heater handler wip

CMakeLists.txt

@@ -44,7 +44,7 @@ set(FSFW_PATH fsfw)
 set(MISSION_PATH mission)
 set(CSPLIB_PATH libcsp)
 
-set(WARNING_SHADOW_LOCAL FALSE)
+set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
 
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@@ -165,11 +165,13 @@ endif()
 add_custom_command(
    TARGET ${TARGET_NAME}
    POST_BUILD
-   COMMAND echo "Build directory: ${CMAKE_BINARY_DIR}"
+   #COMMAND echo "Build directory: ${CMAKE_BINARY_DIR}"
-   COMMAND echo "Target OSAL: ${OS_FSFW}"
+   #COMMAND echo "Target OSAL: ${OS_FSFW}"
-   COMMAND echo "Target Build Type: ${CMAKE_BUILD_TYPE}"
+   #COMMAND echo "Target Build Type: ${CMAKE_BUILD_TYPE}"
-   COMMAND echo "${TARGET_STRING}"
+   #COMMAND echo "${TARGET_STRING}"
    COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
+   COMMENT "Build directory: ${CMAKE_BINARY_DIR}\nTarget OSAL: ${OS_FSFW}\n"
+           "Target Build Type: ${CMAKE_BUILD_TYPE}\n${TARGET_STRING}"
 )
 
 include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)

bsp_hosted/fsfwconfig/FSFWConfig.h

@@ -7,19 +7,18 @@
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
-#define FSFW_CPP_OSTREAM_ENABLED 	1
+#define FSFW_CPP_OSTREAM_ENABLED    1
 
-//! More FSFW related printouts.
+//! More FSFW related printouts depending on level. Useful for development.
-//! Be careful, this also turns off most diagnostic prinouts!
+#define FSFW_VERBOSE_LEVEL          1
-#define FSFW_ENHANCED_PRINTOUT		0
 
 //! Can be used to completely disable printouts, even the C stdio ones.
-#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0
+#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
-	#define FSFW_DISABLE_PRINTOUT 	0
+    #define FSFW_DISABLE_PRINTOUT   0
 #endif
 
-//! Can be used to enable additional debugging printouts for developing the FSFW
+//! Can be used to disable the ANSI color sequences for C stdio.
-#define FSFW_PRINT_VERBOSITY_LEVEL   0
+#define FSFW_COLORED_OUTPUT         1
 
 //! Can be used to disable the ANSI color sequences for C stdio.
 #define FSFW_COLORED_OUTPUT 		1

bsp_q7s/CMakeLists.txt

@@ -6,6 +6,7 @@ target_sources(${TARGET_NAME} PUBLIC
 
 add_subdirectory(boardconfig)
 add_subdirectory(comIF)
+add_subdirectory(gpio)
 
 
 

bsp_q7s/ObjectFactory.cpp

@@ -13,7 +13,11 @@
 #include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
 
 #include <mission/core/GenericFactory.h>
-#include <mission/devices/GomspaceDeviceHandler.h>
+#include <mission/devices/PDU1Handler.h>
+#include <mission/devices/PDU2Handler.h>
+#include <mission/devices/ACUHandler.h>
+#include <mission/devices/PCDUHandler.h>
+#include <mission/devices/P60DockHandler.h>
 #include <mission/devices/Tmp1075Handler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
@@ -58,28 +62,35 @@ void ObjectFactory::produce(){
 			addresses::PDU2);
 	CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
 				addresses::ACU);
+#if TE0720 == 1
 	I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
 			TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
 	I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
 			TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
-
+#else
+	I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
+            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
+    I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
+            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
+#endif
     /* Communication interfaces */
 	new CspComIF(objects::CSP_COM_IF);
 	new I2cComIF(objects::I2C_COM_IF);
 
     /* Device Handler */
-	new GomspaceDeviceHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
+	new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
 			p60DockCspCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
-			P60Dock::MAX_HKTABLE_ADDRESS);
+			P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_SIZE);
-	new GomspaceDeviceHandler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
+	new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
 			pdu1CspCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
-			PDU::MAX_HKTABLE_ADDRESS);
+			PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_SIZE);
-	new GomspaceDeviceHandler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
+	new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
 			pdu2CspCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
-			PDU::MAX_HKTABLE_ADDRESS);
+			PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_SIZE);
-	new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
+	new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
 				acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
-				ACU::MAX_HKTABLE_ADDRESS);
+				ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_SIZE);
+	new PCDUHandler(objects::PCDU_HANDLER);
 	/* Temperature sensors */
 	Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
 			objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
@@ -95,13 +106,15 @@ void ObjectFactory::produce(){
 #if TE0720 == 1
 	// Configuration for MIO0 on TE0720-03-1CFA
 	GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
-			std::string("Heater1"), Gpio::OUT);
+			std::string("Heater0"), Gpio::OUT);
-	gpioCookie.add(gpioIds::HEATER_1, gpioConfigForDummyHeater);
+	gpioCookie.add(gpioIds::HEATER_0, gpioConfigForDummyHeater);
 #else
+	GpioConfig_t gpioConfigHeater0(std::string("gpiochip5"), 6,
+            std::string("Heater0"), Gpio::OUT);
+    gpioCookie.add(gpioIds::HEATER_0, gpioConfigHeater0);
 #endif
 	LinuxLibgpioIF linuxLibgpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
-	new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, );
+	new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie);
-
 
 	new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
 			objects::CCSDS_PACKET_DISTRIBUTOR,

bsp_q7s/comIF/GpioComIF.cpp

@@ -1,268 +0,0 @@
-#include <bsp_q7s/comIF/GpioComIF.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fcntl.h>
-#include <string.h>
-
-
-GpioComIF::GpioComIF(object_id_t objectId): SystemObject(objectId){
-}
-
-GpioComIF::~GpioComIF() {}
-
-ReturnValue_t GpioComIF::initializeInterface(CookieIF * cookie) {
-
-	ReturnValue_t result;
-	GpioMap mapToAdd;
-
-	if(cookie == nullptr) {
-		return NULLPOINTER;
-	}
-	GpioCookie* GpioCookie = dynamic_cast<GpioCookie*>(cookie);
-	if(GpioCookie == nullptr) {
-	    sif::error << "GpioComIF: Invalid Gpio Cookie!"
-	            << std::endl;
-	    return NULLPOINTER;
-	}
-
-	mapToAdd = GpioCookie->getGpioMap();
-
-	result = checkForConflicts(mapToAdd);
-	if (result != HasReturnvaluesIF::RETURN_OK){
-		return result;
-	}
-
-	/* Register new GPIOs in gpioMap*/
-	std::pair insertionResult = gpioMap.insert(mapToAdd.begin(),
-			mapToAdd.end());
-	if (insertionResult.second() != true) {
-		sif::error << "GpioComIF::initializeAndConfigure: Failed to add "
-				<< "GPIO " << gpioStr.c_st() << " to gpioMap" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GpioComIF::sendMessage(CookieIF *cookie,
-        const uint8_t *sendData, size_t sendLen) {
-
-	ReturnValue_t result;
-	int fd;
-	std::string deviceFile;
-
-	if(sendData == nullptr) {
-	    sif::error << "GpioComIF::sendMessage: Send Data is nullptr"
-	            << std::endl;
-	    return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	if(sendLen == 0) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-	if(i2cCookie == nullptr) {
-		sif::error << "GpioComIF::sendMessasge: Invalid I2C Cookie!"
-				<< std::endl;
-		return NULLPOINTER;
-	}
-
-	address_t i2cAddress = i2cCookie->getAddress();
-	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-		sif::error << "GpioComIF::sendMessage: i2cAddress of Cookie not "
-				<< "registered in i2cDeviceMap" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	deviceFile = i2cCookie->getDeviceFile();
-	result = openDevice(deviceFile, i2cAddress, &fd);
-	if (result != HasReturnvaluesIF::RETURN_OK){
-		return result;
-	}
-
-	if (write(fd, sendData, sendLen) != (int)sendLen) {
-		sif::error << "GpioComIF::sendMessage: Failed to send data to I2C "
-				"device with error code " << errno << ". Error description: "
-				<< strerror(errno) << std::endl;
-		close(fd);
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	close(fd);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GpioComIF::getSendSuccess(CookieIF *cookie) {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GpioComIF::requestReceiveMessage(CookieIF *cookie,
-		size_t requestLen) {
-
-	ReturnValue_t result;
-	int fd;
-	std::string deviceFile;
-
-	if (requestLen == 0) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-	if(i2cCookie == nullptr) {
-		sif::error << "GpioComIF::requestReceiveMessage: Invalid I2C Cookie!"
-				<< std::endl;
-		i2cDeviceMapIter->second.replyLen = 0;
-		return NULLPOINTER;
-	}
-
-	address_t i2cAddress = i2cCookie->getAddress();
-	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-		sif::error << "GpioComIF::requestReceiveMessage: i2cAddress of Cookie not "
-				<< "registered in i2cDeviceMap" << std::endl;
-		i2cDeviceMapIter->second.replyLen = 0;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	deviceFile = i2cCookie->getDeviceFile();
-	result = openDevice(deviceFile, i2cAddress, &fd);
-	if (result != HasReturnvaluesIF::RETURN_OK){
-		i2cDeviceMapIter->second.replyLen = 0;
-		return result;
-	}
-
-	uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
-
-	if (read(fd, replyBuffer, requestLen) != (int)requestLen) {
-		sif::error << "GpioComIF::requestReceiveMessage: Reading from I2C "
-				<< "device failed with error code " << errno <<". Description"
-				<< " of error: " << strerror(errno) << std::endl;
-		close(fd);
-		i2cDeviceMapIter->second.replyLen = 0;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	i2cDeviceMapIter->second.replyLen = requestLen;
-
-	close(fd);
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GpioComIF::readReceivedMessage(CookieIF *cookie,
-		uint8_t **buffer, size_t* size) {
-	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-	if(i2cCookie == nullptr) {
-		sif::error << "GpioComIF::readReceivedMessage: Invalid I2C Cookie!"
-				<< std::endl;
-		return NULLPOINTER;
-	}
-
-	address_t i2cAddress = i2cCookie->getAddress();
-	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-		sif::error << "GpioComIF::readReceivedMessage: i2cAddress of Cookie not "
-				<< "found in i2cDeviceMap" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	*buffer = i2cDeviceMapIter->second.replyBuffer.data();
-	*size = i2cDeviceMapIter->second.replyLen;
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GpioComIF::openDevice(std::string deviceFile,
-		address_t i2cAddress, int* fileDescriptor) {
-	*fileDescriptor = open(deviceFile.c_str(), O_RDWR);
-	if (*fileDescriptor < 0) {
-		sif::error << "GpioComIF: Opening i2c device failed with error code "
-				<< errno << ". Error description: " << strerror(errno)
-				<< std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
-		sif::error << "GpioComIF: Specifying target device failed with error "
-				<< "code " << errno << ". Error description "
-				<< strerror(errno) << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GpioComIF::checkForConflicts(GpioMap mapToAdd){
-	gpioId_t gpioId;
-	GpioMapIter mapToAddIter = mapToAdd.begin();
-	for(; mapToAddIter != mapToAdd.end(); mapToAddIter++){
-		gpio = mapToAddIter.first();
-		if(gpioMapIter.find(gpioId) != mapToAdd.end()){
-			/* An entry for this GPIO already exists. Check if configuration
-			 * of direction is equivalent */
-			if (mapToAddIter.second.direction != gpioMapIter.second.direction){
-				sif::error << "GpioComIF::checkForConflicts: Detected conflict "
-						<< "for GPIO " << mapToAddIter.first() << std::endl;
-				return HasReturnvaluesIF::RETURN_OK;
-			}
-			/* Remove element from map to add because a entry for this GPIO
-			 * already exists */
-			mapToAdd.erase(mapToAddIter);
-		}
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t GpioComIF::initializeAndConfigure(GpioMap mapToAdd){
-
-	int exportfd;
-	int directionfd;
-	std::string gpioStr;
-	GpioMapIter mapToAddItr;
-
-	mapToAddItr = mapToAdd.begin();
-	/* Perform initialization for all GPIOs in map */
-	for(; mapToAddItr != mapToAdd.end(); mapToAddItr++){
-		/* The GPIO has to be exported to be able to see it in sysfs */
-		exportfd = open("/sys/class/gpio/export", O_WRONLY);
-		if (exportfd < 0)
-		{
-			sif::error << "GpioComIF::initializeAndConfigure: Cannot open GPIO "
-					<< mapToAddItr.first() << " to export it" << std::endl;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		gpioStr = std::to_string(mapToAddItr.first());
-		write(exportfd, gpioStr.c_str(), gpioStr.length() + 1);
-		close(exportfd);
-
-		/* Set direction of the GPIO */
-		std::string directionPath = "/sys/class/gpio/" + gpioStr +
-				"/direction";
-		directionfd = open(directionPath.c_str(), O_RDWR);
-		if (directionfd < 0)
-		{
-			sif::error << "Cannot open " << directionPath.c_str() << std::endl;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-
-		if (mapToAdd.second() == Gpio::IN) {
-			write(directionfd, "in", 3);
-		}
-		else if (mapToAdd.second() == Gpio::OUT) {
-			write(directionfd, "out", 4);
-		}
-		else {
-			sif::error << "GpioComIF::initializeAndConfigure: Invalid direction"
-					<< " specified" << std::endl;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		close(directionfd);
-
-		/* Add GPIO to GpioMap of GpioComIF */
-		std::pair insertionResult = gpioMap.insert(mapToAddItr);
-		if (insertionResult.second() != true) {
-			sif::error << "GpioComIF::initializeAndConfigure: Failed to add "
-					<< "GPIO " << gpioStr.c_st() << " to gpioMap" << std::endl;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}

bsp_q7s/comIF/GpioComIF.h

@@ -1,57 +0,0 @@
-#ifndef BSP_Q7S_COMIF_I2s	COMIF_H_
-#define BSP_Q7S_COMIF_I2COMIF_H_
-
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
-#include <bsp_q7s/comIF/cookies/GpioCookie.h>
-
-/**
- * @brief 	This is the communication interface to drive GPIOs by using the
- * 			the linux sysfs.
- *
- * @author 	J. Meier
- */
-class GpioComIF: public DeviceCommunicationIF, public SystemObject {
-public:
-	GpioComIF(object_id_t objectId);
-
-	virtual ~GpioComIF();
-
-	ReturnValue_t initializeInterface(CookieIF * cookie) override;
-	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
-			size_t sendLen) override;
-	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
-	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-	        size_t requestLen) override;
-	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			size_t *size) override;
-
-private:
-
-	/* All GPIOs will be stored in this map after successful initialization */
-	GpioMap gpioMap;
-	GpioMapIter gpioMapIter;
-
-	/**
-	 * @brief	This function checks if GPIOs are already registered and whether
-	 * 			there exists a conflict in the GPIO configuration. E.g. the
-	 * 			direction.
-	 *
-	 * @param mapToAdd	The GPIOs which shall be added to the gpioMap
-	 *
-	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED
-	 */
-	ReturnValue_t checkForConflicts(GpioMap mapToAdd);
-
-	/**
-	 * @brief	This function initializes all GPIOs specified in the mapToAdd.
-	 *
-	 * @param	Map with the GPIOs to initialize.
-	 *
-	 * @return 	RETURN_OK if successful, otherwise RETURN_FAILED
-	 */
-	ReturnValue_t GpioComIF::initializeAndConfigure(GpioMap mapToAdd);
-
-};
-
-#endif /* BSP_Q7S_COMIF_I2COMIF_H_ */

bsp_q7s/gpio/CMakeLists.txt

@@ -0,0 +1,6 @@
+target_sources(${TARGET_NAME} PUBLIC
+	cookies/GpioCookie.cpp
+	LinuxLibgpioIF.cpp
+)
+
+

bsp_q7s/gpio/GpioIF.cpp

@@ -1,18 +0,0 @@
-/*
- * GpioIF.cpp
- *
- *  Created on: 16.01.2021
- *      Author: jakob
- */
-
-#include "GpioIF.h"
-
-GpioIF::GpioIF() {
-	// TODO Auto-generated constructor stub
-
-}
-
-GpioIF::~GpioIF() {
-	// TODO Auto-generated destructor stub
-}
-

bsp_q7s/gpio/GpioIF.h

@@ -13,7 +13,7 @@ typedef uint16_t gpioId_t;
  */
 class GpioIF : public HasReturnvaluesIF{
 public:
-	GpioIF();
+
 	virtual ~GpioIF();
 
