
+                mode_name = "On"
+            elif tm.param_1 == Modes.NORMAL:
+                mode_name = "Normal"
+            elif tm.param_1 == Modes.RAW:
+                mode_name = "Raw"
+        pw.dlog(f"Mode Number {tm.param_1}, Mode Name {mode_name}")
        pw.dlog(f"Submode: {tm.param_2}")
    else:
        specific_handler = False
--- a/pus_tm/factory_hook.py
+++ b/pus_tm/factory_hook.py
@@ -1,6 +1,7 @@
 """Core EIVE TM handler module
 """
 from config.object_ids import get_object_ids
+from config.retvals import get_retval_dict
 from spacepackets.ecss import PusTelemetry
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.util import PrintFormats
@@ -9,10 +10,12 @@ from tmtccmd.logging.pus import RawTmtcTimedLogWrapper
 from tmtccmd.pus import VerificationWrapper
 from tmtccmd.tm import Service20FsfwTm, Service200FsfwTm
 from tmtccmd.tm.pus_17_test import Service17TmExtended
+from tmtccmd.tm.pus_200_fsfw_modes import Subservices as ModeSubservices
 from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
+from .defs import PrintWrapper

 from .event_handler import handle_event_packet
-from .verification_handler import handle_service_1_fsfw_packet
+from .verification_handler import handle_service_1_fsfw_packet, generic_retval_printout
 from .hk_handling import handle_hk_packet
 from .action_reply_handler import handle_action_reply

@@ -36,6 +39,7 @@ def pus_factory_hook(
        return
    service = tm_packet.service
    obj_id_dict = get_object_ids()
+    pw = PrintWrapper(printer)
    dedicated_handler = True
    if service == 1:
        handle_service_1_fsfw_packet(wrapper=verif_wrapper, raw_tm=packet)
@@ -55,7 +59,17 @@ def pus_factory_hook(
        dedicated_handler = False
    elif service == 200:
        tm_packet = Service200FsfwTm.unpack(raw_telemetry=packet)
-        dedicated_handler = False
+        if tm_packet.subservice == ModeSubservices.TM_CANT_REACH_MODE:
+            obj_id = tm_packet.object_id
+            obj_id_obj = obj_id_dict.get(obj_id)
+            retval = tm_packet.return_value
+            string_list = generic_retval_printout(retval)
+            pw.dlog(f"Received Mode Reply from {obj_id_obj}: Can't reach mode.")
+            for string in string_list:
+                pw.dlog(f"Reason: {string}")
+            dedicated_handler = True
+        else:
+            dedicated_handler = False
    else:
        LOGGER.info(f"The service {service} is not implemented in Telemetry Factory")
        tm_packet.print_source_data(PrintFormats.HEX)
--- a/pus_tm/hk_handling.py
+++ b/pus_tm/hk_handling.py
@@ -1,11 +1,12 @@
 """HK Handling for EIVE OBSW"""
 # from pus_tm.tcp_server_objects import TCP_SEVER_SENSOR_TEMPERATURES
-from tmtc.acs_ctrl import handle_acs_ctrl_mgm_data
+from tmtc.acs.acs_ctrl import handle_acs_ctrl_mgm_data
 from pus_tm.devs.plpcdu import handle_plpcdu_hk
 from pus_tm.devs.rad_sensor import handle_rad_sensor_data
 from pus_tm.devs.sus import handle_sus_hk
 from pus_tm.system.tcs import handle_thermal_controller_hk_data
-from tmtc.ploc_supervisor import handle_supv_hk_data
+from tmtc.payload.ploc_supervisor import handle_supv_hk_data
+from tmtc.acs.reaction_wheels import handle_rw_hk_data
 from tmtccmd.tm.pus_3_fsfw_hk import (
    Service3Base,
    HkContentType,
@@ -17,16 +18,15 @@ from tmtccmd.logging import get_console_logger
 from pus_tm.devs.bpx_bat import handle_bpx_hk_data
 from pus_tm.devs.gps import handle_gps_data
 from pus_tm.devs.gyros import handle_gyros_hk_data
-from pus_tm.devs.imtq_mgt import (
+from tmtc.power.tm import handle_pdu_data, handle_p60_hk_data, handle_acu_hk_data
+from pus_tm.devs.syrlinks import handle_syrlinks_hk_data
+from tmtc.acs.imtq import (
+    ImtqSetIds,
    handle_self_test_data,
    handle_eng_set,
    handle_calibrated_mtm_measurement,
    handle_raw_mtm_measurement,
 )
-from tmtc.power.tm import handle_pdu_data, handle_p60_hk_data, handle_acu_hk_data
-from pus_tm.devs.syrlinks import handle_syrlinks_hk_data
-from pus_tc.devs.imtq import ImtqSetIds
-from pus_tm.devs.reaction_wheels import handle_rw_hk_data
 from pus_tm.defs import FsfwTmTcPrinter
 from pus_tm.system.core import handle_core_hk_data
 from pus_tm.devs.mgms import handle_mgm_hk_data
--- a/pus_tm/verification_handler.py
+++ b/pus_tm/verification_handler.py
@@ -1,3 +1,5 @@
+from typing import List, Optional
+
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
 from tmtccmd.logging import get_console_logger
 from tmtccmd.pus import VerificationWrapper
@@ -25,28 +27,37 @@ def handle_service_1_fsfw_packet(wrapper: VerificationWrapper, raw_tm: bytes):
    else:
        wrapper.log_to_console(tm_packet, res)
        wrapper.log_to_file(tm_packet, res)
-    retval_dict = get_retval_dict()
    if tm_packet.has_failure_notice:
-        retval_info = retval_dict.get(tm_packet.error_code.val)
-        if retval_info is None:
-            raw_err = tm_packet.error_code.val
-            LOGGER.info(
-                f"No returnvalue information found for error code  with subsystem ID"
-                f" {(raw_err >> 8) & 0xff} and unique ID {raw_err & 0xff}"
-            )
-        else:
-            retval_string = (
-                f"Error Code information for code {tm_packet.error_code.val:#06x} | "
-                f"Name: {retval_info.name} | Info: {retval_info.info}"
-            )
-            error_param_1_str = (
-                f"Error Parameter 1: hex {fsfw_wrapper.error_param_1:#010x} "
-                f"dec {fsfw_wrapper.error_param_1} "
-            )
-            error_param_2_str = (
-                f"Error Parameter 2: hex {fsfw_wrapper.error_param_2:#010x} "
-                f"dec {fsfw_wrapper.error_param_2}"
-            )
-            wrapper.dlog(retval_string)
-            wrapper.dlog(error_param_1_str)
-            wrapper.dlog(error_param_2_str)
+        str_list = generic_retval_printout(
+            tm_packet.error_code.val,
+            fsfw_wrapper.error_param_1,
+            fsfw_wrapper.error_param_2,
+        )
+        for string in str_list:
+            wrapper.dlog(string)
+
+
+def generic_retval_printout(
+    retval: int, p1: Optional[int] = None, p2: Optional[int] = None
+) -> List[str]:
+    retval_dict = get_retval_dict()
+    retval_info = retval_dict.get(retval)
+    if retval_info is None:
+        raw_err = retval
+        return [
+            f"No returnvalue information found for error code  with "
+            f"subsystem ID {(raw_err >> 8) & 0xff} and unique ID {raw_err & 0xff}"
+        ]
+    else:
+        retval_string = (
+            f"Error Code information for code {retval:#06x} | "
+            f"Name: {retval_info.name} | Info: {retval_info.info}"
+        )
+        string_list = [retval_string]
+        if p1:
+            error_param_1_str = f"Error Parameter 1: hex {p1:#010x} " f"dec {p1} "
+            string_list.append(error_param_1_str)
+        if p2:
+            error_param_2_str = f"Error Parameter 2: hex {p2:#010x} " f"dec {p2}"
+            string_list.append(error_param_2_str)
+        return string_list
--- a/tmtc/init.py
+++ b/tmtc/init.py
@@ -0,0 +1,2 @@
+from .payload.pl_subsystem import add_payload_subsystem_cmds
+from .test import add_test_defs
--- a/tmtc/acs/init.py
+++ b/tmtc/acs/init.py
--- a/tmtc/acs/acs_board.py
+++ b/tmtc/acs/acs_board.py
@@ -0,0 +1,130 @@
+import enum
+
+from config.definitions import CustomServiceList
+from tmtccmd.config.tmtc import (
+    tmtc_definitions_provider,
+    TmtcDefinitionWrapper,
+    OpCodeEntry,
+)
+from tmtccmd.tc import service_provider
+from tmtccmd.tc.decorator import ServiceProviderParams
+from tmtccmd.tc.pus_200_fsfw_modes import Modes
+from config.object_ids import ACS_BOARD_ASS_ID
+
+from tmtc.common import pack_mode_cmd_with_info
+
+
+class AcsOpCodes:
+    ACS_ASS_A_SIDE = ["0", "a"]
+    ACS_ASS_B_SIDE = ["1", "b"]
+    ACS_ASS_DUAL_MODE = ["2", "d"]
+    ACS_ASS_OFF = ["3", "off"]
+    ACS_ASS_A_ON = ["4", "ao"]
+    ACS_ASS_B_ON = ["5", "bo"]
+    ACS_ASS_DUAL_ON = ["6", "do"]
+
+
+class DualSideSubmodes(enum.IntEnum):
+    A_SIDE = 0
+    B_SIDE = 1
+    DUAL_SIDE = 2
+
+
+@service_provider(CustomServiceList.ACS_BRD_ASS)
+def pack_acs_command(p: ServiceProviderParams):
+    op_code = p.op_code
+    q = p.queue_helper
+    if op_code in AcsOpCodes.ACS_ASS_A_SIDE:
+        pack_mode_cmd_with_info(
+            object_id=ACS_BOARD_ASS_ID,
+            mode=Modes.NORMAL,
+            submode=DualSideSubmodes.A_SIDE,
+            q=q,
+            info="Switching to ACS board assembly A side",
+        )
+    if op_code in AcsOpCodes.ACS_ASS_B_SIDE:
+        pack_mode_cmd_with_info(
+            object_id=ACS_BOARD_ASS_ID,
+            mode=Modes.NORMAL,
+            submode=DualSideSubmodes.B_SIDE,
+            q=q,
+            info="Switching to ACS board assembly B side",
+        )
+    if op_code in AcsOpCodes.ACS_ASS_DUAL_MODE:
+        pack_mode_cmd_with_info(
+            object_id=ACS_BOARD_ASS_ID,
+            mode=Modes.NORMAL,
+            submode=DualSideSubmodes.DUAL_SIDE,
+            q=q,
+            info="Switching to ACS board assembly dual mode",
+        )
+    if op_code in AcsOpCodes.ACS_ASS_A_ON:
+        pack_mode_cmd_with_info(
+            object_id=ACS_BOARD_ASS_ID,
+            mode=Modes.ON,
+            submode=DualSideSubmodes.A_SIDE,
+            q=q,
+            info="Switching ACS board assembly A side on",
+        )
+    if op_code in AcsOpCodes.ACS_ASS_B_ON:
+        pack_mode_cmd_with_info(
+            object_id=ACS_BOARD_ASS_ID,
+            mode=Modes.ON,
+            submode=DualSideSubmodes.B_SIDE,
+            q=q,
+            info="Switching ACS board assembly B side on",
+        )
+    if op_code in AcsOpCodes.ACS_ASS_DUAL_ON:
+        pack_mode_cmd_with_info(
+            object_id=ACS_BOARD_ASS_ID,
+            mode=Modes.ON,
+            submode=DualSideSubmodes.B_SIDE,
+            q=q,
+            info="Switching ACS board assembly dual side on",
+        )
+    if op_code in AcsOpCodes.ACS_ASS_OFF:
+        pack_mode_cmd_with_info(
+            object_id=ACS_BOARD_ASS_ID,
+            mode=Modes.OFF,
+            submode=0,
+            q=q,
+            info="Switching to ACS board assembly off",
+        )
+
+
+@tmtc_definitions_provider
+def add_acs_board_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(
+        keys=AcsOpCodes.ACS_ASS_A_SIDE,
+        info="Switch to ACS board A side",
+    )
+    oce.add(
+        keys=AcsOpCodes.ACS_ASS_B_SIDE,
+        info="Switch to ACS board B side",
+    )
+    oce.add(
+        keys=AcsOpCodes.ACS_ASS_DUAL_MODE,
+        info="Switch to ACS board dual mode",
+    )
+    oce.add(
+        keys=AcsOpCodes.ACS_ASS_A_ON,
+        info="Switch ACS board A side on",
+    )
+    oce.add(
+        keys=AcsOpCodes.ACS_ASS_B_ON,
+        info="Switch ACS board B side on",
+    )
+    oce.add(
+        keys=AcsOpCodes.ACS_ASS_DUAL_ON,
+        info="Switch ACS board dual mode on",
+    )
+    oce.add(
+        keys=AcsOpCodes.ACS_ASS_OFF,
+        info="Switch off ACS board",
+    )
+    defs.add_service(
+        name=CustomServiceList.ACS_BRD_ASS.value,
+        info="ACS Board Assemblie",
+        op_code_entry=oce,
+    )
--- a/tmtc/acs/acs_ctrl.py
+++ b/tmtc/acs/acs_ctrl.py
@@ -2,7 +2,7 @@ import enum
 import socket
 import struct
 from socket import AF_INET
-from typing import Tuple, Optional
+from typing import Tuple

