Merge branch 'develop' into develop_update

2023-02-07 12:24:27 +01:00 · 2023-02-07 12:24:27 +01:00 · e9d629b9b3
parent 48403c002d 2646707d3f
commit e9d629b9b3
44 changed files with 548 additions and 234 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -12,6 +12,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 ## Fixes

+- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
+  only the X scaling factor was used.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
+- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
+  to false correctly because the `read` and `write` calls were missing.
+- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
+  of the correct unsegmented flags (0b11) as specified in the standard.
+- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
+  seconds instead of uptime.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
+- TC Scheduler Service 11: Add size and CRC check for contained TC.
 - Only delete health table entry in `HealthHelper` destructor if
  health table was set.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710/files
@ -24,9 +35,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - `TcpTmTcServer.cpp`: The server was actually not able to handle
  CCSDS packets which were clumped together. This has been fixed now.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
+- `CServiceHealthCommanding`: Add announce all health info implementation
+  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122

 ## Added

+- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
+- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
+  option on the TCP server. CTOR prototype has changed and expects an explicit
+  TCP configuration struct to be passed.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
 - `DleParser` helper class to parse DLE encoded packets from a byte stream.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
 - `UioMapper` is able to resolve symlinks now.
@ -36,6 +54,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 ## Changes

+- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
+  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
+  `HealthServiceCfg` now
+  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
 - Moved some container returnvalues to dedicated header and namespace
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -1,45 +1,87 @@
 pipeline {
    environment {
-        BUILDDIR = 'cmake-build-tests'
+        BUILDDIR_HOST = 'cmake-build-tests-host'
+        BUILDDIR_LINUX = 'cmake-build-tests-linux'
        DOCDDIR = 'cmake-build-documentation'
    }
    agent {
        docker { 
            image 'fsfw-ci:d6'
-            args '--network host'
+            args '--network host --sysctl fs.mqueue.msg_max=100'
        }
    }
    stages {
-        stage('Clean') {
-            steps {
-                sh 'rm -rf $BUILDDIR'
-            }
-        }
-        stage('Configure') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+        stage('Host') {
+            stages{
+                stage('Clean') {
+                    steps {
+                        sh 'rm -rf $BUILDDIR_HOST'
+                    }
+                }
+                stage('Configure') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                        }
+                    }
+                }
+                stage('Build') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'cmake --build . -j4'
+                        }
+                    }
+                }
+                stage('Unittests') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                        }
+                    }
+                }
+                stage('Valgrind') {
+                    steps {
+                        dir(BUILDDIR_HOST) {
+                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                        }
+                    }
                }
            }
        }
-        stage('Build') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -j4'
+        stage('Linux') {
+            stages{
+                stage('Clean') {
+                    steps {
+                        sh 'rm -rf $BUILDDIR_LINUX'
+                    }
                }
-            }
-        }
-        stage('Unittests') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                stage('Configure') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                        }
+                    }
                }
-            }
-        }
-        stage('Valgrind') {
-            steps {
-                dir(BUILDDIR) {
-                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                stage('Build') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -j4'
+                        }
+                    }
+                }
+                stage('Unittests') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                        }
+                    }
+                }
+                stage('Valgrind') {
+                    steps {
+                        dir(BUILDDIR_LINUX) {
+                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                        }
+                    }
                }
            }
        }
--- a/docs/conf.py
+++ b/docs/conf.py
@ -51,7 +51,10 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 html_theme = "alabaster"

 html_theme_options = {
-    "extra_nav_links": {"Impressum" : "https://www.uni-stuttgart.de/impressum", "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html"}
+    "extra_nav_links": {
+        "Impressum": "https://www.uni-stuttgart.de/impressum",
+        "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
+    }
 }


--- a/src/fsfw/container/FixedArrayList.h
+++ b/src/fsfw/container/FixedArrayList.h
@ -12,6 +12,7 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList : public ArrayList<T, count_t> {
  static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
                "count_t is not large enough to hold MAX_SIZE");
+  static_assert(MAX_SIZE > 0, "MAX_SIZE is 0");

 private:
  T data[MAX_SIZE];
--- a/src/fsfw/controller/ControllerBase.cpp
+++ b/src/fsfw/controller/ControllerBase.cpp
@ -109,5 +109,5 @@ const HasModesIF& ControllerBase::getModeIF() const { return *this; }
 ModeTreeChildIF& ControllerBase::getModeTreeChildIF() { return *this; }

 ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
 }
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
@ -1,5 +1,6 @@
 #include "DeviceHandlerBase.h"

+#include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@ -1524,7 +1525,10 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
  for (const auto& reply : deviceReplyMap) {
    if (reply.second.dataSet != nullptr) {
-      reply.second.dataSet->setValidity(false, true);
+      PoolReadGuard pg(reply.second.dataSet);
+      if (pg.getReadResult() == returnvalue::OK) {
+        reply.second.dataSet->setValidity(false, true);
+      }
    }
  }
 }
@ -1608,7 +1612,7 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
 }

 ReturnValue_t DeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
 }

 const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@ -24,6 +24,7 @@ EventManager::EventManager(object_id_t setObjectId)
 }