 	/**

bsp_q7s/gpio/LinuxLibgpioIF.h

@@ -3,6 +3,7 @@
 
 #include <bsp_q7s/gpio/GpioIF.h>
 #include <fsfwconfig/returnvalues/classIds.h>
+#include <bsp_q7s/gpio/cookies/GpioCookie.h>
 
 /**
  * @brief	This class implements the GpioIF for a linux based system. The

bsp_q7s/gpio/cookies/GpioCookie.cpp

@@ -10,7 +10,6 @@ void GpioCookie::addGpio(GpioMap newEntry){
 		if (status.second == false) {
 			sif::error << "GpioCookie::addGpio: Failed to add GPIO "
 					<< newEntry.first << "to GPIO map" << std::endl;
-			return HasReturnvaluesIF::RETURN_OK;
 		}
 	}
 	else {

bsp_q7s/gpio/cookies/GpioCookie.h

@@ -1,8 +1,9 @@
-#ifndef SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+#ifndef SAM9G20_COMIF_COOKIES_GPIO_COOKIE_H_
-#define SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+#define SAM9G20_COMIF_COOKIES_GPIO_COOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <bsp_q7s/gpio/GpioIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <string>
 
 namespace Gpio {

bsp_rpi/CMakeLists.txt

@@ -7,6 +7,11 @@ target_sources(${TARGET_NAME} PUBLIC
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
 
+# wiringPi is deprecated unfortunately..
+#target_link_libraries(${TARGET_NAME} PRIVATE
+#    wiringPi
+#)
+
 
 
 

bsp_rpi/InitMission.cpp

@@ -14,18 +14,10 @@
 
 #include <iostream>
 
-// This is configured for linux without \cr
-#ifdef LINUX
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
 ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR", false, false, true);
+ServiceInterfaceStream sif::error("ERROR");
-#else
-ServiceInterfaceStream sif::debug("DEBUG", true);
-ServiceInterfaceStream sif::info("INFO", true);
-ServiceInterfaceStream sif::warning("WARNING", true);
-ServiceInterfaceStream sif::error("ERROR", true, false, true);
-#endif
 
 ObjectManagerIF *objectManager = nullptr;
 
@@ -47,11 +39,11 @@ void InitMission::initTasks(){
 					0.100, nullptr);
 	ReturnValue_t result = TmTcDistributor->addComponent(
 			objects::CCSDS_PACKET_DISTRIBUTOR);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 	result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
     result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
@@ -97,11 +89,11 @@ void InitMission::initTasks(){
 					PeriodicTaskIF::MINIMUM_STACK_SIZE,
 					0.200, nullptr);
 	result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 	result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 
@@ -110,11 +102,11 @@ void InitMission::initTasks(){
 					PeriodicTaskIF::MINIMUM_STACK_SIZE,
 					0.8, nullptr);
 	result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 	result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 
@@ -122,7 +114,7 @@ void InitMission::initTasks(){
 			createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
 					1.6, nullptr);
 	result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Object add component failed" << std::endl;
 	}
 
@@ -139,6 +131,14 @@ void InitMission::initTasks(){
 
 #endif
 
+	PeriodicTaskIF* SpiTestTask = TaskFactory::instance()->
+            createPeriodicTask("SPI_TEST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+                    2.0, nullptr);
+    result = SpiTestTask->addComponent(objects::SPI_TEST);
+    if(result != HasReturnvaluesIF::RETURN_OK){
+        sif::error << "Object add SPI test failed" << std::endl;
+    }
+
 	//Main thread sleep
 	sif::info << "Starting tasks.." << std::endl;
 	TmTcDistributor->startTask();
@@ -151,6 +151,8 @@ void InitMission::initTasks(){
 	PusMedPrio->startTask();
 	PusLowPrio->startTask();
 
+	SpiTestTask->startTask();
+
 #if OBSW_ADD_TEST_CODE == 1
 	TestTimeslotTask->startTask();
 #endif

bsp_rpi/ObjectFactory.cpp

@@ -1,5 +1,6 @@
-#include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include "ObjectFactory.h"
+#include <bsp_rpi/boardtest/SpiTest.h>
+#include <fsfw/datapoollocal/LocalDataPoolManager.h>
 
 #include <objects/systemObjectList.h>
 #include <OBSWConfig.h>
@@ -42,4 +43,6 @@ void ObjectFactory::produce(){
 			objects::CCSDS_PACKET_DISTRIBUTOR,
 			objects::TM_STORE, objects::TC_STORE);
 	new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
+
+	new SpiTest(objects::SPI_TEST);
 }

bsp_rpi/boardtest/CMakeLists.txt

@@ -1,5 +1,6 @@
 target_sources(${TARGET_NAME} PRIVATE
 	SpiTest.cpp
+	RPiGPIO.cpp
 )
 
 

bsp_rpi/boardtest/RPiGPIO.cpp

@@ -0,0 +1,123 @@
+#include "RPiGPIO.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fcntl.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <cstdint>
+
+
+int RPiGPIO::enablePin(int pin) {
+    char buffer[BUFFER_MAX];
+    ssize_t bytes_written;
+    int fd;
+
+    fd = open("/sys/class/gpio/export", O_WRONLY);
+    if (fd == -1) {
+        sif::error << "Failed to open export of pin " << pin << " for writing!" << std::endl;
+        return -1;
+    }
+
+    bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+    write(fd, buffer, bytes_written);
+    close(fd);
+    return 0;
+}
+
+int RPiGPIO::disablePin(int pin) {
+    char buffer[BUFFER_MAX];
+    ssize_t bytes_written;
+    int fd;
+
+    fd = open("/sys/class/gpio/unexport", O_WRONLY);
+    if (fd == -1) {
+        sif::error << "Failed to open unexport of pin " << pin << " for writing!" << std::endl;
+        return -1;
+    }
+
+    bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+    write(fd, buffer, bytes_written);
+    close(fd);
+    return(0);
+}
+
+int RPiGPIO::pinDirection(int pin, Directions dir) {
+
+    char path[DIRECTION_MAX];
+
+    snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
+    int fd = open(path, O_WRONLY);
+    if (fd == -1) {
+        sif::error << "Failed to open gpio " << pin << " direction for writing!" << std::endl;
+        return -1;
+    }
+
+    int result = 0;
+    if(dir == Directions::IN) {
+        result = write(fd, "in", IN_WRITE_SIZE);
+    }
+    else {
+        result = write(fd, "out", OUT_WRITE_SIZE);
+    }
+
+    if (result != 0) {
+        sif::error << "Failed to set direction!" << std::endl;
+        return -2;
+    }
+
+    close(fd);
+    return 0;
+}
+
+int RPiGPIO::readPin(int pin) {
+    char path[VALUE_MAX];
+    char value_str[3];
+
+    snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+    int fd = open(path, O_RDONLY);
+    if (fd == -1) {
+        sif::error << "RPiGPIO::readPin: Failed to open GPIO pin " << pin << "!" << std::endl;
+        return -1;
+    }
+
+    if (read(fd, value_str, 3) == -1) {
+        sif::error << "Failed to read value!" << std::endl;
+        return -1;
+    }
+
+    close(fd);
+    char* endPtr = nullptr;
+
+    return strtol(value_str, &endPtr, 10);
+}
+
+int RPiGPIO::writePin(int pin, States state) {
+
+    char path[VALUE_MAX];
+    int fd;
+
+    snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+    fd = open(path, O_WRONLY);
+    if (fd == -1) {
+        sif::error << "RPiGPIO::writePin: Failed to open GPIO pin " << pin << "!" << std::endl;
+        return -1;
+    }
+
+    int result = 0;
+    if(state == States::LOW) {
+        result = write(fd, "0", 1);
+    }
+    else {
+        result = write(fd, "1", 1);
+    }
+
+
+    if (result != 0) {
+        sif::error << "Failed to write pin " << pin << " value to " << static_cast<int>(state)
+                << "!" << std::endl;
+        return -1;
+    }
+
+    close(fd);
+    return 0;
+}

bsp_rpi/boardtest/RPiGPIO.h

@@ -0,0 +1,41 @@
+#ifndef BSP_RPI_BOARDTEST_RPIGPIO_H_
+#define BSP_RPI_BOARDTEST_RPIGPIO_H_
+
+#include <cstdint>
+
+/**
+ * @brief   Really simple C++ GPIO wrapper for the Raspberry Pi, using the sysfs interface.
+ *          Use BCM pins notation (https://pinout.xyz/#)
+ *
+ */
+class RPiGPIO {
+public:
+    enum Directions {
+        IN = 0,
+        OUT = 1
+    };
+
+    enum States {
+        LOW = 0,
+        HIGH = 1
+    };
+
+    static int enablePin(int pin);
+    static int disablePin(int pin);
+    static int pinDirection(int pin, Directions dir);
+    static int readPin(int pin);
+    static int writePin(int pin, States state);
+
+private:
+
+
+    static constexpr uint8_t BUFFER_MAX = 3;
+    static constexpr uint8_t DIRECTION_MAX = 35;
+    static constexpr uint8_t VALUE_MAX = 30;
+
+    static constexpr uint8_t IN_WRITE_SIZE = 3;
+    static constexpr uint8_t OUT_WRITE_SIZE = 4;
+};
+
+
+#endif /* BSP_RPI_BOARDTEST_RPIGPIO_H_ */

bsp_rpi/boardtest/SpiTest.cpp

@@ -1,13 +1,31 @@
 #include "SpiTest.h"
 
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 
 #include <fcntl.h>
 #include <sys/ioctl.h>
-#include <wiringPi.h>
+
+
 
 SpiTest::SpiTest(object_id_t objectId): SystemObject(objectId) {
-	wiringPiSetupGpio();
+    sif::info << "Setting up Raspberry Pi WiringPi library." << std::endl;
+//  wiringPiSetupGpio();
+
+//	 pinMode(SS_MGM_0_LIS3, OUTPUT);
+//    pinMode(SS_MGM_1_RM, OUTPUT);
+//    pinMode(SS_GYRO_0_ADIS, OUTPUT);
+//    pinMode(SS_GYRO_1_L3G, OUTPUT);
+//    pinMode(SS_GYRO_2_L3G, OUTPUT);
+//    pinMode(SS_MGM_2_LIS3, OUTPUT);
+//    pinMode(SS_MGM_3_RM, OUTPUT);
+//
+//    digitalWrite(SS_MGM_0_LIS3, HIGH);
+//    digitalWrite(SS_MGM_1_RM, HIGH);
+//    digitalWrite(SS_GYRO_0_ADIS, HIGH);
+//    digitalWrite(SS_GYRO_1_L3G, HIGH);
+//    digitalWrite(SS_GYRO_2_L3G, HIGH);
+//    digitalWrite(SS_MGM_2_LIS3, HIGH);
+//    digitalWrite(SS_MGM_3_RM, HIGH);
 
 	int spiFd = open(spiDeviceName.c_str(), O_RDWR);
 	if (spiFd < 0){

bsp_rpi/boardtest/SpiTest.h

@@ -6,13 +6,27 @@
 #include <linux/spi/spidev.h>
 #include <string>
 
-class SpiTest: public ExecutableObjectIF, SystemObject {
+class SpiTest:
+        public SystemObject,
+        public ExecutableObjectIF {
 public:
 	SpiTest(object_id_t objectId);
 
 	ReturnValue_t performOperation(uint8_t opCode) override;
 	ReturnValue_t initialize() override;
 private:
+	// These chip selects (BCM number) will be pulled high if not used
+	// ACS board specific.
+	enum SpiChipSelects {
+	    SS_MGM_0_LIS3 = 0,  //!< MGM 0, LIS3MDLTR, U6, A side
+	    SS_MGM_1_RM = 1, //!< MGM 1, RM3100, U7, A side
+	    SS_GYRO_0_ADIS = 2, //!< Gyro 0, ADIS16485, U3, A side
+	    SS_GYRO_1_L3G = 3, //!< Gyro 1, L3GD20H, U4, A side
+	    SS_GYRO_2_L3G = 4, //!< Gyro 2, L3GD20h, U5, B side
+	    SS_MGM_2_LIS3 = 17, //!< MGM 2, LIS3MDLTR, U8, B side
+	    SS_MGM_3_RM = 27, //!< MGM 3, RM3100, U9, B side
+	};
+
 	const std::string spiDeviceName = "/dev/spidev0.0";
 	int spiFd = 0;
 

cmake/HardwareOsPostConfig.cmake

@@ -55,8 +55,8 @@ target_compile_options(${TARGET_NAME} PRIVATE
 add_custom_command(
 	TARGET ${TARGET_NAME}
 	POST_BUILD
-	COMMAND echo Generating binary file ${CMAKE_PROJECT_NAME}.bin..
 	COMMAND ${CMAKE_OBJCOPY} -O binary ${TARGET_NAME} ${TARGET_NAME}.bin
+	COMMENT "Generating binary file ${CMAKE_PROJECT_NAME}.bin.."
 )
 
 endfunction()

cmake/PreProjectConfig.cmake

@@ -19,15 +19,15 @@ if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
 		)
 	elseif (${TGT_BSP} MATCHES "arm/raspberrypi")
 		if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
-			if(NOT RASPBIAN_ROOTFS)
+			if(NOT DEFINED RASPBIAN_ROOTFS)
+			    message(WARNING "No RASPBIAN_ROOTFS environmental or CMake variable set!")
 				set(ENV{RASPBIAN_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
 			else()
 				set(ENV{RASPBIAN_ROOTFS} "${RASPBIAN_ROOTFS}")
 			endif()
 		else()	
 			message(STATUS 
-				"RASPBIAN_ROOTFS from environmental variables used: "
+			    "RASPBIAN_ROOTFS from environmental variables used: $ENV{RASPBIAN_ROOTFS}"
-				"$ENV{RASPBIAN_ROOTFS}"
 			)
 		endif()
 	
