improved debug messages

fsfwconfig/OBSWConfig.h

@@ -12,10 +12,11 @@
 // debugging.
 #define OBSW_ENHANCED_PRINTOUT  1
 
-#define TE0720 0
+#define TE0720  0
 
-#define PDU2_DEBUG 1
+#define P60DOCK_DEBUG   1
-#define PDU1_DEBUG 0
+#define PDU1_DEBUG  0
+#define PDU2_DEBUG  0
 
 #include "OBSWVersion.h"
 

mission/devices/GomspaceDeviceHandler.h

@@ -33,7 +33,7 @@ public:
 	 */
 	GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
 	        CookieIF * comCookie, uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
-	        uint16_t hkTableSize, LocalPoolDataSetBase* hkTableDataset);
+	        uint16_t hkTableReplySize, LocalPoolDataSetBase* hkTableDataset);
 	virtual ~GomspaceDeviceHandler();
 
 protected:

mission/devices/P60DockHandler.cpp

@@ -1,15 +1,388 @@
 #include "P60DockHandler.h"
-
+#include "OBSWConfig.h"
 
 P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
         GomspaceDeviceHandler(objectId, comIF, comCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
-                P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_SIZE, &p60dockHkTableDataset), p60dockHkTableDataset(
+                P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE, &p60dockHkTableDataset), p60dockHkTableDataset(
                 this) {
 }
 
 P60DockHandler::~P60DockHandler() {
 }
 
+ReturnValue_t P60DockHandler::buildNormalDeviceCommand(
+        DeviceCommandId_t * id) {
+    *id = GOMSPACE::REQUEST_HK_TABLE;
+    return buildCommandFromCommand(*id, NULL, 0);
+}
+
 void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
 
