eive-obsw/mission/power/gsDefs.h

#ifndef MISSION_POWER_GSDEFS_H_
#define MISSION_POWER_GSDEFS_H_

#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/power/definitions.h>
#include <mission/power/gsLibDefs.h>

#include <cstdint>

#include "devices/powerSwitcherList.h"
#include "fsfw/platform.h"

namespace GOMSPACE {

struct TableInfo {
  uint8_t sourceTable;
  uint8_t targetTable;
};

enum DeviceType { PDU, ACU, P60DOCK };

enum class SpecialRequestTypes {
  DEFAULT_COM_IF,
  GET_PDU_HK,
  GET_PDU_CONFIG,
  GET_ACU_HK,
  GET_ACU_CONFIG,
  GET_P60DOCK_HK,
  GET_P60DOCK_CONFIG,
  SAVE_TABLE,
  LOAD_TABLE
};

enum CspPorts : uint8_t {
  CSP_PING = 1,
  CSP_REBOOT = 4,
  P60_PORT_RPARAM_ENUM = 7,
  P60_PORT_GNDWDT_RESET_ENUM = 9
};

enum class Pdu { PDU1, PDU2 };

using ChannelSwitchHook = void (*)(Pdu pdu, uint8_t channel, bool on, void* args);

static const uint16_t IGNORE_CHECKSUM = 0xbb0;
/** The size of the header of a gomspace CSP packet. */
static const uint8_t GS_HDR_LENGTH = 12;
/** CSP port to ping gomspace devices. */
static const uint8_t PING_PORT = 1;
static const uint8_t REBOOT_PORT = 4;
/** CSP port of gomspace devices to request or set parameters */
static const uint8_t PARAM_PORT = 7;
static const uint8_t P60_PORT_GNDWDT_RESET = 9;

/**
 * Device commands are derived from the rparam.h of the gomspace lib..
 * IDs above 50 are reserved for device specific commands.
 */
static const DeviceCommandId_t PARAM_GET = 0;              //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t PING = 1;                   //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t NONE = 2;                   // Set when no command is pending
static const DeviceCommandId_t REBOOT = 4;                 //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t GNDWDT_RESET = 9;           //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t REQUEST_HK_TABLE = 16;      //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t REQUEST_CONFIG_TABLE = 17;  //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t SAVE_TABLE_FILE = 18;
static const DeviceCommandId_t SAVE_TABLE_DEFAULT = 19;
static const DeviceCommandId_t LOAD_TABLE = 20;
static const DeviceCommandId_t PARAM_SET = 255;  //!< [EXPORT] : [COMMAND]

// Not implemented yet
// static const DeviceCommandId_t REQUEST_CALIB_TABLE = 18;  //!< [EXPORT] : [COMMAND]
//! [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
//! For the ACU device, only print voltages and currents of the 6 ACU channels
static const DeviceCommandId_t PRINT_SWITCH_V_I = 32;
static const DeviceCommandId_t PRINT_LATCHUPS = 33;

enum ParamRequestIds : uint8_t {
  GET = 0x00,
  REPLY = 0x55,
  SET = 0xFF,
  TABLE_SPEC = 0x44,
  // Copy memory slot to memory slot
  COPY = 0x77,
  // Load from file to slot. Load from primary slot
  LOAD = 0x88,
  // Load by name(s)
  LOAD_FROM_STORE = 0x89,
  // Save to primary slot
  SAVE = 0x99,
  // Save by name(s)
  SAVE_TO_STORE = 0x9a
};

enum TableIds : uint8_t { BOARD_PARAMS = 0, CONFIG = 1, CALIBRATION = 2, HK = 4 };

}  // namespace GOMSPACE

namespace P60System {

enum class BatteryModes : uint8_t { CRITICAL = 1, SAFE = 2, NORMAL = 3, FULL = 4 };

enum class SetIds : uint32_t { CORE = 1, AUX = 2, CONFIG = 3 };