 from config.definitions import CustomServiceList
 from config.object_ids import ACS_CONTROLLER
--- a/tmtc/acs/acs_subsystem.py
+++ b/tmtc/acs/acs_subsystem.py
@@ -0,0 +1,85 @@
+import enum
+from typing import Tuple, Dict
+
+from spacepackets.ecss import PusTelecommand
+from tmtc.common import pack_mode_cmd_with_info
+from config.object_ids import ACS_SUBSYSTEM_ID
+from config.definitions import CustomServiceList
+from tmtccmd.config.tmtc import (
+    tmtc_definitions_provider,
+    TmtcDefinitionWrapper,
+    OpCodeEntry,
+)
+from tmtccmd.tc.pus_200_fsfw_modes import Subservices as ModeSubservices
+from tmtccmd.tc import service_provider
+from tmtccmd.tc.decorator import ServiceProviderParams
+
+
+class OpCodes(str, enum.Enum):
+    OFF = "off"
+    SAFE = "safe"
+    DETUMBLE = "detumble"
+    IDLE = "idle"
+    TARGET_PT = "target"
+    REPORT_ALL_MODES = "all_modes"
+
+
+class AcsModes(enum.IntEnum):
+    OFF = 0
+    SAFE = 1 << 24
+    DETUMBLE = 2 << 24
+    IDLE = 3 << 24
+    TARGET_PT = 4 << 24
+
+
+class Info(str, enum.Enum):
+    OFF = "Off Command"
+    SAFE = "Safe Mode Command"
+    DETUMBLE = "Detumble Mode Command"
+    IDLE = "Idle Mode Command"
+    TARGET_PT = "Target Pointing Mode Command"
+    REPORT_ALL_MODES = "Report All Modes Recursively"
+
+
+HANDLER_LIST: Dict[str, Tuple[int, str]] = {
+    OpCodes.OFF: (AcsModes.OFF, Info.OFF),
+    OpCodes.IDLE: (AcsModes.IDLE, Info.IDLE),
+    OpCodes.SAFE: (AcsModes.SAFE, Info.SAFE),
+    OpCodes.DETUMBLE: (AcsModes.DETUMBLE, Info.DETUMBLE),
+}
+
+
+@service_provider(CustomServiceList.ACS_SS.value)
+def build_acs_subsystem_cmd(p: ServiceProviderParams):
+    op_code = p.op_code
+    q = p.queue_helper
+    info_prefix = "ACS Subsystem"
+    if op_code in OpCodes.REPORT_ALL_MODES:
+        q.add_log_cmd(f"{info_prefix}: {Info.REPORT_ALL_MODES}")
+        q.add_pus_tc(
+            PusTelecommand(
+                service=200,
+                subservice=ModeSubservices.TC_MODE_ANNOUNCE_RECURSIVE,
+                app_data=ACS_SUBSYSTEM_ID,
+            )
+        )
+    mode_info_tup = HANDLER_LIST.get(op_code)
+    if mode_info_tup is None:
+        return
+    pack_mode_cmd_with_info(
+        object_id=ACS_SUBSYSTEM_ID,
+        info=f"{info_prefix}: {mode_info_tup[1]}",
+        submode=0,
+        mode=mode_info_tup[0],
+        q=q,
+    )
+
+
+@tmtc_definitions_provider
+def add_acs_subsystem_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(OpCodes.OFF, Info.OFF)
+    oce.add(OpCodes.SAFE, Info.SAFE)
+    oce.add(OpCodes.IDLE, Info.IDLE)
+    oce.add(OpCodes.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
+    defs.add_service(CustomServiceList.ACS_SS, "ACS Subsystem", oce)
--- a/tmtc/acs/imtq.py
+++ b/tmtc/acs/imtq.py
@@ -0,0 +1,488 @@
+# -*- coding: utf-8 -*-
+"""
+@file   imtq.py
+@brief  Tests for the ISIS IMTQ (Magnettorquer) device handler
+@author J. Meier
+@date   25.03.2021
+"""
+import struct
+
+from config.definitions import CustomServiceList
+from pus_tm.defs import PrintWrapper
+from spacepackets.ecss.tc import PusTelecommand
+from tmtccmd.config.tmtc import (
+    tmtc_definitions_provider,
+    OpCodeEntry,
+    TmtcDefinitionWrapper,
+)
+from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tc.pus_3_fsfw_hk import (
+    make_sid,
+    generate_one_diag_command,
+    generate_one_hk_command,
+)
+from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes
+from tmtccmd.util import ObjectIdU32
+from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
+
+
+class OpCodes:
+    ON = ["on"]
+    NORMAL = ["normal"]
+    OFF = ["off"]
+    SET_DIPOLE = ["set_dipole"]
+
+
+class ImtqSetIds:
+    ENG_HK_SET = 1
+    CAL_MTM_SET = 2
+    RAW_MTM_SET = 3
+    POSITIVE_X_TEST = 4
+    NEGATIVE_X_TEST = 5
+    POSITIVE_Y_TEST = 6
+    NEGATIVE_Y_TEST = 7
+    POSITIVE_Z_TEST = 8
+    NEGATIVE_Z_TEST = 9
+
+
+class ImtqActionIds:
+    start_actuation_dipole = bytearray([0x0, 0x0, 0x0, 0x02])
+    get_commanded_dipole = bytearray([0x0, 0x0, 0x0, 0x03])
+    perform_positive_x_test = bytearray([0x0, 0x0, 0x0, 0x07])
+    perform_negative_x_test = bytearray([0x0, 0x0, 0x0, 0x08])
+    perform_positive_y_test = bytearray([0x0, 0x0, 0x0, 0x09])
+    perform_negative_y_test = bytearray([0x0, 0x0, 0x0, 0x0A])
+    perform_positive_z_test = bytearray([0x0, 0x0, 0x0, 0x0B])
+    perform_negative_z_test = bytearray([0x0, 0x0, 0x0, 0x0C])
+    # Initiates the reading of the last performed self test. After sending this command the results
+    # can be downlinked via the housekeeping service by using the appropriate set ids listed above.
+    read_self_test_results = bytearray([0x0, 0x0, 0x0, 0x0D])
+
+
+@tmtc_definitions_provider
+def add_imtq_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(OpCodes.OFF, "Mode Off")
+    oce.add(OpCodes.ON, "Mode On")
+    oce.add(OpCodes.NORMAL, "Mode Normal")
+    oce.add("3", "IMTQ perform pos X self test")
+    oce.add("4", "IMTQ perform neg X self test")
+    oce.add("5", "IMTQ perform pos Y self test")
+    oce.add("6", "IMTQ perform neg Y self test")
+    oce.add("7", "IMTQ perform pos Z self test")
+    oce.add("8", "IMTQ perform neg Z self test")
+    oce.add(OpCodes.SET_DIPOLE, "IMTQ command dipole")
+    oce.add("10", "IMTQ get commanded dipole")
+    oce.add("11", "IMTQ get engineering hk set")
+    oce.add("12", "IMTQ get calibrated MTM measurement one shot")
+    oce.add("13", "IMTQ get raw MTM measurement one shot")
+    defs.add_service(CustomServiceList.IMTQ.value, "IMQT Device", oce)
+
+
+def pack_imtq_test_into(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
+    q.add_log_cmd(
+        f"Testing ISIS IMTQ handler with object id: {object_id.as_hex_string}"
+    )
+
+    if op_code in OpCodes.OFF:
+        q.add_log_cmd("IMTQ: Set mode off")
+        command = pack_mode_data(object_id.as_bytes, Modes.OFF, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
+    if op_code in OpCodes.ON:
+        q.add_log_cmd("IMTQ: Set mode on")
+        command = pack_mode_data(object_id.as_bytes, Modes.ON, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
+    if op_code in OpCodes.NORMAL:
+        q.add_log_cmd("IMTQ: Mode Normal")
+        command = pack_mode_data(object_id.as_bytes, Modes.NORMAL, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=command))
+    if op_code == "3":
+        q.add_log_cmd("IMTQ: Perform positive x self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_positive_x_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Initiate reading of positive x self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Request dataset with positive x self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_X_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "4":
+        q.add_log_cmd("IMTQ: Perform negative x self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_negative_x_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Initiate reading of negative x self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Request dataset with negative x self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_X_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "5":
+        q.add_log_cmd("IMTQ: Perform positive y self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_positive_y_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Initiate reading of positive y self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Request dataset with positive y self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "6":
+        q.add_log_cmd("IMTQ: Perform negative y self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_negative_y_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Initiate reading of negative y self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Request dataset with negative y self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Y_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "7":
+        q.add_log_cmd("IMTQ: Perform positive z self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_positive_z_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Initiate reading of positive z self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+        q.add_log_cmd("IMTQ: Request dataset with positive z self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.POSITIVE_Y_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code == "8":
+        q.add_log_cmd("IMTQ: Perform negative z self test")
+        command = object_id.as_bytes + ImtqActionIds.perform_negative_z_test
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Initiate reading of negative z self test results")
+        command = object_id.as_bytes + ImtqActionIds.read_self_test_results
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+        q.add_log_cmd("IMTQ: Request dataset with negative z self test results")
+        sid = make_sid(object_id.as_bytes, ImtqSetIds.NEGATIVE_Z_TEST)
+        q.add_pus_tc(generate_one_hk_command(sid))
+
+    if op_code in OpCodes.SET_DIPOLE:
+        x_dipole = int(input("Specify X dipole [range [0, 2000] * 10^-4 * Am^2]: "))
+        y_dipole = int(input("Specify Y dipole [range [0, 2000] * 10^-4 * Am^2]: "))
+        z_dipole = int(input("Specify Z dipole [range [0, 2000] * 10^-4 * Am^2]: "))
+        duration = int(
+            input(
+                f"Specify torque duration [range [0, {pow(2, 16) - 1}, "
+                f"0 for continuous generation until update]: "
+            )
+        )
+        dur_str = "infinite" if duration == 0 else str(duration)
+        q.add_log_cmd(
+            f"IMTQ: Commanding dipole X={x_dipole}, Y={y_dipole}, Z={y_dipole}, duration={dur_str}"
+        )
+        q.add_pus_tc(
+            pack_dipole_command(
+                object_id.as_bytes, x_dipole, y_dipole, z_dipole, duration
+            )
+        )
+
+    if op_code == "10":
+        q.add_log_cmd("IMTQ: Get commanded dipole")
+        command = object_id.as_bytes + ImtqActionIds.get_commanded_dipole
+        q.add_pus_tc(PusTelecommand(service=8, subservice=128, app_data=command))
+
+    if op_code == "11":
+        q.add_log_cmd("IMTQ: Get engineering hk set")
+        q.add_pus_tc(
+            generate_one_diag_command(
+                sid=make_sid(object_id=object_id.as_bytes, set_id=ImtqSetIds.ENG_HK_SET)
+            )
+        )
+
+    if op_code == "12":
+        q.add_log_cmd("IMTQ: Get calibrated MTM hk set")
+        q.add_pus_tc(
+            generate_one_diag_command(
+                sid=make_sid(
+                    object_id=object_id.as_bytes, set_id=ImtqSetIds.CAL_MTM_SET
+                )
+            )
+        )
+
+    if op_code == "13":
+        q.add_log_cmd("IMTQ: Get raw MTM hk set")
+        q.add_pus_tc(
+            generate_one_diag_command(
+                sid=make_sid(
+                    object_id=object_id.as_bytes, set_id=ImtqSetIds.RAW_MTM_SET
+                )
+            )
+        )
+
+
+def pack_dipole_command(
+    object_id: bytes, x_dipole: int, y_dipole: int, z_dipole: int, duration: int
+) -> PusTelecommand:
+    """This function packs the command causing the ISIS IMTQ to generate a dipole.
+    :param object_id:    The object id of the IMTQ handler.
+    :param x_dipole:  The dipole of the x coil in 10^-4*Am^2 (max. 2000)
+    :param y_dipole:   The dipole of the y coil in 10^-4*Am^2 (max. 2000)
+    :param z_dipole:   The dipole of the z coil in 10^-4*Am^2 (max. 2000)
+    :param duration:  The duration in milliseconds the dipole will be generated by the coils.
+                     When set to 0, the dipole will be generated until a new dipole actuation
+                     command is sent.
+    """
+    action_id = ImtqActionIds.start_actuation_dipole
+    command = object_id + action_id
+    x_dipole = int(round(x_dipole))
+    y_dipole = int(round(y_dipole))
+    z_dipole = int(round(z_dipole))
+    if x_dipole < -2000 or x_dipole > 2000:
+        raise_dipole_error("X dipole", x_dipole)
+    if y_dipole < -2000 or y_dipole > 2000:
+        raise_dipole_error("Y dipole", y_dipole)
+    if z_dipole < -2000 or z_dipole > 2000:
+        raise_dipole_error("Z dipole", z_dipole)
+    duration = int(round(duration))
+    if duration < 0 or duration > pow(2, 16) - 1:
+        raise ValueError(
+            f"Duration in ms of {duration} smaller than 0 or larger than allowed {pow(2, 16) - 1}"
+        )
+    command += struct.pack("!h", x_dipole)
+    command += struct.pack("!h", y_dipole)
+    command += struct.pack("!h", z_dipole)
+    command += struct.pack("!H", duration)
+    command = PusTelecommand(service=8, subservice=128, app_data=command)
+    return command
+
+
+def raise_dipole_error(dipole_str: str, value: int):
+    raise ValueError(
+        f"{dipole_str} {value} negative or larger than maximum allowed 2000 * 10^-4*Am^2"
+    )
+
+
+def handle_eng_set(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Digital Voltage [mV]",
+        "Analog Voltage [mV]",
+        "Digital Current [mA]",
+        "Analog Current [mA]",
+        "Coil Current X [mA]",
+        "Coil Current Y [mA]",
+        "Coil Current Z [mA]",
+        "Coil X Temperature [°C]",
+        "Coil Y Temperature [°C]",
+        "Coil Z Temperature [°C]",
+        "MCU Temperature [°C]",
+    ]
+    digital_voltage = struct.unpack("!H", hk_data[0:2])[0]
+    analog_voltage = struct.unpack("!H", hk_data[2:4])[0]
+    digital_current = struct.unpack("!f", hk_data[4:8])[0]
+    analog_current = struct.unpack("!f", hk_data[8:12])[0]
+    coil_x_current = struct.unpack("!f", hk_data[12:16])[0]
+    coil_y_current = struct.unpack("!f", hk_data[16:20])[0]
+    coil_z_current = struct.unpack("!f", hk_data[20:24])[0]
+    coil_x_temperature = struct.unpack("!h", hk_data[24:26])[0]
+    coil_y_temperature = struct.unpack("!h", hk_data[26:28])[0]
+    coil_z_temperature = struct.unpack("!h", hk_data[28:30])[0]
+    mcu_temperature = struct.unpack("!h", hk_data[30:32])[0]
+
+    validity_buffer = hk_data[32:]
+    content_list = [
+        digital_voltage,
+        analog_voltage,
+        digital_current,
+        analog_current,
+        coil_x_current,
+        coil_y_current,
+        coil_z_current,
+        coil_x_temperature,
+        coil_y_temperature,
+        coil_z_temperature,
+        mcu_temperature,
+    ]
+    num_of_vars = len(header_list)
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
+
+
+def handle_calibrated_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Calibrated MTM X [nT]",
+        "Calibrated MTM Y [nT]",
+        "Calibrated MTM Z [nT]",
+        "Coil actuation status",
+    ]
+    mtm_x = struct.unpack("!I", hk_data[0:4])[0]
+    mtm_y = struct.unpack("!I", hk_data[4:8])[0]
+    mtm_z = struct.unpack("!I", hk_data[8:12])[0]
+    coil_actuation_status = hk_data[12]
+    validity_buffer = hk_data[12:]
+    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
+    num_of_vars = len(header_list)
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
+
+
+def handle_raw_mtm_measurement(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Raw MTM X [nT]",
+        "Raw MTM Y [nT]",
+        "Raw MTM Z [nT]",
+        "Coil actuation status",
+    ]
+    mtm_x = struct.unpack("!f", hk_data[0:4])[0]
+    mtm_y = struct.unpack("!f", hk_data[4:8])[0]
+    mtm_z = struct.unpack("!f", hk_data[8:12])[0]
+    coil_actuation_status = hk_data[12]
+    validity_buffer = hk_data[13:]
+    content_list = [mtm_x, mtm_y, mtm_z, coil_actuation_status]
+    num_of_vars = 2
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
+
+
+def handle_self_test_data(printer: FsfwTmTcPrinter, hk_data: bytes):
+    pw = PrintWrapper(printer)
+    header_list = [
+        "Init Err",
+        "Init Raw Mag X [nT]",
+        "Init Raw Mag Y [nT]",
+        "Init Raw Mag Z [nT]",
+        "Init Cal Mag X [nT]",
+        "Init Cal Mag Y [nT]",
+        "Init Cal Mag Z [nT]",
+        "Init Coil X Current [mA]",
+        "Init Coil Y Current [mA]",
+        "Init Coil Z Current [mA]",
+        "Init Coil X Temperature [°C]",
+        "Init Coil Y Temperature [°C]",
+        "Init Coil Z Temperature [°C]",
+        "Err",
+        "Raw Mag X [nT]",
+        "Raw Mag Y [nT]",
+        "Raw Mag Z [nT]",
+        "Cal Mag X [nT]",
+        "Cal Mag Y [nT]",
+        "Cal Mag Z [nT]",
+        "Coil X Current [mA]",
+        "Coil Y Current [mA]",
+        "Coil Z Current [mA]",
+        "Coil X Temperature [°C]",
+        "Coil Y Temperature [°C]",
+        "Coil Z Temperature [°C]",
+        "Fina Err",
+        "Fina Raw Mag X [nT]",
+        "Fina Raw Mag Y [nT]",
+        "Fina Raw Mag Z [nT]",
+        "Fina Cal Mag X [nT]",
+        "Fina Cal Mag Y [nT]",
+        "Fina Cal Mag Z [nT]",
+        "Fina Coil X Current [mA]",
+        "Fina Coil Y Current [mA]",
+        "Fina Coil Z Current [mA]",
+        "Fina Coil X Temperature [°C]",
+        "Fina Coil Y Temperature [°C]",
+        "Fina Coil Z Temperature [°C]",
+    ]
+    # INIT step (no coil actuation)
+    init_err = hk_data[0]
+    init_raw_mag_x = struct.unpack("!f", hk_data[1:5])[0]
+    init_raw_mag_y = struct.unpack("!f", hk_data[5:9])[0]
+    init_raw_mag_z = struct.unpack("!f", hk_data[9:13])[0]
+    init_cal_mag_x = struct.unpack("!f", hk_data[13:17])[0]
+    init_cal_mag_y = struct.unpack("!f", hk_data[17:21])[0]
+    init_cal_mag_z = struct.unpack("!f", hk_data[21:25])[0]
+    init_coil_x_current = struct.unpack("!f", hk_data[25:29])[0]
+    init_coil_y_current = struct.unpack("!f", hk_data[29:33])[0]
+    init_coil_z_current = struct.unpack("!f", hk_data[33:37])[0]
+    init_coil_x_temperature = struct.unpack("!H", hk_data[37:39])[0]
+    init_coil_y_temperature = struct.unpack("!H", hk_data[39:41])[0]
+    init_coil_z_temperature = struct.unpack("!H", hk_data[41:43])[0]
+
+    # Actuation step
+    err = hk_data[43]
+    raw_mag_x = struct.unpack("!f", hk_data[44:48])[0]
+    raw_mag_y = struct.unpack("!f", hk_data[48:52])[0]
+    raw_mag_z = struct.unpack("!f", hk_data[52:56])[0]
+    cal_mag_x = struct.unpack("!f", hk_data[56:60])[0]
+    cal_mag_y = struct.unpack("!f", hk_data[60:64])[0]
+    cal_mag_z = struct.unpack("!f", hk_data[64:68])[0]
+    coil_x_current = struct.unpack("!f", hk_data[68:72])[0]
+    coil_y_current = struct.unpack("!f", hk_data[72:76])[0]
+    coil_z_current = struct.unpack("!f", hk_data[76:80])[0]
+    coil_x_temperature = struct.unpack("!H", hk_data[80:82])[0]
+    coil_y_temperature = struct.unpack("!H", hk_data[82:84])[0]
+    coil_z_temperature = struct.unpack("!H", hk_data[84:86])[0]
+
+    # FINA step (no coil actuation)
+    fina_err = hk_data[86]
+    fina_raw_mag_x = struct.unpack("!f", hk_data[87:91])[0]
+    fina_raw_mag_y = struct.unpack("!f", hk_data[91:95])[0]
+    fina_raw_mag_z = struct.unpack("!f", hk_data[95:99])[0]
+    fina_cal_mag_x = struct.unpack("!f", hk_data[99:103])[0]
+    fina_cal_mag_y = struct.unpack("!f", hk_data[103:107])[0]
+    fina_cal_mag_z = struct.unpack("!f", hk_data[107:111])[0]
+    fina_coil_x_current = struct.unpack("!f", hk_data[111:115])[0]
+    fina_coil_y_current = struct.unpack("!f", hk_data[115:119])[0]
+    fina_coil_z_current = struct.unpack("!f", hk_data[119:123])[0]