 EventManager::~EventManager() {
+  listenerList.clear();
  QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
  MutexFactory::instance()->deleteMutex(mutex);
 }
@ -73,9 +74,14 @@ ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
  if (!result.second) {
    return returnvalue::FAILED;
  }
+
  return returnvalue::OK;
 }

+ReturnValue_t EventManager::unregisterListener(MessageQueueId_t listener) {
+  return listenerList.erase(listener) == 1 ? returnvalue::OK : returnvalue::FAILED;
+}
+
 ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener, EventId_t event) {
  return subscribeToEventRange(listener, event);
 }
--- a/src/fsfw/events/EventManager.h
+++ b/src/fsfw/events/EventManager.h
@ -31,6 +31,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
  MessageQueueId_t getEventReportQueue();

  ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false);
+  ReturnValue_t unregisterListener(MessageQueueId_t listener) override;
  ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event);
  ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object);
  ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
--- a/src/fsfw/events/EventManagerIF.h
+++ b/src/fsfw/events/EventManagerIF.h
@ -18,6 +18,7 @@ class EventManagerIF {

  virtual ReturnValue_t registerListener(MessageQueueId_t listener,
                                         bool forwardAllButSelected = false) = 0;
+  virtual ReturnValue_t unregisterListener(MessageQueueId_t listener) = 0;
  virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
  virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
  virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;
--- a/src/fsfw/fdir/FailureIsolationBase.cpp
+++ b/src/fsfw/fdir/FailureIsolationBase.cpp
@ -24,7 +24,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 #endif
    return;
  }
-  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
+  manager->unregisterListener(eventQueue->getId());
  QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }

--- a/src/fsfw/globalfunctions/matching/MatchTree.h
+++ b/src/fsfw/globalfunctions/matching/MatchTree.h
@ -24,7 +24,7 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
  MatchTree(iterator root, uint8_t maxDepth = -1)
      : BinaryTree<SerializeableMatcherIF<T>>(root.element), maxDepth(maxDepth) {}
  MatchTree() : BinaryTree<SerializeableMatcherIF<T>>(), maxDepth(-1) {}
-  virtual ~MatchTree() {}
+  virtual ~MatchTree() { clear(); }
  virtual bool match(T number) override { return matchesTree(number); }
  bool matchesTree(T number) {
    iterator iter = this->begin();
@ -176,6 +176,45 @@ class MatchTree : public SerializeableMatcherIF<T>, public BinaryTree<Serializea
    return cleanUpElement(position);
  }

+  void clear() {
+    Node* localRoot = BinaryTree<SerializeableMatcherIF<T>>::rootNode;
+
+    if (localRoot == nullptr) {
+      return;
+    }
+
+    Node* node = localRoot->left;
+
+    while (true) {
+      if (node->left != nullptr) {
+        node = node->left;
+        continue;
+      }
+      if (node->right != nullptr) {
+        node = node->right;
+        continue;
+      }
+      if (node->parent == nullptr) {
+        // this is the root node with no children
+        if (node->value != nullptr) {
+          cleanUpElement(iterator(node));
+        }
+        return;
+      }
+      // leaf
+      {
+        Node* parent = node->parent;
+        if (parent->left == node) {
+          parent->left = nullptr;
+        } else {
+          parent->right = nullptr;
+        }
+        cleanUpElement(iterator(node));
+        node = parent;
+      }
+    }
+  }
+
  virtual ReturnValue_t cleanUpElement(iterator position) { return returnvalue::OK; }

  bool matchSubtree(iterator iter, T number) {
--- a/src/fsfw/health/HealthTable.cpp
+++ b/src/fsfw/health/HealthTable.cpp
@ -6,8 +6,6 @@

 HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) {
  mutex = MutexFactory::instance()->createMutex();
-  ;
-
  mapIterator = healthMap.begin();
 }

--- a/src/fsfw/health/HealthTable.h
+++ b/src/fsfw/health/HealthTable.h
@ -8,6 +8,8 @@
 #include "HealthTableIF.h"

 class HealthTable : public HealthTableIF, public SystemObject {
+  friend class CServiceHealthCommanding;
+
 public:
  explicit HealthTable(object_id_t objectid);
  ~HealthTable() override;
--- a/src/fsfw/internalerror/InternalErrorReporter.cpp
+++ b/src/fsfw/internalerror/InternalErrorReporter.cpp
@ -10,13 +10,17 @@ InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t m
      poolManager(this, commandQueue),
      internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
      internalErrorDataset(this) {
+  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
  mutex = MutexFactory::instance()->createMutex();
  auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
  commandQueue = QueueFactory::instance()->createMessageQueue(
      messageQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }

-InternalErrorReporter::~InternalErrorReporter() { MutexFactory::instance()->deleteMutex(mutex); }
+InternalErrorReporter::~InternalErrorReporter() {
+  MutexFactory::instance()->deleteMutex(mutex);
+  QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}

 void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
  this->diagnosticPrintout = enable;
--- a/src/fsfw/modes/ModeMessage.cpp
+++ b/src/fsfw/modes/ModeMessage.cpp
@ -34,3 +34,7 @@ void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive
  }
  message.setCommand(cmd);
 }
+
+void ModeMessage::setCmdModeModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) {
+  setModeMessage(&message, CMD_MODE_COMMAND, mode, submode);
+}
--- a/src/fsfw/modes/ModeMessage.h
+++ b/src/fsfw/modes/ModeMessage.h
@ -38,12 +38,13 @@ class ModeMessage {

  ModeMessage() = delete;

+  static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
+                             Submode_t submode);
  static Mode_t getMode(const CommandMessage* message);
  static Submode_t getSubmode(const CommandMessage* message);
  static ReturnValue_t getCantReachModeReason(const CommandMessage* message);

-  static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
-                             Submode_t submode);
+  static void setCmdModeModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
  static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
  static void clear(CommandMessage* message);
--- a/src/fsfw/objectmanager/ObjectManager.cpp
+++ b/src/fsfw/objectmanager/ObjectManager.cpp
@ -23,9 +23,17 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,

 ObjectManager::ObjectManager() = default;

+void ObjectManager::clear() {
+  if (objManagerInstance != nullptr) {
+    delete objManagerInstance;
+    objManagerInstance = nullptr;
+  }
+}
+
 ObjectManager::~ObjectManager() {
-  for (auto const& iter : objectList) {
-    delete iter.second;
+  teardown = true;
+  for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
+    delete iter->second;
  }
 }

@ -53,6 +61,12 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
 }

 ReturnValue_t ObjectManager::remove(object_id_t id) {
+  // this function is called during destruction of System Objects
+  // disabeld for teardown to avoid iterator invalidation and
+  // double free
+  if (teardown) {
+    return returnvalue::OK;
+  }
  if (this->getSystemObject(id) != nullptr) {
    this->objectList.erase(id);
 #if FSFW_CPP_OSTREAM_ENABLED == 1
--- a/src/fsfw/objectmanager/ObjectManager.h
+++ b/src/fsfw/objectmanager/ObjectManager.h
@ -24,12 +24,17 @@ class ObjectManager : public ObjectManagerIF {
  using produce_function_t = void (*)(void* args);

  /**
-   * Returns the single instance of TaskFactory.
+   * Returns the single instance of ObjectManager.
   * The implementation of #instance is found in its subclasses.
   * Thus, we choose link-time variability of the  instance.
   */
  static ObjectManager* instance();

+  /**
+   * Deletes the single instance of ObjectManager
+   */
+  static void clear();
+
  void setObjectFactoryFunction(produce_function_t prodFunc, void* args);

  template <typename T>
@ -66,6 +71,9 @@ class ObjectManager : public ObjectManagerIF {
   */
  std::map<object_id_t, SystemObjectIF*> objectList;
  static ObjectManager* objManagerInstance;
+  // used when the OM itself is deleted to modify behaviour of remove()
+  // to avoid iterator invalidation and double free
+  bool teardown = false;
 };

 // Documentation can be found in the class method declaration above
--- a/src/fsfw/osal/CMakeLists.txt
+++ b/src/fsfw/osal/CMakeLists.txt
@ -1,10 +1,13 @@
 # Check the OS_FSFW variable
 if(FSFW_OSAL MATCHES "freertos")
  add_subdirectory(freertos)
+  set(FSFW_OSAL_FREERTOS 1)
 elseif(FSFW_OSAL MATCHES "rtems")
  add_subdirectory(rtems)
+  set(FSFW_OSAL_RTEMS 1)
 elseif(FSFW_OSAL MATCHES "linux")
  add_subdirectory(linux)
+  set(FSFW_OSAL_LINUX 1)
 elseif(FSFW_OSAL MATCHES "host")
  add_subdirectory(host)
  if(WIN32)
@ -13,18 +16,20 @@ elseif(FSFW_OSAL MATCHES "host")
    # We still need to pull in some Linux specific sources
    target_sources(${LIB_FSFW_NAME} PUBLIC linux/tcpipHelpers.cpp)
  endif()
-
+  set(FSFW_OSAL_HOST 1)
 else()
-
  message(
    WARNING
      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
+
  # Not set. Assumuing this is a host build, try to determine host OS
  if(WIN32)
    add_subdirectory(host)
    add_subdirectory(windows)
+    set(FSFW_OSAL_HOST 1)
  elseif(UNIX)
    add_subdirectory(linux)
+    set(FSFW_OSAL_LINUX 1)
  else()
    # MacOS or other OSes have not been tested yet / are not supported.
    message(FATAL_ERROR "The host OS could not be determined! Aborting.")
@ -33,3 +38,5 @@ else()
 endif()

 add_subdirectory(common)
+
+configure_file(osal.h.in ${CMAKE_BINARY_DIR}/fsfw/osal/osal.h)
--- a/src/fsfw/osal/common/TcpTmTcServer.cpp
+++ b/src/fsfw/osal/common/TcpTmTcServer.cpp
@ -26,12 +26,12 @@
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;