}  // namespace P60System

namespace P60Dock {

static const uint16_t CONFIG_ADDRESS_OUT_EN_5V_STACK = 0x72;

namespace pool {

enum Ids : lp_id_t {
  P60_CURRENTS,
  P60_VOLTAGES,
  P60_OUTPUT_ENABLE,
  P60DOCK_TEMPERATURE_1,
  P60DOCK_TEMPERATURE_2,
  P60DOCK_BOOT_CAUSE,
  P60DOCK_BOOT_CNT,
  P60DOCK_UPTIME,
  P60DOCK_RESETCAUSE,
  P60DOCK_BATT_MODE,
  P60DOCK_HEATER_ON,
  P60DOCK_CONV_5V_ENABLE_STATUS,
  LATCHUPS,
  P60DOCK_DOCK_VBAT,
  P60DOCK_DOCK_VCC_CURRENT,
  // Difference between charge and discharge
  P60DOCK_BATTERY_CURRENT,
  P60DOCK_BATTERY_VOLTAGE,
  P60DOCK_BATTERY_TEMPERATURE_1,
  P60DOCK_BATTERY_TEMPERATURE_2,
  DEVICES_TYPE,
  DEVICES_STATUS,
  P60DOCK_DEVICE_TYPE_GROUP,
  P60DOCK_DEVICE_STATUS_GROUP,
  P60DOCK_DEARM_STATUS,
  P60DOCK_WDT_CNT_GND,
  P60DOCK_WDT_CNT_I2C,
  P60DOCK_WDT_CNT_CAN,
  P60DOCK_WDT_CNT_CSP_1,
  P60DOCK_WDT_CNT_CSP_2,
  P60DOCK_WDT_GND_LEFT,
  P60DOCK_WDT_I2C_LEFT,
  P60DOCK_WDT_CAN_LEFT,
  P60DOCK_WDT_CSP_LEFT_1,
  P60DOCK_WDT_CSP_LEFT_2,
  P60DOCK_BATT_CHARGE_CURRENT,
  P60DOCK_BATT_DISCHARGE_CURRENT,
  P60DOCK_ANT6_DEPL,
  P60DOCK_AR6_DEPL,
};
}

static constexpr uint8_t NUM_DEVS = 8;

namespace hk {

enum Index : uint8_t {
  ACU_VCC = 0,
  PDU1_VCC = 1,
  X3_IDLE_VCC = 2,
  PDU2_VCC = 3,
  ACU_VBAT = 4,
  PDU1_VBAT = 5,
  X3_IDLE_VBAT = 6,
  PDU2_VBAT = 7,
  STACK_VBAT = 8,
  STACK_3V3 = 9,
  STACK_5V = 10,
  GS3V3 = 11,
  GS5V = 12,
  CHNLS_LEN = 13
};

}

enum SwitchChannels : uint8_t {
  ACU = 0,
  PDU1 = 1,
  X3_IDLE = 2,
  PDU2_VCC = 3,
  ACU_VBAT = 4,
  PDU1_VBAT = 5,
  X3_IDLE_VBAT = 6,
  PDU2_VBAT = 7,
  STACK_VBAT = 8,
  STACK_3V3 = 9,
  STACK_5V = 10,
  GS3V3 = 11,
  GS5V = 12
};

static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408;
static const uint16_t MAX_HKTABLE_ADDRESS = 187;
// Sources:
// GomSpace library lib/p60-dock_client/include/gs/p60-dock/param
static const uint16_t HK_TABLE_SIZE = gsConstants::P60DOCK_HK_SIZE;
static const uint16_t CONFIG_TABLE_SIZE = gsConstants::P60DOCK_PARAM_SIZE;
static const size_t MAX_REPLY_SIZE = CONFIG_TABLE_SIZE;
static const uint16_t CAL_TABLE = 0xAE;
static const uint8_t HK_TABLE_ENTRIES = 100;

class CoreHkSet : public StaticLocalDataSet<16> {
 public:
  CoreHkSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}

  CoreHkSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE))) {}

  /** Measured output currents */
  lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN> currents =
      lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, pool::P60_CURRENTS, this);

  /** Measured output voltages */
  lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN> voltages =
      lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, pool::P60_VOLTAGES, this);

  /** Output enable states */
  lp_vec_t<uint8_t, P60Dock::hk::Index::CHNLS_LEN> outputEnables =
      lp_vec_t<uint8_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, pool::P60_OUTPUT_ENABLE, this);
  lp_var_t<uint32_t> bootCount = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_BOOT_CNT, this);
  lp_var_t<uint8_t> battMode = lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_BATT_MODE, this);

  // Difference between charge and discharge current
  lp_var_t<int16_t> batteryCurrent =
      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATTERY_CURRENT, this);
  lp_var_t<uint16_t> batteryVoltage =
      lp_var_t<uint16_t>(sid.objectId, pool::P60DOCK_BATTERY_VOLTAGE, this);

  lp_var_t<float> temperature1 = lp_var_t<float>(sid.objectId, pool::P60DOCK_TEMPERATURE_1, this);
  lp_var_t<float> temperature2 = lp_var_t<float>(sid.objectId, pool::P60DOCK_TEMPERATURE_2, this);
};
/**
 * @brief   This class defines a dataset for the hk table of the P60 Dock.
 * @details
 * The GS port and X3 are not required for EIVE. X3 is another slot on the P60 dock and
 * GS is required for a module from Gomspace which is not used.
 */
class HkTableDataset : public StaticLocalDataSet<32> {
 public:
  HkTableDataset(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}

  HkTableDataset(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX))) {}

  /** Number of detected latchups on each output channel */
  lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN> latchups =
      lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, pool::LATCHUPS, this);

  lp_var_t<uint32_t> bootcause = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_BOOT_CAUSE, this);
  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_UPTIME, this);
  lp_var_t<uint16_t> resetcause = lp_var_t<uint16_t>(sid.objectId, pool::P60DOCK_RESETCAUSE, this);

  /** Battery heater control only possible on BP4 packs */
  lp_var_t<uint8_t> heaterOn = lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_HEATER_ON, this);
  lp_var_t<uint8_t> converter5VStatus =
      lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_CONV_5V_ENABLE_STATUS, this);

  lp_var_t<uint16_t> dockVbatVoltageValue =
      lp_var_t<uint16_t>(sid.objectId, pool::P60DOCK_DOCK_VBAT, this);
  lp_var_t<int16_t> dockVccCurrent =
      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_DOCK_VCC_CURRENT, this);

  lp_var_t<int16_t> batteryTemperature1 =
      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATTERY_TEMPERATURE_1, this);
  lp_var_t<int16_t> batteryTemperature2 =
      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATTERY_TEMPERATURE_2, this);

  lp_var_t<uint8_t> dearmStatus = lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_DEARM_STATUS, this);

  /** Number of reboots due to gnd, i2c, csp watchdog timeout */
  lp_var_t<uint32_t> wdtCntGnd = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_GND, this);
  lp_var_t<uint32_t> wdtCntI2c = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_I2C, this);
  lp_var_t<uint32_t> wdtCntCan = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_CAN, this);
  lp_var_t<uint32_t> wdtCntCsp1 =
      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_CSP_1, this);
  lp_var_t<uint32_t> wdtCntCsp2 =
      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_CSP_2, this);

  lp_var_t<uint32_t> wdtGndLeft =
      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_GND_LEFT, this);
  lp_var_t<uint32_t> wdtI2cLeft =
      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_I2C_LEFT, this);
  lp_var_t<uint32_t> wdtCanLeft =
      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CAN_LEFT, this);
  lp_var_t<uint8_t> wdtCspLeft1 =
      lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_WDT_CSP_LEFT_1, this);
  lp_var_t<uint8_t> wdtCspLeft2 =
      lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_WDT_CSP_LEFT_2, this);
  lp_var_t<int16_t> batteryChargeCurrent =
      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATT_CHARGE_CURRENT, this);
  lp_var_t<int16_t> batteryDischargeCurrent =
      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATT_DISCHARGE_CURRENT, this);
  lp_var_t<int8_t> ant6Depl = lp_var_t<int8_t>(sid.objectId, pool::P60DOCK_ANT6_DEPL, this);
  lp_var_t<int8_t> ar6Depl = lp_var_t<int8_t>(sid.objectId, pool::P60DOCK_AR6_DEPL, this);

  lp_vec_t<uint8_t, P60Dock::NUM_DEVS> devicesType =
      lp_vec_t<uint8_t, P60Dock::NUM_DEVS>(sid.objectId, pool::DEVICES_TYPE, this);
  lp_vec_t<uint8_t, P60Dock::NUM_DEVS> devicesStatus =
      lp_vec_t<uint8_t, P60Dock::NUM_DEVS>(sid.objectId, pool::DEVICES_STATUS, this);
};
}  // namespace P60Dock