@@ -36,12 +36,8 @@ if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
 				message(STATUS "No RASPBERRY_VERSION specified, setting to 4")
 				set(RASPBERRY_VERSION "4" CACHE STRING "Raspberry Pi version")
 			else()
-				message(STATUS 
+				message(STATUS "Setting RASPBERRY_VERSION to ${RASPBERRY_VERSION}")
-					"Setting RASPBERRY_VERSION to ${RASPBERRY_VERSION}"
+				set(RASPBERRY_VERSION ${RASPBERRY_VERSION} CACHE STRING "Raspberry Pi version")
-				)
-				set(RASPBERRY_VERSION 
-					${RASPBERRY_VERSION} CACHE STRING "Raspberry Pi version"
-				)
 			set(ENV{RASPBERRY_VERSION} ${RASPBERRY_VERSION})
 			endif()
 		else()

fsfw

@@ -1 +1 @@
-Subproject commit bd5cc7ae3ea53040cc832b5d756846d21613d91a
+Subproject commit 41c0436e29f7a75f737f75e963dc2119a64a3921

fsfwconfig/FSFWConfig.h

@@ -7,19 +7,18 @@
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
-#define FSFW_CPP_OSTREAM_ENABLED 	1
+#define FSFW_CPP_OSTREAM_ENABLED    1
 
-//! More FSFW related printouts.
+//! More FSFW related printouts depending on level. Useful for development.
-//! Be careful, this also turns off most diagnostic prinouts!
+#define FSFW_VERBOSE_LEVEL          1
-#define FSFW_ENHANCED_PRINTOUT		0
 
 //! Can be used to completely disable printouts, even the C stdio ones.
-#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_ENHANCED_PRINTOUT == 0
+#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
-	#define FSFW_DISABLE_PRINTOUT 	0
+    #define FSFW_DISABLE_PRINTOUT   0
 #endif
 
-//! Can be used to enable additional debugging printouts for developing the FSFW
+//! Can be used to disable the ANSI color sequences for C stdio.
-#define FSFW_PRINT_VERBOSITY_LEVEL   0
+#define FSFW_COLORED_OUTPUT         1
 
 //! Can be used to disable the ANSI color sequences for C stdio.
 #define FSFW_COLORED_OUTPUT 		1

fsfwconfig/OBSWConfig.h

@@ -12,7 +12,7 @@
 // debugging.
 #define OBSW_ENHANCED_PRINTOUT  1
 
-#define TE0720 1
+#define TE0720 0
 
 #include "OBSWVersion.h"
 

fsfwconfig/devices/gpioIds.h

@@ -5,7 +5,7 @@
 
 namespace gpioIds {
 	enum gpioId_t {
-		HEATER_1
+		HEATER_0
 	};
 }
 

fsfwconfig/devices/heaterSwitcherList.h

@@ -0,0 +1,13 @@
+#ifndef FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
+#define FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_
+
+namespace heaterSwitches {
+	enum switcherList {
+		PAYLOAD_CAMERA,
+		NUMBER_OF_SWITCHES
+	};
+}
+
+
+
+#endif /* FSFWCONFIG_DEVICES_HEATERSWITCHERLIST_H_ */

fsfwconfig/devices/powerSwitcherList.cpp

@@ -1,4 +0,0 @@
-#include <fsfwconfig/devices/powerSwitcherList.h>
-
-
-

fsfwconfig/events/subsystemIdRanges.h

@@ -18,7 +18,8 @@ enum: uint8_t {
 	PUS_SERVICE_8,
 	PUS_SERVICE_23,
 	MGM_LIS3MDL,
-	MGM_RM3100
+	MGM_RM3100,
+	PCDU_HANDLER
 };
 }
 

fsfwconfig/objects/systemObjectList.h

@@ -2,10 +2,15 @@
 #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 
 #include <cstdint>
+#include <fsfw/objectmanager/frameworkObjects.h>
 
 // The objects will be instantiated in the ID order
 namespace objects {
 	enum sourceObjects: uint32_t {
+	    /* 0x53 reserved for FSFW */
+	    FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION,
+	    FW_ADDRESS_END = TIME_STAMPER,
+
 		/* First Byte 0x50-0x52 reserved for PUS Services **/
 		CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
 		PUS_PACKET_DISTRIBUTOR = 0x50000200,
@@ -21,19 +26,13 @@ namespace objects {
 
 		TM_FUNNEL = 0x52000002,
 
-		/* Test Task */
-		TEST_TASK = 0x42694269,
-		DUMMY_INTERFACE = 0xCAFECAFE,
-		DUMMY_HANDLER = 0x4400AFFE,
-		P60DOCK_TEST_TASK = 0x00005060,
-
 		/* 0x49 ('I') for Communication Interfaces **/
 		ARDUINO_COM_IF = 0x49000001,
 		CSP_COM_IF = 0x49000002,
 		I2C_COM_IF = 0x49000003,
 
 		/* 0x47 ('G') for Gpio Interfaces */
-		GPIO_IF = 0x470000001,
+		GPIO_IF = 0x47000001,
 
 		/* 0x44 ('D') for device handlers */
 		P60DOCK_HANDLER = 0x44000001,
@@ -43,8 +42,18 @@ namespace objects {
 		TMP1075_HANDLER_1 = 0x44000005,
 		TMP1075_HANDLER_2 = 0x44000006,
 
+		/* Custom device handler */
+		PCDU_HANDLER = 0x45000001,
+
 		/* 0x54 ('T') for thermal objects */
-		HEATER_HANDLER = 0x54000001
+		HEATER_HANDLER = 0x54000001,
+
+		/* 0x54 ('T') for test handlers */
+        TEST_TASK = 0x54694269,
+        SPI_TEST = 0x54000010,
+        DUMMY_INTERFACE = 0x5400CAFE,
+        DUMMY_HANDLER = 0x5400AFFE,
+        P60DOCK_TEST_TASK = 0x00005060
 	};
 }
 

fsfwconfig/pollingsequence/PollingSequenceFactory.cpp

@@ -10,26 +10,24 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
 	/* Length of a communication cycle */
 	uint32_t length = thisSequence->getPeriodMs();
 
-    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
-                length * 0,  DeviceHandlerIF::PERFORM_OPERATION);
+            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::TMP1075_HANDLER_2,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
-                length * 0,  DeviceHandlerIF::PERFORM_OPERATION);
+            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
+    thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-                length * 0.2,  DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::TMP1075_HANDLER_2,
+
-                length * 0.2,  DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-                length * 0.4, DeviceHandlerIF::GET_WRITE);
+
-    thisSequence->addSlot(objects::TMP1075_HANDLER_2,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
-                length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
+
-                length * 0.6,  DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::TMP1075_HANDLER_2,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
-                length * 0.6,  DeviceHandlerIF::SEND_READ);
+
-    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
-            length * 0.8, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::TMP1075_HANDLER_2,
-            length * 0.8, DeviceHandlerIF::GET_READ);
 
 	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
 		return HasReturnvaluesIF::RETURN_OK;

fsfwconfig/returnvalues/classIds.h

@@ -13,7 +13,8 @@ enum {
 	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
 	MGM_LIS3MDL,
 	MGM_RM3100,
-	LINUX_LIBGPIO_IF
+	LINUX_LIBGPIO_IF,
+	PCDU_HANDLER
 };
 }
 

misc/eclipse/.cproject

@@ -795,69 +795,51 @@
 		</cconfiguration>
 	</storageModule>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
+		<project id="eive_obsw.null.1062489770" name="eive_obsw"/>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
 	<storageModule moduleId="refreshScope" versionNumber="2">
-		<configuration configurationName="eive-linux-host-debug"/>
+		<configuration configurationName="eive-linux-host-debug">
-		<configuration configurationName="eive-q7s-release-win">
 			<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
 		</configuration>
-		<configuration configurationName="eive-mingw-release"/>
-		<configuration configurationName="eive-rpi-release-win"/>
-		<configuration configurationName="eive-linux-host-release"/>
 		<configuration configurationName="eive-mingw-debug">
 			<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
 		</configuration>
 		<configuration configurationName="Default">
 			<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
 		</configuration>
-		<configuration configurationName="eive-rpi-debug-win"/>
-		<configuration configurationName="eive-q7s-debug-win"/>
-		<configuration configurationName="eive-rpi-debug"/>
 	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
 	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">
 		<doc-comment-owner id="org.eclipse.cdt.ui.doxygen">
 			<path value=""/>
 		</doc-comment-owner>
 	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
+		<buildTargets>
+			<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j16</buildArguments>
+				<buildTarget>clean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="hardclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j16</buildArguments>
+				<buildTarget>hardclean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+		</buildTargets>
+	</storageModule>
 	<storageModule moduleId="scannerConfiguration">
 		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988;cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797">
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.2047596104;cdt.managedbuild.toolchain.gnu.base.2047596104.1629235648;cdt.managedbuild.tool.gnu.c.compiler.base.1751527394;cdt.managedbuild.tool.gnu.c.compiler.input.72239787">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.2065184927;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.920837857">
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.2047596104;cdt.managedbuild.toolchain.gnu.base.2047596104.1629235648;cdt.managedbuild.tool.gnu.cpp.compiler.base.1852610587;cdt.managedbuild.tool.gnu.cpp.compiler.input.1985567520">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075.;cdt.managedbuild.tool.gnu.c.compiler.base.623389075;cdt.managedbuild.tool.gnu.c.compiler.input.1382191457">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1535302916;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.96000231">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.473677411;cdt.managedbuild.tool.gnu.c.compiler.input.2060052812">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1595165802;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.539225324;cdt.managedbuild.tool.gnu.cpp.compiler.input.1848997248">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.;cdt.managedbuild.tool.gnu.cpp.compiler.base.1405808772;cdt.managedbuild.tool.gnu.cpp.compiler.input.1960112549">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.628631287;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.216437361">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075.;cdt.managedbuild.tool.gnu.cpp.compiler.base.1522927967;cdt.managedbuild.tool.gnu.cpp.compiler.input.305765911">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.;cdt.managedbuild.tool.gnu.c.compiler.base.1946711528;cdt.managedbuild.tool.gnu.c.compiler.input.584209663">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006;cdt.managedbuild.tool.gnu.c.compiler.input.1482659499">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
 	</storageModule>

mission/devices/ACUHandler.cpp

@@ -0,0 +1,14 @@
+#include "ACUHandler.h"
+
+ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
+        uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress, uint16 hkTableSize) :
+        GomspaceDeviceHandler(objectId, comIF, comCookie, maxConfigTableAddress, maxHkTableAddress,
+                hkTableSize) {
+}
+
+ACUHandler::~ACUHandler() {
+}
+
+void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
+
+}

mission/devices/ACUHandler.h

@@ -0,0 +1,24 @@
+#ifndef MISSION_DEVICES_ACUHANDLER_H_
+#define MISSION_DEVICES_ACUHANDLER_H_
+
+#include "GomspaceDeviceHandler.h"
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+
+/**
+ * @brief   Handler for the ACU of Gomspace. Monitors and controls the battery charging via
+ *          the solar pannels.
+ */
+class ACUHandler: public GomspaceDeviceHandler {
+public:
+    ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
+            uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress, uint16_t hkTableSize);
+    virtual ~ACUHandler();
+protected:
+
+    virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+
+private:
+
+};
+
+#endif /* MISSION_DEVICES_ACUHANDLER_H_ */

mission/devices/CMakeLists.txt

@@ -5,6 +5,12 @@ target_sources(${TARGET_NAME} PUBLIC
 	MGMHandlerRM3100.cpp
 	GomspaceDeviceHandler.cpp
 	Tmp1075Handler.cpp
+	PCDUHandler.cpp
+	P60DockHandler.cpp
+	PDU1Handler.cpp
+	PDU2Handler.cpp
+	ACUHandler.cpp
+	HeaterHandler.cpp
 )
 
 

mission/devices/GPSHandler.cpp

@@ -44,7 +44,7 @@ uint32_t GPSHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
 }
 
 ReturnValue_t GPSHandler::initializeLocalDataPool(
-		LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

mission/devices/GPSHandler.h

@@ -29,7 +29,7 @@ protected:
 	void fillCommandAndReplyMap() override;
 	void modeChanged() override;
 	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-	ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
 
 private:

mission/devices/GomspaceDeviceHandler.cpp

@@ -2,14 +2,14 @@
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
 GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
-		CookieIF * comCookie, uint16_t maxConfigTableAddress,
+        CookieIF * comCookie, uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
-		uint16_t maxHkTableAddress) :
+        uint16_t hkTableSize) :
-		DeviceHandlerBase(objectId, comIF, comCookie), maxConfigTableAddress(
+        DeviceHandlerBase(objectId, comIF, comCookie), maxConfigTableAddress(maxConfigTableAddress), maxHkTableAddress(
-				maxConfigTableAddress), maxHkTableAddress(maxHkTableAddress) {
+                maxHkTableAddress), hkTableSize(hkTableSize) {
-	mode = MODE_NORMAL;
+    mode = MODE_NORMAL;
-	if (comCookie == NULL) {
+    if (comCookie == NULL) {
-		sif::error << "GomspaceDeviceHandler invalid com cookie" << std::endl;
+        sif::error << "GomspaceDeviceHandler invalid com cookie" << std::endl;
-	}
+    }
 }
 
 GomspaceDeviceHandler::~GomspaceDeviceHandler() {
@@ -38,38 +38,41 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
 		size_t commandDataLen) {
 	ReturnValue_t result;
 	switch(deviceCommand) {
-	case(PING): {
+	case(GOMSPACE::PING): {
 		result = generatePingCommand(commandData, commandDataLen);
 		if(result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		break;
 	}
-	case(REBOOT): {
+	case(GOMSPACE::REBOOT): {
 		generateRebootCommand();
 		break;
 	}
-	case(PARAM_SET):{
+	case(GOMSPACE::PARAM_SET):{
 		result = generateSetParamCommand(commandData, commandDataLen);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		break;
 	}
-	case(PARAM_GET):{
+	case(GOMSPACE::PARAM_GET):{
 		result = generateGetParamCommand(commandData, commandDataLen);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		break;
 	}
-	case(GNDWDT_RESET): {
+	case(GOMSPACE::GNDWDT_RESET): {
 		result = generateResetWatchdogCmd();
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		break;
 	}
+	case(GOMSPACE::REQUEST_HK_TABLE): {
+	    generateRequestFullHkTableCmd(hkTableSize);
+	}
 	default:
 		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
 	}
@@ -77,31 +80,38 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
 }
 
 void GomspaceDeviceHandler::fillCommandAndReplyMap(){
-	this->insertInCommandAndReplyMap(PING, 3);
+	this->insertInCommandAndReplyMap(GOMSPACE::PING, 3);
-	this->insertInCommandMap(REBOOT);
+	this->insertInCommandMap(GOMSPACE::REBOOT);
-	this->insertInCommandAndReplyMap(PARAM_SET, 3);
+	this->insertInCommandAndReplyMap(GOMSPACE::PARAM_SET, 3);
-	this->insertInCommandAndReplyMap(PARAM_GET, 3);
+	this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
-	this->insertInCommandMap(GNDWDT_RESET);
+	this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
+	this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
 }
 
 ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,
         size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
 	switch(rememberCommandId) {
-	case(PING):
+	case(GOMSPACE::PING):
-			*foundId = PING;
+			*foundId = GOMSPACE::PING;
 			*foundLen = PING_REPLY_SIZE;
-			rememberCommandId = NONE;
+			rememberCommandId = GOMSPACE::NONE;
 		break;
-	case(PARAM_GET): {
+	case(GOMSPACE::PARAM_GET): {
-			*foundId = PARAM_GET;
+			*foundId = GOMSPACE::PARAM_GET;
-			*foundLen = rememberRequestedSize + CspGetParamReply::GS_HDR_LENGTH;
+			*foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
-			rememberCommandId = NONE;
+			rememberCommandId = GOMSPACE::NONE;
 		break;
 	}
-	case(PARAM_SET): {
+	case(GOMSPACE::PARAM_SET): {
-			*foundId = PARAM_SET;
+			*foundId = GOMSPACE::PARAM_SET;
 			*foundLen = rememberRequestedSize;
-			rememberCommandId = NONE;
+			rememberCommandId = GOMSPACE::NONE;
+		break;
+	}
+	case(GOMSPACE::REQUEST_HK_TABLE): {
+			*foundId = GOMSPACE::REQUEST_HK_TABLE;
+			*foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
+			rememberCommandId = GOMSPACE::NONE;
 		break;
 	}
 	default:
@@ -113,12 +123,12 @@ ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,
 ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
         const uint8_t *packet) {
 	switch(id) {
-	case(PING): {
+	case(GOMSPACE::PING): {
 		SerializeElement<uint32_t> replyTime = *packet;
 		handleDeviceTM(&replyTime, id, true);
 		break;
 	}
-	case(PARAM_GET): {
+	case(GOMSPACE::PARAM_GET): {
 		// -2 to subtract address size from gomspace parameter reply packet
 		uint16_t payloadLength = (*(packet + 2) << 8 | *(packet + 3)) - 2;
 		if(payloadLength > sizeof(uint32_t)){
@@ -129,7 +139,7 @@ ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 		uint8_t tempPayloadBuffer[payloadLength];
 		/* Extract information from received data */
 		CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength);
-		size_t size = CspGetParamReply::GS_HDR_LENGTH + payloadLength;
+		size_t size = GOMSPACE::GS_HDR_LENGTH + payloadLength;
 		ReturnValue_t result = cspGetParamReply.deSerialize(&packet, &size,
 				SerializeIF::Endianness::BIG);
 		if(result != HasReturnvaluesIF::RETURN_OK){
@@ -146,7 +156,7 @@ ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 		handleDeviceTM(&paramReply, id, true);
 		break;
 	}
-	case(PARAM_SET): {
+	case(GOMSPACE::PARAM_SET): {
 		/* When setting a parameter, the p60dock sends back the state of the
 		 * operation */
 		if(*packet != PARAM_SET_OK){
@@ -154,6 +164,10 @@ ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 		}
 		break;
 	}
+	case(GOMSPACE::REQUEST_HK_TABLE): {
+		letChildHandleHkReply(id, packet);
+		break;
+	}
 	default:
 		break;
 	}
@@ -211,7 +225,7 @@ ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(
 	rawPacket = cspPacket;
 	rawPacketLen = cspPacketLen;
 	rememberRequestedSize = querySize;
-	rememberCommandId = PARAM_SET;
+	rememberCommandId = GOMSPACE::PARAM_SET;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -256,7 +270,7 @@ ReturnValue_t GomspaceDeviceHandler::generateGetParamCommand(
 				<< "size" << std::endl;
 		return INVALID_PARAM_SIZE;
 	}
-	uint16_t querySize = parameterSize + CspGetParamCommand::GS_HDR_LENGTH;
+	uint16_t querySize = parameterSize + GOMSPACE::GS_HDR_LENGTH;
 
 	/* Generate the CSP command to send to the P60 Dock */
 	CspGetParamCommand getParamCmd(querySize, tableId, length,
@@ -277,7 +291,7 @@ ReturnValue_t GomspaceDeviceHandler::generateGetParamCommand(
 	rawPacket = cspPacket;
 	rawPacketLen = cspPacketLen;
 	rememberRequestedSize = querySize;
-	rememberCommandId = PARAM_GET;
+	rememberCommandId = GOMSPACE::PARAM_GET;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -301,7 +315,7 @@ ReturnValue_t GomspaceDeviceHandler::generatePingCommand(
 	}
 	rawPacket = cspPacket;
 	rawPacketLen = cspPacketLen;
-	rememberCommandId = PING;
+	rememberCommandId = GOMSPACE::PING;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -330,10 +344,32 @@ ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd(){
 	rawPacketLen = cspPacketLen;
 	rememberRequestedSize = 0; // No bytes will be queried with the ground
 							   // watchdog command.
-	rememberCommandId = GNDWDT_RESET;
+	rememberCommandId = GOMSPACE::GNDWDT_RESET;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t GomspaceDeviceHandler::generateRequestFullHkTableCmd(uint16_t hkTableSize) {
+
+    uint16_t querySize = hkTableSize + GOMSPACE::GS_HDR_LENGTH;
+    uint8_t tableId = HK_TABLE_ID;
+    RequestFullTableCommand requestFullTableCommand(querySize, tableId);
+
+    size_t cspPacketLen = 0;
+    uint8_t* buffer = cspPacket;
+    ReturnValue_t result = requestFullTableCommand.serialize(&buffer,
+            &cspPacketLen, sizeof(cspPacket), SerializeIF::Endianness::BIG);
+    if(result != HasReturnvaluesIF::RETURN_OK){
+        sif::error << "GomspaceDeviceHandler::generateRequestFullHkTableCmd Failed to serialize "
+                "full table request command " << std::endl;
+        return result;
+    }
+    rawPacket = cspPacket;
+    rawPacketLen = cspPacketLen;
+    rememberRequestedSize = querySize;
+    rememberCommandId = GOMSPACE::REQUEST_HK_TABLE;
+    return RETURN_OK;
+}
+
 uint32_t GomspaceDeviceHandler::getTransitionDelayMs(Mode_t modeFrom,
 		Mode_t modeTo) {
 	return 0;

mission/devices/GomspaceDeviceHandler.h

@@ -2,6 +2,7 @@
 #define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 
 /**
  * @brief	This is the device handler class for all gomspace devices.
@@ -19,6 +20,7 @@ public:
 	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0xE2);
 	static const ReturnValue_t INVALID_PARAM_SIZE = MAKE_RETURN_CODE(0xE3);
 	static const ReturnValue_t INVALID_PAYLOAD_SIZE = MAKE_RETURN_CODE(0xE4);
+	static const ReturnValue_t UNKNOWN_REPLY_ID = MAKE_RETURN_CODE(0xE5);
 
 	/**
 	 * @brief	Constructor
@@ -30,11 +32,28 @@ public:
 	 * 							device.
 	 */
 	GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
-			CookieIF * comCookie, uint16_t maxConfigTableAddress,
+	        CookieIF * comCookie, uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
-			uint16_t maxHkTableAddress);
+	        uint16_t hkTableSize);
 	virtual ~GomspaceDeviceHandler();
 
 protected:
+
+	static const uint8_t MAX_PACKET_LEN = 36;
+	static const uint8_t PARAM_SET_OK = 1;
+	static const uint8_t PING_REPLY_SIZE = 2;
+	static const uint8_t CONFIG_TABLE_ID = 1;
+	static const uint8_t HK_TABLE_ID = 4;
+
+	uint8_t rememberRequestedSize = 0;
+	uint8_t rememberCommandId = GOMSPACE::NONE;
+	uint8_t cspPacket[MAX_PACKET_LEN];
+
+	uint16_t maxConfigTableAddress;
+	uint16_t maxHkTableAddress;
+
+	/** The size of the housekeeping table (table id 4) */
+	uint16_t hkTableSize;
+
 	void doStartUp() override;
 	void doShutDown() override;
 	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id)
@@ -49,29 +68,22 @@ protected:
 			const uint8_t *packet) override;
 	void setNormalDatapoolEntriesInvalid() override;
 	uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+	/**
+	 * @brief   The command to generate a request to receive the full housekeeping table is device
+	 *          specific. Thus the child has to build this command.
+	 */
+	virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize);
+
+	/**
+	 * @brief	Because housekeeping tables are device specific the handling of the reply is
+	 * 			given to the child class.
+	 * @param id	The id of the command which initiates the full table request.
+	 * @param packet	Pointer to the reply containing the hk table.
+	 */
+	virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
 
 private:
 
-	static const uint8_t MAX_PACKET_LEN = 36;
-	static const uint8_t PARAM_SET_OK = 1;
-	static const uint8_t PING_REPLY_SIZE = 2;
-	static const uint8_t CONFIG_TABLE_ID = 1;
-	static const uint8_t HK_TABLE_ID = 4;
-	/* Device commands are derived from the rparam.h of the gomspace lib */
-	static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND]
-	static const DeviceCommandId_t NONE = 0x2; // Set when no command is pending
-	static const DeviceCommandId_t REBOOT = 0x4; //!< [EXPORT] : [COMMAND]
-	static const DeviceCommandId_t GNDWDT_RESET = 0x9; //!< [EXPORT] : [COMMAND]
-	static const DeviceCommandId_t PARAM_GET = 0x00; //!< [EXPORT] : [COMMAND]
-	static const DeviceCommandId_t PARAM_SET = 0xFF; //!< [EXPORT] : [COMMAND]
-
-	uint8_t rememberRequestedSize = 0;
-	uint8_t rememberCommandId = NONE;
-	uint8_t cspPacket[MAX_PACKET_LEN];
-
-	uint16_t maxConfigTableAddress;
-	uint16_t maxHkTableAddress;
-
 	/**
 	 * @brief	Function to generate the command to set a parameter. Command
 	 * 			will be sent to the ComIF over the rawPacket buffer.

mission/devices/GyroL3GD20Handler.cpp

@@ -1,4 +1,5 @@
 #include <mission/devices/GyroL3GD20Handler.h>
+#include <fsfw/datapool/PoolReadHelper.h>
 
 GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
 		CookieIF *comCookie):
@@ -171,14 +172,13 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
 		int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
 		float temperature = 25.0 + temperaturOffset;
 
-		result = dataset.read();
+		PoolReadHelper readSet(&dataset);
-		if(result == HasReturnvaluesIF::RETURN_OK) {
+		if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 			dataset.angVelocX = angVelocX;
 			dataset.angVelocY = angVelocY;
 			dataset.angVelocZ = angVelocZ;
 			dataset.temperature = temperature;
 			dataset.setValidity(true, true);
-			result = dataset.commit();
 		}
 		break;
 	}
@@ -194,7 +194,7 @@ uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
 }
 
 ReturnValue_t GyroHandler::initializeLocalDataPool(
-		LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
 	localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
 			new PoolEntry<float>({0.0}));
 	localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,

mission/devices/GyroL3GD20Handler.h

@@ -37,7 +37,7 @@ protected:
 	void fillCommandAndReplyMap() override;
 	void modeChanged() override;
 	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-	ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
 
 private:

mission/devices/HeaterHandler.cpp

@@ -1,121 +1,101 @@
 #include <mission/devices/HeaterHandler.h>
+#include <fsfwconfig/devices/powerSwitcherList.h>
 
-HeaterHandler::HeaterHandler(object_id_t setObjectId,
+HeaterHandler::HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId,
-object_id_t gpioDriverId, CookieIF * gpioCookie, object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch) :
+        CookieIF * gpioCookie, object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch) :
-SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
+        SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE), gpioDriverId(gpioDriver),
-gpioDriverId(gpioDriver), gpioCookie(gpioCookie), mainLineSwitcherObjectId(mainLineSwitcherObjectId), mainLineSwitch(mainLineSwitch),
+        gpioCookie(gpioCookie), mainLineSwitcherObjectId(mainLineSwitcherObjectId), mainLineSwitch(
-healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
+                mainLineSwitch), actionHelper(this, nullptr) {
-actionHelper(this, nullptr), hkManager(this, nullptr),
+    commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
-childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
+            MessageQueueMessage::MAX_MESSAGE_SIZE);
-hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-switchOffWasReported(false), childTransitionDelay(5000),
-transitionSourceMode(_MODE_POWER_DOWN),
-transitionSourceSubMode(SUBMODE_NONE) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
-				MessageQueueMessage::MAX_MESSAGE_SIZE);
-	powerSwitcher = objectManager->get<PowerSwitcherIF>(
-			mainLineSwitcherObjectId);
 }
 
 HeaterHandler::~HeaterHandler() {
 }
 
-ReturnValue_t performOperation(uint8_t operationCode) {
+ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
 
 	if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
 		readCommandQueue();
-		handlePendingCommand();
+		handleActiveCommands();
-		doStateMachine();
-
-		checkSwitchState();
-		decrementDeviceReplyMap();
-		fdirInstance->checkForFailures();
-		hkSwitcher.performOperation();
-		performOperationHook();
 		return RETURN_OK;
 	}
+
 }
 
-ReturnValue_t DeviceHandlerBase::initialize() {
+ReturnValue_t HeaterHandler::initialize() {
 	ReturnValue_t result = SystemObject::initialize();
 	if (result != RETURN_OK) {
-		return result;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	result = initializeHeaterMap();
+	if (result != RETURN_OK) {
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	gpioInterface = objectManager->get<GpioIF>(gpioDriverId);
 	if (gpioInterface == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "HeaterHandler::initialize: Invalid Gpio interface." << std::endl;
-		sif::error << "HeaterHandler::initialize: Invalid Gpio interface."
-				<< std::endl;
-#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	result = gpioInterface->initializeInterface(gpioCookie);
 	if (result != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "HeaterHandler::initialize: Failed to initialize Gpio interface" << std::endl;
-	    sif::error << "HeaterHandler::initialize: Failed to initialize Gpio "
+	    return ObjectManagerIF::CHILD_INIT_FAILED;
-	    		<< "interface"<< std::endl;
-#endif
-	    return result;
 	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	if (IPCStore == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+		sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl;
-		sif::error << "HeaterHandler::initialize: IPC store not set up in "
-				"factory." << std::endl;
-#endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
-	if(powerSwitcherId != objects::NO_OBJECT) {
+	if(mainLineSwitcherObjectId != objects::NO_OBJECT) {
-		powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+		mainLineSwitcher = objectManager->get<PowerSwitchIF>(mainLineSwitcherObjectId);
-		if (powerSwitcher == nullptr) {
+		if (mainLineSwitcher == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+			sif::error << "HeaterHandler::initialize: Main line switcher failed to fetch object"
-			sif::error << "HeaterHandler::initialize: Power switcher "
+					<< "from object ID." << std::endl;
-					<< "object ID set but no valid object found." << std::endl;
-#endif
 			return ObjectManagerIF::CHILD_INIT_FAILED;
 		}
 	}
 
-	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-	    return result;
-	}
-
-	result = modeHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
 	result = actionHelper.initialize(commandQueue);
 	if (result != RETURN_OK) {
-		return result;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
-	fillCommandAndReplyMap();
-
 	return RETURN_OK;
 }
 
-void DeviceHandlerBase::readCommandQueue() {
+ReturnValue_t HeaterHandler::initializeHeaterMap(){
-
+	heaterMapIter = heaterMap.begin();
-	if (dontCheckQueue()) {
+	HeaterCommandInfo_t heaterCommandInfo;
-		return;
+	for(int switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
+		std::pair status = heaterMap.emplace(switchNr, heaterCommandInfo);
+		if (status.second == false) {
+			sif::error << "HeaterHandler::initializeHeaterMap: Failed to initialize heater map"
+					<< std::endl;
+			return RETURN_FAILED;
+		}
 	}
+	return RETURN_OK;
+}
 