 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-                             size_t receptionBufferSize, size_t ringBufferSize,
-                             std::string customTcpServerPort, ReceptionModes receptionMode)
+                             TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
+                             size_t ringBufferSize, ReceptionModes receptionMode)
    : SystemObject(objectId),
      tmtcBridgeId(tmtcTcpBridge),
      receptionMode(receptionMode),
-      tcpConfig(std::move(customTcpServerPort)),
+      tcpConfig(cfg),
      receptionBuffer(receptionBufferSize),
      ringBuffer(ringBufferSize, true) {}

@ -91,6 +91,15 @@ ReturnValue_t TcpTmTcServer::initialize() {
    return returnvalue::FAILED;
  }

+  if (tcpConfig.reuseAddr) {
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
+  }
+  if (tcpConfig.reusePort) {
+    unsigned int enable = 1;
+    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
+  }
+
  // Bind to the address found by getaddrinfo
  retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
  if (retval == SOCKET_ERROR) {
--- a/src/fsfw/osal/common/TcpTmTcServer.h
+++ b/src/fsfw/osal/common/TcpTmTcServer.h
@ -41,11 +41,11 @@ class SpacePacketParser;
 */
 class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
 public:
-  enum class ReceptionModes { SPACE_PACKETS };
-
  struct TcpConfig {
   public:
-    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
+    TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
+    TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
+        : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}

    /**
     * Passed to the recv call
@ -63,9 +63,25 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
     */
    int tcpTmFlags = 0;

-    const std::string tcpPort;
+    std::string tcpPort = DEFAULT_SERVER_PORT;
+
+    /**
+     * Sets the SO_REUSEADDR option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
+     * especially useful in a debugging and development environment where an OBSW image might be
+     * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
+     * port.
+     */
+    bool reuseAddr = false;
+    /**
+     * Sets the SO_REUSEPORT option on the socket. See
+     * https://man7.org/linux/man-pages/man7/socket.7.html for more details.
+     */
+    bool reusePort = false;
  };

+  enum class ReceptionModes { SPACE_PACKETS };
+
  static const std::string DEFAULT_SERVER_PORT;

  static constexpr size_t ETHERNET_MTU_SIZE = 1500;
@ -80,10 +96,9 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
   *                              size will be the Ethernet MTU size
   * @param customTcpServerPort   The user can specify another port than the default (7301) here.
   */
-  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
+  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
                size_t receptionBufferSize = RING_BUFFER_SIZE,
                size_t ringBufferSize = RING_BUFFER_SIZE,
-                std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
  ~TcpTmTcServer() override;

--- a/src/fsfw/osal/linux/MessageQueue.cpp
+++ b/src/fsfw/osal/linux/MessageQueue.cpp
@ -21,7 +21,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize, MqArgs*
  attributes.mq_msgsize = maxMessageSize;
  attributes.mq_flags = 0;  // Flags are ignored on Linux during mq_open
  // Set the name of the queue. The slash is mandatory!
-  sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
+  sprintf(name, "/FSFW_MQ%u", queueCounter++);