/**
 * @brief   Constants common for both PDU1 and PDU2.
 */
namespace PDU {

namespace pool {
enum Ids {
  // IDs for both PDUs
  PDU_CURRENTS,
  PDU_VOLTAGES,
  PDU_VCC,
  PDU_VBAT,
  PDU_TEMPERATURE,
  PDU_CONV_EN,
  PDU_OUT_ENABLE,
  PDU_BOOTCAUSE,
  PDU_BOOTCNT,
  PDU_UPTIME,
  PDU_RESETCAUSE,
  PDU_BATT_MODE,
  PDU_LATCHUPS,
  PDU_DEVICES,
  PDU_STATUSES,
  PDU_WDT_CNT_GND,
  PDU_WDT_CNT_I2C,
  PDU_WDT_CNT_CAN,
  PDU_WDT_CNT_CSP1,
  PDU_WDT_CNT_CSP2,
  PDU_WDT_GND_LEFT,
  PDU_WDT_I2C_LEFT,
  PDU_WDT_CAN_LEFT,
  PDU_WDT_CSP_LEFT1,
  PDU_WDT_CSP_LEFT2,

  OUT_ON_CNT,
  OUT_OFF_CNT,
  INIT_OUT_NORM,
  INIT_OUT_SAFE,
  INIT_ON_DLY,
  INIT_OFF_DLY,
  SAFE_OFF_DLY,
  CUR_LU_LIM,
  CUR_LIM,
  CUR_EMA,
  OUT_LINK,
  OUT_CONV,
  OUT_VOLTAGE,
  CONV_EN,
  CUR_EMA_GAIN,
  BATT_HWMAX,
  BATT_MAX,
  BATT_NORM,
  BATT_SAFE,
  BATT_CRIT,
  WDT_I2C_RST,
  WDT_CAN_RST,
  WDT_I2C,
  WDT_CAN,
  WDT_CSP,
  WDT_CSP_PING,
  WDT_CSP_CHAN,
  WDT_CSP_ADDR
};
}

static const uint16_t MAX_CONFIGTABLE_ADDRESS = 316;
static const uint16_t MAX_HKTABLE_ADDRESS = 141;
/** The size of the csp reply containing the housekeeping table data */
static const uint16_t HK_TABLE_SIZE = gsConstants::P60PDU_HK_SIZE;
static const uint16_t CONFIG_TABLE_SIZE = gsConstants::P60PDU_PARAM_SIZE;
/** When retrieving full configuration parameter table */
static const uint16_t MAX_REPLY_SIZE = CONFIG_TABLE_SIZE;
static const uint8_t HK_TABLE_ENTRIES = 73;

static constexpr uint8_t CHANNELS_LEN = 9;
static constexpr uint8_t DEVICES_NUM = 8;

class PduCoreHk : public StaticLocalDataSet<9> {
 public:
  PduCoreHk(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}

  PduCoreHk(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}

  /** Measured output currents */
  lp_vec_t<int16_t, 9> currents = lp_vec_t<int16_t, 9>(sid.objectId, pool::PDU_CURRENTS, this);
  /** Measured output currents */
  lp_vec_t<int16_t, 9> voltages = lp_vec_t<int16_t, 9>(sid.objectId, pool::PDU_VOLTAGES, this);
  /** Output switch states */
  lp_vec_t<uint8_t, 9> outputEnables =
      lp_vec_t<uint8_t, 9>(sid.objectId, pool::PDU_OUT_ENABLE, this);
  /** Number of reboots */
  lp_var_t<uint32_t> bootcount = lp_var_t<uint32_t>(sid.objectId, pool::PDU_BOOTCNT, this);
  /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
  lp_var_t<uint8_t> battMode = lp_var_t<uint8_t>(sid.objectId, pool::PDU_BATT_MODE, this);
  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, pool::PDU_TEMPERATURE, this);
};

class PduConfig : public StaticLocalDataSet<32> {
 public:
  PduConfig(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}