+    fina_coil_x_temperature = struct.unpack("!H", hk_data[123:125])[0]
+    fina_coil_y_temperature = struct.unpack("!H", hk_data[125:127])[0]
+    fina_coil_z_temperature = struct.unpack("!H", hk_data[127:129])[0]
+
+    validity_buffer = hk_data[129:]
+    content_list = [
+        init_err,
+        init_raw_mag_x,
+        init_raw_mag_y,
+        init_raw_mag_z,
+        init_cal_mag_x,
+        init_cal_mag_y,
+        init_cal_mag_z,
+        init_coil_x_current,
+        init_coil_y_current,
+        init_coil_z_current,
+        init_coil_x_temperature,
+        init_coil_y_temperature,
+        init_coil_z_temperature,
+        err,
+        raw_mag_x,
+        init_raw_mag_y,
+        raw_mag_z,
+        cal_mag_x,
+        cal_mag_y,
+        cal_mag_z,
+        coil_x_current,
+        coil_y_current,
+        coil_z_current,
+        coil_x_temperature,
+        coil_y_temperature,
+        coil_z_temperature,
+        fina_err,
+        fina_raw_mag_x,
+        fina_raw_mag_y,
+        fina_raw_mag_z,
+        fina_cal_mag_x,
+        fina_cal_mag_y,
+        fina_cal_mag_z,
+        fina_coil_x_current,
+        fina_coil_y_current,
+        fina_coil_z_current,
+        fina_coil_x_temperature,
+        fina_coil_y_temperature,
+        fina_coil_z_temperature,
+    ]
+    num_of_vars = len(header_list)
+    pw.dlog(str(header_list))
+    pw.dlog(str(content_list))
+    printer.print_validity_buffer(validity_buffer=validity_buffer, num_vars=num_of_vars)
--- a/tmtc/acs/reaction_wheels.py
+++ b/tmtc/acs/reaction_wheels.py
@@ -0,0 +1,410 @@
+# -*- coding: utf-8 -*-
+"""reaction_wheels.py
+@brief  Tests for the reaction wheel handler
+@author J. Meier
+@date   20.06.2021
+"""
+import struct
+from typing import List
+
+from pus_tm.defs import PrintWrapper
+from config.object_ids import RW1_ID, RW2_ID, RW3_ID, RW4_ID
+from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
+from tmtccmd.config.tmtc import tmtc_definitions_provider
+from tmtccmd.tc import DefaultPusQueueHelper
+from tmtccmd.tc.pus_3_fsfw_hk import (
+    generate_one_hk_command,
+    generate_one_diag_command,
+    make_sid,
+    enable_periodic_hk_command_with_interval,
+    disable_periodic_hk_command,
+)
+from spacepackets.ecss.tc import PusTelecommand
+from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
+from config.definitions import CustomServiceList
+from tmtccmd.util import ObjectIdU32
+from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
+
+
+class OpCodesDevs:
+    SPEED = ["0", "speed"]
+    ON = ["1", "on"]
+    NML = ["2", "nml"]
+    OFF = ["3", "off"]
+    GET_STATUS = ["4", "status"]
+    GET_TM = ["5", "tm"]
+    ENABLE_STATUS_HK = ["6", "enable_status_hk"]
+    DISABLE_STATUS_HK = ["7", "disable_status_hk"]
+
+
+class InfoDevs:
+    SPEED = "Set speed"
+    ON = "Set On"
+    NML = "Set Normal"
+    OFF = "Set Off"
+    GET_STATUS = "Get Status HK"
+    GET_TM = "Get TM HK"
+    ENABLE_STATUS_HK = "Enable Status HK"
+    DISABLE_STATUS_HK = "Disable Status HK"
+
+
+class OpCodesAss:
+    ON = ["0", "on"]
+    NML = ["1", "nml"]
+    OFF = ["2", "off"]
+    ALL_SPEED_UP = ["3", "speed_up"]
+    ALL_SPEED_OFF = ["4", "speed_off"]
+
+
+class InfoAss:
+    ON = "Mode On: 3/4 RWs min. on"
+    NML = "Mode Normal: 3/4 RWs min. normal"
+    OFF = "Mode Off: All RWs off"
+    ALL_SPEED_UP = "Speed up consecutively"
+    ALL_SPEED_OFF = "Speed down to 0"
+
+
+class RwSetIds:
+    STATUS_SET_ID = 4
+    TEMPERATURE_SET_ID = 8
+    LAST_RESET = 2
+    TM_SET = 9
+
+
+class RwCommandIds:
+    RESET_MCU = bytearray([0x0, 0x0, 0x0, 0x01])
+    # Reads status information from reaction wheel into dataset with id 4
+    GET_RW_STATUS = bytearray([0x0, 0x0, 0x0, 0x04])
+    INIT_RW_CONTROLLER = bytearray([0x0, 0x0, 0x0, 0x05])
+    SET_SPEED = bytearray([0x0, 0x0, 0x0, 0x06])
+    # Reads temperature from reaction wheel into dataset with id 8
+    GET_TEMPERATURE = bytearray([0x0, 0x0, 0x0, 0x08])
+    GET_TM = bytearray([0x0, 0x0, 0x0, 0x09])
+
+
+class SpeedDefinitions:
+    RPM_100 = 1000
+    RPM_5000 = 5000
+
+
+class RampTime:
+    MS_1000 = 1000
+
+
+@tmtc_definitions_provider
+def add_rw_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(info=InfoDevs.SPEED, keys=OpCodesDevs.SPEED)
+    oce.add(info=InfoDevs.ON, keys=OpCodesDevs.ON)
+    oce.add(info=InfoDevs.OFF, keys=OpCodesDevs.OFF)
+    oce.add(info=InfoDevs.NML, keys=OpCodesDevs.NML)
+    oce.add(info=InfoDevs.GET_STATUS, keys=OpCodesDevs.GET_STATUS)
+    oce.add(info=InfoDevs.GET_TM, keys=OpCodesDevs.GET_TM)
+    oce.add(info=InfoDevs.ENABLE_STATUS_HK, keys=OpCodesDevs.ENABLE_STATUS_HK)
+    oce.add(info=InfoDevs.DISABLE_STATUS_HK, keys=OpCodesDevs.DISABLE_STATUS_HK)
+    defs.add_service(
+        name=CustomServiceList.REACTION_WHEEL_1.value,
+        info="Reaction Wheel 1",
+        op_code_entry=oce,
+    )
+    defs.add_service(
+        name=CustomServiceList.REACTION_WHEEL_2.value,
+        info="Reaction Wheel 2",
+        op_code_entry=oce,
+    )
+    defs.add_service(
+        name=CustomServiceList.REACTION_WHEEL_3.value,
+        info="Reaction Wheel 3",
+        op_code_entry=oce,
+    )
+    defs.add_service(
+        name=CustomServiceList.REACTION_WHEEL_4.value,
+        info="Reaction Wheel 4",
+        op_code_entry=oce,
+    )
+    oce = OpCodeEntry()
+    oce.add(info=InfoAss.ON, keys=OpCodesAss.ON)
+    oce.add(info=InfoAss.NML, keys=OpCodesAss.NML)
+    oce.add(info=InfoAss.OFF, keys=OpCodesAss.OFF)
+    oce.add(info=InfoAss.ALL_SPEED_UP, keys=OpCodesAss.ALL_SPEED_UP)
+    oce.add(info=InfoAss.ALL_SPEED_OFF, keys=OpCodesAss.ALL_SPEED_OFF)
+    defs.add_service(
+        name=CustomServiceList.RW_ASSEMBLY.value,
+        info="Reaction Wheel Assembly",
+        op_code_entry=oce,
+    )
+
+
+def pack_single_rw_test_into(
+    object_id: bytes, rw_idx: int, q: DefaultPusQueueHelper, op_code: str
+):
+    if op_code in OpCodesDevs.SPEED:
+        speed, ramp_time = prompt_speed_ramp_time()
+        q.add_log_cmd(
+            f"RW {rw_idx}: {InfoDevs.SPEED} with target "
+            f"speed {speed / 10.0} RPM and {ramp_time} ms ramp time"
+        )
+        q.add_pus_tc(pack_set_speed_command(object_id, speed, ramp_time))
+
+    if op_code in OpCodesDevs.ON:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ON}")
+        mode_data = pack_mode_data(object_id, Modes.ON, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
+
+    if op_code in OpCodesDevs.NML:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.NML}")
+        mode_data = pack_mode_data(object_id, Modes.NORMAL, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
+
+    if op_code in OpCodesDevs.OFF:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.OFF}")
+        mode_data = pack_mode_data(object_id, Modes.OFF, 0)
+        q.add_pus_tc(PusTelecommand(service=200, subservice=1, app_data=mode_data))
+
+    if op_code in OpCodesDevs.GET_TM:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_TM}")
+        q.add_pus_tc(
+            generate_one_hk_command(
+                sid=make_sid(object_id=object_id, set_id=RwSetIds.TM_SET)
+            )
+        )
+    if op_code in OpCodesDevs.GET_STATUS:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.GET_STATUS}")
+        q.add_pus_tc(
+            generate_one_diag_command(
+                sid=make_sid(object_id=object_id, set_id=RwSetIds.STATUS_SET_ID)
+            )
+        )
+    if op_code in OpCodesDevs.ENABLE_STATUS_HK:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.ENABLE_STATUS_HK}")
+        interval = float(input("Please enter HK interval in floating point seconds: "))
+        cmds = enable_periodic_hk_command_with_interval(
+            True, make_sid(object_id, RwSetIds.STATUS_SET_ID), interval
+        )
+        for cmd in cmds:
+            q.add_pus_tc(cmd)
+    if op_code in OpCodesDevs.DISABLE_STATUS_HK:
+        q.add_log_cmd(f"RW {rw_idx}: {InfoDevs.DISABLE_STATUS_HK}")
+        q.add_pus_tc(
+            disable_periodic_hk_command(
+                True, make_sid(object_id, RwSetIds.STATUS_SET_ID)
+            )
+        )
+
+
+def pack_rw_ass_cmds(q: DefaultPusQueueHelper, object_id: bytes, op_code: str):
+    if op_code in OpCodesAss.OFF:
+        data = pack_mode_data(object_id=object_id, mode=Modes.OFF, submode=0)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
+            )
+        )
+    if op_code in OpCodesAss.ON:
+        data = pack_mode_data(object_id=object_id, mode=Modes.ON, submode=0)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
+            )
+        )
+    if op_code in OpCodesAss.NML:
+        data = pack_mode_data(object_id=object_id, mode=Modes.NORMAL, submode=0)
+        q.add_pus_tc(
+            PusTelecommand(
+                service=200, subservice=Subservices.TC_MODE_COMMAND, app_data=data
+            )
+        )
+    if op_code in OpCodesAss.ALL_SPEED_UP:
+        speed, ramp_time = prompt_speed_ramp_time()
+        rw_speed_up_cmd_consec(q, [RW1_ID, RW2_ID, RW3_ID, RW4_ID], speed, ramp_time)
+    if op_code in OpCodesAss.ALL_SPEED_OFF:
+        rw_speed_down_cmd_consec(
+            q, [RW1_ID, RW2_ID, RW3_ID, RW4_ID], prompt_ramp_time()
+        )
+
+
+def prompt_speed_ramp_time() -> (int, int):
+    speed = int(
+        input("Specify speed [0.1 RPM, 0 or range [-65000, -1000] and [1000, 65000]: ")
+    )
+    return speed, prompt_ramp_time()
+
+
+def prompt_ramp_time() -> int:
+    return int(input("Specify ramp time [ms, range [10, 20000]]: "))
+
+
+def pack_set_speed_command(
+    object_id: bytes, speed: int, ramp_time_ms: int
+) -> PusTelecommand:
+    """With this function a command is packed to set the speed of a reaction wheel
+    :param object_id: The object id of the reaction wheel handler.
+    :param speed: Valid speeds are 0, [-65000, -1000] and [1000, 65000]. Values are
+        specified in 0.1 * RPM
+    :param ramp_time_ms: The time after which the reaction wheel will reach the commanded speed.
+        Valid times are 10 - 20000 ms
+    """
+    if speed > 0:
+        if speed < 1000 or speed > 65000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [1000, 65000] 0.1 * RPM"
+            )
+    elif speed < 0:
+        if speed < -65000 or speed > -1000:
+            raise ValueError(
+                "Invalid RW speed specified. "
+                "Allowed range is [-65000, -1000] 0.1 * RPM"
+            )
+    else:
+        # Speed is 0
+        pass
+
+    if ramp_time_ms < 0 or (
+        ramp_time_ms > 0 and (ramp_time_ms > 20000 or ramp_time_ms < 10)
+    ):
+        raise ValueError("Invalid Ramp Speed time. Allowed range is [10-20000] ms")
+    command_id = RwCommandIds.SET_SPEED
+    command = bytearray()
+    command += object_id + command_id
+    command = command + struct.pack("!i", speed)
+    command = command + ramp_time_ms.to_bytes(length=2, byteorder="big")
+    command = PusTelecommand(service=8, subservice=128, app_data=command)
+    return command
+
+
+def handle_rw_hk_data(
+    printer: FsfwTmTcPrinter, object_id: ObjectIdU32, set_id: int, hk_data: bytes
+):
+
+    pw = PrintWrapper(printer)
+    current_idx = 0
+    if set_id == RwSetIds.STATUS_SET_ID:
+        pw.dlog(
+            f"Received Status HK (ID {set_id}) from Reaction Wheel {object_id.name}"
+        )
+        fmt_str = "!IiiBB"
+        inc_len = struct.calcsize(fmt_str)
+        (temp, speed, ref_speed, state, clc_mode) = struct.unpack(
+            fmt_str, hk_data[current_idx : current_idx + inc_len]
+        )
+        current_idx += inc_len
+        speed_rpm = speed / 10.0
+        ref_speed_rpm = ref_speed / 10.0
+        pw.dlog(
+            f"Temperature {temp} C | Speed {speed_rpm} rpm | Reference Speed {ref_speed_rpm} rpm"
+        )
+        pw.dlog(
+            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
+            f"4: Running, speed  changing"
+        )
+        pw.dlog(
+            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
+            f"1: High Current Mode (0.6 A)"
+        )
+        printer.print_validity_buffer(hk_data[current_idx:], 5)
+    if set_id == RwSetIds.LAST_RESET:
+        pw.dlog(
+            f"Received Last Reset HK (ID {set_id}) from Reaction Wheel {object_id.name}"
+        )
+        fmt_str = "!BB"
+        inc_len = struct.calcsize(fmt_str)
+        (last_not_cleared_reset_status, current_reset_status) = struct.unpack(
+            fmt_str, hk_data[current_idx : current_idx + inc_len]
+        )
+        current_idx += inc_len
+        pw.dlog(
+            f"Last Non-Cleared (Cached) Reset Status {last_not_cleared_reset_status} | "
+            f"Current Reset Status {current_reset_status}"
+        )
+    if set_id == RwSetIds.TM_SET:
+        pw.dlog(f"Received TM HK (ID {set_id}) from Reaction Wheel {object_id.name}")
+        fmt_str = "!BiffBBiiIIIIIIIIIIIIIIII"
+        inc_len = struct.calcsize(fmt_str)
+        (
+            last_reset_status,
+            mcu_temp,
+            pressure_sens_temp,
+            pressure,
+            state,
+            clc_mode,
+            current_speed,
+            ref_speed,
+            num_invalid_crc_packets,
+            num_invalid_len_packets,
+            num_invalid_cmd_packets,
+            num_of_cmd_executed_requests,
+            num_of_cmd_replies,
+            uart_num_of_bytes_written,
+            uart_num_of_bytes_read,
+            uart_num_parity_errors,
+            uart_num_noise_errors,
+            uart_num_frame_errors,
+            uart_num_reg_overrun_errors,
+            uart_total_num_errors,
+            spi_num_bytes_written,
+            spi_num_bytes_read,
+            spi_num_reg_overrun_errors,
+            spi_total_num_errors,
+        ) = struct.unpack(fmt_str, hk_data[current_idx : current_idx + inc_len])
+
+        pw.dlog(
+            f"MCU Temperature {mcu_temp} | Pressure Sensore Temperature {pressure_sens_temp} C"
+        )
+        pw.dlog(f"Last Reset Status {last_reset_status}")
+        pw.dlog(
+            f"Current Limit Control mode {clc_mode}. 0: Low Current Mode (0.3 A), "
+            f"1: High Current Mode (0.6 A)"
+        )
+        pw.dlog(f"Speed {current_speed} rpm | Reference Speed {ref_speed} rpm")
+        pw.dlog(
+            f"State {state}. 0: Error, 1: Idle, 2: Coasting, 3: Running, speed stable, "
+            f"4: Running, speed  changing"
+        )
+        pw.dlog(f"Number Of Invalid Packets:")
+        pw.dlog("CRC | Length | CMD")
+        pw.dlog(
+            f"{num_invalid_crc_packets} | {num_invalid_len_packets} | {num_invalid_cmd_packets}"
+        )
+        pw.dlog(
+            f"Num Of CMD Executed Requests {num_of_cmd_executed_requests} | "
+            f"Num of CMD Replies {num_of_cmd_replies}"
+        )
+        pw.dlog("UART COM information:")
+        pw.dlog(
+            f"NumBytesWritten | NumBytesRead | ParityErrs | NoiseErrs | FrameErrs | "
+            f"RegOverrunErrs | TotalErrs"
+        )
+        pw.dlog(
+            f"{uart_num_of_bytes_written} | {uart_num_of_bytes_read} | {uart_num_parity_errors} | "
+            f"{uart_num_noise_errors} | {uart_num_frame_errors} | {uart_num_reg_overrun_errors} | "
+            f"{uart_total_num_errors}"
+        )
+        pw.dlog("SPI COM Info:")
+        pw.dlog(f"NumBytesWritten | NumBytesRead | RegOverrunErrs | TotalErrs")
+        pw.dlog(
+            f"{spi_num_bytes_written} | {spi_num_bytes_read} | {spi_num_reg_overrun_errors} | "
+            f"{spi_total_num_errors}"
+        )
+        if current_idx > 0:
+            printer.print_validity_buffer(
+                validity_buffer=hk_data[current_idx:], num_vars=27
+            )
+
+
+def rw_speed_up_cmd_consec(
+    q: DefaultPusQueueHelper, obids: List[bytes], speed: int, ramp_time: int
+):
+    for oid in obids:
+        q.add_pus_tc(
+            pack_set_speed_command(object_id=oid, speed=speed, ramp_time_ms=ramp_time)
+        )
+
+
+def rw_speed_down_cmd_consec(
+    q: DefaultPusQueueHelper, obids: List[bytes], ramp_time: int
+):
+    for oid in obids:
+        q.add_pus_tc(
+            pack_set_speed_command(object_id=oid, speed=0, ramp_time_ms=ramp_time)
+        )
--- a/tmtc/acs/sus_board.py
+++ b/tmtc/acs/sus_board.py
@@ -0,0 +1,83 @@
+from config.definitions import CustomServiceList
+from config.object_ids import SUS_BOARD_ASS_ID
+from tmtc.acs.acs_board import DualSideSubmodes
+from tmtc.common import pack_mode_cmd_with_info
+from tmtccmd.config.tmtc import (
+    tmtc_definitions_provider,
+    TmtcDefinitionWrapper,
+    OpCodeEntry,
+)
+from tmtccmd.tc import service_provider
+from tmtccmd.tc.decorator import ServiceProviderParams
+from tmtccmd.tc.pus_200_fsfw_modes import Modes
+
+
+class SusOpCodes:
+    SUS_ASS_NOM_SIDE = ["0", "nom"]
+    SUS_ASS_RED_SIDE = ["1", "red"]
+    SUS_ASS_DUAL_MODE = ["2", "dual"]
+    SUS_ASS_OFF = ["3", "off"]
+
+
+@service_provider(CustomServiceList.SUS_BRD_ASS)
+def pack_sus_cmds(p: ServiceProviderParams):
+    op_code = p.op_code
+    q = p.queue_helper
+    if op_code in SusOpCodes.SUS_ASS_NOM_SIDE:
+        pack_mode_cmd_with_info(
+            object_id=SUS_BOARD_ASS_ID,
+            mode=Modes.NORMAL,
+            submode=DualSideSubmodes.A_SIDE,
+            q=q,
+            info="Switching to SUS board to nominal side",
+        )
+    if op_code in SusOpCodes.SUS_ASS_RED_SIDE:
+        pack_mode_cmd_with_info(
+            object_id=SUS_BOARD_ASS_ID,
+            mode=Modes.NORMAL,
+            submode=DualSideSubmodes.B_SIDE,
+            q=q,
+            info="Switching to SUS board to redundant side",
+        )
+    if op_code in SusOpCodes.SUS_ASS_OFF:
+        pack_mode_cmd_with_info(
+            object_id=SUS_BOARD_ASS_ID,
+            mode=Modes.OFF,
+            submode=0,
+            q=q,
+            info="Switching SUS board off",
+        )
+    if op_code in SusOpCodes.SUS_ASS_DUAL_MODE:
+        pack_mode_cmd_with_info(
+            object_id=SUS_BOARD_ASS_ID,
+            mode=Modes.NORMAL,
+            submode=DualSideSubmodes.DUAL_SIDE,
+            q=q,
+            info="Switching to SUS board to dual side",
+        )
+
+
+@tmtc_definitions_provider
+def add_sus_board_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(
+        keys=SusOpCodes.SUS_ASS_NOM_SIDE,
+        info="Switch SUS board to nominal side",
+    )
+    oce.add(
+        keys=SusOpCodes.SUS_ASS_RED_SIDE,
+        info="Switch SUS board to redundant side",
+    )
+    oce.add(
+        keys=SusOpCodes.SUS_ASS_OFF,
+        info="Switch off SUS board",
+    )
+    oce.add(
+        keys=SusOpCodes.SUS_ASS_DUAL_MODE,
+        info="Switch SUS board to dual mode",
+    )
+    defs.add_service(
+        name=CustomServiceList.SUS_BRD_ASS.value,
+        info="SUS Board Assembly",
+        op_code_entry=oce,
+    )
--- a/pus_tc/system/common.py
+++ b/pus_tc/system/common.py
@@ -3,18 +3,25 @@ from typing import Union
 from spacepackets.ecss.tc import PusTelecommand
 from tmtccmd.tc import DefaultPusQueueHelper
 from tmtccmd.tc.pus_200_fsfw_modes import pack_mode_data, Modes, Subservices
+from tmtccmd.util import ObjectIdU32