+void HeaterHandler::setInitialSwitchStates() {
+	for (int switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
+		switchStates[switchNr] = OFF;
+	}
+}
+
+void HeaterHandler::readCommandQueue() {
 	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != RETURN_OK) {
 		return;
 	}
 
-	result = modeHelper.handleModeCommand(&command);
-	if (result == RETURN_OK) {
-		return;
-	}
-
 	result = actionHelper.handleActionMessage(&command);
 	if (result == RETURN_OK) {
 		return;
@@ -124,56 +104,51 @@ void DeviceHandlerBase::readCommandQueue() {
 
 ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId,
 		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
-	ReturnValue_t result = acceptExternalDeviceCommands();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	heaterCommandMap::iterator iter = HeaterCommandMap.find(actionId);
+	if (actionId != SWITCH_ON && actionId != SWITCH_OFF) {
-	if (iter == heaterCommandMap.end()) {
 		result = COMMAND_NOT_SUPPORTED;
 	} else {
-		if (commandedBy == commandQueue){
+		heaterMapIter = heaterMap.find(*data);
-			heaterCommand(*(data), *(data + 1), NO_COMMANDER);
+		if (heaterMapIter != heaterMap.end()) {
-			commandPending = true;
+			heaterMapIter.second.action = *(data + 1);
+			heaterMapIter.second.active = true;
 		}
 		else {
-			heaterCommand(*(data), *(data + 1), commandedBy);
+			sif::error << "HeaterHandler::executeAction: Invalid switchNr" << std::endl;
-			commandPending = true;
+			return INVALID_SWITCH_NR;
 		}
 		result = RETURN_OK;
 	}
 	return result;
 }
 
-ReturnValue_t DeviceHandlerBase::acceptExternalDeviceCommands() {
-	if (mode != MODE_ON) {
-		return WRONG_MODE_FOR_COMMAND;
-	}
-	return RETURN_OK;
-}
 
 void HeaterHandler::sendSwitchCommand(uint8_t switchNr,
 		ReturnValue_t onOff) const {
 
 	ReturnValue_t result;
-	store_address_t address;
+	store_address_t storeAddress;
-	HeaterCommand_t command;
+	uint8_t commandData[2];
 
 	switch(onOff) {
 	case PowerSwitchIF::SWITCH_ON:
-		command(SWITCH_ON, switchNr);
+		commandData[0] = switchNr;
+		commandData[1] = SET_SWITCH_ON;
 	case PowerSwitchIF::SWITCH_OFF:
-		command(SWITCH_OFF, switchNr);
+		commandData[0] = switchNr;
+		commandData[1] = SET_SWITCH_OFF;
 	default:
 		sif::error << "HeaterHandler::sendSwitchCommand: Invalid switch request"
 				<< std::endl;
 	}
 
-	result = IPCStore->addData(&address, &command, sizeof(command));
+	result = IPCStore->addData(&storeAddress, commandData, sizeof(commandData));
 	if (result == RETURN_OK) {
 		CommandMessage message;
 		ActionMessage::setCommand(&message,
-				HeaterHandler::SWITCH_HEATER, address);
+				HeaterHandler::SWITCH_HEATER, storeAddress);
 		/* Send heater command to own command queue */
 		result = commandQueue->sendMessage(commandQueue, &message, 0);
 		if (result != RETURN_OK) {
@@ -183,32 +158,79 @@ void HeaterHandler::sendSwitchCommand(uint8_t switchNr,
 	}
 }
 
-void HeaterHandler::handlePendingCommand(){
+void HeaterHandler::handleActiveCommands(){
 	ReturnValue_t result;
 
-	if (!commandPending) {
+	heaterMapIter = heaterMap.begin();
-		return;
+	for (; heaterMapIter != mapToAdd.end(); heaterMapIter++) {
-	}
+		if (heaterMapIter.second.active) {
-	switch(heaterCommand.action) {
+			switch(heaterMapIter.second.action) {
-	case SET_SWITCH_ON:
+			case SET_SWITCH_ON:
-		result = gpioInterface->pullHigh(heaterCommand.heaterSwitchNr);
+			    int switchNr = heaterMapIter.first();
-		if (result != RETURN_OK) {
+				/* Check state of main line switch */
-			triggerEvent()
+				if (mainLineSwitcher->getSwitchState(pcduSwitches::TCS_BOARD_8V_HEATER_IN)
+						== SWITCH_ON) {
+				    if (!checkSwitchState(switchNr)) {
+				        gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
+                        result = gpioInterface->pullHigh(gpioId);
+                        if (result != RETURN_OK) {
+                            triggerEvent(GPIO_PULL_HIGH_FAILED, result);
+                        }
+				    }
+				    else {
+				        triggerEvent(SWITCH_ALREADY_ON, switchNr);
+				    }
+					/* There is no need to send action finish replies if the sender was the
+					 * HeaterHandler itself. */
+					if (heaterMapIter.second.replyQueue != commandQueue) {
+						actionHelper.finish(heaterMapIter.second.replyQueue,
+								heaterMapIter.second.action, result);
+					}
+					heaterMapIter.second.active = false;
+				}
+				else {
+					mainLineSwitcher->sendSwitchCommand(pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+				}
+				break;
+			case SET_SWITCH_OFF:
+			    int switchNr = heaterMapIter.first();
+			    if (checkSwitchState(switchNr)) {
+			        gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
+                    result = gpioInterface->pullLow(gpioId);
+                    triggerEvent(GPIO_PULL_LOW_FAILED, result);
+			    }
+			    else {
+			        triggerEvent(SWITCH_ALREADY_OFF, switchNr);
+			    }
+			    if (heaterCommand.replyQueue != NO_COMMANDER) {
+                    actionHelper.finish(heaterMapIter.second.replyQueue,
+                            heaterMapIter.second.action, result);
+                }
+				break;
+			default:
+                sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
+                        << std::endl;
+                break;
+			}
 		}
-		if (heaterCommand.replyQueue != NO_COMMANDER) {
-			actionHelper.finish(heaterCommand.replyQueue, heaterCommand.action,
-					result);
-		}
-		commandPending = false;
-		break;
-	case SET_SWITCH_OFF:
-		result = gpioInterface->pullLow(heaterCommand.heaterSwitchNr);
-		if (heaterCommand.replyQueue != NO_COMMANDER) {
-			actionHelper.finish(heaterCommand.replyQueue, heaterCommand.action,
-					result);
-		}
-		commandPending = false;
-		break;
 	}
 }
 
+bool HeaterHandler::checkSwitchState(int switchNr) {
+    return switchStates[switchNr];
+}
+
+gpioId_t HeaterHandler::getGpioIdFromSwitchNr(switchNr) {
+    gpioId_t gpioId = 0xFFFF;
+    switch(switchNr) {
+    case heaterSwitches::PAYLOAD_CAMERA:
+        gpioId = gpioIds::HEATER_0;
+        break;
+    default:
+        sif::error << "HeaterHandler::getGpioIdFromSwitchNr: Unknown heater switch number"
+                << std::endl;
+        break;
+    }
+    return gpioId;
+}
+

mission/devices/HeaterHandler.h

@@ -7,6 +7,7 @@
 #include <fsfw/action/HasActionsIF.h>
 #include <fsfw/modes/HasModesIF.h>
 #include <fsfw/power/PowerSwitchIF.h>
+#include <fsfwconfig/devices/heaterSwitcherList.h>
 
 /**
  * @brief	This class intends the control of heaters.
@@ -21,15 +22,14 @@ class HeaterHandler: public ExecutableObjectIF,
 		public HasReturnvaluesIF {
 public:
 
-	/** Command not in heaterCommandMap */
-	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
-	/** Heater mode is MODE_OFF */
-	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
-
-
 	/** Device command IDs */
 	static const DeviceCommandId_t SWITCH_HEATER;
 
+    HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF * gpioCookie,
+            object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch);
+
+    virtual ~HeaterHandler();
+
 	virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
 
 	void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
@@ -47,67 +47,82 @@ public:
 
 private:
 
-	static const MessageQueueId_t NO_COMMANDER = 0;
+	static const uint8_t INTERFACE_ID = CLASS_ID::PCDU_HANDLER;
+
+	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
+	static const ReturnValue_t INIT_FAILED = MAKE_RETURN_CODE(0xA2);
+	static const ReturnValue_t INVALID_SWITCH_NR = MAKE_RETURN_CODE(0xA3);
+
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
+	static const Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
+	static const Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
+	static const Event SWITCH_ALREADY_ON = MAKE_EVENT(2, severity::LOW);
+	static const Event SWITCH_ALREADY_OFF = MAKE_EVENT(3, severity::LOW);
 
 	ReturnValue_t buildCommandFromCommand(
 			DeviceCommandId_t deviceCommand, const uint8_t *commandData,
 			size_t commandDataLen);
-	ReturnValue_t acceptExternalDeviceCommands();
+	/**
+	 * @brief   Returns the state of a switch (ON - true, or OFF - false).
+	 * @param switchNr  The number of the switch to check.
+	 */
+	bool checkSwitchState(int switchNr);
+
+	/**
+	 * @brief   Returns the ID of the GPIO related to a heater identified by the switch number
+	 *          which is defined in the heaterSwitches list.
+	 */
+	gpioId_t getGpioIdFromSwitchNr(switchNr);
 
 	/**
 	 * @brief	This function runs commands waiting for execution.
 	 */
-	void handlePendingCommand();
+	void handleActiveCommands();
+
+	ReturnValue_t initializeHeaterMap();
+
+	/**
+	 * @brief	Sets all switches to OFF.
+	 */
+	void setInitialSwitchStates();
+
+	enum SwitchState : bool {
+		ON = true,
+		OFF = false
+	  };
+
 
 	/**
 	 * @brief	Struct holding information about a heater command to execute.
 	 *
 	 * @param action	The action to perform.
-	 * @param heaterSwitchNr	The number of a switch which correlates with the
-	 * 							GPIO to drive.
 	 * @param replyQueue	The queue of the commander to which status replies
 	 * 						will be sent.
+	 * @param active	True if command is waiting for execution, otherwise false.
 	 */
-	typedef struct HeaterCommand {
+	typedef struct HeaterCommandInfo {
-		HeaterCommand(uint8_t action_, uint8_t heaterSwitchNr,
-				MessageQueueId_t replyQueue_) {
-			action = action_;
-			heaterSwitchNr = heaterSwitchNr_;
-			replyQueue = replyQueue_;
-		}
 		uint8_t action;
-		uint8_t heaterSwitchNr;
 		MessageQueueId_t replyQueue;
-	} HeaterCommand_t;
+		bool active = false;
-
+	} HeaterCommandInfo_t;
 
 	enum SwitchAction {
 		SET_SWITCH_ON,
 		SET_SWITCH_OFF
 	};
 
-	/** This HeaterCommand instance holds the next heater command to execute */
+	using switchNr_t = int;
-	HeaterCommand_t heaterCommand;
+	using HeaterMap = std::unordered_map<switchNr_t, HeaterCommandInfo_t>;
+	using HeaterMapIter = HeaterMap::iterator;
 
-	/**
+	HeateerMap heaterMap;
-	 * This variable is set when the command stored in heaterCommand shall be
+	HeaterMapIter heaterMapIter;
-	 * executed.
+
-	 */
+	bool switchStates[heaterSwitches::NUMBER_OF_SWITCHES];
-	bool commandPending;
 
 	/** Size of command queue */
 	size_t cmdQueueSize = 20;
 
-	/**
-	 * Current mode of the HeaterHandler. Should only be changed with setMode().
-	 */
-	Mode_t mode;
-	/**
-	 * Current submode of the HeaterHandler. Should only be change with
-	 * setMode().
-	 */
-	Submode_t submode;
-
 	/**
 	 * The object ID of the GPIO driver which enables and disables the
 	 * heaters.
@@ -119,14 +134,20 @@ private:
 	/** Queue to receive messages from other objects. */
 	MessageQueueIF* commandQueue = nullptr;
 
+	object_id_t mainLineSwitcherObjectId;
+
+	/** Switch number of the heater power supply switch */
+	uint8_t mainLineSwitch;
+
 	/**
 	 * Power switcher object which controls the 8V main line of the heater
 	 * logic on the TCS board.
 	 */
-	PowerSwitchIF *powerSwitcher;
+	PowerSwitchIF *mainLineSwitcher = nullptr;
 
-	HeaterHandler();
+    ActionHelper actionHelper;
-	virtual ~HeaterHandler();
+
+    StorageManagerIF *IPCStore = nullptr;
 };
 
 #endif /* MISSION_DEVICES_HEATERHANDLER_H_ */

mission/devices/MGMHandlerLIS3MDL.cpp

@@ -423,7 +423,7 @@ void MGMHandlerLIS3MDL::modeChanged(void) {
 }
 
 ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
-		LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
 	localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
 			new PoolEntry<float>({0.0}));
 	localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,

mission/devices/MGMHandlerLIS3MDL.h

@@ -52,7 +52,7 @@ protected:
 			const uint8_t *packet) override;
 	void fillCommandAndReplyMap() override;
 	void modeChanged(void) override;
-	ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
 
 private:

mission/devices/MGMHandlerRM3100.cpp

@@ -304,7 +304,7 @@ void MGMHandlerRM3100::modeChanged(void) {
 }
 
 ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
-		LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
 	localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X,
 			new PoolEntry<float>({0.0}));
 	localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y,

mission/devices/MGMHandlerRM3100.h

@@ -55,7 +55,7 @@ protected:
 	void fillCommandAndReplyMap() override;
 	void modeChanged(void) override;
 	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-	ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
 
 private:

mission/devices/P60DockHandler.cpp

@@ -0,0 +1,14 @@
+#include "P60DockHandler.h"
+
+P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
+        uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress, uint16_t hkTableSize) :
+        GomspaceDeviceHandler(objectId, comIF, comCookie, maxConfigTableAddress, maxHkTableAddress,
+                hkTableSize) {
+}
+
+P60DockHandler::~P60DockHandler() {
+}
+
+void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
+
+}

mission/devices/P60DockHandler.h

@@ -0,0 +1,21 @@
+#ifndef MISSION_DEVICES_P60DOCKHANDLER_H_
+#define MISSION_DEVICES_P60DOCKHANDLER_H_
+
+#include "GomspaceDeviceHandler.h"
+
+
+/**
+ * @brief   Device handler for the P60Dock. The P60Dock serves as carrier for the ACU, PDU1 and
+ *          PDU2. Via the P60Dock each of these modules can be turned on and off individually.
+ */
+class P60DockHandler: public GomspaceDeviceHandler {
+public:
+    P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
+            uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress, uint16_t hkTableSize);
+    virtual ~P60DockHandler();
+
+protected:
+    virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+};
+
+#endif /* MISSION_DEVICES_P60DOCKHANDLER_H_ */

mission/devices/PCDUHandler.cpp

@@ -1,18 +1,289 @@
-/*
- * PCDUHandler.cpp
- *
- *  Created on: 21.01.2021
- *      Author: jakob
- */
-
 #include "PCDUHandler.h"
+#include <fsfwconfig/objects/systemObjectList.h>
+#include <mission/devices/devicedefinitions/GomSpacePackets.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfwconfig/devices/powerSwitcherList.h>
+#include <fsfw/housekeeping/HousekeepingPacketUpdate.h>
 
-PCDUHandler::PCDUHandler() {
+PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) :
-	// TODO Auto-generated constructor stub
+        SystemObject(setObjectId), poolManager(this, nullptr), pdu2HkTableDataset(this), cmdQueueSize(
+                cmdQueueSize) {
 