  lp_vec_t<uint16_t, 9> outOnDelaySecs =
      lp_vec_t<uint16_t, 9>(sid.objectId, pool::OUT_ON_CNT, this);
  lp_vec_t<uint16_t, 9> outOffDelaySecs =
      lp_vec_t<uint16_t, 9>(sid.objectId, pool::OUT_OFF_CNT, this);
  lp_vec_t<uint8_t, 9> initOutNorm = lp_vec_t<uint8_t, 9>(sid.objectId, pool::INIT_OUT_NORM, this);
  lp_vec_t<uint8_t, 9> initOutSafe = lp_vec_t<uint8_t, 9>(sid.objectId, pool::INIT_OUT_SAFE, this);
  lp_vec_t<uint16_t, 9> initOnDly = lp_vec_t<uint16_t, 9>(sid.objectId, pool::INIT_ON_DLY, this);
  lp_vec_t<uint16_t, 9> initOffDly = lp_vec_t<uint16_t, 9>(sid.objectId, pool::INIT_OFF_DLY, this);
  lp_vec_t<uint8_t, 9> safeOffDly = lp_vec_t<uint8_t, 9>(sid.objectId, pool::SAFE_OFF_DLY, this);
  lp_vec_t<uint16_t, 9> curLuLim = lp_vec_t<uint16_t, 9>(sid.objectId, pool::CUR_LU_LIM, this);
  lp_vec_t<uint16_t, 9> curLim = lp_vec_t<uint16_t, 9>(sid.objectId, pool::CUR_LIM, this);
  lp_vec_t<uint16_t, 9> curEma = lp_vec_t<uint16_t, 9>(sid.objectId, pool::CUR_EMA, this);
  lp_vec_t<uint8_t, 9> outLink = lp_vec_t<uint8_t, 9>(sid.objectId, pool::OUT_LINK, this);
  lp_vec_t<uint8_t, 9> outConv = lp_vec_t<uint8_t, 9>(sid.objectId, pool::OUT_CONV, this);
  lp_vec_t<uint16_t, 9> outVoltage = lp_vec_t<uint16_t, 9>(sid.objectId, pool::OUT_VOLTAGE, this);
  lp_vec_t<uint8_t, 9> convEnable = lp_vec_t<uint8_t, 9>(sid.objectId, pool::CONV_EN, this);
  lp_var_t<float> curEmaGain = lp_var_t<float>(sid.objectId, pool::CUR_EMA_GAIN, this);
  lp_var_t<uint16_t> battHwMax = lp_var_t<uint16_t>(sid.objectId, pool::BATT_HWMAX, this);
  lp_var_t<uint16_t> battMax = lp_var_t<uint16_t>(sid.objectId, pool::BATT_MAX, this);
  lp_var_t<uint16_t> battNorm = lp_var_t<uint16_t>(sid.objectId, pool::BATT_NORM, this);
  lp_var_t<uint16_t> battSafe = lp_var_t<uint16_t>(sid.objectId, pool::BATT_SAFE, this);
  lp_var_t<uint16_t> battCrit = lp_var_t<uint16_t>(sid.objectId, pool::BATT_CRIT, this);
  lp_var_t<uint16_t> wdtI2cRst = lp_var_t<uint16_t>(sid.objectId, pool::WDT_I2C_RST, this);
  lp_var_t<uint16_t> wdtCanRst = lp_var_t<uint16_t>(sid.objectId, pool::WDT_CAN_RST, this);
  lp_var_t<uint32_t> wdtI2c = lp_var_t<uint32_t>(sid.objectId, pool::WDT_I2C, this);
  lp_var_t<uint32_t> wdtCan = lp_var_t<uint32_t>(sid.objectId, pool::WDT_CAN, this);
  lp_vec_t<uint32_t, 2> wdtCsp = lp_vec_t<uint32_t, 2>(sid.objectId, pool::WDT_CSP, this);
  lp_vec_t<uint8_t, 2> wdtCspPing = lp_vec_t<uint8_t, 2>(sid.objectId, pool::WDT_CSP_PING, this);
  lp_vec_t<uint8_t, 2> wdtCspChannel = lp_vec_t<uint8_t, 2>(sid.objectId, pool::WDT_CSP_CHAN, this);
  lp_vec_t<uint8_t, 2> wdtCspAddr = lp_vec_t<uint8_t, 2>(sid.objectId, pool::WDT_CSP_ADDR, this);
};

/**
 * @brief   This class defines a dataset for the hk table of a PDU
 */
class PduAuxHk : public StaticLocalDataSet<36> {
 public:
  PduAuxHk(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}

  PduAuxHk(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}

  /** Measured VCC */
  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, pool::PDU_VCC, this);
  /** Measured VBAT */
  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, pool::PDU_VBAT, this);

  /** Output converter enable status */
  lp_vec_t<uint8_t, 3> converterEnable =
      lp_vec_t<uint8_t, 3>(sid.objectId, pool::PDU_CONV_EN, this);

  lp_var_t<uint32_t> bootcause = lp_var_t<uint32_t>(sid.objectId, pool::PDU_BOOTCAUSE, this);

  /** Uptime in seconds */
  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, pool::PDU_UPTIME, this);
  lp_var_t<uint16_t> resetcause = lp_var_t<uint16_t>(sid.objectId, pool::PDU_RESETCAUSE, this);

  /** Number of detected latchups on each output channel */
  lp_vec_t<uint16_t, 9> latchups = lp_vec_t<uint16_t, 9>(sid.objectId, pool::PDU_LATCHUPS, this);

  /**
   * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
   * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
   */
  lp_vec_t<uint8_t, 8> deviceTypes = lp_vec_t<uint8_t, 8>(sid.objectId, pool::PDU_DEVICES, this);
  /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
  lp_vec_t<uint8_t, 8> devicesStatus = lp_vec_t<uint8_t, 8>(sid.objectId, pool::PDU_STATUSES, this);

  /** Number of reboots triggered by the ground watchdog */
  lp_var_t<uint32_t> gndWdtReboots = lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_GND, this);
  /** Number of reboots triggered through the I2C watchdog. Not relevant for EIVE. */
  lp_var_t<uint32_t> i2cWdtReboots = lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_I2C, this);
  /** Number of reboots triggered through the CAN watchdog */
  lp_var_t<uint32_t> canWdtReboots = lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_CAN, this);
  /** Number of reboots triggered through the CSP watchdog */
  lp_var_t<uint32_t> csp1WdtReboots =
      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_CSP1, this);
  lp_var_t<uint32_t> csp2WdtReboots =
      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_CSP2, this);
  /** Ground watchdog remaining seconds before rebooting */
  lp_var_t<uint32_t> groundWatchdogSecondsLeft =
      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_GND_LEFT, this);
  /** I2C watchdog remaining seconds before rebooting. Not relevant for EIVE. */
  lp_var_t<uint32_t> i2cWatchdogSecondsLeft =
      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_I2C_LEFT, this);
  /** CAN watchdog remaining seconds before rebooting. */
  lp_var_t<uint32_t> canWatchdogSecondsLeft =
      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CAN_LEFT, this);
  /** CSP watchdogs remaining pings before rebooting. */
  lp_var_t<uint8_t> csp2WatchdogPingsLeft =
      lp_var_t<uint8_t>(sid.objectId, pool::PDU_WDT_CSP_LEFT1, this);
  lp_var_t<uint8_t> csp1WatchdogPingsLeft =
      lp_var_t<uint8_t>(sid.objectId, pool::PDU_WDT_CSP_LEFT2, this);
};
}  // namespace PDU

namespace PDU1 {

enum Channels : uint8_t {
  TCS_BOARD_3V3 = 0,
  SYRLINKS = 1,
  STR = 2,
  MGT = 3,
  SUS_NOMINAL = 4,
  SOL_CELL_EXPERIMENT = 5,
  PLOC = 6,
  ACS_A_SIDE = 7,
  UNUSED = 8,
  LEN = 9
};

/**
 * Addresses within configuration table to enable or disable output channels. Refer also to
 * gs-man-nanopower-p60-pdu-200.pdf on page 16.
 */
static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3 = 0x48;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SYRLINKS = 0x49;
static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x4A;
static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x4B;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x4C;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x4D;
static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x4E;
static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x4F;
static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x50;

class Pdu1CoreHk : public ::PDU::PduCoreHk {
 public:
  Pdu1CoreHk(HasLocalDataPoolIF* owner)
      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}

  Pdu1CoreHk(object_id_t objectId)
      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
};

class Pdu1AuxHk : public ::PDU::PduAuxHk {
 public:
  Pdu1AuxHk(HasLocalDataPoolIF* owner)
      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}

  Pdu1AuxHk(object_id_t objectId)
      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
};

class Pdu1Config : public ::PDU::PduConfig {
 public:
  Pdu1Config(HasLocalDataPoolIF* owner)
      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::CONFIG)) {}
};

}  // namespace PDU1

namespace PDU2 {

enum Channels : uint8_t {
  Q7S = 0,
  PAYLOAD_PCDU_CH1 = 1,
  RW = 2,
  TCS_HEATER_IN = 3,
  SUS_REDUNDANT = 4,
  DEPY_MECHANISM = 5,
  PAYLOAD_PCDU_CH6 = 6,
  ACS_B_SIDE = 7,
  PAYLOAD_CAMERA = 8,
  LEN = 9
};

/**
 * Addresses within configuration table to enable or disable output channels. Refer also to
 * gs-man-nanopower-p60-pdu-200.pdf on page 16.
 */
static const uint16_t CONFIG_ADDRESS_OUT_EN_Q7S = 0x48;
static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1 = 0x49;
static const uint16_t CONFIG_ADDRESS_OUT_EN_RW = 0x4A;
static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN = 0x4B;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT = 0x4C;
static const uint16_t CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM = 0x4D;
static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6 = 0x4E;
static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B = 0x4F;
static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x50;

class Pdu2CoreHk : public ::PDU::PduCoreHk {
 public:
  Pdu2CoreHk(HasLocalDataPoolIF* owner)
      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}