+    parseHkTableReply(packet);
+    /**
+     * Hk table will be sent to the commander if hk table request was not triggered by the
+     * P60DockHandler itself.
+     */
+    handleDeviceTM(&p60dockHkTableDataset, id, true);
+
+#if OBSW_ENHANCED_PRINTOUT == 1 && P60DOCK_DEBUG == 1
+    p60dockHkTableDataset.read();
+
+    float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1;
+    sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl;
+    temperatureC = p60dockHkTableDataset.temperature2.value * 0.1;
+    sif::info << "P60 Dock: Temperature 2: " << temperatureC << " °C" << std::endl;
+    sif::info << "P60 Dock: Watchdog Timer seconds left before reboot: "
+            << p60dockHkTableDataset.wdtGndLeft << " seconds" << std::endl;
+    sif::info << "P60 Dock: CSP 1, pings left before reboot: "
+            << (int) p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
+    sif::info << "P60 Dock: CSP 2, pings left before reboot: "
+            << (int) p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
+
+    p60dockHkTableDataset.commit();
+#endif
+
+}
+
+void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
+    uint16_t dataOffset = 0;
+    p60dockHkTableDataset.read();
+    /**
+     * Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
+     * address.
+     */
+    dataOffset += 12;
+    p60dockHkTableDataset.currentAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentPdu1Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentX3IdleVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentPdu2Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentAcuVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentPdu1Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentX3IdleVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentPdu2Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentStackVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentStack3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentStack5V = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentGS3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.currentGS5V = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+
+    p60dockHkTableDataset.voltageAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltageAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltagePdu1Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltageX3IdleVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltagePdu2Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltageAcuVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltagePdu1Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltageX3IdleVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltagePdu2Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltageStackVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltageStack3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltageStack5V = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.voltageGS3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+
+    p60dockHkTableDataset.outputEnableStateAcuVcc = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStatePdu1Vcc = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStateX3IdleVcc = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStatePdu2Vcc = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStateAcuVbat = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStatePdu1Vbat = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStateX3IdleVbat = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStatePdu2Vbat = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStateStackVbat = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStateStack3V3 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStateStack5V = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStateGS3V3 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.outputEnableStateGS5V = *(packet + dataOffset);
+    dataOffset += 3;
+
+    p60dockHkTableDataset.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+
+    p60dockHkTableDataset.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+    p60dockHkTableDataset.bootCount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+    p60dockHkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+    p60dockHkTableDataset.resetcause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.battMode = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.heaterOn = *(packet + dataOffset);
+    /* + 13 because here begins a new gomspace csp data field */
+    dataOffset += 13;
+    p60dockHkTableDataset.converter5VStatus = *(packet + dataOffset);
+    dataOffset += 3;
+
+    p60dockHkTableDataset.latchupsAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsAcuVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsPdu1Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsX3IdleVcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsPdu2Vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsAcuVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsPdu1Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsX3IdleVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsPdu2Vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsStackVbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsStack3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsStack5V = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.latchupsGS3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+
+    p60dockHkTableDataset.vbatVoltageValue = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.vccCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.batteryCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.batteryVoltage = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+
+    p60dockHkTableDataset.batteryTemperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.batteryTemperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+
+    p60dockHkTableDataset.device0 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device1 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device2 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device3 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device4 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device5 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device6 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device7 = *(packet + dataOffset);
+    dataOffset += 3;
+
+    p60dockHkTableDataset.device0Status = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device1Status = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device2Status = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device3Status = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device4Status = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device5Status = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device6Status = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.device7Status = *(packet + dataOffset);
+    dataOffset += 3;
+
+    p60dockHkTableDataset.dearmStatus = *(packet + dataOffset);
+    dataOffset += 3;
+
+    p60dockHkTableDataset.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+    p60dockHkTableDataset.wdtCntI2c = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+    p60dockHkTableDataset.wdtCntCan = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+    p60dockHkTableDataset.wdtCntCsp1 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+    p60dockHkTableDataset.wdtCntCsp2 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+
+    p60dockHkTableDataset.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+    p60dockHkTableDataset.wdtI2cLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    dataOffset += 6;
+    p60dockHkTableDataset.wdtCanLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+    /* +16 because here begins a new gomspace csp packet */
+    dataOffset += 16;
+
+    p60dockHkTableDataset.wdtCspLeft1 = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.wdtCspLeft2 = *(packet + dataOffset);
+    dataOffset += 3;
+
+    p60dockHkTableDataset.batteryChargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.batteryDischargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+    p60dockHkTableDataset.ant6Depl = *(packet + dataOffset);
+    dataOffset += 3;
+    p60dockHkTableDataset.ar6Depl = *(packet + dataOffset);
+
+    p60dockHkTableDataset.commit();
+}
+
+ReturnValue_t P60DockHandler::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_ACU_VCC, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_PDU1_VCC, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_X3_IDLE_VCC, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_PDU2_VCC, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_ACU_VBAT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_PDU1_VBAT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_X3_IDLE_VBAT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_PDU2_VBAT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_STACK_VBAT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_STACK_3V3, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_STACK_5V, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_GS3V3, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CURRENT_GS5V, new PoolEntry<int16_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_ACU_VCC, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_PDU1_VCC, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_X3_IDLE_VCC, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_PDU2_VCC, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_ACU_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_PDU1_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_X3_IDLE_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_PDU2_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_STACK_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_STACK_3V3, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_STACK_5V, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_GS3V3, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VOLTAGE_GS5V, new PoolEntry<uint16_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_ACU_VCC, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_PDU1_VCC, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VCC, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_PDU2_VCC, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_ACU_VBAT, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_PDU1_VBAT, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_PDU2_VBAT, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_STACK_VBAT, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_STACK_3V3, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_STACK_5V, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_GS3V3, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_OUTPUTENABLE_GS5V, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_TEMPERATURE_1, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_TEMPERATURE_2, new PoolEntry<int16_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_BOOT_CAUSE, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_BOOT_CNT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_UPTIME, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_RESETCAUSE, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_BATT_MODE, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_HEATER_ON, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_CONV_5V_ENABLE_STATUS, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_ACU_VCC, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_PDU1_VCC, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_X3_IDLE_VCC, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_PDU2_VCC, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_ACU_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_PDU1_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_X3_IDLE_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_PDU2_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_STACK_VBAT, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_STACK_3V3, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_STACK_5V, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_GS3V3, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_LATCHUP_GS5V, new PoolEntry<uint16_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_VBAT_VALUE, new PoolEntry<uint16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_VCC_CURRENT_VALUE, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_BATTERY_CURRENT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_BATTERY_VOLTAGE, new PoolEntry<uint16_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_BATTERY_TEMPERATURE_1, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_BATTERY_TEMPERATURE_2, new PoolEntry<int16_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_0, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_1, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_2, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_3, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_4, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_5, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_6, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_7, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_0_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_1_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_2_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_3_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_4_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_5_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_6_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_DEVICE_7_STATUS, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_DEARM_STATUS, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_GND, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_I2C, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_CAN, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_CSP_1, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_CNT_CSP_2, new PoolEntry<uint32_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_GND_LEFT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_I2C_LEFT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_CAN_LEFT, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_CSP_LEFT_1, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_WDT_CSP_LEFT_2, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_BATT_CHARGE_CURRENT, new PoolEntry<int16_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_BATT_DISCHARGE_CURRENT, new PoolEntry<int16_t>( { 0 }));
+
+    localDataPoolMap.emplace(P60System::P60DOCK_ANT6_DEPL, new PoolEntry<int8_t>( { 0 }));
+    localDataPoolMap.emplace(P60System::P60DOCK_AR6_DEPL, new PoolEntry<int8_t>( { 0 }));
+
+
+    return HasReturnvaluesIF::RETURN_OK;
 }

mission/devices/P60DockHandler.h

@@ -14,11 +14,26 @@ public:
     P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
     virtual ~P60DockHandler();
 
+    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:
     P60Dock::HkTableDataset p60dockHkTableDataset;
+
+    /**
+     * @brief   Function extracts the hk table information from the received csp packet and stores
+     *          the values in the p60dockHkTableDataset.
+     */
+    void parseHkTableReply(const uint8_t *packet);
 };
 
 #endif /* MISSION_DEVICES_P60DOCKHANDLER_H_ */

mission/devices/PDU2Handler.cpp

@@ -20,6 +20,10 @@ ReturnValue_t PDU2Handler::buildNormalDeviceCommand(
 void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
 
     parseHkTableReply(packet);
+    /**
+     * Hk table will be sent to the commander if hk table request was not triggered by the
+     * PDU2Handler itself.
+     */
     handleDeviceTM(&pdu2HkTableDataset, id, true);
 
 #if OBSW_ENHANCED_PRINTOUT == 1 && PDU2_DEBUG == 1
@@ -63,8 +67,10 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
 void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
     uint16_t dataOffset = 0;
     pdu2HkTableDataset.read();
-    /* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
+    /**
-     * address. */
+     * Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
+     * address.
+     */
     dataOffset += 12;
     pdu2HkTableDataset.currentOutQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
     dataOffset += 4;

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -369,6 +369,12 @@ namespace P60Dock {
     static const uint8_t HK_TABLE_DATA_SET_ID = 0x3;
     static const uint8_t HK_TABLE_ENTRIES = 100;
 
+    /**
+     * Requesting the full housekeeping table from the P60 dock will generate a reply comprising
+     * 402 bytes of data.
+     */
+    static const uint16_t HK_TABLE_REPLY_SIZE = 407;
+
     /**
      * @brief   This class defines a dataset for the hk table of the P60 Dock.
      */
@@ -401,7 +407,7 @@ namespace P60Dock {
                 P60System::P60DOCK_CURRENT_X3_IDLE_VBAT, this);
         lp_var_t<int16_t> currentPdu2Vbat = lp_var_t<int16_t>(sid.objectId,
                 P60System::P60DOCK_CURRENT_PDU2_VBAT, this);
-        lp_var_t<int16_t> currentStackVbata = lp_var_t<int16_t>(sid.objectId,
+        lp_var_t<int16_t> currentStackVbat = lp_var_t<int16_t>(sid.objectId,
                 P60System::P60DOCK_CURRENT_STACK_VBAT, this);
         lp_var_t<int16_t> currentStack3V3 = lp_var_t<int16_t>(sid.objectId,
                 P60System::P60DOCK_CURRENT_STACK_3V3, this);
@@ -429,7 +435,7 @@ namespace P60Dock {
                 P60System::P60DOCK_VOLTAGE_X3_IDLE_VBAT, this);
         lp_var_t<uint16_t> voltagePdu2Vbat = lp_var_t<uint16_t>(sid.objectId,
                 P60System::P60DOCK_VOLTAGE_PDU2_VBAT, this);
-        lp_var_t<uint16_t> voltageStackVbata = lp_var_t<uint16_t>(sid.objectId,
+        lp_var_t<uint16_t> voltageStackVbat = lp_var_t<uint16_t>(sid.objectId,
                 P60System::P60DOCK_VOLTAGE_STACK_VBAT, this);
         lp_var_t<uint16_t> voltageStack3V3 = lp_var_t<uint16_t>(sid.objectId,
                 P60System::P60DOCK_VOLTAGE_STACK_3V3, this);
@@ -457,7 +463,7 @@ namespace P60Dock {
                 P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT, this);
         lp_var_t<uint8_t> outputEnableStatePdu2Vbat = lp_var_t<uint8_t>(sid.objectId,
                 P60System::P60DOCK_OUTPUTENABLE_PDU2_VBAT, this);
-        lp_var_t<uint8_t> outputEnableStateStackVbata = lp_var_t<uint8_t>(sid.objectId,
+        lp_var_t<uint8_t> outputEnableStateStackVbat = lp_var_t<uint8_t>(sid.objectId,
                 P60System::P60DOCK_OUTPUTENABLE_STACK_VBAT, this);
         lp_var_t<uint8_t> outputEnableStateStack3V3 = lp_var_t<uint8_t>(sid.objectId,
                 P60System::P60DOCK_OUTPUTENABLE_STACK_3V3, this);
@@ -506,7 +512,7 @@ namespace P60Dock {
                 P60System::P60DOCK_LATCHUP_X3_IDLE_VBAT, this);
         lp_var_t<uint16_t> latchupsPdu2Vbat = lp_var_t<uint16_t>(sid.objectId,
                 P60System::P60DOCK_LATCHUP_PDU2_VBAT, this);
-        lp_var_t<uint16_t> latchupsStackVbata = lp_var_t<uint16_t>(sid.objectId,
+        lp_var_t<uint16_t> latchupsStackVbat = lp_var_t<uint16_t>(sid.objectId,
                 P60System::P60DOCK_LATCHUP_STACK_VBAT, this);
         lp_var_t<uint16_t> latchupsStack3V3 = lp_var_t<uint16_t>(sid.objectId,
                 P60System::P60DOCK_LATCHUP_STACK_3V3, this);
@@ -567,6 +573,8 @@ namespace P60Dock {
 
         lp_var_t<uint8_t> dearmStatus = lp_var_t<uint8_t>(sid.objectId,
                 P60System::P60DOCK_DEARM_STATUS, this);
+
+        /** Number of reboots due to gnd, i2c, csp watchdog timeout */
         lp_var_t<uint32_t> wdtCntGnd = lp_var_t<uint32_t>(sid.objectId,
                 P60System::P60DOCK_WDT_CNT_GND, this);
         lp_var_t<uint32_t> wdtCntI2c = lp_var_t<uint32_t>(sid.objectId,
@@ -577,6 +585,7 @@ namespace P60Dock {
                 P60System::P60DOCK_WDT_CNT_CSP_1, this);
         lp_var_t<uint32_t> wdtCntCsp2 = lp_var_t<uint32_t>(sid.objectId,
                 P60System::P60DOCK_WDT_CNT_CSP_2, this);
+
         lp_var_t<uint32_t> wdtGndLeft = lp_var_t<uint32_t>(sid.objectId,
                 P60System::P60DOCK_WDT_GND_LEFT, this);
         lp_var_t<uint32_t> wdtI2cLeft = lp_var_t<uint32_t>(sid.objectId,
@@ -589,7 +598,7 @@ namespace P60Dock {
                 P60System::P60DOCK_WDT_CSP_LEFT_2, this);
         lp_var_t<int16_t> batteryChargeCurrent = lp_var_t<int16_t>(sid.objectId,
                 P60System::P60DOCK_BATT_CHARGE_CURRENT, this);
-        lp_var_t<int16_t> batteryDishargeCurrent = lp_var_t<int16_t>(sid.objectId,
+        lp_var_t<int16_t> batteryDischargeCurrent = lp_var_t<int16_t>(sid.objectId,
                 P60System::P60DOCK_BATT_DISCHARGE_CURRENT, this);
         lp_var_t<int8_t> ant6Depl = lp_var_t<int8_t>(sid.objectId,
                 P60System::P60DOCK_ANT6_DEPL, this);