From 69ba11acc1c839ac4625e2dd35fc5c1745d80b37 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 29 Mar 2022 16:07:13 +0200
Subject: [PATCH] perform nReset handling in Assembly now

---
 mission/devices/HeaterHandler.cpp   |  1 +
 mission/system/AcsBoardAssembly.cpp | 26 ++++++++++++++++++++++++++
 2 files changed, 27 insertions(+)

diff --git a/mission/devices/HeaterHandler.cpp b/mission/devices/HeaterHandler.cpp
index 53acf02e..9e97f02a 100644
--- a/mission/devices/HeaterHandler.cpp
+++ b/mission/devices/HeaterHandler.cpp
@@ -164,6 +164,7 @@ ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t o
                  << "message" << std::endl;
     }
   }
+  return RETURN_OK;
 }
 
 void HeaterHandler::handleActiveCommands() {
diff --git a/mission/system/AcsBoardAssembly.cpp b/mission/system/AcsBoardAssembly.cpp
index 5a8f0956..6ea701d5 100644
--- a/mission/system/AcsBoardAssembly.cpp
+++ b/mission/system/AcsBoardAssembly.cpp
@@ -142,6 +142,18 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
       cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
       if (gpsUsable) {
+        if (gpioIF->pullHigh(gpioIds::GNSS_0_NRESET) != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+              "of GNSS 0 high (used GNSS)" << std::endl;
+#endif
+        }
+        if (gpioIF->pullLow(gpioIds::GNSS_1_NRESET) != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+              "of GNSS 1 low (unused GNSS)" << std::endl;
+#endif
+        }
         if (gpioIF->pullLow(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
           sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low"
@@ -165,6 +177,18 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
       cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
       if (gpsUsable) {
+        if (gpioIF->pullHigh(gpioIds::GNSS_1_NRESET) != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+              "of GNSS 1 high (used GNSS)" << std::endl;
+#endif
+        }
+        if (gpioIF->pullLow(gpioIds::GNSS_0_NRESET) != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+              "of GNSS 0 low (unused GNSS)" << std::endl;
+#endif
+        }
         if (gpioIF->pullHigh(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
           sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high"
@@ -186,6 +210,8 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
       ReturnValue_t status = RETURN_OK;
       if (gpsUsable) {
+        gpioIF->pullHigh(gpioIds::GNSS_1_NRESET);
+        gpioIF->pullHigh(gpioIds::GNSS_0_NRESET);
         if (defaultSubmode == Submodes::A_SIDE) {
           status = gpioIF->pullLow(gpioIds::GNSS_SELECT);
         } else {