  Pdu2CoreHk(object_id_t objectId)
      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}
};

class Pdu2AuxHk : public ::PDU::PduAuxHk {
 public:
  Pdu2AuxHk(HasLocalDataPoolIF* owner)
      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}

  Pdu2AuxHk(object_id_t objectId)
      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}
};

class Pdu2Config : public ::PDU::PduConfig {
 public:
  Pdu2Config(HasLocalDataPoolIF* owner)
      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::CONFIG)) {}
};

}  // namespace PDU2

namespace ACU {

namespace pool {
enum Ids : lp_id_t {
  /** ACU Ids */
  ACU_CURRENT_IN_CHANNELS,
  ACU_VOLTAGE_IN_CHANNELS,
  ACU_VCC,
  ACU_VBAT,
  ACU_TEMPERATURES,
  ACU_MPPT_MODE,
  ACU_VBOOST_IN_CHANNELS,
  ACU_POWER_IN_CHANNELS,
  ACU_DAC_ENABLES,
  ACU_DAC_RAW_CHANNELS,
  ACU_BOOTCAUSE,
  ACU_BOOTCNT,
  ACU_UPTIME,
  ACU_RESET_CAUSE,
  ACU_MPPT_TIME,
  ACU_MPPT_PERIOD,
  ACU_DEVICES,
  ACU_DEVICES_STATUS,
  ACU_WDT_CNT_GND,
  ACU_WDT_GND_LEFT
};
}

static const uint16_t MAX_CONFIGTABLE_ADDRESS = 26;
static const uint16_t MAX_HKTABLE_ADDRESS = 120;
static const uint8_t HK_TABLE_ENTRIES = 64;
static const uint16_t HK_TABLE_SIZE = gsConstants::P60ACU_HK_SIZE;
static const uint16_t CONFIG_TABLE_SIZE = gsConstants::P60ACU_PARAM_SIZE;
static const size_t MAX_REPLY_SIZE = HK_TABLE_SIZE;

class CoreHk : public StaticLocalDataSet<14> {
 public:
  CoreHk(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::CORE)) {}

  CoreHk(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::CORE))) {}

  lp_var_t<uint8_t> mpptMode = lp_var_t<uint8_t>(sid.objectId, pool::ACU_MPPT_MODE, this);

  lp_vec_t<int16_t, 6> currentInChannels =
      lp_vec_t<int16_t, 6>(sid.objectId, pool::ACU_CURRENT_IN_CHANNELS, this);
  lp_vec_t<uint16_t, 6> voltageInChannels =
      lp_vec_t<uint16_t, 6>(sid.objectId, pool::ACU_VOLTAGE_IN_CHANNELS, this);

  lp_var_t<uint16_t> vcc = lp_var_t<uint16_t>(sid.objectId, pool::ACU_VCC, this);
  lp_var_t<uint16_t> vbat = lp_var_t<uint16_t>(sid.objectId, pool::ACU_VBAT, this);

  lp_vec_t<uint16_t, 6> vboostInChannels =
      lp_vec_t<uint16_t, 6>(sid.objectId, pool::ACU_VBOOST_IN_CHANNELS, this);
  lp_vec_t<uint16_t, 6> powerInChannels =
      lp_vec_t<uint16_t, 6>(sid.objectId, pool::ACU_POWER_IN_CHANNELS, this);

  lp_vec_t<float, 3> temperatures = lp_vec_t<float, 3>(sid.objectId, pool::ACU_TEMPERATURES, this);

  lp_var_t<uint32_t> bootcnt = lp_var_t<uint32_t>(sid.objectId, pool::ACU_BOOTCNT, this);
  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, pool::ACU_UPTIME, this);
  lp_var_t<uint16_t> mpptTime = lp_var_t<uint16_t>(sid.objectId, pool::ACU_MPPT_TIME, this);
  lp_var_t<uint16_t> mpptPeriod = lp_var_t<uint16_t>(sid.objectId, pool::ACU_MPPT_PERIOD, this);
};
/**
 * @brief   This class defines a dataset for the hk table of the ACU.
 */
class AuxHk : public StaticLocalDataSet<12> {
 public:
  AuxHk(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::AUX)) {}

  AuxHk(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::AUX))) {}

  lp_vec_t<uint8_t, 3> dacEnables = lp_vec_t<uint8_t, 3>(sid.objectId, pool::ACU_DAC_ENABLES, this);

  lp_vec_t<uint16_t, 6> dacRawChannelVals =
      lp_vec_t<uint16_t, 6>(sid.objectId, pool::ACU_DAC_RAW_CHANNELS, this);

  lp_var_t<uint32_t> bootCause = lp_var_t<uint32_t>(sid.objectId, pool::ACU_BOOTCAUSE, this);
  lp_var_t<uint16_t> resetCause = lp_var_t<uint16_t>(sid.objectId, pool::ACU_RESET_CAUSE, this);

  lp_var_t<uint32_t> wdtCntGnd = lp_var_t<uint32_t>(sid.objectId, pool::ACU_WDT_CNT_GND, this);
  lp_var_t<uint32_t> wdtGndLeft = lp_var_t<uint32_t>(sid.objectId, pool::ACU_WDT_GND_LEFT, this);

  /**
   * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
   * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
   */
  lp_vec_t<uint8_t, 8> deviceTypes = lp_vec_t<uint8_t, 8>(sid.objectId, pool::ACU_DEVICES, this);
  /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
  lp_vec_t<uint8_t, 8> devicesStatus =
      lp_vec_t<uint8_t, 8>(sid.objectId, pool::ACU_DEVICES_STATUS, this);
};
}  // namespace ACU

namespace pcdu {

enum PoolIds : uint32_t { PDU1_SWITCHES, PDU2_SWITCHES, P60DOCK_SWITCHES };

/* Switches are uint8_t datatype and go from 0 to 255 */
enum Switches : power::Switch_t {
  PDU1_CH0_TCS_BOARD_3V3,
  PDU1_CH1_SYRLINKS_12V,
  PDU1_CH2_STAR_TRACKER_5V,
  PDU1_CH3_MGT_5V,
  PDU1_CH4_SUS_NOMINAL_3V3,
  PDU1_CH5_SOLAR_CELL_EXP_5V,
  PDU1_CH6_PLOC_12V,
  PDU1_CH7_ACS_A_SIDE_3V3,
  PDU1_CH8_UNOCCUPIED,

  PDU2_CH0_Q7S,
  PDU2_CH1_PL_PCDU_BATT_0_14V8,
  PDU2_CH2_RW_5V,
  PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
  PDU2_CH4_SUS_REDUNDANT_3V3,
  PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
  PDU2_CH6_PL_PCDU_BATT_1_14V8,
  PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
  PDU2_CH8_PAYLOAD_CAMERA,

  P60_DOCK_5V_STACK,
  NUMBER_OF_SWITCHES
};

static const uint8_t ON = 1;
static const uint8_t OFF = 0;

// Output states after reboot of the PDUs

const std::array<uint8_t, PDU::CHANNELS_LEN> INIT_SWITCHES_PDU1 = {
// Because the TE0720 is not connected to the PCDU, this switch is always on
#ifdef TE0720_1CFA
    ON,
#else
    OFF,
#endif
    OFF, OFF, OFF, OFF, OFF, OFF, OFF, OFF,
};
const std::array<uint8_t, PDU::CHANNELS_LEN> INIT_SWITCHES_PDU2 = {ON,  OFF, OFF, OFF, OFF,
                                                                   OFF, OFF, OFF, OFF};

static constexpr uint32_t SWITCHER_SET_ID = 0;

class SwitcherStates : public StaticLocalDataSet<NUMBER_OF_SWITCHES> {
 public:
  SwitcherStates(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SWITCHER_SET_ID) {}

  SwitcherStates(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SWITCHER_SET_ID)) {}

  lp_vec_t<uint8_t, PDU::CHANNELS_LEN> pdu1Switches =
      lp_vec_t<uint8_t, PDU::CHANNELS_LEN>(sid.objectId, PDU1_SWITCHES, this);
  lp_vec_t<uint8_t, PDU::CHANNELS_LEN> pdu2Switches =
      lp_vec_t<uint8_t, PDU::CHANNELS_LEN>(sid.objectId, PDU2_SWITCHES, this);
  lp_var_t<uint8_t> p60Dock5VStack = lp_var_t<uint8_t>(sid.objectId, P60DOCK_SWITCHES, this);
};

}  // namespace pcdu
#endif /* MISSION_POWER_GSDEFS_H_ */