-def command_mode(
-    object_id: bytes,
+def pack_mode_cmd_with_info(
+    object_id: Union[ObjectIdU32, bytes],
    mode: Union[int, Modes],
    submode: int,
    q: DefaultPusQueueHelper,
    info: str,
 ):
+    if isinstance(object_id, ObjectIdU32):
+        object_id_bytes = object_id.as_bytes
+    elif isinstance(object_id, bytes):
+        object_id_bytes = object_id
+    else:
+        raise ValueError("Invalid Object ID type")
    q.add_log_cmd(info)
    mode_data = pack_mode_data(
-        object_id=object_id,
+        object_id=object_id_bytes,
        mode=mode,
        submode=submode,
    )
--- a/tmtc/payload/init.py
+++ b/tmtc/payload/init.py
--- a/tmtc/payload/pl_subsystem.py
+++ b/tmtc/payload/pl_subsystem.py
@@ -0,0 +1,65 @@
+import enum
+from typing import Dict, Tuple
+
+from config.definitions import CustomServiceList
+from config.object_ids import PL_SUBSYSTEM_ID
+from spacepackets.ecss import PusTelecommand
+from tmtc.common import pack_mode_cmd_with_info
+from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
+from tmtccmd.config.tmtc import tmtc_definitions_provider
+from tmtccmd.tc import service_provider
+from tmtccmd.tc.decorator import ServiceProviderParams
+from tmtccmd.tc.pus_200_fsfw_modes import Subservices as ModeSubservices
+
+
+class OpCodes(str, enum.Enum):
+    OFF = "off"
+    REPORT_ALL_MODES = "report_modes"
+
+
+class PayloadModes(enum.IntEnum):
+    OFF = 0
+
+
+class Info(str, enum.Enum):
+    OFF = "Off Command"
+    REPORT_ALL_MODES = "Report all modes"
+
+
+HANDLER_LIST: Dict[str, Tuple[int, str]] = {
+    OpCodes.OFF: (PayloadModes.OFF, Info.OFF),
+}
+
+
+@service_provider(CustomServiceList.PL_SS)
+def build_acs_subsystem_cmd(p: ServiceProviderParams):
+    op_code = p.op_code
+    q = p.queue_helper
+    info_prefix = "ACS Subsystem"
+    if op_code in OpCodes.REPORT_ALL_MODES:
+        q.add_log_cmd(f"{info_prefix}: {Info.REPORT_ALL_MODES}")
+        q.add_pus_tc(
+            PusTelecommand(
+                service=200,
+                subservice=ModeSubservices.TC_MODE_ANNOUNCE_RECURSIVE,
+                app_data=PL_SUBSYSTEM_ID,
+            )
+        )
+    mode_info_tup = HANDLER_LIST.get(op_code)
+    if mode_info_tup is None:
+        return
+    pack_mode_cmd_with_info(
+        object_id=PL_SUBSYSTEM_ID,
+        info=f"{info_prefix}: {mode_info_tup[1]}",
+        submode=0,
+        mode=mode_info_tup[0],
+        q=q,
+    )
+
+
+@tmtc_definitions_provider
+def add_payload_subsystem_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(OpCodes.OFF, Info.OFF)
+    oce.add(OpCodes.REPORT_ALL_MODES, Info.REPORT_ALL_MODES)
+    defs.add_service(CustomServiceList.PL_SS, "Payload Subsystem", oce)
--- a/tmtc/payload/ploc_memory_dumper.py
+++ b/tmtc/payload/ploc_memory_dumper.py
--- a/tmtc/payload/ploc_mpsoc.py
+++ b/tmtc/payload/ploc_mpsoc.py
--- a/tmtc/payload/ploc_supervisor.py
+++ b/tmtc/payload/ploc_supervisor.py
--- a/tmtc/power/acu.py
+++ b/tmtc/power/acu.py
@@ -3,28 +3,25 @@
@author J. Meier, R. Mueller
@date   21.12.2020
 """
+import struct

 from config.definitions import CustomServiceList
+from pus_tm.defs import PrintWrapper
 from tmtc.power.common_power import (
-    pack_gomspace_cmds,
+    pack_common_gomspace_cmds,
    add_gomspace_cmd_defs,
    req_hk_cmds,
+    pack_common_power_cmds,
+    SetIds,
+    OBC_ENDIANNESS,
+    unpack_array_in_data,
 )
 from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry
 from tmtccmd.config.tmtc import tmtc_definitions_provider

 from tmtccmd.tc import DefaultPusQueueHelper
-from tmtccmd.tc.pus_3_fsfw_hk import (
-    make_sid,
-    generate_one_diag_command,
-    generate_one_hk_command,
-)
 import gomspace.gomspace_common as gs
-from gomspace.gomspace_common import GomspaceOpCodes
-from gomspace.gomspace_common import GsInfo as GsInfo
 from config.object_ids import ACU_HANDLER_ID
-from tmtc.power.p60dock import P60DockConfigTable
-from tmtccmd.tc.pus_8_funccmd import make_fsfw_action_cmd
 from tmtccmd.util import ObjectIdU32


@@ -68,15 +65,14 @@ def add_acu_cmds(defs: TmtcDefinitionWrapper):

 def pack_acu_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
    q.add_log_cmd("Handling ACU command")
-    pack_gomspace_cmds("ACU", object_id, q, op_code)
+    pack_common_power_cmds("ACU", object_id, q, op_code)
+    pack_common_gomspace_cmds("ACU", object_id, q, op_code)
    acu_req_hk_cmds(q, op_code)
    pack_test_cmds(object_id=object_id, q=q)


 def acu_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds(
-        "ACU", q, op_code, ACU_HANDLER_ID, [gs.SetIds.ACU_CORE, gs.SetIds.ACU_AUX]
-    )
+    req_hk_cmds("ACU", q, op_code, ACU_HANDLER_ID, [SetIds.CORE, SetIds.AUX])


 class ACUTestProcedure:
@@ -173,13 +169,22 @@ def pack_test_cmds(object_id: ObjectIdU32, q: DefaultPusQueueHelper):
                ACUConfigTable.ov_mode.parameter_size,
            )
        )
-    if ACUTestProcedure.all or ACUTestProcedure.off:
-        q.add_log_cmd("P60 Dock: Turning off ACU")
-        q.add_pus_tc(
-            gs.pack_set_param_command(
-                ACU_HANDLER_ID,
-                P60DockConfigTable.out_en_0.parameter_address,
-                P60DockConfigTable.out_en_0.parameter_size,
-                gs.Channel.off,
-            )
-        )
+
+
+def acu_config_table_handler(pw: PrintWrapper, custom_data: bytes):
+    mppt_mode = custom_data[0]
+    mppt_delta_mode = custom_data[1]
+    vboost_list = unpack_array_in_data(custom_data, 0x02, 2, 6, "H")
+    vbat_max_hi = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x10 : 0x10 + 2])[0]
+    vbat_max_lo = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x12 : 0x12 + 2])[0]
+    mppt_period = struct.unpack(f"{OBC_ENDIANNESS}I", custom_data[0x14 : 0x14 + 4])[0]
+    max_dv = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x18 : 0x18 + 2])[0]
+    ov_mode = custom_data[0x1A]
+    pw.dlog(f"{'mppt_mode'.ljust(15)}: {mppt_mode}")
+    pw.dlog(f"{'mppt_delta_mode'.ljust(15)}: {mppt_delta_mode}")
+    pw.dlog(f"{'vboost_list'.ljust(15)}: {vboost_list}")
+    pw.dlog(f"{'vbat_max_hi'.ljust(15)}: {vbat_max_hi}")
+    pw.dlog(f"{'vbat_max_lo'.ljust(15)}: {vbat_max_lo}")
+    pw.dlog(f"{'mppt_period'.ljust(15)}: {mppt_period}")
+    pw.dlog(f"{'max_dv'.ljust(15)}: {max_dv}")
+    pw.dlog(f"{'ov_mode'.ljust(15)}: {ov_mode}")
--- a/tmtc/power/common_power.py
+++ b/tmtc/power/common_power.py
@@ -1,8 +1,9 @@
+import struct
+from typing import List
+
 from gomspace.gomspace_common import (
    pack_set_u8_param_command,
    Channel,
-    GomspaceOpCodes,
-    GsInfo,
    GomspaceDeviceActionIds,
    prompt_and_pack_set_integer_param_command,
    prompt_and_pack_get_param_command,
@@ -18,16 +19,44 @@ from tmtccmd.tc.pus_3_fsfw_hk import (
    make_sid,
    generate_one_diag_command,
    generate_one_hk_command,
+    enable_periodic_hk_command_with_interval,
+    disable_periodic_hk_command,
 )
 from tmtccmd.tc.pus_8_funccmd import make_fsfw_action_cmd
 from tmtccmd.util import ObjectIdU32, ObjectIdBase


+class GomspaceOpCodes:
+    GET_PARAM = ["get_param"]
+    SET_INTEGER_PARAM = ["set_int_param"]
+    SAVE_TABLE = ["save_table"]
+    RESET_GND_WATCHDOG = ["reset_gnd_wdt"]
+    SAVE_TABLE_DEFAULT = ["save_table_default"]
+    LOAD_TABLE = ["load_table"]
+    REQUEST_CONFIG_TABLE = ["cfg_table"]
+
+
+class GsInfo:
+    GET_PARAMETER = "Get parameter"
+    SET_PARAMETER = "Set  integer parameter"
+    REQUEST_CONFIG_TABLE = "Request Config Table"
+    RESET_GND_WATCHDOG = "Reset GND watchdog"
+    SAVE_TABLE = "Save table non-volatile (file)"
+    SAVE_TABLE_DEFAULT = "Save table non-volatile (default)"
+    LOAD_TABLE = "Load Table"
+
+
 class PowerInfo:
    INFO_CORE = "Core Information"
    INFO_AUX = "Auxiliary Information"
    INFO_ALL = "All Information"
+    ENABLE_INFO_HK = "Enable Core Info HK"
+    DISABLE_INFO_HK = "Disable Core Info HK"
    RESET_ALL_GND_WDTS = "Reset all Ground Watchdogs"
+    REQUEST_CORE_HK_ONCE = "Requesting Core HK once"
+    REQUEST_AUX_HK_ONCE = "Requesting Aux HK once"
+    PRINT_SWITCH_V_I = "Print Switch V I Info"
+    PRINT_LATCHUPS = "Print latchups"


 class PowerOpCodes:
@@ -68,24 +97,54 @@ class PowerOpCodes:
    PL_CAM_OFF = ["cam_off"]

    INFO_CORE = ["info"]
+    ENABLE_INFO_HK = ["info_hk_on"]
+    DISABLE_INFO_HK = ["info_hk_off"]
    INFO_AUX = ["info_aux"]
    INFO_ALL = ["info_all"]
    RESET_ALL_GND_WDTS = ["reset_gnd_wdts"]
+    # Request HK
+    REQUEST_CORE_HK_ONCE = ["hk_core"]
+    REQUEST_AUX_HK_ONCE = ["hk_aux"]
+    PRINT_SWITCH_V_I = ["print_switch_vi"]
+    PRINT_LATCHUPS = ["print_latchups"]


-def pack_gomspace_cmds(
+class SetIds:
+    CORE = 1
+    AUX = 2
+    CONFIG = 3
+
+
+def pack_common_power_cmds(
    prefix: str, object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
 ):
    objb = object_id.as_bytes
-    if op_code in GomspaceOpCodes.PRINT_SWITCH_V_I:
-        q.add_log_cmd(f"{prefix}: {GsInfo.PRINT_SWITCH_V_I}")
+    if op_code in PowerOpCodes.ENABLE_INFO_HK:
+        interval = float(input("Specify HK interval in floating point seconds: "))
+        q.add_log_cmd(f"{prefix}: {PowerInfo.ENABLE_INFO_HK} with interval {interval}")
+        cmds = enable_periodic_hk_command_with_interval(
+            True, make_sid(objb, SetIds.CORE), interval
+        )
+        for cmd in cmds:
+            q.add_pus_tc(cmd)
+    if op_code in PowerOpCodes.DISABLE_INFO_HK:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.DISABLE_INFO_HK}")
+        q.add_pus_tc(disable_periodic_hk_command(True, make_sid(objb, SetIds.CORE)))
+
+
+def pack_common_gomspace_cmds(
+    prefix: str, object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str
+):
+    objb = object_id.as_bytes
+    if op_code in PowerOpCodes.PRINT_SWITCH_V_I:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.PRINT_SWITCH_V_I}")
        q.add_pus_tc(
            make_fsfw_action_cmd(
                object_id=objb, action_id=GomspaceDeviceActionIds.PRINT_SWITCH_V_I
            )
        )
-    if op_code in GomspaceOpCodes.PRINT_LATCHUPS:
-        q.add_log_cmd(f"{prefix}: {GsInfo.PRINT_LATCHUPS}")
+    if op_code in PowerOpCodes.PRINT_LATCHUPS:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.PRINT_LATCHUPS}")
        q.add_pus_tc(
            make_fsfw_action_cmd(
                object_id=objb, action_id=GomspaceDeviceActionIds.PRINT_LATCHUPS
@@ -189,12 +248,12 @@ def req_hk_cmds(
    obj_id: bytes,
    set_id_pair: [int, int],
 ):
-    if op_code in GomspaceOpCodes.REQUEST_CORE_HK_ONCE:
-        q.add_log_cmd(f"{prefix}: {GsInfo.REQUEST_CORE_HK_ONCE}")
+    if op_code in PowerOpCodes.REQUEST_CORE_HK_ONCE:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.REQUEST_CORE_HK_ONCE}")
        hk_sid = make_sid(object_id=obj_id, set_id=set_id_pair[0])
        q.add_pus_tc(generate_one_diag_command(sid=hk_sid))
-    if op_code in GomspaceOpCodes.REQUEST_AUX_HK_ONCE:
-        q.add_log_cmd(f"{prefix}: {GsInfo.REQUEST_AUX_HK_ONCE}")
+    if op_code in PowerOpCodes.REQUEST_AUX_HK_ONCE:
+        q.add_log_cmd(f"{prefix}: {PowerInfo.REQUEST_AUX_HK_ONCE}")
        hk_sid = make_sid(object_id=obj_id, set_id=set_id_pair[1])
        q.add_pus_tc(generate_one_hk_command(sid=hk_sid))

@@ -229,20 +288,42 @@ def generic_off_cmd(
    )


+def add_common_power_defs(oce: OpCodeEntry):
+    oce.add(keys=PowerOpCodes.REQUEST_CORE_HK_ONCE, info=PowerInfo.REQUEST_CORE_HK_ONCE)
+    oce.add(keys=PowerOpCodes.REQUEST_AUX_HK_ONCE, info=PowerInfo.REQUEST_AUX_HK_ONCE)
+    oce.add(keys=PowerOpCodes.ENABLE_INFO_HK, info=PowerInfo.ENABLE_INFO_HK)
+    oce.add(keys=PowerOpCodes.DISABLE_INFO_HK, info=PowerInfo.DISABLE_INFO_HK)
+
+
 def add_gomspace_cmd_defs(oce: OpCodeEntry):
    oce.add(
-        keys=GomspaceOpCodes.REQUEST_CORE_HK_ONCE,
-        info=GsInfo.REQUEST_CORE_HK_ONCE,
+        keys=PowerOpCodes.REQUEST_CORE_HK_ONCE,
+        info=PowerInfo.REQUEST_CORE_HK_ONCE,
    )
    oce.add(
-        keys=GomspaceOpCodes.REQUEST_AUX_HK_ONCE,
-        info=GsInfo.REQUEST_AUX_HK_ONCE,
+        keys=PowerOpCodes.REQUEST_AUX_HK_ONCE,
+        info=PowerInfo.REQUEST_AUX_HK_ONCE,
    )
+    oce.add(keys=PowerOpCodes.PRINT_LATCHUPS, info=PowerInfo.PRINT_LATCHUPS)
    oce.add(keys=GomspaceOpCodes.GET_PARAM, info=GsInfo.GET_PARAMETER)
-    oce.add(keys=GomspaceOpCodes.PRINT_LATCHUPS, info=GsInfo.PRINT_LATCHUPS)
    oce.add(keys=GomspaceOpCodes.SET_INTEGER_PARAM, info=GsInfo.SET_PARAMETER)
    oce.add(keys=GomspaceOpCodes.REQUEST_CONFIG_TABLE, info=GsInfo.REQUEST_CONFIG_TABLE)
    oce.add(keys=GomspaceOpCodes.SAVE_TABLE, info=GsInfo.SAVE_TABLE)
    oce.add(keys=GomspaceOpCodes.SAVE_TABLE_DEFAULT, info=GsInfo.SAVE_TABLE_DEFAULT)
    oce.add(keys=GomspaceOpCodes.LOAD_TABLE, info=GsInfo.LOAD_TABLE)
    oce.add(keys=GomspaceOpCodes.RESET_GND_WATCHDOG, info=GsInfo.RESET_GND_WATCHDOG)
+
+
+OBC_ENDIANNESS = "<"
+
+
+def unpack_array_in_data(
+    data: bytes, start_addr: int, width: int, entries: int, struct_spec: str
+) -> List:
+    return [
+        struct.unpack(
+            f"{OBC_ENDIANNESS}{struct_spec}",
+            data[start_addr + (i * width) : start_addr + ((i + 1) * width)],
+        )[0]
+        for i in range(entries)
+    ]
--- a/tmtc/power/p60dock.py
+++ b/tmtc/power/p60dock.py
@@ -5,7 +5,12 @@
@author J. Meier
@date   13.12.2020
 """
-from tmtc.power.common_power import pack_gomspace_cmds, req_hk_cmds
+from tmtc.power.common_power import (
+    pack_common_gomspace_cmds,
+    req_hk_cmds,
+    pack_common_power_cmds,
+    SetIds,
+)
 from tmtccmd.tc import DefaultPusQueueHelper
 from gomspace.gomspace_common import (
    TableEntry,
@@ -17,7 +22,6 @@ from gomspace.gomspace_common import (
    pack_reboot_command,
    pack_set_u8_param_command,
    pack_set_u16_param_command,
-    SetIds,
 )
 from config.object_ids import P60_DOCK_HANDLER
 from tmtccmd.util import ObjectIdU32
@@ -96,7 +100,8 @@ class P60DockHkTable:

 def pack_p60dock_cmds(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
    objb = object_id.as_bytes
-    pack_gomspace_cmds("P60 Dock", object_id, q, op_code)
+    pack_common_power_cmds("P60 Dock", object_id, q, op_code)
+    pack_common_gomspace_cmds("P60 Dock", object_id, q, op_code)
    p60_dock_req_hk_cmds(q, op_code)
    if op_code in P60OpCodes.STACK_3V3_ON:
        q.add_log_cmd(P60Info.STACK_3V3_ON)
@@ -233,6 +238,4 @@ def pack_p60dock_cmds(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code:


 def p60_dock_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds(
-        "P60 Dock", q, op_code, P60_DOCK_HANDLER, [SetIds.P60_CORE, SetIds.P60_AUX]
-    )
+    req_hk_cmds("P60 Dock", q, op_code, P60_DOCK_HANDLER, [SetIds.CORE, SetIds.AUX])
--- a/tmtc/power/pdu1.py
+++ b/tmtc/power/pdu1.py
@@ -3,18 +3,27 @@
@author J. Meier
@date   17.12.2020
 """
+from config.definitions import CustomServiceList
 from config.object_ids import PDU_1_HANDLER_ID
 from tmtc.power.common_power import (
-    pack_gomspace_cmds,
+    pack_common_gomspace_cmds,
    req_hk_cmds,
    PowerOpCodes,
    generic_on_cmd,
    generic_off_cmd,
+    add_gomspace_cmd_defs,
+    pack_common_power_cmds,
+    GomspaceOpCodes,
+    GsInfo,
+    PowerInfo,
+    add_common_power_defs,
+    SetIds,
 )

 from gomspace.gomspace_common import *
 from gomspace.gomspace_pdu_definitions import *
-from tmtccmd.config import OpCodeEntry
+from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper
+from tmtccmd.config.tmtc import tmtc_definitions_provider


 class Pdu1InfoBase:
@@ -59,9 +68,10 @@ class PDU1TestProcedure:
 def pack_pdu1_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code: str):
    q.add_log_cmd("Commanding PDU1")
    objb = object_id.as_bytes
-    pdu1_cmds(q, op_code)
+    pdu1_switch_cmds(q, op_code)
    pdu1_req_hk_cmds(q, op_code)
-    pack_gomspace_cmds("PDU1", object_id, q, op_code)
+    pack_common_power_cmds("PDU1", object_id, q, op_code)
+    pack_common_gomspace_cmds("PDU1", object_id, q, op_code)
    if PDU1TestProcedure.all or PDU1TestProcedure.ping:
        q.add_log_cmd("PDU1: Ping Test")
        ping_data = bytearray([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])
@@ -79,9 +89,7 @@ def pack_pdu1_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code


 def pdu1_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds(
-        "PDU1", q, op_code, PDU_1_HANDLER_ID, [SetIds.PDU_1_CORE, SetIds.PDU_1_AUX]
-    )
+    req_hk_cmds("PDU1", q, op_code, PDU_1_HANDLER_ID, [SetIds.CORE, SetIds.AUX])


 def info_on_pdu1(base: str) -> str:
@@ -92,7 +100,7 @@ def info_off_pdu1(base: str) -> str:
    return "PDU1: " + base + " off"


-def pdu1_cmds(q: DefaultPusQueueHelper, op_code: str):
+def pdu1_switch_cmds(q: DefaultPusQueueHelper, op_code: str):
    if op_code in PowerOpCodes.TCS_ON:
        tcs_on_cmd(q)
    elif op_code in PowerOpCodes.TCS_OFF:
@@ -146,6 +154,25 @@ def add_pdu1_common_defs(oce: OpCodeEntry):
    oce.add(keys=PowerOpCodes.SCEX_OFF, info=info_off_pdu1(Pdu1InfoBase.SCEX))


+@tmtc_definitions_provider
+def add_pdu1_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    add_pdu1_common_defs(oce)
+    add_common_power_defs(oce)
+    add_gomspace_cmd_defs(oce)
+    oce.add(
+        keys=PowerOpCodes.PRINT_SWITCH_V_I,
+        info="PDU1: Print Switches, Voltages, Currents",
+    )
+    oce.add(keys=GomspaceOpCodes.GET_PARAM, info=GsInfo.GET_PARAMETER)
+
+    defs.add_service(
+        name=CustomServiceList.PDU1.value,
+        info="PDU1 Device",
+        op_code_entry=oce,
+    )
+
+
 def tcs_on_cmd(q: DefaultPusQueueHelper):
    generic_on_cmd(PDU_1_HANDLER_ID, q, Pdu1InfoBase.TCS, Pdu1ChIndex.TCS)

--- a/tmtc/power/pdu2.py
+++ b/tmtc/power/pdu2.py
@@ -8,15 +8,20 @@
 """
 from config.object_ids import PDU_2_HANDLER_ID
 from tmtc.power.common_power import (
-    pack_gomspace_cmds,
+    pack_common_gomspace_cmds,
    req_hk_cmds,
    PowerOpCodes,
    generic_on_cmd,
    generic_off_cmd,
+    add_gomspace_cmd_defs,
+    pack_common_power_cmds,
+    SetIds,
+    add_common_power_defs,
 )
 from gomspace.gomspace_common import *
 from gomspace.gomspace_pdu_definitions import *
-from tmtccmd.config import OpCodeEntry
+from tmtccmd.config import OpCodeEntry, TmtcDefinitionWrapper
+from tmtccmd.config.tmtc import tmtc_definitions_provider


 class Pdu2InfoBase:
@@ -74,7 +79,8 @@ def pack_pdu2_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code
    objb = object_id.as_bytes
    pdu2_cmds(q, op_code)
    pdu2_req_hk_cmds(q, op_code)
-    pack_gomspace_cmds("PDU2", object_id, q, op_code)
+    pack_common_power_cmds("PDU2", object_id, q, op_code)
+    pack_common_gomspace_cmds("PDU2", object_id, q, op_code)
    if PDU2TestProcedure.all or PDU2TestProcedure.reboot:
        q.add_log_cmd("PDU2: Reboot")
        q.add_pus_tc(pack_reboot_command(object_id))
@@ -130,6 +136,27 @@ def pack_pdu2_commands(object_id: ObjectIdU32, q: DefaultPusQueueHelper, op_code
        q.add_pus_tc(pack_request_full_hk_table_command(object_id))


+@tmtc_definitions_provider
+def add_pdu2_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    add_pdu2_common_defs(oce)
+    add_common_power_defs(oce)
+    add_gomspace_cmd_defs(oce)
+    oce.add(
+        keys=PowerOpCodes.PRINT_SWITCH_V_I,
+        info="PDU2: Print Switches, Voltages, Currents",
+    )
+    oce.add(
+        keys=PowerOpCodes.PRINT_LATCHUPS,
+        info="PDU2: Print Latchups",
+    )
+    defs.add_service(
+        name="pdu2",
+        info="PDU2 Device",
+        op_code_entry=oce,
+    )
+
+
 def pdu2_cmds(q: DefaultPusQueueHelper, op_code: str):
    if op_code in PowerOpCodes.PL_PCDU_VBAT_NOM_ON:
        pl_pcdu_bat_nom_on_cmd(q)
@@ -211,9 +238,7 @@ def add_pdu2_common_defs(oce: OpCodeEntry):


 def pdu2_req_hk_cmds(q: DefaultPusQueueHelper, op_code: str):
-    req_hk_cmds(
-        "PDU2", q, op_code, PDU_2_HANDLER_ID, [SetIds.PDU_2_CORE, SetIds.PDU_2_AUX]
-    )
+    req_hk_cmds("PDU2", q, op_code, PDU_2_HANDLER_ID, [SetIds.CORE, SetIds.AUX])


 def pl_pcdu_bat_nom_on_cmd(q: DefaultPusQueueHelper):
--- a/tmtc/power/power.py
+++ b/tmtc/power/power.py
@@ -1,4 +1,3 @@
-from gomspace.gomspace_common import GsInfo, GomspaceOpCodes
 from tmtc.power.common_power import (
    PowerOpCodes,
    PowerInfo,
@@ -13,8 +12,18 @@ from config.object_ids import (
    PDU_2_HANDLER_ID,
    get_object_ids,
 )
-from tmtc.power.pdu1 import pdu1_req_hk_cmds, pdu1_cmds, add_pdu1_common_defs
-from tmtc.power.pdu2 import pdu2_req_hk_cmds, add_pdu2_common_defs, pdu2_cmds
+from tmtc.power.pdu1 import (
+    pdu1_req_hk_cmds,
+    pdu1_switch_cmds,
+    add_pdu1_common_defs,
+    add_pdu1_cmds,
+)
+from tmtc.power.pdu2 import (
+    pdu2_req_hk_cmds,
+    add_pdu2_common_defs,
+    pdu2_cmds,
+    add_pdu2_cmds,
+)
 from tmtccmd import get_console_logger
 from tmtccmd.config import TmtcDefinitionWrapper, OpCodeEntry

@@ -28,29 +37,29 @@ LOGGER = get_console_logger()


 def pack_power_commands(q: DefaultPusQueueHelper, op_code: str):
-    pdu1_cmds(q, op_code)
+    pdu1_switch_cmds(q, op_code)
    pdu2_cmds(q, op_code)
    if op_code in PowerOpCodes.INFO_CORE:
-        pdu1_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        pdu2_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        p60_dock_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        acu_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
+        pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        acu_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
        q.add_wait_seconds(8.0)
    elif op_code in PowerOpCodes.INFO_AUX:
-        pdu1_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        pdu2_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        p60_dock_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        acu_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
+        pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        acu_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
        q.add_wait_seconds(8.0)
    elif op_code in PowerOpCodes.INFO_ALL:
-        pdu1_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        pdu2_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        pdu1_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        pdu2_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        p60_dock_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        p60_dock_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
-        acu_req_hk_cmds(q, GomspaceOpCodes.REQUEST_CORE_HK_ONCE[0])
-        acu_req_hk_cmds(q, GomspaceOpCodes.REQUEST_AUX_HK_ONCE[0])
+        pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        pdu1_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        pdu2_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        p60_dock_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
+        acu_req_hk_cmds(q, PowerOpCodes.REQUEST_CORE_HK_ONCE[0])
+        acu_req_hk_cmds(q, PowerOpCodes.REQUEST_AUX_HK_ONCE[0])
        q.add_wait_seconds(8.0)
    elif op_code in PowerOpCodes.RESET_ALL_GND_WDTS:
        oids = get_object_ids()
@@ -93,46 +102,6 @@ def add_power_cmd_defs(defs: TmtcDefinitionWrapper):
    )


-@tmtc_definitions_provider
-def add_pdu1_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    add_pdu1_common_defs(oce)
-    add_gomspace_cmd_defs(oce)
-    oce.add(keys=GomspaceOpCodes.REQUEST_CORE_HK_ONCE, info=GsInfo.REQUEST_CORE_HK_ONCE)
-    oce.add(keys=GomspaceOpCodes.REQUEST_AUX_HK_ONCE, info=GsInfo.REQUEST_AUX_HK_ONCE)
-    oce.add(
-        keys=GomspaceOpCodes.PRINT_SWITCH_V_I,
-        info="PDU1: Print Switches, Voltages, Currents",
-    )
-    oce.add(keys=GomspaceOpCodes.GET_PARAM, info=GsInfo.GET_PARAMETER)
-
-    defs.add_service(
-        name=CustomServiceList.PDU1.value,
-        info="PDU1 Device",
-        op_code_entry=oce,
-    )
-
-
-@tmtc_definitions_provider
-def add_pdu2_cmds(defs: TmtcDefinitionWrapper):
-    oce = OpCodeEntry()
-    add_pdu2_common_defs(oce)
-    add_gomspace_cmd_defs(oce)
-    oce.add(
-        keys=GomspaceOpCodes.PRINT_SWITCH_V_I,
-        info="PDU2: Print Switches, Voltages, Currents",
-    )
-    oce.add(
-        keys=GomspaceOpCodes.PRINT_LATCHUPS,
-        info="PDU2: Print Latchups",
-    )
-    defs.add_service(
-        name="pdu2",
-        info="PDU2 Device",
-        op_code_entry=oce,
-    )
-
-
 def add_pcdu_cmds(defs: TmtcDefinitionWrapper):
    add_p60_cmds(defs)
    add_pdu1_cmds(defs)
--- a/tmtc/power/tm.py
+++ b/tmtc/power/tm.py
@@ -1,10 +1,12 @@
 import struct
 from typing import List, Tuple

+from tmtc.power.acu import acu_config_table_handler
+from tmtc.power.common_power import SetIds, unpack_array_in_data, OBC_ENDIANNESS
 from tmtccmd.util import ObjectIdBase
 from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
 from pus_tm.defs import PrintWrapper
-from gomspace.gomspace_common import SetIds, GomspaceDeviceActionIds
+from gomspace.gomspace_common import GomspaceDeviceActionIds
 from config.object_ids import (
    PDU_1_HANDLER_ID,
    PDU_2_HANDLER_ID,
@@ -145,7 +147,7 @@ def handle_pdu_data(
    pw = PrintWrapper(printer=printer)
    current_idx = 0
    priv_idx = pdu_idx - 1
-    if set_id == SetIds.PDU_1_AUX or set_id == SetIds.PDU_2_AUX:
+    if set_id == SetIds.AUX or set_id == SetIds.AUX:
        fmt_str = "!hhBBBIIH"
        inc_len = struct.calcsize(fmt_str)
        (
@@ -182,7 +184,7 @@ def handle_pdu_data(
        wdt.print()
        pw.dlog(f"PDU Device Types: 0:FRAM|1:ADC|2:ADC|3:TempSens|4,5,6,7:Reserved")
        dev_parser.print(pw=pw)
-    if set_id == SetIds.PDU_1_CORE or set_id == SetIds.PDU_2_CORE:
+    if set_id == SetIds.CORE or set_id == SetIds.CORE:
        pw.dlog(f"Received PDU HK from PDU {pdu_idx}")
        current_list = []
        for idx in range(len(PDU1_CHANNELS_NAMES)):
@@ -223,7 +225,7 @@ def handle_pdu_data(

 def handle_p60_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
    pw = PrintWrapper(printer=printer)
-    if set_id == SetIds.P60_CORE:
+    if set_id == SetIds.CORE:
        pw.dlog("Received P60 Core HK. Voltages in mV, currents in mA")
        current_idx = 0
        current_list = []
@@ -270,7 +272,7 @@ def handle_p60_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
        pw.dlog(temps)
        pw.dlog(batt_info)
        printer.print_validity_buffer(validity_buffer=hk_data[current_idx:], num_vars=9)
-    if set_id == SetIds.P60_AUX:
+    if set_id == SetIds.AUX:
        pw.dlog("Received P60 AUX HK. Voltages in mV, currents in mA")
        current_idx = 0
        latchup_list = []
@@ -349,7 +351,7 @@ def gen_six_entry_u16_list(hk_data: bytes, current_idx: int) -> Tuple[int, List[

 def handle_acu_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
    pw = PrintWrapper(printer=printer)
-    if set_id == SetIds.ACU_CORE:
+    if set_id == SetIds.CORE:
        mppt_mode = hk_data[0]
        current_idx = 1
        current_idx, currents = gen_six_entry_u16_list(
@@ -393,7 +395,7 @@ def handle_acu_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
        printer.print_validity_buffer(
            validity_buffer=hk_data[current_idx:], num_vars=12
        )
-    if set_id == SetIds.ACU_AUX:
+    if set_id == SetIds.AUX:
        current_idx = 0
        fmt_str = "!BBB"
        inc_len = struct.calcsize(fmt_str)
@@ -430,9 +432,6 @@ def handle_acu_hk_data(printer: FsfwTmTcPrinter, set_id: int, hk_data: bytes):
        printer.print_validity_buffer(validity_buffer=hk_data[current_idx:], num_vars=8)


-OBC_ENDIANNESS = "<"
-
-
 def handle_get_param_data_reply(
    obj_id: ObjectIdBase, action_id: int, pw: PrintWrapper, custom_data: bytearray
 ):
@@ -513,25 +512,6 @@ def pdu_config_table_handler(
    pw.dlog(f"{'wdt_can'.ljust(15)}: {wdt_can}")


-def acu_config_table_handler(pw: PrintWrapper, custom_data: bytes):
-    mppt_mode = custom_data[0]
-    mppt_delta_mode = custom_data[1]
-    vboost_list = unpack_array_in_data(custom_data, 0x02, 2, 6, "H")
-    vbat_max_hi = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x10 : 0x10 + 2])[0]
-    vbat_max_lo = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x12 : 0x12 + 2])[0]
-    mppt_period = struct.unpack(f"{OBC_ENDIANNESS}I", custom_data[0x14 : 0x14 + 4])[0]
-    max_dv = struct.unpack(f"{OBC_ENDIANNESS}H", custom_data[0x18 : 0x18 + 2])[0]
-    ov_mode = custom_data[0x1A]
-    pw.dlog(f"{'mppt_mode'.ljust(15)}: {mppt_mode}")
-    pw.dlog(f"{'mppt_delta_mode'.ljust(15)}: {mppt_delta_mode}")
-    pw.dlog(f"{'vboost_list'.ljust(15)}: {vboost_list}")
-    pw.dlog(f"{'vbat_max_hi'.ljust(15)}: {vbat_max_hi}")
-    pw.dlog(f"{'vbat_max_lo'.ljust(15)}: {vbat_max_lo}")
-    pw.dlog(f"{'mppt_period'.ljust(15)}: {mppt_period}")
-    pw.dlog(f"{'max_dv'.ljust(15)}: {max_dv}")
-    pw.dlog(f"{'ov_mode'.ljust(15)}: {ov_mode}")
-
-
 def p60_dock_config_table_handler(pw: PrintWrapper, custom_data: bytes):
    ch_names = parse_name_list(custom_data[0:0x68], 13)
    out_on_cnt = unpack_array_in_data(custom_data, 0x76, 2, 13, "H")
@@ -570,15 +550,3 @@ def parse_name_list(data: bytes, name_len: int):
            idx += len(name)
        idx += 1
    return ch_list
-
-
-def unpack_array_in_data(
-    data: bytes, start_addr: int, width: int, entries: int, struct_spec: str
-) -> List:
-    return [
-        struct.unpack(
-            f"{OBC_ENDIANNESS}{struct_spec}",
-            data[start_addr + (i * width) : start_addr + ((i + 1) * width)],
-        )[0]
-        for i in range(entries)
-    ]
--- a/tmtc/solar_array_deployment.py
+++ b/tmtc/solar_array_deployment.py
@@ -0,0 +1,78 @@
+# -*- coding: utf-8 -*-
+"""
+@file   solar_array_deployment.py
+@brief  The test function in this file simply returns a command which triggers the solar array deployment.
+@author J. Meier
+@date   15.02.2021
+"""
+import struct
+
+from config.definitions import CustomServiceList
+from config.object_ids import SOLAR_ARRAY_DEPLOYMENT_ID
+from tmtccmd.config.tmtc import (
+    tmtc_definitions_provider,
+    TmtcDefinitionWrapper,
+    OpCodeEntry,
+)
+from tmtccmd.tc import service_provider
+from tmtccmd.tc.pus_8_funccmd import make_fsfw_action_cmd
+from tmtccmd.tc.decorator import ServiceProviderParams
+from tmtccmd import get_console_logger
+
+LOGGER = get_console_logger()
+
+
+class OpCodes:
+    MANUAL_DEPLOYMENT = "man_depl"
+
+
+class Info:
+    MANUAL_DEPLOYMENT = "Manual Solar Array Deployment"
+
+
+class ActionIds:
+    MANUAL_DEPLOYMENT = 5
+
+
+@tmtc_definitions_provider
+def pack_sa_depl_cmds(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(keys=OpCodes.MANUAL_DEPLOYMENT, info=Info.MANUAL_DEPLOYMENT)
+    defs.add_service(
+        name=CustomServiceList.SA_DEPLYOMENT,
+        info="Solar Array Deployment",
+        op_code_entry=oce,
+    )
+
+
+@service_provider(CustomServiceList.SA_DEPLYOMENT)
+def pack_solar_array_deployment_test_into(p: ServiceProviderParams):
+    q = p.queue_helper
+    user_data = bytearray()
+    while True:
+        burn_time = int(input("Please specify burn time in seconds [0-120 secs]: "))
+        if burn_time < 0 or burn_time > 120:
+            LOGGER.warning(f"Invalid burn time {burn_time}")
+            continue
+        user_data.extend(struct.pack("!I", burn_time))
+        break
+    while True:
+        dry_run = input("Dry run? [y/n]: ")
+        if dry_run in ["yes", "y", "1"]:
+            dry_run = 1
+        elif dry_run in ["no", "n", "0"]:
+            dry_run = 0
+        else:
+            LOGGER.warning("Invalid input for dry run parameter")
+            continue
+        user_data.append(dry_run)
+        break
+    if dry_run == 1:
+        dry_run_str = " as dry run"
+    else:
+        dry_run_str = ""
+    q.add_log_cmd(f"Testing S/A Deployment with burn time {burn_time}{dry_run_str}")
+    command = make_fsfw_action_cmd(
+        SOLAR_ARRAY_DEPLOYMENT_ID, ActionIds.MANUAL_DEPLOYMENT, user_data
+    )
+    q.add_pus_tc(command)
--- a/tmtc/test.py
+++ b/tmtc/test.py
@@ -0,0 +1,65 @@
+from spacepackets.ecss import PusTelecommand, PusServices
+from tmtccmd.config import CoreServiceList
+from tmtccmd.config.tmtc import (
+    tmtc_definitions_provider,
+    TmtcDefinitionWrapper,
+    OpCodeEntry,
+)
+from tmtccmd.pus.pus_17_test import pack_service_17_ping_command
+from tmtccmd.tc import service_provider
+from tmtccmd.tc.decorator import ServiceProviderParams
+
+
+class OpCodes:
+    PING = "ping"
+    TRIGGER_EVENT = "trig_event"
+    PING_WITH_DATA = "ping_with_data"
+
+
+class Info:
+    PING = "Simple Ping and Connection Test"
+    TRIGGER_EVENT = "Trigger an event"
+    PING_WITH_DATA = "Ping with data. Size of sent data is sent back"
+
+
+@tmtc_definitions_provider
+def add_test_defs(defs: TmtcDefinitionWrapper):
+    oce = OpCodeEntry()
+    oce.add(keys=OpCodes.PING, info=Info.PING)
+    oce.add(keys=OpCodes.TRIGGER_EVENT, info=Info.TRIGGER_EVENT)
+    oce.add(keys=OpCodes.PING_WITH_DATA, info=Info.PING_WITH_DATA)
+
+    defs.add_service(
+        name=CoreServiceList.SERVICE_17_ALT,
+        info="PUS 17 Test Service",
+        op_code_entry=oce,
+    )
+
+
+@service_provider(CoreServiceList.SERVICE_17_ALT)
+def pack_test_command(p: ServiceProviderParams):
+    info = p.info
+    q = p.queue_helper
+    if info.op_code == OpCodes.PING:
+        q.add_log_cmd("Sending PUS TC [17,1]")
+        q.add_pus_tc(pack_service_17_ping_command())
+    if info.op_code == OpCodes.TRIGGER_EVENT:
+        q.add_log_cmd("Sending PUS TC Event Trigger [17, 128]")
+        q.add_pus_tc(PusTelecommand(service=PusServices.S17_TEST, subservice=128))
+    if info.op_code == OpCodes.PING_WITH_DATA:
+        q.add_log_cmd("Sending Ping With Data, Size Reported Back [17, 129]")
+        while True:
+            data_size = int(input("Please specify data size [0-1024]: "))
+            if data_size < 0 or data_size > 1024:
+                print("Invalid data size")
+            break
+        dummy_data = bytearray()
+        next_byte = True
+        for i in range(data_size):
+            dummy_data.append(int(next_byte))
+            next_byte = not next_byte
+        q.add_pus_tc(
+            PusTelecommand(
+                service=PusServices.S17_TEST, subservice=130, app_data=dummy_data
+            )
+        )
--- a/tmtcc.py
+++ b/tmtcc.py
@@ -7,12 +7,15 @@ from pathlib import Path
 from typing import cast

 from spacepackets import SpacePacketHeader, SpacePacket
+from spacepackets.ccsds import SPACE_PACKET_HEADER_SIZE
 from spacepackets.cfdp import (
    ConditionCode,
    ChecksumType,
    TransmissionMode,
    PduHolder,
    DirectiveType,
+    PduFactory,
+    PduType,
 )
 from tmtccmd.cfdp import CfdpUserBase, TransactionId
 from tmtccmd.cfdp.defs import CfdpRequestType
@@ -94,7 +97,6 @@ from pus_tc.procedure_packer import handle_default_procedure

 LOGGER = get_console_logger()

-
 # Put rotating file logger parameters here for quick changes
 ROTATING_TIMED_LOGGER_INTERVAL_WHEN = TimedLogWhen.PER_MINUTE
 ROTATING_TIMED_LOGGER_INTERVAL = 30
@@ -168,6 +170,8 @@ class PusHandler(SpecificApidHandlerBase):
        self.raw_logger = raw_logger

    def handle_tm(self, packet: bytes, _user_args: any):
+        # with open("tc.bin", "wb") as of:
+        #    of.write(packet)
        pus_factory_hook(packet, self.verif_wrapper, self.printer, self.raw_logger)


@@ -182,11 +186,20 @@ class CfdpInCcsdsWrapper(SpecificApidHandlerBase):
        self.handler = cfdp_in_ccsds_handler

    def handle_tm(self, packet: bytes, _user_args: any):
-        ccsds_header_raw = packet[0:6]
-        sp_header = SpacePacketHeader.unpack(ccsds_header_raw)
-        pdu = packet[6:]
-        sp = SpacePacket(sp_header, sec_header=None, user_data=pdu)
-        self.handler.pass_packet(sp)
+        # Ignore the space packet header. Its only purpose is to use the same protocol and
+        # have a seaprate APID for space packets. If this function is called, the APID is correct.
+        pdu = packet[SPACE_PACKET_HEADER_SIZE:]
+        pdu_base = PduFactory.from_raw(pdu)
+        if pdu_base.pdu_type == PduType.FILE_DATA:
+            LOGGER.info("Received File Data PDU TM")
+        else:
+            if pdu_base.directive_type == DirectiveType.FINISHED_PDU:
+                LOGGER.info(f"Received Finished PDU TM")
+            else:
+                LOGGER.info(
+                    f"Received File Directive PDU with type {pdu_base.directive_type!r} TM"
+                )
+        self.handler.pass_pdu_packet(pdu_base)


 class TcHandler(TcHandlerBase):
@@ -195,8 +208,8 @@ class TcHandler(TcHandlerBase):
        seq_count_provider: FileSeqCountProvider,
        cfdp_in_ccsds_wrapper: CfdpInCcsdsWrapper,
        pus_verificator: PusVerificator,
-        file_logger: logging.Logger,
-        raw_logger: RawTmtcTimedLogWrapper,
+        high_level_file_logger: logging.Logger,
+        raw_pus_logger: RawTmtcTimedLogWrapper,
        gui: bool,
    ):
        super().__init__()
@@ -204,10 +217,9 @@ class TcHandler(TcHandlerBase):
        self.cfdp_dest_id = CFDP_REMOTE_ENTITY_ID
        self.seq_count_provider = seq_count_provider
        self.pus_verificator = pus_verificator
-        self.file_logger = file_logger
-        self.raw_logger = raw_logger
+        self.high_level_file_logger = high_level_file_logger
+        self.pus_raw_logger = raw_pus_logger
        self.gui = gui
-        self.cfdp_done = False
        self.queue_helper = DefaultPusQueueHelper(
            queue_wrapper=None,
            pus_apid=PUS_APID,
@@ -216,6 +228,13 @@ class TcHandler(TcHandlerBase):
        )
        self.cfdp_in_ccsds_wrapper = cfdp_in_ccsds_wrapper

+    def cfdp_done(self) -> bool:
+        if self.cfdp_handler_started:
+            if not self.cfdp_in_ccsds_wrapper.handler.put_request_pending():
+                self.cfdp_handler_started = False
+                return True
+        return False
+
    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
        self.queue_helper.queue_wrapper = wrapper.queue_wrapper
        if info.proc_type == TcProcedureType.DEFAULT:
@@ -235,20 +254,30 @@ class TcHandler(TcHandlerBase):
                # Add TC after Sequence Count stamping
                self.pus_verificator.add_tc(pus_tc_wrapper.pus_tc)
                raw_tc = pus_tc_wrapper.pus_tc.pack()
-                self.raw_logger.log_tc(pus_tc_wrapper.pus_tc)
+                self.pus_raw_logger.log_tc(pus_tc_wrapper.pus_tc)
                tc_info_string = f"Sent {pus_tc_wrapper.pus_tc}"
                LOGGER.info(tc_info_string)
-                self.file_logger.info(
+                self.high_level_file_logger.info(
                    f"{get_current_time_string(True)}: {tc_info_string}"
                )
+                # with open("tc.bin", "wb") as of:
+                #    of.write(raw_tc)
                send_params.com_if.send(raw_tc)
            elif entry_helper.entry_type == TcQueueEntryType.CCSDS_TC:
                cfdp_packet_in_ccsds = entry_helper.to_space_packet_entry()
                send_params.com_if.send(cfdp_packet_in_ccsds.space_packet.pack())
+                # TODO: Log raw CFDP packets similarly to how PUS packets are logged.
+                #        - Log full raw format including space packet wrapper
+                #        - Log context information: Transaction ID, and PDU type and directive
+                # Could re-use file logger. Should probably do that
+                # print(f"sending packet: [{cfdp_packet_in_ccsds.space_packet.pack()}]")
+                # with open(f"cfdp_packet_{self.cfdp_counter}", "wb") as of:
+                # of.write(cfdp_packet_in_ccsds.space_packet.pack())
+                # self.cfdp_counter += 1
        elif entry_helper.entry_type == TcQueueEntryType.LOG:
            log_entry = entry_helper.to_log_entry()
            LOGGER.info(log_entry.log_str)
-            self.file_logger.info(log_entry.log_str)
+            self.high_level_file_logger.info(log_entry.log_str)

    def handle_cfdp_procedure(self, info: ProcedureWrapper):
        cfdp_procedure = info.to_cfdp_procedure()
@@ -298,7 +327,6 @@ class TcHandler(TcHandlerBase):
                )
            elif info.proc_type == TcProcedureType.CFDP:
                LOGGER.info(f"Finished CFDP queue")
-                self.cfdp_done = True


 def setup_params() -> SetupWrapper:
@@ -375,8 +403,8 @@ def setup_tmtc_handlers(
    tc_handler = TcHandler(
        seq_count_provider=seq_count_provider,
        pus_verificator=verificator,
-        file_logger=printer.file_logger,
-        raw_logger=raw_logger,
+        high_level_file_logger=printer.file_logger,
+        raw_pus_logger=raw_logger,
        gui=gui,
        cfdp_in_ccsds_wrapper=cfdp_in_ccsds_wrapper,
    )
@@ -423,12 +451,16 @@ def main():
    try:
        while True:
            state = tmtc_backend.periodic_op(None)
+            tc_handler.cfdp_in_ccsds_wrapper.handler.fsm()
            if state.request == BackendRequest.TERMINATION_NO_ERROR:
                sys.exit(0)
            elif state.request == BackendRequest.DELAY_IDLE:
                LOGGER.info("TMTC Client in IDLE mode")
                time.sleep(3.0)
            elif state.request == BackendRequest.DELAY_LISTENER:
+                if tc_handler.cfdp_done():
+                    LOGGER.info("CFDP transaction done, closing client")
+                    sys.exit(0)
                time.sleep(0.5)
            elif state.request == BackendRequest.DELAY_CUSTOM:
                if state.next_delay.total_seconds() < 0.5:
Author	SHA1	Message	Date
Robin Mueller	d5813e1a42	update events	2022-11-16 15:25:20 +01:00
Robin Mueller	a7999bdbb1	update events	2022-11-15 17:44:35 +01:00
Robin Mueller	66a1362e7e	Merge branch 'main' of https://egit.irs.uni-stuttgart.de/eive/eive-tmtc	2022-11-14 17:10:30 +01:00
Robin Mueller	35afed5ec2	update objects list	2022-11-14 17:10:18 +01:00
Robin Mueller	6db683b831	some restructuring	2022-11-14 10:56:14 +01:00
Robin Mueller	89285ad511	re-run generators	2022-11-10 18:07:36 +01:00
Robin Mueller	b6490a05ec	all cells run cfg	2022-11-09 14:52:59 +01:00
Robin Mueller	f6fab2d44a	add payload subsystem commands	2022-11-03 22:16:10 +01:00
Robin Mueller	66c8f09feb	some cleaning up	2022-11-03 22:04:21 +01:00
Robin Mueller	f62c67a11e	bump generated csvs	2022-11-03 16:11:30 +01:00
Robin Mueller	1542cf087c	add ss OFF cmd	2022-11-03 15:53:06 +01:00
Robin Mueller	88302ef7eb	use alternating 0 and 1 for dummy data	2022-11-02 20:02:00 +01:00
Robin Mueller	622b2e4f21	now it works	2022-11-02 19:52:55 +01:00
Robin Mueller	331b67622a	new test service commands	2022-11-02 19:49:07 +01:00
Robin Mueller	074eb82e78	bugfix listener mode	2022-11-02 16:08:36 +01:00
Robin Müller	f3609b8179	Merge pull request 'Add ACS Subsystem Commands' (#117 ) from mueller/add-acs-ss-cmds into main Reviewed-on: #117	2022-11-02 10:33:17 +01:00
Robin Müller	09757f0150	Merge branch 'main' into mueller/add-acs-ss-cmds	2022-11-02 10:33:06 +01:00
Robin Mueller	0d596a5547	basic code to dump TCs/TMs to bin	2022-10-31 19:32:42 +01:00
Robin Mueller	f99ca2f8d8	some improvements for syrlinks hk handler	2022-10-31 18:44:48 +01:00
Robin Mueller	38385f7826	Merge remote-tracking branch 'origin/main' into mueller/add-acs-ss-cmds	2022-10-27 16:59:25 +02:00
Robin Mueller	044c600b1c	even better names	2022-10-27 15:33:25 +02:00
Robin Mueller	38d180f258	some renaming	2022-10-27 15:32:50 +02:00
Robin Mueller	10cca44fbe	add TODO	2022-10-27 15:21:56 +02:00
Robin Mueller	47ef66fcd1	update csvs	2022-10-27 09:18:01 +02:00
Robin Mueller	4420bf3df9	re-run generators	2022-10-27 09:03:30 +02:00
Robin Mueller	5dc2333480	re-run generators	2022-10-21 15:45:36 +02:00
Robin Mueller	aefdcebde8	Merge remote-tracking branch 'origin/main' into mueller/add-acs-ss-cmds	2022-10-21 15:45:17 +02:00
Robin Mueller	ff1b401622	re-run generators	2022-10-21 15:41:57 +02:00
Robin Mueller	1c38b54f01	Merge remote-tracking branch 'origin/main' into mueller/add-acs-ss-cmds	2022-10-21 15:35:51 +02:00
Robin Müller	c13f4a8575	Merge pull request 'add support for closure handling' (#119 ) from mueller/cfdp-closure-requested into main Reviewed-on: #119	2022-10-21 15:26:37 +02:00
Robin Mueller	d9a178460b	now it works	2022-10-21 15:24:57 +02:00
Robin Mueller	8028f024a4	update space packet IDs	2022-10-21 15:19:31 +02:00
Robin Mueller	3cbfeb7015	add support for closure handling	2022-10-21 11:28:33 +02:00
Robin Mueller	90c9cf297b	Merge remote-tracking branch 'origin/main' into mueller/add-acs-ss-cmds	2022-10-20 17:03:41 +02:00
Robin Mueller	1dfc2fca2f	update changelog entry	2022-10-20 14:23:48 +02:00
Robin Mueller	962d8e46d9	clean up IMTQ TM handling a bit	2022-10-20 14:22:19 +02:00
Robin Mueller	42b962dede	bugfix IMTQ eng HK handling	2022-10-19 19:08:17 +02:00
Robin Mueller	87e40fab0f	Merge branch 'main' of https://egit.irs.uni-stuttgart.de/eive/eive-tmtc	2022-10-19 15:36:00 +02:00
Robin Mueller	9051282990	minor fixes	2022-10-19 15:35:52 +02:00
Robin Mueller	98dc8b1baa	minor adaption for cmd info	2022-10-19 10:52:29 +02:00
Robin Mueller	9493cdaabf	add HK enable and disable cmd	2022-10-19 10:11:40 +02:00
Robin Mueller	14f7c39e02	bump tmtccmd	2022-10-19 10:04:10 +02:00
Robin Mueller	e80cc11d98	clean up run configs a bit	2022-10-19 09:45:40 +02:00
Robin Mueller	0fe3d8bef7	Merge branch 'main' of https://egit.irs.uni-stuttgart.de/eive/eive-tmtc	2022-10-18 20:40:03 +02:00
Robin Mueller	b2bab4c964	some more cleaning up	2022-10-18 17:26:43 +02:00
Robin Mueller	f3ccbf0418	add better op codes	2022-10-18 17:10:33 +02:00
Robin Mueller	b6e95317b1	extend IMTQ dipole commands	2022-10-18 17:07:11 +02:00
Robin Mueller	30a763a7f7	speec and ramp time configurable	2022-10-18 15:41:41 +02:00
Robin Mueller	d4496a131b	update RW cmd	2022-10-18 14:15:38 +02:00
Robin Mueller	7957ed844e	update RW commands	2022-10-18 14:08:12 +02:00
Robin Mueller	6088239226	update ramp time limits	2022-10-18 13:36:27 +02:00
Robin Mueller	eb7cb3f28c	all speed up and down command	2022-10-18 13:32:22 +02:00
Robin Mueller	968db5ce51	some restructuring	2022-10-18 13:26:32 +02:00
Robin Mueller	0ddb9587ba	improvements for op codes	2022-10-18 11:41:14 +02:00
Robin Mueller	80a57cdc70	some more fixes and improvements	2022-10-18 11:08:28 +02:00
Robin Mueller	9171f23d93	some more cleaning and set ID updates	2022-10-18 11:01:01 +02:00
Robin Mueller	195d5343bc	clean up power module a bit	2022-10-18 10:44:32 +02:00
Robin Mueller	7f56d1e726	re-run generators	2022-10-17 10:27:55 +02:00
Robin Mueller	216675a787	re-run generator scripts	2022-10-17 10:27:10 +02:00
Robin Müller	8655f0c9e6	Merge pull request 'Updated S/A depl command' (#118 ) from mueller/update-sa-depl-cmd into main Reviewed-on: #118	2022-10-14 20:38:54 +02:00
Robin Mueller	646cf1a14e	Merge branch 'mueller/update-sa-depl-cmd' of https://egit.irs.uni-stuttgart.de/eive/eive-tmtc into mueller/update-sa-depl-cmd	2022-10-14 14:55:05 +02:00
Robin Mueller	8b309e8dcc	new event	2022-10-14 14:54:54 +02:00
Robin Mueller	d4f48534d9	bump dependency	2022-10-14 13:47:18 +02:00
Robin Mueller	772c86ab04	update event.csv	2022-10-14 11:53:59 +02:00
Robin Mueller	e88a5338d4	update event list	2022-10-14 11:53:00 +02:00
Robin Mueller	55f27b83be	smaller fixes	2022-10-13 18:15:15 +02:00
Robin Mueller	bd533b5ab2	add -l flag to SA depl	2022-10-13 18:12:31 +02:00
Robin Mueller	de815180c3	add SA depl run config	2022-10-13 18:12:05 +02:00
Robin Mueller	adf2327e6d	add date for release v1.13.0	2022-10-13 18:10:44 +02:00
Robin Mueller	105b7eb3dd	update changelog	2022-10-13 18:10:16 +02:00
Robin Mueller	a3c9c403d5	Merge remote-tracking branch 'origin/main' into mueller/update-sa-depl-cmd	2022-10-13 18:09:49 +02:00
Robin Mueller	4b0e2f0b0a	small tweak	2022-10-13 18:05:08 +02:00
Robin Mueller	6e8ef41d7c	update S/A depl cmd	2022-10-13 18:04:35 +02:00
Robin Mueller	a82665321e	Merge remote-tracking branch 'origin/main' into mueller/add-acs-ss-cmds	2022-10-11 23:13:31 +02:00
Robin Mueller	ab1947ed86	mode printout	2022-10-11 22:42:10 +02:00
Robin Mueller	2ab3a5cdc4	some more useful printout	2022-10-11 15:38:31 +02:00
Robin Mueller	aaacc8babd	new high level commands	2022-10-11 15:32:11 +02:00
Robin Mueller	3d2dee8c9c	command correct sequence IDs now	2022-10-11 15:18:47 +02:00
Robin Mueller	fd5c234bc8	service 200 cant reach mode handling	2022-10-11 15:08:00 +02:00
Robin Mueller	61317e695c	better mode printout	2022-10-11 14:24:13 +02:00
Robin Mueller	ebb0ddf399	this does notwork	2022-10-10 18:00:20 +02:00
Robin Mueller	a4a228c42a	re-run generators	2022-10-10 17:38:59 +02:00
Robin Mueller	986539d648	some mode printouts	2022-10-10 17:32:05 +02:00
Robin Mueller	6e493064a7	add basic mode event handling	2022-10-10 11:20:57 +02:00
Robin Mueller	72fa0ae15a	small fix	2022-10-10 11:09:17 +02:00
Robin Mueller	d857e3866a	add command to report ACS modes	2022-10-10 10:44:45 +02:00
Robin Mueller	6ccf8c8cb9	re-run generators	2022-10-10 10:30:07 +02:00
Robin Mueller	d39b79b2ac	re-generates csvs	2022-10-04 14:50:49 +02:00
Robin Mueller	bd5daa05a5	remove unused include	2022-10-04 14:46:52 +02:00
Robin Mueller	f2ad32b524	implemented acs subsystem handling	2022-10-04 14:46:00 +02:00
Robin Mueller	b3a238b5a0	add ACS subsystem commands	2022-10-04 14:12:33 +02:00