  // Create a nonblocking queue if the name is available (the queue is read
  // and writable for the owner as well as the group)
--- a/src/fsfw/osal/osal.h.in
+++ b/src/fsfw/osal/osal.h.in
@ -0,0 +1,36 @@
+#pragma once
+
+namespace osal {
+    enum osalTarget{
+        HOST,
+        LINUX,
+        WINDOWS,
+        FREERTOS,
+        RTEMS,
+    };
+
+#cmakedefine FSFW_OSAL_HOST
+#cmakedefine FSFW_OSAL_LINUX
+#cmakedefine FSFW_OSAL_WINDOWS
+#cmakedefine FSFW_OSAL_FREERTOS
+#cmakedefine FSFW_OSAL_RTEMS
+
+
+    constexpr osalTarget getTarget() {
+#ifdef FSFW_OSAL_HOST
+  return HOST;
+#endif
+#ifdef FSFW_OSAL_LINUX
+  return LINUX;
+#endif
+#ifdef FSFW_OSAL_WINDOWS
+  return WINDOWS;
+#endif
+#ifdef FSFW_OSAL_FREERTOS
+  return FREERTOS;
+#endif
+#ifdef FSFW_OSAL_RTEMS
+  return RTEMS;
+#endif
+    }
+};
--- a/src/fsfw/pus/CMakeLists.txt
+++ b/src/fsfw/pus/CMakeLists.txt
@ -9,4 +9,4 @@ target_sources(
          Service17Test.cpp
          Service20ParameterManagement.cpp
          CService200ModeCommanding.cpp
-          CService201HealthCommanding.cpp)
+          CServiceHealthCommanding.cpp)
--- a/src/fsfw/pus/CService201HealthCommanding.cpp
+++ b/src/fsfw/pus/CService201HealthCommanding.cpp
@ -1,106 +0,0 @@
-#include "fsfw/pus/CService201HealthCommanding.h"
-
-#include "fsfw/health/HasHealthIF.h"
-#include "fsfw/health/HealthMessage.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/pus/servicepackets/Service201Packets.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
-                                                         uint8_t serviceId,
-                                                         uint8_t numParallelCommands,
-                                                         uint16_t commandTimeoutSeconds)
-    : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
-                            commandTimeoutSeconds) {}
-
-ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
-      return returnvalue::OK;
-    default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Invalid Subservice" << std::endl;
-#endif
-      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-  }
-}
-
-ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
-                                                                    const uint8_t *tcData,
-                                                                    size_t tcDataLen,
-                                                                    MessageQueueId_t *id,
-                                                                    object_id_t *objectId) {
-  if (tcDataLen < sizeof(object_id_t)) {
-    return CommandingServiceBase::INVALID_TC;
-  }
-  SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-
-  return checkInterfaceAndAcquireMessageQueue(id, objectId);
-}
-
-ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
-    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
-  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
-  if (destination == nullptr) {
-    return CommandingServiceBase::INVALID_OBJECT;
-  }
-
-  *messageQueueToSet = destination->getCommandQueue();
-  return returnvalue::OK;
-}
-
-ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message,
-                                                          uint8_t subservice, const uint8_t *tcData,
-                                                          size_t tcDataLen, uint32_t *state,
-                                                          object_id_t objectId) {
-  ReturnValue_t result = returnvalue::OK;
-  switch (subservice) {
-    case (Subservice::COMMAND_SET_HEALTH): {
-      HealthSetCommand healthCommand;
-      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      if (result != returnvalue::OK) {
-        break;
-      }
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
-                                      healthCommand.getHealth());
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
-      break;
-    }
-    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
-      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
-      break;
-    }
-    default: {
-      // Should never happen, subservice was already checked
-      result = returnvalue::FAILED;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply,
-                                                       Command_t previousCommand, uint32_t *state,
-                                                       CommandMessage *optionalNextCommand,
-                                                       object_id_t objectId, bool *isStep) {
-  Command_t replyId = reply->getCommand();
-  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
-    return EXECUTION_COMPLETE;
-  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
-    return reply->getReplyRejectedReason();
-  }
-  return CommandingServiceBase::INVALID_REPLY;
-}
-
-// Not used for now, health state already reported by event
-[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
-    const CommandMessage *reply) {
-  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
-  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
-  HealthSetReply healthSetReply(health, oldHealth);
-  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
-}
--- a/src/fsfw/pus/CServiceHealthCommanding.cpp
+++ b/src/fsfw/pus/CServiceHealthCommanding.cpp
@ -0,0 +1,152 @@
+#include <fsfw/events/EventManagerIF.h>
+#include <fsfw/pus/CServiceHealthCommanding.h>
+
+#include "fsfw/health/HasHealthIF.h"
+#include "fsfw/health/HealthMessage.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/pus/servicepackets/Service201Packets.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
+    : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
+                            args.numParallelCommands, args.commandTimeoutSeconds),
+      healthTable(args.table),
+      maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
+
+ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
+      return returnvalue::OK;
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "Invalid Subservice" << std::endl;
+#endif
+      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+  }
+}
+
+ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice,
+                                                                 const uint8_t *tcData,
+                                                                 size_t tcDataLen,
+                                                                 MessageQueueId_t *id,
+                                                                 object_id_t *objectId) {
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH):
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
+      if (tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+      }
+      SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+
+      return checkInterfaceAndAcquireMessageQueue(id, objectId);
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+      return returnvalue::OK;
+    }
+    default: {
+      return returnvalue::FAILED;
+    }
+  }
+}
+
+ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
+    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
+  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
+  if (destination == nullptr) {
+    return CommandingServiceBase::INVALID_OBJECT;
+  }
+
+  *messageQueueToSet = destination->getCommandQueue();
+  return returnvalue::OK;
+}
+
+ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
+                                                       const uint8_t *tcData, size_t tcDataLen,
+                                                       uint32_t *state, object_id_t objectId) {
+  ReturnValue_t result = returnvalue::OK;
+  switch (subservice) {
+    case (Subservice::COMMAND_SET_HEALTH): {
+      HealthSetCommand healthCommand;
+      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+      if (result != returnvalue::OK) {
+        break;
+      }
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
+                                      healthCommand.getHealth());
+      break;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
+      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
+      break;
+    }
+    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+      ReturnValue_t result = iterateHealthTable(true);
+      if (result == returnvalue::OK) {
+        reportAllHealth = true;
+        return EXECUTION_COMPLETE;
+      }
+      return result;
+      while (true) {
+        ReturnValue_t result = iterateHealthTable(false);
+        if (result != returnvalue::OK) {
+          break;
+        }
+      }
+
+      return returnvalue::OK;
+    }
+    default: {
+      // Should never happen, subservice was already checked
+      result = returnvalue::FAILED;
+    }
+  }
+  return result;
+}
+
+ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply,
+                                                    Command_t previousCommand, uint32_t *state,
+                                                    CommandMessage *optionalNextCommand,
+                                                    object_id_t objectId, bool *isStep) {
+  Command_t replyId = reply->getCommand();
+  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
+    return EXECUTION_COMPLETE;
+  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
+    return reply->getReplyRejectedReason();
+  }
+  return CommandingServiceBase::INVALID_REPLY;
+}
+
+void CServiceHealthCommanding::doPeriodicOperation() {
+  if (reportAllHealth) {
+    for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
+      ReturnValue_t result = iterateHealthTable(false);
+      if (result != returnvalue::OK) {
+        reportAllHealth = false;
+        break;
+      }
+    }
+  }
+}
+
+// Not used for now, health state already reported by event
+[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply(
+    const CommandMessage *reply) {
+  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+  HealthSetReply healthSetReply(health, oldHealth);
+  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
+}
+
+ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
+  std::pair<object_id_t, HasHealthIF::HealthState> pair;
+
+  ReturnValue_t result = healthTable.iterate(&pair, reset);
+  if (result != returnvalue::OK) {
+    return result;
+  } else {
+    EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second);
+    return returnvalue::OK;
+  }
+}
--- a/src/fsfw/pus/CService201HealthCommanding.h
+++ b/src/fsfw/pus/CService201HealthCommanding.h
@ -1,8 +1,26 @@
 #ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
 #define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_