+    commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
+            MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
 PCDUHandler::~PCDUHandler() {
-	// TODO Auto-generated destructor stub
 }
 
+ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
+
+    if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
+        readCommandQueue();
+        return RETURN_OK;
+    }
+
+    return RETURN_OK;
+}
+
+ReturnValue_t PCDUHandler::initialize() {
+
+    ReturnValue_t result;
+
+    IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    if (IPCStore == nullptr) {
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+
+    result = poolManager.initialize(commandQueue);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    HasLocalDataPoolIF* pdu2Handler = objectManager->get<HasLocalDataPoolIF>(objects::PDU2_HANDLER);
+    if(pdu2Handler == nullptr) {
+        sif::warning << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl;
+        return RETURN_FAILED;
+    }
+    result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages(
+            PDU2::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
+    if (result != RETURN_OK) {
+        sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
+                << "PDU2Handler" << std::endl;
+    }
+
+    return RETURN_OK;
+}
+
+void PCDUHandler::readCommandQueue() {
+    ReturnValue_t result;
+    CommandMessage command;
+    result = poolManager.handleHousekeepingMessage(&command);
+    if (result == RETURN_OK) {
+        return;
+    }
+}
+
+MessageQueueId_t PCDUHandler::getCommandQueue() const {
+    return commandQueue->getId();
+}
+
+void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId) {
+
+    ReturnValue_t result;
+
+    if (sid == sid_t(objects::PCDU_HANDLER, PDU2::HK_TABLE_DATA_SET_ID)) {
+        HousekeepingPacketUpdate packetUpdate(reinterpret_cast<uint8_t*>(&timeStamp),
+                sizeof(timeStamp), &pdu2HkTableDataset);
+        const uint8_t** packet_ptr;
+        size_t size;
+        result = IPCStore->getData(storeId, packet_ptr, &size);
+        if (result != RETURN_OK) {
+            sif::error << "PCDUHandler::handleChangedDataset: Failed to get data from IPCStore."
+                    << std::endl;
+            //TODO: Is it necessary to trigger an Event here?
+            result = IPCStore->deleteData(storeId);
+            if (result != RETURN_OK) {
+                sif::error << "PCDUHandler::handleChangedDataset: Failed to delete data in IPCStore"
+                        << std::endl;
+            }
+        }
+        result = packetUpdate.deSerialize(packet_ptr, &size, SerializeIF::Endianness::BIG);
+        if (result != RETURN_OK) {
+            sif::error << "PCDUHandler::handleChangedDataset: Failed to deserialize packet in "
+                    << "pdu2HkTableDataset" << std::endl;
+        }
+    }
+    else {
+        sif::error << "PCDUHandler::handleChangedDataset: Invalid sid" << std::endl;
+    }
+}
+
+LocalDataPoolManager* PCDUHandler::getHkManagerHandle() {
+    return &poolManager;
+}
+
+void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const {
+
+    ReturnValue_t result;
+    uint16_t memoryAddress;
+    size_t parameterValueSize = sizeof(uint8_t);
+    uint8_t parameterValue;
+    GomspaceDeviceHandler* pdu;
+
+    switch (switchNr) {
+    case pcduSwitches::TCS_BOARD_8V_HEATER_IN:
+        memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN;
+        pdu = objectManager->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+        break;
+    default:
+        sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl;
+        return;
+    }
+
+    switch (onOff) {
+    case PowerSwitchIF::SWITCH_ON:
+        parameterValue = 1;
+        break;
+    case PowerSwitchIF::SWITCH_OFF:
+        parameterValue = 0;
+        break;
+    default:
+        sif::error << "PCDUHandler::sendSwitchCommand: Invalid state commanded" << std::endl;
+        return;
+    }
+
+    size_t serializedLength = 0;
+    uint8_t command[4];
+    uint8_t* commandPtr = command;
+    size_t maxSize = sizeof(command);
+    GomspaceSetParamMessage setParamMessage(memoryAddress, &parameterValue, parameterValueSize);
+    setParamMessage.serialize(&commandPtr, &serializedLength, maxSize,
+            SerializeIF::Endianness::BIG);
+
+    store_address_t storeAddress;
+    result = IPCStore->addData(&storeAddress, command,sizeof(command));
+
+    CommandMessage message;
+    ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress);
+
+    result = commandQueue->sendMessage(pdu->getCommandQueue(), &message, 0);
+    if (result != RETURN_OK) {
+        sif::debug << "PCDUHandler::sendSwitchCommand: Failed to send message to PDU Handler"
+                << std::endl;
+    }
+}
+
+void PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) const {
+
+}
+
+ReturnValue_t PCDUHandler::getSwitchState( uint8_t switchNr ) const  {
+	switch (switchNr) {
+	case pcduSwitches::TCS_BOARD_8V_HEATER_IN:
+		if (pdu2HkTableDataset.outEnabledTCSBoardHeaterIn == 1) {
+			return PowerSwitchIF::SWITCH_ON;
+		}
+		else {
+			return PowerSwitchIF::SWITCH_OFF;
+		}
+	default:
+		sif::error << "PCDUHandler::getSwitchState: Invalid switchNr" << std::endl;
+		return RETURN_FAILED;
+	}
+}
+
+ReturnValue_t PCDUHandler::getFuseState( uint8_t fuseNr ) const  {
+	return RETURN_OK;
+}
+
+uint32_t PCDUHandler::getSwitchDelayMs(void) const {
+    return 0;
+}
+
+object_id_t PCDUHandler::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+ReturnValue_t PCDUHandler::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_Q7S, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_RW, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_Q7S, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_RW, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_VCC, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VBAT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_TEMPERATURE, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CONV_EN, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_Q7S, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_SUS_REDUNDANT, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_ACS_BOARD_SIDE_B, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_PAYLOAD_CAMERA, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_BOOTCAUSE, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_BOOTCNT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_UPTIME, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_RESETCAUSE, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_BATT_MODE, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_0, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_1, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_2, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_3, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_4, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_5, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_6, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_7, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_0_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_1_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_2_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_3_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_4_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_5_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_6_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_7_STATUS, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_GND, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_I2C, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_CAN, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_CSP, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_GND_LEFT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_I2C_LEFT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CAN_LEFT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CSP_LEFT, new PoolEntry<uint32_t>( { 0 }));
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
+
+    if(executingTask != nullptr) {
+        pstIntervalMs = executingTask->getPeriodMs();
+    }
+    this->poolManager.initializeAfterTaskCreation();
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PCDUHandler::getPeriodicOperationFrequency() const {
+    return pstIntervalMs;
+}
+
+void PCDUHandler::setTaskIF(PeriodicTaskIF* task){
+    executingTask = task;
+}
+
+LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
+    switch (sid) {
+    case pdu2HkTableDataset.getSid():
+        return &pdu2HkTableDataset;
+    default:
+        sif::error << "PCDUHandler::getDataSetHandle: Invalid sid" << std::endl;
+        return nullptr;
+        break;
+    }
+}

mission/devices/PCDUHandler.h

@@ -1,20 +1,83 @@
-/*
- * PCDUHandler.h
- *
- *  Created on: 21.01.2021
- *      Author: jakob
- */
-
 #ifndef MISSION_DEVICES_PCDUHANDLER_H_
 #define MISSION_DEVICES_PCDUHANDLER_H_
 
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include <mission/devices/GomspaceDeviceHandler.h>
+#include <fsfw/timemanager/CCSDSTime.h>
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+
 /**
- * @brief
+ * @brief	The PCDUHandler provides a compact interface to handle all devices related to the
+ * 			control of power. This is necessary because the fsfw manages all power related
+ * 			functionalities via one power object. This includes for example the switch on and off
+ * 			of devices.
  */
-class PCDUHandler: public PowerSwitchIF {
+class PCDUHandler: public PowerSwitchIF,
+        public HasLocalDataPoolIF,
+        public SystemObject,
+        public ExecutableObjectIF {
 public:
-	PCDUHandler();
+
+	PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
 	virtual ~PCDUHandler();
+
+	virtual ReturnValue_t initialize() override;
+	virtual ReturnValue_t performOperation(uint8_t counter) override;
+    virtual void handleChangedDataset(sid_t sid, store_address_t storeId =
+            storeId::INVALID_STORE_ADDRESS);
+
+    virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
+	virtual void sendFuseOnCommand(uint8_t fuseNr) const override;
+	virtual ReturnValue_t getSwitchState( uint8_t switchNr ) const  override;
+	virtual ReturnValue_t getFuseState( uint8_t fuseNr ) const override;
+	virtual uint32_t getSwitchDelayMs(void) const override;
+	virtual object_id_t getObjectId() const override;
+	virtual LocalDataPoolManager* getHkManagerHandle() override;
+
+	virtual MessageQueueId_t getCommandQueue() const override;
+    virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    virtual uint32_t getPeriodicOperationFrequency() const override;
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+    virtual  void setTaskIF(PeriodicTaskIF* task_);
+
+private:
+
+    uint32_t pstIntervalMs = 0;
+
+    /**
+     * The dataset holding the hk table of PDU2. This dataset is a copy of the PDU2 HK dataset
+     * of the PDU2Handler. Each time the PDU2Handler updates his HK dataset, a copy is sent
+     * to this object via a HousekeepingMessage.
+     */
+    PDU2::PDU2HkTableDataset pdu2HkTableDataset;
+    /** The timeStamp of the current pdu2HkTableDataset */
+    CCSDSTime::CDS_short timeStamp;
+
+    /**
+     * Pointer to the IPCStore.
+     * This caches the pointer received from the objectManager in the constructor.
+     */
+    StorageManagerIF *IPCStore = nullptr;
+
+    /**
+	 * Message queue to communicate with other objetcs. Used for example to receive
+	 * local pool messages from ACU, PDU1 and PDU2.
+	 */
+    MessageQueueIF* commandQueue = nullptr;
+
+    size_t cmdQueueSize;
+
+    /** Housekeeping manager. Handles updates of local pool variables. */
+    LocalDataPoolManager poolManager;
+
+    PeriodicTaskIF* executingTask = nullptr;
+
+    void readCommandQueue();
 };
 
 #endif /* MISSION_DEVICES_PCDUHANDLER_H_ */

mission/devices/PDU1Handler.cpp

@@ -0,0 +1,25 @@
+#include "PDU1Handler.h"
+
+PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF,
+        CookieIF * comCookie, uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
+        uint16_t hkTableSize) : GomspaceDeviceHandler(objectId, comIF,
+        comCookie, maxConfigTableAddress, maxHkTableAddress, hkTableSize) {
+}
+
+PDU1Handler::~PDU1Handler() {
+}
+
+ReturnValue_t PDU1Handler::buildNormalDeviceCommand(
+        DeviceCommandId_t * id) {
+    *id = GOMSPACE::REQUEST_HK_TABLE;
+    return buildCommandFromCommand(*id, NULL, 0);
+}
+
+void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
+    const uint8_t* payloadPtr = packet + GOMSPACE::GS_HDR_LENGTH;
+    size_t size = (size_t)hkTableSize;
+    hkTableDataset.deSerialize(&payloadPtr, &size, SerializeIF::Endianness::BIG);
+    FullTableReply fullTableReply(id, HK_TABLE_ID, hkTableDataset);
+    handleDeviceTM(&fullTableReply, id, true);
+}
+

mission/devices/PDU1Handler.h

@@ -0,0 +1,40 @@
+#ifndef MISSION_DEVICES_PDU1Handler_H_
+#define MISSION_DEVICES_PDU1Handler_H_
+
+#include "GomspaceDeviceHandler.h"
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+
+/**
+ * @brief	This is the device handler for the PDU1.
+ *
+ * @details The PDU1 controls the
+ * 			power supply of the following devices:
+ * 			TCS Board, 3.3V, channel 0
+ * 			Syrlinks, 12V, channel 1
+ * 			Star Tracker, 5V, channel 2
+ *          MGT, 5V, channel 3
+ *          SUS 1-6 Nominal, 3.3V, channel 4
+ *          Solar cell experiment, 5V, channel 5
+ *          PLOC, 12V, channel 6
+ *          ACS 3.3V for Side A group, channel 7
+ *          Unoccupied, 5V, channel 8
+ */
+class PDU1Handler: public GomspaceDeviceHandler {
+public:
+	PDU1Handler(object_id_t objectId, object_id_t comIF,
+	        CookieIF * comCookie, uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
+	        uint16_t hkTableSize);
+	virtual ~PDU1Handler();
+protected:
+    /**
+     * @brief   In MODE_NORMAL, a command will be built periodically by this function.
+     */
+    virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
+    virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+
+private:
+    /** Dataset for the housekeeping table of the PDU1 */
+    PDU1::PDU1HkTableDataset hkTableDataset;
+};
+
+#endif /* MISSION_DEVICES_PDU1Handler_H_ */

mission/devices/PDU2Handler.cpp

@@ -1,18 +1,99 @@
-/*
- * PDU2Handler.cpp
- *
- *  Created on: 23.01.2021
- *      Author: jakob
- */
-
 #include "PDU2Handler.h"
+#include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
-PDU2Handler::PDU2Handler() {
+PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF,
-	// TODO Auto-generated constructor stub
+        CookieIF * comCookie, uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
-
+        uint16_t hkTableSize) : GomspaceDeviceHandler(objectId, comIF,
+        comCookie, maxConfigTableAddress, maxHkTableAddress, hkTableSize), hkTableDataset(this) {
 }
 
 PDU2Handler::~PDU2Handler() {
-	// TODO Auto-generated destructor stub
 }
 
+ReturnValue_t PDU2Handler::buildNormalDeviceCommand(
+		DeviceCommandId_t * id) {
+	*id = GOMSPACE::REQUEST_HK_TABLE;
+	return buildCommandFromCommand(*id, NULL, 0);
+}
+
+void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
+    const uint8_t* payloadPtr = packet + GOMSPACE::GS_HDR_LENGTH;
+    size_t size = (size_t)hkTableSize;
+    hkTableDataset.deSerialize(&payloadPtr, &size, SerializeIF::Endianness::BIG);
+    FullTableReply fullTableReply(id, HK_TABLE_ID, &hkTableDataset);
+    handleDeviceTM(&fullTableReply, id, true);
+}
+
+ReturnValue_t PDU2Handler::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_Q7S, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_RW, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_Q7S, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_RW, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_VCC, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_VBAT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_TEMPERATURE, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_CONV_EN, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_Q7S, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_SUS_REDUNDANT, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_ACS_BOARD_SIDE_B, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_OUT_EN_PAYLOAD_CAMERA, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_BOOTCAUSE, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_BOOTCNT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_UPTIME, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_RESETCAUSE, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_BATT_MODE, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_0, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_1, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_2, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_3, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_4, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_5, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_6, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_7, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_0_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_1_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_2_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_3_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_4_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_5_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_6_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_DEVICE_7_STATUS, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_GND, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_I2C, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_CAN, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_CSP, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_GND_LEFT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_I2C_LEFT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CAN_LEFT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(PDU::PDU2_WDT_CSP_LEFT, new PoolEntry<uint32_t>( { 0 }));
+
+    return HasReturnvaluesIF::RETURN_OK;
+}

mission/devices/PDU2Handler.h

@@ -2,6 +2,7 @@
 #define MISSION_DEVICES_PDU2HANDLER_H_
 
 #include "GomspaceDeviceHandler.h"
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 
 /**
  * @brief	This is the device handler for the PDU2.
@@ -11,16 +12,31 @@
  * 			Xiphos Q7S, 8V, channel 0
  * 			Reaction wheels 5V, channel 2
  * 			TCS Board heater input, 8V, channel 3
- * 			SUS, 3,3V, channel 4
+ * 			SUS 8-12 Redundant, 3.3V, channel 4
  * 			Deployment mechanism, 8V, channel 5
- * 			P/L PCDU, 15,9V, channel 1 and channel 6
+ * 			P/L PCDU, Battery voltage (Vnominal = 14.8V), channel 1 and channel 6
- * 			ACS Board (Gyro, MGMs, GPS), 3,3V channel 7
+ * 			ACS Board (Gyro, MGMs, GPS), 3.3V channel 7
  * 			Payload Camera, 8V, channel 8
  */
 class PDU2Handler: public GomspaceDeviceHandler {
 public:
-	PDU2Handler();
+	PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
+			uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress, uint16_t hkTableSize);
 	virtual ~PDU2Handler();
+
+	virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+	                LocalDataPoolManager& poolManager) override;
+
+protected:
+	/**
+	 * @brief	As soon as the device is in MODE_NORMAL, this function is executed periodically.
+	 */
+	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
+	virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+
+private:
+	/** Dataset for the housekeeping table of the PDU2 */
+	PDU2::PDU2HkTableDataset hkTableDataset;
 };
 
 #endif /* MISSION_DEVICES_PDU2HANDLER_H_ */

mission/devices/Tmp1075Handler.cpp

@@ -137,10 +137,9 @@ uint32_t Tmp1075Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
 	return 500;
 }
 
-ReturnValue_t Tmp1075Handler::initializeLocalDataPool(
+ReturnValue_t Tmp1075Handler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-		LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+        LocalDataPoolManager& poolManager) {
-	localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075_1,
+    localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075_1, new PoolEntry<float>( { 0.0 }));
-			new PoolEntry<float>({0.0}));
+    return HasReturnvaluesIF::RETURN_OK;
-	return HasReturnvaluesIF::RETURN_OK;
 }
 

mission/devices/Tmp1075Handler.h

@@ -36,8 +36,8 @@ protected:
 			const uint8_t *packet) override;
 	void setNormalDatapoolEntriesInvalid() override;
 	uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
-	ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-			LocalDataPoolManager &poolManager) override;
+            LocalDataPoolManager& poolManager) override;
 
 private:
 

mission/devices/devicedefinitions/GomSpacePackets.h

@@ -5,16 +5,7 @@
 #include <fsfw/serialize/SerializeElement.h>
 #include <fsfw/serialize/SerialLinkedListAdapter.h>
 #include <fsfw/serialize/SerialFixedArrayListAdapter.h>
-
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
-namespace GOMSPACE{
-	static const uint16_t IGNORE_CHECKSUM = 0xbb0;
-	/* 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;
-}
 
 
 /**
@@ -92,8 +83,6 @@ private:
 class CspSetParamCommand : public SerialLinkedListAdapter<SerializeIF> {
 public:
 
-	static const uint8_t GS_HDR_LENGTH = 12;
-
 	CspSetParamCommand(uint16_t querySize_, uint16_t payloadlength_,
 			uint16_t checksum_, uint16_t seq_, uint16_t total_, uint16_t addr_,
 			const uint8_t* parameter_, uint8_t parameterCount_) :
@@ -178,7 +167,6 @@ private:
 	 * device*/
 	SerializeElement<uint8_t> action = 0x00; // get param
 	SerializeElement<uint8_t> tableId;
-	/* Size of address. Set to 0 to get full table */
 	SerializeElement<uint16_t> addresslength;
 	SerializeElement<uint16_t> checksum;
 	SerializeElement<uint16_t> seq;
@@ -187,14 +175,55 @@ private:
 };
 
 
+/**
+ * @brief   This class can be used to generate a get param command for the
+ *          gomspace devices which will be sent to the device communication
+ *          interface object.
+ *
+ * @note    cspPort and querySize only serve as information for the CspComIF
+ *          and will not be transmitted physically to the target device.
+ */
+class RequestFullTableCommand : public SerialLinkedListAdapter<SerializeIF> {
+public:
+
+    RequestFullTableCommand(uint16_t querySize_, uint8_t tableId) :
+            querySize(querySize_), tableId(tableId_) {
+        setLinks();
+    }
+
+private:
+    RequestFullTableCommand(const RequestFullTableCommand &command);
+    void setLinks() {
+        setStart(&cspPort);
+        cspPort.setNext(&querySize);
+        querySize.setNext(&action);
+        action.setNext(&tableId);
+        tableId.setNext(&addresslength);
+        addresslength.setNext(&checksum);
+        checksum.setNext(&seq);
+        seq.setNext(&total);
+    }
+    SerializeElement<uint8_t> cspPort = GOMSPACE::PARAM_PORT;
+    /** Size of bytes to query (size of csp header + size of table) */
+    SerializeElement<uint16_t> querySize;
+    /* Following information will also be physically transmitted to the target
+     * device*/
+    SerializeElement<uint8_t> action = 0x00; // get param
+    SerializeElement<uint8_t> tableId;
+    /* Size of address. Set to 0 to get full table */
+    SerializeElement<uint16_t> addresslength = 0;
+    SerializeElement<uint16_t> checksum = GOMSPACE::IGNORE_CHECKSUM;
+    SerializeElement<uint16_t> seq = 0;
+    SerializeElement<uint16_t> total = 0;
+};
+
+
 /**
  * @brief	This class can be used to deserialize replies from gomspace devices
  * 			and extract the relevant data.
  */
 class CspGetParamReply : public SerialLinkedListAdapter<SerializeIF> {
 public:
-	/* The size of the header of a gomspace CSP packet. */
-	static const uint8_t GS_HDR_LENGTH = 12;
 	/**
 	 * @brief	Constructor
 	 *
@@ -285,6 +314,38 @@ private:
 	SerializeElement<SerialBufferAdapter<uint16_t>> payload;
 };
 
+
+/**
+ * @brief	This class generates the reply containing data from a full table request.
+ */
+class FullTableReply : public SerialLinkedListAdapter<SerializeIF> {
+public:
+	/**
+	 * @brief	Constructor
+	 *
+	 * @param action_	The command which triggers the full table request.
+	 * @param tableId_	The id of the requested table.
+	 * @param tableDataset_	Pointer to the dataset holding the table data.
+	 */
+	FullTableReply(uint8_t action_, uint8_t tableId_, LocalPoolDataSetBase* tableDataset_) :
+			action(action_), tableId(tableId_), tableDataset(*tableDataset_) {
+		setLinks();
+	}
+
+private:
+	FullTableReply(const FullTableReply &reply);
+	void setLinks() {
+		setStart(&action);
+		action.setNext(&tableId);
+		tableId.setNext(&tableLength);
+		tableLength.setNext(&tableDataset);
+	}
+	SerializeElement<uint8_t> action;
+	SerializeElement<uint8_t> tableId;
+	SerializeElement<LocalPoolDataSetBase> tableDataset;
+};
+
+
 /**
  * @brief	This class helps to unpack information from an action message
  * 			to set a parameter in gomspace devices. The action message can be
@@ -322,6 +383,46 @@ private:
 };
 
 
+/**
+ * @brief   This class generates a message which can be sent to the GomspaceDeviceHandler to
+ *          command a parameter change.
+ *
+ * @details Structure of set parameter command:
+ *          |   memory address  |   size of parameter value |   parameter value |
+ */
+class GomspaceSetParamMessage : public SerialLinkedListAdapter<SerializeIF> {
+public:
+
+    /* The size of the largest parameter */
+    static const uint32_t MAX_SIZE = 4;
+
+    /**
+     * @brief   Constructor
+     *
+     * @param memoryAddress   The address of the parameter to change in the configuration table.
+     * @param parameterValue  Pointer to the parameter value to set.
+     * @param parameterSize The size of the parameter.
+     *
+     */
+    GomspaceSetParamMessage(uint16_t memoryAddress, uint8_t* parameterValue, uint8_t parameterSize) :
+        memoryAddress(memoryAddress) {
+        const uint8_t** buffer;
+        *buffer = parameterValue;
+        parameterInfo.deserialize(buffer, parameterSize, SerializeIF::Endianness::BIG);
+        setLinks();
+    }
+
+private:
+    GomspaceSetParamMessage(const FullTableReply &reply);
+    void setLinks() {
+        setStart(&memoryAddress);
+        memoryAddress.setNext(&parameter);
+    }
+    SerializeElement<uint16_t> memoryAddress;
+    SerializeElement<SerialFixedArrayListAdapter<uint8_t, MAX_SIZE, uint8_t>> parameterValueInfo;
+};
+
+
 /**
  * @brief	This class helps to unpack information from an action message
  * 			to get a parameter from gomspace devices. The action message can be

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -9,8 +9,34 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
 
+#include <stdint.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
 
-namespace P60Dock{
+namespace GOMSPACE{
+    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 */
+    static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND]
+    static const DeviceCommandId_t NONE = 0x2; // Set when no command is pending
+    static const DeviceCommandId_t REBOOT = 0x4; //!< [EXPORT] : [COMMAND]
+    static const DeviceCommandId_t GNDWDT_RESET = 0x9; //!< [EXPORT] : [COMMAND]
+    static const DeviceCommandId_t PARAM_GET = 0x00; //!< [EXPORT] : [COMMAND]
+    static const DeviceCommandId_t PARAM_SET = 0xFF; //!< [EXPORT] : [COMMAND]
+    static const DeviceCommandId_t REQUEST_HK_TABLE = 0x10; //!< [EXPORT] : [COMMAND]
+}
+
+
+namespace P60Dock {
 	/* The maximum size  of a reply from the P60 dock. Maximum size is reached
 	 * when retrieving the full parameter configuration table. 412 bytes of
 	 * payload data and 12 bytes of CSP header data. */
@@ -18,22 +44,509 @@ namespace P60Dock{
 
 	static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408;
 	static const uint16_t MAX_HKTABLE_ADDRESS = 187;
+	static const uint16_t HK_TABLE_SIZE = 188;
 }
 
 
+/**
+ * @brief   Constants common for both PDU1 and PDU2.
+ */
 namespace PDU{
 	/* When retrieving full configuration parameter table */
 	static const uint16_t MAX_REPLY_LENGTH = 318;
 	static const uint16_t MAX_CONFIGTABLE_ADDRESS = 316;
 	static const uint16_t MAX_HKTABLE_ADDRESS = 140;
+	static const uint16_t HK_TABLE_SIZE = 145;
+	static const uint8_t HK_TABLE_ENTRIES = 60;
+
+	enum PDUPoolIds: lp_id_t {
+	    PDU1_CURRENT_OUT_TCS_BOARD_3V3,
+	    PDU1_CURRENT_OUT_SYRLINKS,
+	    PDU1_CURRENT_OUT_STAR_TRACKER,
+	    PDU1_CURRENT_OUT_MGT,
+	    PDU1_CURRENT_OUT_SUS_NOMINAL,
+	    PDU1_CURRENT_OUT_SOLAR_CELL_EXP,
+	    PDU1_CURRENT_OUT_PLOC,
+	    PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A,
+	    PDU1_CURRENT_OUT_CHANNEL8,
+	    PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
+	    PDU1_VOLTAGE_OUT_SYRLINKS,
+	    PDU1_VOLTAGE_OUT_STAR_TRACKER,
+	    PDU1_VOLTAGE_OUT_MGT,
+	    PDU1_VOLTAGE_OUT_SUS_NOMINAL,
+	    PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
+	    PDU1_VOLTAGE_OUT_PLOC,
+	    PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
+	    PDU1_VOLTAGE_OUT_CHANNEL8,
+	    PDU1_VCC,
+	    PDU1_VBAT,
+	    PDU1_TEMPERATURE,
+	    PDU1_CONV_EN,
+	    PDU1_OUT_EN_TCS_BOARD_3V3,
+	    PDU1_OUT_EN_SYRLINKS,
+	    PDU1_OUT_EN_STAR_TRACKER,
+	    PDU1_OUT_EN_MGT,
+	    PDU1_OUT_EN_SUS_NOMINAL,
+	    PDU1_OUT_EN_SOLAR_CELL_EXP,
+	    PDU1_OUT_EN_PLOC,
+	    PDU1_OUT_EN_ACS_BOARD_SIDE_A,
+	    PDU1_OUT_EN_CHANNEL8,
+	    PDU1_BOOTCAUSE,
+	    PDU1_BOOTCNT,
+	    PDU1_UPTIME,
+	    PDU1_RESETCAUSE,
+	    PDU1_BATT_MODE,
+	    PDU1_LATCHUP,
+	    PDU1_DEVICE_0,
+	    PDU1_DEVICE_1,
+	    PDU1_DEVICE_2,
+	    PDU1_DEVICE_3,
+	    PDU1_DEVICE_4,
+	    PDU1_DEVICE_5,
+	    PDU1_DEVICE_6,
+	    PDU1_DEVICE_7,
+	    PDU1_DEVICE_0_STATUS,
+	    PDU1_DEVICE_1_STATUS,
+	    PDU1_DEVICE_2_STATUS,
+	    PDU1_DEVICE_3_STATUS,
+	    PDU1_DEVICE_4_STATUS,
+	    PDU1_DEVICE_5_STATUS,
+	    PDU1_DEVICE_6_STATUS,
+	    PDU1_DEVICE_7_STATUS,
+	    PDU1_WDT_CNT_GND,
+	    PDU1_WDT_CNT_I2C,
+	    PDU1_WDT_CNT_CAN,
+	    PDU1_WDT_CNT_CSP,
+	    PDU1_WDT_GND_LEFT,
+	    PDU1_WDT_I2C_LEFT,
+	    PDU1_WDT_CAN_LEFT,
+	    PDU1_WDT_CSP_LEFT,
+
+        PDU2_CURRENT_OUT_Q7S,
+        PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1,
+        PDU2_CURRENT_OUT_RW,
+        PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN,
+        PDU2_CURRENT_OUT_SUS_REDUNDANT,
+        PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM,
+        PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6,
+        PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B,
+        PDU2_CURRENT_OUT_PAYLOAD_CAMERA,
+        PDU2_VOLTAGE_OUT_Q7S,
+        PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1,
+        PDU2_VOLTAGE_OUT_RW,
+        PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN,
+        PDU2_VOLTAGE_OUT_SUS_REDUNDANT,
+        PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM,
+        PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6,
+        PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B,
+        PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA,
+        PDU2_VCC,
+        PDU2_VBAT,
+        PDU2_TEMPERATURE,
+        PDU2_CONV_EN,
+        PDU2_OUT_EN_Q7S,
+        PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
+        PDU2_OUT_EN_RW,
+        PDU2_OUT_EN_TCS_BOARD_HEATER_IN,
+        PDU2_OUT_EN_SUS_REDUNDANT,
+        PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
+        PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
+        PDU2_OUT_EN_ACS_BOARD_SIDE_B,
+        PDU2_OUT_EN_PAYLOAD_CAMERA,
+        PDU2_BOOTCAUSE,
+        PDU2_BOOTCNT,
+        PDU2_UPTIME,
+        PDU2_RESETCAUSE,
+        PDU2_BATT_MODE,
+        PDU2_LATCHUP,
+        PDU2_DEVICE_0,
+        PDU2_DEVICE_1,
+        PDU2_DEVICE_2,
+        PDU2_DEVICE_3,
+        PDU2_DEVICE_4,
+        PDU2_DEVICE_5,
+        PDU2_DEVICE_6,
+        PDU2_DEVICE_7,
+        PDU2_DEVICE_0_STATUS,
+        PDU2_DEVICE_1_STATUS,
+        PDU2_DEVICE_2_STATUS,
+        PDU2_DEVICE_3_STATUS,
+        PDU2_DEVICE_4_STATUS,
+        PDU2_DEVICE_5_STATUS,
+        PDU2_DEVICE_6_STATUS,
+        PDU2_DEVICE_7_STATUS,
+        PDU2_WDT_CNT_GND,
+        PDU2_WDT_CNT_I2C,
+        PDU2_WDT_CNT_CAN,
+        PDU2_WDT_CNT_CSP,
+        PDU2_WDT_GND_LEFT,
+        PDU2_WDT_I2C_LEFT,
+        PDU2_WDT_CAN_LEFT,
+        PDU2_WDT_CSP_LEFT
+    };
 }
 
 
-namespace ACU{
+namespace PDU1 {
-	/* When receiving full houskeeping (telemetry) table */
+    static const uint32_t HK_TABLE_DATA_SET_ID = 0x1; // hk table has table id 4
+    /**
+     * 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 = 0x50;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x51;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x52;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x53;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x54;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x55;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x56;
+
+    /**
+     * @brief   This class defines a dataset for the hk table of the PDU1.
+     */
+    class PDU1HkTableDataset :
+            public StaticLocalDataSet<PDU::HK_TABLE_ENTRIES> {
+    public:
+
+        PDU1HkTableDataset(HasLocalDataPoolIF* owner):
+            StaticLocalDataSet(owner, PDU1::HK_TABLE_DATA_SET_ID) {
+        }
+
+        PDU1HkTableDataset(object_id_t objectId):
+            StaticLocalDataSet(sid_t(objectId, PDU1::HK_TABLE_DATA_SET_ID)) {
+        }
+
+        /** Measured output currents */
+        lp_var_t<int16_t> currentOutTCSBoard3V3 = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_CURRENT_OUT_TCS_BOARD_3V3, this);
+        lp_var_t<int16_t> currentOutSyrlinks = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_CURRENT_OUT_SYRLINKS, this);
+        lp_var_t<int16_t> currentOutStarTracker = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_CURRENT_OUT_STAR_TRACKER, this);
+        lp_var_t<int16_t> currentOutMGT = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_CURRENT_OUT_MGT, this);
+        lp_var_t<int16_t> currentOutSUSNominal = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_CURRENT_OUT_SUS_NOMINAL, this);
+        lp_var_t<int16_t> currentOutSolarCellExp = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_CURRENT_OUT_SOLAR_CELL_EXP, this);
+        lp_var_t<int16_t> currentOutPLOC = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_CURRENT_OUT_PLOC, this);
+        lp_var_t<int16_t> currentOutACSBoardSideA = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A, this);
+        lp_var_t<int16_t> currentOutChannel8 = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_CURRENT_OUT_CHANNEL8, this);
+        /** Measured voltage of output channels */
+        lp_var_t<int16_t> voltageOutTCSBoard3V3 = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, this);
+        lp_var_t<int16_t> voltageOutSyrlinks = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VOLTAGE_OUT_SYRLINKS, this);
+        lp_var_t<int16_t> voltageOutStarTracker = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VOLTAGE_OUT_STAR_TRACKER, this);
+        lp_var_t<int16_t> voltageOutMGT = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VOLTAGE_OUT_MGT, this);
+        lp_var_t<int16_t> voltageOutSUSNominal = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VOLTAGE_OUT_SUS_NOMINAL, this);
+        lp_var_t<int16_t> voltageOutSolarCellExp = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, this);
+        lp_var_t<int16_t> voltageOutPLOC = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VOLTAGE_OUT_PLOC, this);
+        lp_var_t<int16_t> voltageOutACSBoardSideA = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A, this);
+        lp_var_t<int16_t> voltageOutChannel8 = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VOLTAGE_OUT_CHANNEL8, this);
+        /** Measured VCC */
+        lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VCC, this);
+        /** Measured VBAT */
+        lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_VBAT, this);
+        lp_var_t<int16_t> temperature = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU1_TEMPERATURE, this);
+        /** Output converter enable status */
+        lp_var_t<uint8_t> converterEnable = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_CONV_EN, this);
+        /** Output channels enable status */
+        lp_var_t<uint8_t> outEnabledTCSBoard3V3 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_OUT_EN_TCS_BOARD_3V3, this);
+        lp_var_t<uint8_t> outEnabledSyrlinks = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_OUT_EN_SYRLINKS, this);
+        lp_var_t<uint8_t> outEnabledStarTracker = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_OUT_EN_STAR_TRACKER, this);
+        lp_var_t<uint8_t> outEnabledMGT = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_OUT_EN_MGT, this);
+        lp_var_t<uint8_t> outEnabledSUSNominal = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_OUT_EN_SUS_NOMINAL, this);
+        lp_var_t<uint8_t> outEnabledSolarCellExp = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_OUT_EN_SOLAR_CELL_EXP, this);
+        lp_var_t<uint8_t> outEnabledPLOC = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_OUT_EN_PLOC, this);
+        lp_var_t<uint8_t> outEnabledAcsBoardSideA = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_OUT_EN_ACS_BOARD_SIDE_A, this);
+        lp_var_t<uint8_t> outEnabledChannel8 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_OUT_EN_CHANNEL8, this);
+        lp_var_t<uint32_t> bootcause = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU1_BOOTCAUSE, this);
+        /** Number of reboots */
+        lp_var_t<uint32_t> bootcount = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU1_BOOTCNT, this);
+        /** Uptime in seconds */
+        lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU1_UPTIME, this);
+        lp_var_t<uint16_t> resetcause = lp_var_t<uint16_t>(sid.objectId,
+                PDU::PDU1_RESETCAUSE, this);
+        /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
+        lp_var_t<uint8_t> battMode = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_BATT_MODE, 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_var_t<uint8_t> device0 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_0, this);
+        lp_var_t<uint8_t> device1 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_1, this);
+        lp_var_t<uint8_t> device2 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_2, this);
+        lp_var_t<uint8_t> device3 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_3, this);
+        lp_var_t<uint8_t> device4 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_4, this);
+        lp_var_t<uint8_t> device5 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_5, this);
+        lp_var_t<uint8_t> device6 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_6, this);
+        lp_var_t<uint8_t> device7 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_7, this);
+        /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
+        lp_var_t<uint8_t> device0Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_0_STATUS, this);
+        lp_var_t<uint8_t> device1Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_1_STATUS, this);
+        lp_var_t<uint8_t> device2Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_2_STATUS, this);
+        lp_var_t<uint8_t> device3Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_3_STATUS, this);
+        lp_var_t<uint8_t> device4Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_4_STATUS, this);
+        lp_var_t<uint8_t> device5Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_5_STATUS, this);
+        lp_var_t<uint8_t> device6Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_6_STATUS, this);
+        lp_var_t<uint8_t> device7Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU1_DEVICE_7_STATUS, this);
+        /** Number of reboots triggered by the ground watchdog */
+        lp_var_t<uint32_t> gndWdtReboots = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU1_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,
+                PDU::PDU1_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,
+                PDU::PDU1_WDT_CNT_CAN, this);
+        /** Number of reboots triggered through the CSP watchdog */
+        lp_var_t<uint32_t> cspWdtReboots = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU1_WDT_CNT_CSP, this);
+        /** Ground watchdog remaining seconds before rebooting */
+        lp_var_t<uint32_t> groundWatchdogSecondsLeft = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU1_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,
+                PDU::PDU1_WDT_I2C_LEFT, this);
+        /** CAN watchdog remaining seconds before rebooting. */
+        lp_var_t<uint32_t> canWatchdogSecondsLeft = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU1_WDT_CAN_LEFT, this);
+        /** CSP watchdog remaining seconds before rebooting. */
+        lp_var_t<uint32_t> cspWatchdogSecondsLeft = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU1_WDT_CSP_LEFT, this);
+    };
+}
+
+
+namespace PDU2 {
+    static const uint32_t HK_TABLE_DATA_SET_ID = 0x2;
+    /**
+     * 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 = 0x50;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN = 0x51;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT = 0x52;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM = 0x53;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC = 0x54;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B = 0x55;
+    static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x56;
+
+    /**
+     * @brief   This class defines a dataset for the hk table of the PDU2.
+     */
+    class PDU2HkTableDataset:
+            public StaticLocalDataSet<PDU::HK_TABLE_ENTRIES> {
+    public:
+
+        PDU2HkTableDataset(HasLocalDataPoolIF* owner):
+            StaticLocalDataSet(owner, PDU2::HK_TABLE_DATA_SET_ID) {
+        }
+
+        PDU2HkTableDataset(object_id_t objectId):
+            StaticLocalDataSet(sid_t(objectId, PDU2::HK_TABLE_DATA_SET_ID)) {
+        }
+
+        /** Measured output currents */
+        lp_var_t<int16_t> currentOutQ7S = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_CURRENT_OUT_Q7S, this);
+        lp_var_t<int16_t> currentOutPayloadPCDUCh1 = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, this);
+        lp_var_t<int16_t> currentOutReactionWheels = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_CURRENT_OUT_RW, this);
+        lp_var_t<int16_t> currentOutTCSBoardHeaterIn = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, this);
+        lp_var_t<int16_t> currentOutSUSRedundant = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_CURRENT_OUT_SUS_REDUNDANT, this);
+        lp_var_t<int16_t> currentOutDeplMechanism = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, this);
+        lp_var_t<int16_t> currentOutPayloadPCDUCh6 = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, this);
+        lp_var_t<int16_t> currentOutACSBoard = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, this);
+        lp_var_t<int16_t> currentOutPayloadCamera = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, this);
+        /** Measured voltage of output channels */
+        lp_var_t<int16_t> voltageOutQ7S = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VOLTAGE_OUT_Q7S, this);
+        lp_var_t<int16_t> voltageOutPayloadPCDUCh1 = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, this);
+        lp_var_t<int16_t> voltageOutReactionWheels = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VOLTAGE_OUT_RW, this);
+        lp_var_t<int16_t> voltageOutTCSBoardHeaterIn = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, this);
+        lp_var_t<int16_t> voltageOutSUS = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, this);
+        lp_var_t<int16_t> voltageOutDeplMechanism = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, this);
+        lp_var_t<int16_t> voltageOutPayloadPCDUCh6 = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, this);
+        lp_var_t<int16_t> voltageOutACSBoard = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, this);
+        lp_var_t<int16_t> voltageOutPayloadCamera = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, this);
+        /** Measured VCC */
+        lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VCC, this);
+        /** Measured VBAT */
+        lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_VBAT, this);
+        lp_var_t<int16_t> temperature = lp_var_t<int16_t>(sid.objectId,
+                PDU::PDU2_TEMPERATURE, this);
+        /** Output converter enable status */
+        lp_var_t<uint8_t> converterEnable = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_CONV_EN, this);
+        /** Output channels enable status */
+        lp_var_t<uint8_t> outEnabledQ7S = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_OUT_EN_Q7S, this);
+        lp_var_t<uint8_t> outEnabledPlPCDUCh1 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, this);
+        lp_var_t<uint8_t> outEnabledReactionWheels = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_OUT_EN_RW, this);
+        lp_var_t<uint8_t> outEnabledTCSBoardHeaterIn = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, this);
+        lp_var_t<uint8_t> outEnabledSUS = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_OUT_EN_SUS_REDUNDANT, this);
+        lp_var_t<uint8_t> outEnabledDeplMechanism = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, this);
+        lp_var_t<uint8_t> outEnabledPlPCDUCh6 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, this);
+        lp_var_t<uint8_t> outEnabledAcsBoard = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_OUT_EN_ACS_BOARD_SIDE_B, this);
+        lp_var_t<uint8_t> outEnabledPayloadCamera = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_OUT_EN_PAYLOAD_CAMERA, this);
+        lp_var_t<uint32_t> bootcause = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU2_BOOTCAUSE, this);
+        /** Number of reboots */
+        lp_var_t<uint32_t> bootcount = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU2_BOOTCNT, this);
+        /** Uptime in seconds */
+        lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU2_UPTIME, this);
+        lp_var_t<uint16_t> resetcause = lp_var_t<uint16_t>(sid.objectId,
+                PDU::PDU2_RESETCAUSE, this);
+        /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
+        lp_var_t<uint8_t> battMode = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_BATT_MODE, 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_var_t<uint8_t> device0 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_0, this);
+        lp_var_t<uint8_t> device1 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_1, this);
+        lp_var_t<uint8_t> device2 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_2, this);
+        lp_var_t<uint8_t> device3 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_3, this);
+        lp_var_t<uint8_t> device4 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_4, this);
+        lp_var_t<uint8_t> device5 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_5, this);
+        lp_var_t<uint8_t> device6 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_6, this);
+        lp_var_t<uint8_t> device7 = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_7, this);
+        /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
+        lp_var_t<uint8_t> device0Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_0_STATUS, this);
+        lp_var_t<uint8_t> device1Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_1_STATUS, this);
+        lp_var_t<uint8_t> device2Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_2_STATUS, this);
+        lp_var_t<uint8_t> device3Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_3_STATUS, this);
+        lp_var_t<uint8_t> device4Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_4_STATUS, this);
+        lp_var_t<uint8_t> device5Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_5_STATUS, this);
+        lp_var_t<uint8_t> device6Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_6_STATUS, this);
+        lp_var_t<uint8_t> device7Status = lp_var_t<uint8_t>(sid.objectId,
+                PDU::PDU2_DEVICE_7_STATUS, this);
+        /** Number of reboots triggered by the ground watchdog */
+        lp_var_t<uint32_t> gndWdtReboots = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU2_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,
+                PDU::PDU2_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,
+                PDU::PDU2_WDT_CNT_CAN, this);
+        /** Number of reboots triggered through the CSP watchdog */
+        lp_var_t<uint32_t> cspWdtReboots = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU2_WDT_CNT_CSP, this);
+        /** Ground watchdog remaining seconds before rebooting */
+        lp_var_t<uint32_t> groundWatchdogSecondsLeft = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU2_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,
+                PDU::PDU2_WDT_I2C_LEFT, this);
+        /** CAN watchdog remaining seconds before rebooting. */
+        lp_var_t<uint32_t> canWatchdogSecondsLeft = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU2_WDT_CAN_LEFT, this);
+        /** CSP watchdog remaining seconds before rebooting. */
+        lp_var_t<uint32_t> cspWatchdogSecondsLeft = lp_var_t<uint32_t>(sid.objectId,
+                PDU::PDU2_WDT_CSP_LEFT, this);
+    };
+}
+
+
+namespace ACU {
+	/* When receiving full housekeeping (telemetry) table */
 	static const uint16_t MAX_REPLY_LENGTH = 124;
 	static const uint16_t MAX_CONFIGTABLE_ADDRESS = 26;
 	static const uint16_t MAX_HKTABLE_ADDRESS = 120;
+	static const uint16_t HK_TABLE_SIZE = 125;
 }
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ */