From 0bbcfb34e8c6d591ff1eb2ef099a41b69f44b0ca Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 2 Aug 2023 11:14:35 +0200
Subject: [PATCH] tweaks for pin handling

---
 CHANGELOG.md                           |  1 +
 mission/payload/PayloadPcduHandler.cpp | 30 ++++++++++++--------------
 mission/payload/PayloadPcduHandler.h   |  1 +
 tmtc                                   |  2 +-
 4 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index fe6a2cb3..ae107d14 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -29,6 +29,7 @@ will consitute of a breaking change warranting a new major release:
 ## Changed
 
 - The `EiveSystem` now only sends reboot commands targetting the same image.
+- Added 200 ms delay between switching HPA/MPA/TX/X8 and DRO GPIP pin OFF.
 
 # [v6.2.0] 2023-07-26
 
diff --git a/mission/payload/PayloadPcduHandler.cpp b/mission/payload/PayloadPcduHandler.cpp
index 9223f454..4f22be87 100644
--- a/mission/payload/PayloadPcduHandler.cpp
+++ b/mission/payload/PayloadPcduHandler.cpp
@@ -1,4 +1,5 @@
 #include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/tasks/TaskFactory.h>
 #include <mission/payload/PayloadPcduHandler.h>
 
 #include "OBSWConfig.h"
@@ -73,14 +74,7 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
     stateMachineToNormal(modeFrom, subModeFrom);
     return;
   } else if (getMode() == _MODE_TO_ON and modeFrom == MODE_NORMAL) {
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
-    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+    pullAllGpiosLow(200);
     state = States::STACK_5V_CORRECT;
   }
   DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
@@ -367,14 +361,7 @@ void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
 
 void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir) {
   States currentState = state;
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
-  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+  pullAllGpiosLow(200);
   state = States::STACK_5V_SWITCHING;
   adcState = AdcStates::OFF;
   if (startTransitionToOff) {
@@ -677,6 +664,17 @@ void PayloadPcduHandler::handleFailureInjection(std::string output, Event event)
   droToX8InjectionRequested = false;
 }
 
+void PayloadPcduHandler::pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro) {
+    gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+    gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
+    gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
+    gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
+    TaskFactory::delayTask(delayBeforeSwitchingOffDro);
+    gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
+    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
+    gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+}
+
 ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
                                                           ParameterWrapper* parameterWrapper,
                                                           const ParameterWrapper* newValues) {
diff --git a/mission/payload/PayloadPcduHandler.h b/mission/payload/PayloadPcduHandler.h
index b73de353..78646104 100644
--- a/mission/payload/PayloadPcduHandler.h
+++ b/mission/payload/PayloadPcduHandler.h
@@ -168,6 +168,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   void handleExtConvRead(const uint8_t* bufStart);
   void handlePrintout();
+  void pullAllGpiosLow(uint32_t delayBeforeSwitchingOffDro);
   void checkAdcValues();
   void handleOutOfBoundsPrintout();
   void checkJsonFileInit();
diff --git a/tmtc b/tmtc
index ab770a00..4b054b76 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit ab770a0057258cc399072477a42eb0253d919aba
+Subproject commit 4b054b7628e43975e2401c7db10c358824f7a2d3