+#include <fsfw/health/HealthTable.h>
+
 #include "fsfw/tmtcservices/CommandingServiceBase.h"

+struct HealthServiceCfg {
+  HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable,
+                   uint16_t maxNumHealthInfoPerCycle)
+      : objectId(objectId),
+        apid(apid),
+        table(healthTable),
+        maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
+  object_id_t objectId;
+  uint16_t apid;
+  HealthTable &table;
+  uint16_t maxNumHealthInfoPerCycle;
+  uint8_t service = 201;
+  uint8_t numParallelCommands = 4;
+  uint16_t commandTimeoutSeconds = 60;
+};
+
 /**
 * @brief   Custom PUS service to set health of all objects
 *          implementing hasHealthIF.
@ -17,11 +35,10 @@
 * child class like this service
 *
 */
-class CService201HealthCommanding : public CommandingServiceBase {
+class CServiceHealthCommanding : public CommandingServiceBase {
 public:
-  CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                              uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-  ~CService201HealthCommanding() override = default;
+  CServiceHealthCommanding(HealthServiceCfg args);
+  ~CServiceHealthCommanding() override = default;

 protected:
  /* CSB abstract function implementations */
@ -37,7 +54,13 @@ class CService201HealthCommanding : public CommandingServiceBase {
                            CommandMessage *optionalNextCommand, object_id_t objectId,
                            bool *isStep) override;

+  void doPeriodicOperation() override;
+
 private:
+  HealthTable &healthTable;
+  uint16_t maxNumHealthInfoPerCycle = 0;
+  bool reportAllHealth = false;
+  ReturnValue_t iterateHealthTable(bool reset);
  static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
                                                            const object_id_t *objectId);

--- a/src/fsfw/pus/Service11TelecommandScheduling.h
+++ b/src/fsfw/pus/Service11TelecommandScheduling.h
@ -41,6 +41,8 @@ class Service11TelecommandScheduling final : public PusServiceBase {
  static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2);
  static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3);
  static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t CONTAINED_TC_TOO_SMALL = returnvalue::makeCode(CLASS_ID, 5);
+  static constexpr ReturnValue_t CONTAINED_TC_CRC_MISSMATCH = returnvalue::makeCode(CLASS_ID, 6);

  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;

--- a/src/fsfw/pus/Service11TelecommandScheduling.tpp
+++ b/src/fsfw/pus/Service11TelecommandScheduling.tpp
@ -2,9 +2,11 @@

 #include <cstddef>

+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
+#include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"

 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
@ -171,6 +173,14 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
    return returnvalue::FAILED;
  }

+  if (size < PusTcIF::MIN_SIZE) {
+    return CONTAINED_TC_TOO_SMALL;
+  }
+
+  if (CRC::crc16ccitt(data, size) != 0) {
+    return CONTAINED_TC_CRC_MISSMATCH;
+  }
+
  // store currentPacket and receive the store address
  store_address_t addr{};
  if (tcStore->addData(&addr, data, size) != returnvalue::OK ||
--- a/src/fsfw/pus/Service20ParameterManagement.cpp
+++ b/src/fsfw/pus/Service20ParameterManagement.cpp
@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
               << "MessageQueue: Can't access object" << std::endl;
-    sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl;
-    sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl;
+    sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl;
+    sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
 #else
    sif::printError(
        "Service20ParameterManagement::checkInterfaceAndAcquire"
        "MessageQueue: Can't access object\n");
    sif::printError("Object ID: 0x%08x\n", *objectId);
-    sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
+    sif::printError("Make sure it implements ReceivesParameterMessagesIF\n");
 #endif

    return CommandingServiceBase::INVALID_OBJECT;
--- a/src/fsfw/pus/Service9TimeManagement.cpp
+++ b/src/fsfw/pus/Service9TimeManagement.cpp
@ -1,5 +1,7 @@
 #include "fsfw/pus/Service9TimeManagement.h"

+#include <cmath>
+
 #include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@ -15,9 +17,17 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;

 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
  switch (subservice) {
-    case SUBSERVICE::SET_TIME: {
+    case Subservice::SET_TIME: {
      return setTime();
    }
+    case Subservice::DUMP_TIME: {
+      timeval newTime;
+      Clock::getClock_timeval(&newTime);
+      uint32_t subsecondMs =
+          static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
+      triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
+      return returnvalue::OK;
+    }
    default:
      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
  }
@ -33,14 +43,14 @@ ReturnValue_t Service9TimeManagement::setTime() {
    return result;
  }

-  uint32_t formerUptime;
-  Clock::getUptime(&formerUptime);
+  timeval time;
+  Clock::getClock_timeval(&time);
  result = Clock::setClock(&timeToSet);

  if (result == returnvalue::OK) {
-    uint32_t newUptime;
-    Clock::getUptime(&newUptime);
-    triggerEvent(CLOCK_SET, newUptime, formerUptime);
+    timeval newTime;
+    Clock::getClock_timeval(&newTime);
+    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
    return returnvalue::OK;
  } else {
    triggerEvent(CLOCK_SET_FAILURE, result, 0);
--- a/src/fsfw/pus/Service9TimeManagement.h
+++ b/src/fsfw/pus/Service9TimeManagement.h
@ -6,10 +6,13 @@
 class Service9TimeManagement : public PusServiceBase {
 public:
  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+
+  //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
+  //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
+  static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO);
  //!< Clock could not be set. P1: Returncode.
-  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW);
+  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);

  static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;

@ -30,8 +33,9 @@ class Service9TimeManagement : public PusServiceBase {
  virtual ReturnValue_t setTime();

 private:
-  enum SUBSERVICE {
-    SET_TIME = 128  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+  enum Subservice {
+    SET_TIME = 128,  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+    DUMP_TIME = 129,
  };
 };

--- a/src/fsfw/subsystem/SubsystemBase.cpp
+++ b/src/fsfw/subsystem/SubsystemBase.cpp
@ -195,7 +195,7 @@ ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> tableIter)
    if (childrenMap.find(tableIter.value->getObject()) == childrenMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      using namespace std;
-      sif::warning << "SubsystemBase::checkTable: Could not find Object " << setfill('0') << hex
+      sif::warning << "SubsystemBase::checkTable: Could not find object " << setfill('0') << hex
                   << "0x" << setw(8) << tableIter.value->getObject() << " in object " << setw(8)
                   << setw(0) << "0x" << setw(8) << SystemObject::getObjectId() << dec << std::endl;
 #endif
@ -284,7 +284,7 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
 HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }

 ReturnValue_t SubsystemBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, healthHelper, modeHelper);
+  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
 }

 object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectId(); }
--- a/src/fsfw/subsystem/helper.cpp
+++ b/src/fsfw/subsystem/helper.cpp
@ -2,12 +2,14 @@

 ReturnValue_t modetree::connectModeTreeParent(HasModeTreeChildrenIF& parent,
                                              const ModeTreeChildIF& child,
-                                              HealthHelper& healthHelper, ModeHelper& modeHelper) {
+                                              HealthHelper* healthHelper, ModeHelper& modeHelper) {
  ReturnValue_t result = parent.registerChild(child);
  if (result != returnvalue::OK) {
    return result;
  }
-  healthHelper.setParentQueue(parent.getCommandQueue());
+  if (healthHelper != nullptr) {
+    healthHelper->setParentQueue(parent.getCommandQueue());
+  }
  modeHelper.setParentQueue(parent.getCommandQueue());
  return returnvalue::OK;
 }
--- a/src/fsfw/subsystem/helper.h
+++ b/src/fsfw/subsystem/helper.h
@ -7,7 +7,7 @@
 namespace modetree {

 ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent, const ModeTreeChildIF& child,
-                                    HealthHelper& healthHelper, ModeHelper& modeHelper);
+                                    HealthHelper* healthHelper, ModeHelper& modeHelper);

 }

--- a/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp
+++ b/src/fsfw/tmtcpacket/pus/tc/PusTcCreator.cpp
@ -100,5 +100,6 @@ ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializa
 void PusTcCreator::setup() {
  spCreator.setPacketType(ccsds::PacketType::TC);
  spCreator.setSecHeaderFlag();
+  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
  updateSpLengthField();
 }
--- a/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp
+++ b/src/fsfw/tmtcpacket/pus/tm/PusTmCreator.cpp
@ -119,6 +119,7 @@ void PusTmCreator::setup() {
  updateSpLengthField();
  spCreator.setPacketType(ccsds::PacketType::TM);
  spCreator.setSecHeaderFlag();
+  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
 }

 void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {
--- a/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@ -325,12 +325,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
  // trickery here to calculate the raw values first
  int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
  int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
+  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8;

  // Now scale to physical value in microtesla
  float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
-  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
+  float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
+  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;

  if (periodicPrintout) {
    if (debugDivider.checkAndIncrement()) {
--- a/src/fsfw_hal/linux/i2c/I2cComIF.cpp
+++ b/src/fsfw_hal/linux/i2c/I2cComIF.cpp
@ -109,14 +109,17 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
  }

  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+    i2cCookie->errorCounter++;
+    if (i2cCookie->errorCounter < 3) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                  "device with error code "
-               << errno << ". Error description: " << strerror(errno) << std::endl;
+      sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
+                    "device with error code "
+                 << errno << ". Error description: " << strerror(errno) << std::endl;
 #endif
+    }
    return returnvalue::FAILED;
  }
-
+  i2cCookie->errorCounter = 0;
 #if FSFW_HAL_I2C_WIRETAPPING == 1
  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
  arrayprinter::print(sendData, sendLen);
@ -180,10 +183,6 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
    }
 #else
 #endif
-#endif
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
-               << " bytes" << std::endl;
 #endif
    return returnvalue::FAILED;
  }
--- a/src/fsfw_hal/linux/i2c/I2cCookie.h
+++ b/src/fsfw_hal/linux/i2c/I2cCookie.h
@ -27,6 +27,8 @@ class I2cCookie : public CookieIF {
  size_t getMaxReplyLen() const;
  std::string getDeviceFile() const;

+  uint8_t errorCounter = 0;
+
 private:
  address_t i2cAddress = 0;
  size_t maxReplyLen = 0;
--- a/unittests/CatchSetup.cpp
+++ b/unittests/CatchSetup.cpp
@ -31,4 +31,7 @@ int customSetup() {
  return 0;
 }

-int customTeardown() { return 0; }
+int customTeardown() {
+  ObjectManager::clear();
+  return 0;
+}
--- a/unittests/devicehandler/DeviceHandlerCommander.cpp
+++ b/unittests/devicehandler/DeviceHandlerCommander.cpp
@ -9,7 +9,9 @@ DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId)
      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }

-DeviceHandlerCommander::~DeviceHandlerCommander() {}
+DeviceHandlerCommander::~DeviceHandlerCommander() {
+  QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}

 ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) {
  readCommandQueue();
--- a/unittests/osal/TestSemaphore.cpp
+++ b/unittests/osal/TestSemaphore.cpp
@ -1,46 +1,38 @@
-
-#ifdef LINUX
-
-/*
+#include <fsfw/osal/osal.h>
 #include <fsfw/tasks/SemaphoreFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>

-#include "catch.hpp"
-#include "core/CatchDefinitions.h"
+#include <catch2/catch_test_macros.hpp>

-TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") {
-        //perform set-up here
-        SemaphoreIF* binSemaph = SemaphoreFactory::instance()->
-                        createBinarySemaphore();
-        REQUIRE(binSemaph != nullptr);
-        SECTION("Simple Test") {
-                // set-up is run for each section
-                REQUIRE(binSemaph->getSemaphoreCounter() == 1);
-                REQUIRE(binSemaph->release() ==
-                                static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
-                REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) ==
-                                returnvalue::OK);
-                {
-                        // not precise enough on linux.. should use clock instead..
-                        //Stopwatch stopwatch(false);
-                        //REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) ==
-                        //		SemaphoreIF::SEMAPHORE_TIMEOUT);
-                        //dur_millis_t time = stopwatch.stop();
-                        //CHECK(time == 5);
-                }
-                REQUIRE(binSemaph->getSemaphoreCounter() == 0);
-                REQUIRE(binSemaph->release() == returnvalue::OK);
-        }
-        SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
-        // perform tear-down here
+// binary semaphores currently only supported on linux
+#ifdef FSFW_OSAL_LINUX
+
+TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
+  // perform set-up here
+  SemaphoreIF* binSemaph = SemaphoreFactory::instance()->createBinarySemaphore();
+  REQUIRE(binSemaph != nullptr);
+  SECTION("Simple Test") {
+    // set-up is run for each section
+    REQUIRE(binSemaph->getSemaphoreCounter() == 1);
+    REQUIRE(binSemaph->release() == static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
+    REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) == returnvalue::OK);
+    {
+      // not precise enough on linux.. should use clock instead..
+      // Stopwatch stopwatch(false);
+      // REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) ==
+      //		SemaphoreIF::SEMAPHORE_TIMEOUT);
+      // dur_millis_t time = stopwatch.stop();
+      // CHECK(time == 5);
+    }
+    REQUIRE(binSemaph->getSemaphoreCounter() == 0);
+    REQUIRE(binSemaph->release() == returnvalue::OK);
+  }
+  SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
+  // perform tear-down here
 }

-
-TEST_CASE("Counting Semaphore Test" , "[CountingSemaph]") {
-        SECTION("Simple Test") {
-
-        }
+TEST_CASE("Counting Semaphore Test", "[CountingSemaph]") {
+  SECTION("Simple Test") {}
 }
-*/

-#endif
+#endif
--- a/unittests/testcfg/devices/logicalAddresses.h
+++ b/unittests/testcfg/devices/logicalAddresses.h
@ -7,7 +7,7 @@

 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum logicalAddresses : address_t {};
+enum LogicAddress : address_t {};
 }  // namespace addresses

 #endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */