config table retrieval works

dummies/AcuDummy.cpp

@@ -37,6 +37,6 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(P60System::pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
+  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES, new PoolEntry<float>(3));
   return returnvalue::OK;
 }

dummies/P60DockDummy.cpp

@@ -40,7 +40,7 @@ uint32_t P60DockDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { re
 
 ReturnValue_t P60DockDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(P60System::pool::P60DOCK_TEMPERATURE_1, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_1, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(P60System::pool::P60DOCK_TEMPERATURE_2, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(P60Dock::pool::P60DOCK_TEMPERATURE_2, new PoolEntry<float>({0}));
   return returnvalue::OK;
 }

dummies/PduDummy.cpp

@@ -37,6 +37,6 @@ uint32_t PduDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return
 
 ReturnValue_t PduDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                 LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(P60System::pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(PDU::pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
   return returnvalue::OK;
 }

fsfw

@@ -1 +1 @@
-Subproject commit f5866ddacee6cd0f381fb1a69f1d0cf22b5b310a
+Subproject commit 2a75440b325b70b7ca90269159440a1f9a4a6e2a

linux/csp/CspComIF.cpp

@@ -71,7 +71,7 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF* cookie) {
   uint16_t maxReplyLength = cspCookie->getMaxReplyLength();
   if (cspDeviceMap.find(cspAddress) == cspDeviceMap.end()) {
     /* Insert device information in CSP map */
-    cspDeviceMap.emplace(cspAddress, vectorBuffer(maxReplyLength));
+    cspDeviceMap.emplace(cspAddress, ReplyInfo(maxReplyLength));
   }
   return returnvalue::OK;
 }
@@ -104,6 +104,10 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
     return returnvalue::FAILED;
   }
   uint8_t cspAddress = cspCookie->getCspAddress();
+  auto iter = cspDeviceMap.find(cspAddress);
+  if (iter == cspDeviceMap.end()) {
+    return returnvalue::FAILED;
+  }
   switch (cspPort) {
     case (CspPorts::CSP_PING): {
       initiatePingRequest(cspAddress, querySize);
@@ -117,7 +121,7 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
     case (CspPorts::P60_PORT_RPARAM_ENUM): {
       if (cspCookie->getRequest() != SpecialRequestTypes::DEFAULT_COM_IF) {
         param_index_t requestStruct{};
-        requestStruct.physaddr = cspDeviceMap[cspAddress].data();
+        requestStruct.physaddr = iter->second.replyBuf.data();
         auto req = cspCookie->getRequest();
         if (req == GOMSPACE::SpecialRequestTypes::GET_PDU_HK) {
           if (!p60pdu_get_hk(&requestStruct, cspAddress, cspCookie->getTimeout())) {
@@ -139,8 +143,29 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
           requestStruct.size = P60PDU_PARAM_SIZE;
           int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
                                              requestStruct.mem_id, cspCookie->getTimeout());
-          param_list(&requestStruct, 1);
+          if (result != 0) {
-          return (result == 0);
+            return returnvalue::FAILED;
+          }
+        } else if (req == GOMSPACE::SpecialRequestTypes::GET_ACU_CONFIG) {
+          requestStruct.table = p60acu_config;
+          requestStruct.mem_id = P60ACU_PARAM;
+          requestStruct.count = p60acu_config_count;
+          requestStruct.size = P60ACU_PARAM_SIZE;
+          int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
+                                             requestStruct.mem_id, cspCookie->getTimeout());
+          if (result != 0) {
+            return returnvalue::FAILED;
+          }
+        } else if (req == GOMSPACE::SpecialRequestTypes::GET_P60DOCK_CONFIG) {
+          requestStruct.table = p60dock_config;
+          requestStruct.mem_id = P60DOCK_PARAM;
+          requestStruct.count = p60dock_config_count;
+          requestStruct.size = P60DOCK_PARAM_SIZE;
+          int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
+                                             requestStruct.mem_id, cspCookie->getTimeout());
+          if (result != 0) {
+            return returnvalue::FAILED;
+          }
         }
       } else {
         /* No CSP fixed port was selected. Send data to the specified port and
@@ -150,7 +175,7 @@ ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
           return returnvalue::FAILED;
         }
       }
-      replySize = querySize;
+      iter->second.replyLen = querySize;
       break;
     }
     default:
@@ -176,9 +201,12 @@ ReturnValue_t CspComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
   }
 
   uint8_t cspAddress = cspCookie->getCspAddress();
-
+  auto iter = cspDeviceMap.find(cspAddress);
-  *buffer = cspDeviceMap[cspAddress].data();
+  if (iter == cspDeviceMap.end()) {
-  *size = replySize;
+    return returnvalue::FAILED;
+  }
+  *buffer = iter->second.replyBuf.data();
+  *size = iter->second.replyLen;
 
   return returnvalue::OK;
 }
@@ -188,13 +216,13 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, const u
   uint32_t timeout_ms = 1000;
   uint16_t bytesRead = 0;
   int32_t expectedSize = static_cast<int32_t>(querySize);
-  vectorBufferIter iter = cspDeviceMap.find(cspAddress);
+  auto iter = cspDeviceMap.find(cspAddress);
   if (iter == cspDeviceMap.end()) {
     sif::error << "CSP device with address " << cspAddress << " no found in"
                << " device map" << std::endl;
     return returnvalue::FAILED;
   }
-  uint8_t* replyBuffer = iter->second.data();
+  uint8_t* replyBuffer = iter->second.replyBuf.data();
 
   csp_conn_t* conn = csp_connect(CSP_PRIO_HIGH, cspAddress, cspPort, 0, CSP_O_NONE);
 
@@ -239,7 +267,7 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, const u
       csp_close(conn);
       return returnvalue::FAILED;
     }
-    if ((reply->length + bytesRead) > iter->second.size()) {
+    if ((reply->length + bytesRead) > iter->second.replyBuf.size()) {
       sif::error << "CspComIF::cspTransfer: Reply buffer to short" << std::endl;
       csp_buffer_free(reply);
       csp_close(conn);
@@ -286,8 +314,12 @@ void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize) {
   uint32_t replyTime = csp_ping(cspAddress, timeout_ms, querySize, CSP_O_NONE);
   sif::info << "Ping address: " << cspAddress << ", reply after " << replyTime << " ms"
             << std::endl;
+  auto iter = cspDeviceMap.find(cspAddress);
+  if (iter == cspDeviceMap.end()) {
+    return;
+  }
   /* Store reply time in reply buffer * */
-  uint8_t* replyBuffer = cspDeviceMap[cspAddress].data();
+  uint8_t* replyBuffer = iter->second.replyBuf.data();
   memcpy(replyBuffer, &replyTime, sizeof(replyTime));
-  replySize = sizeof(replyTime);
+  iter->second.replyLen = sizeof(replyTime);
 }

linux/csp/CspComIF.h

@@ -43,15 +43,16 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject {
                             int cmdLen, uint16_t querySize);
 
   typedef uint8_t node_t;
-  using vectorBuffer = std::vector<uint8_t>;
+  struct ReplyInfo {
-  using VectorBufferMap = std::unordered_map<node_t, vectorBuffer>;
+    ReplyInfo(size_t maxLen) : replyBuf(maxLen){};
-  using vectorBufferIter = VectorBufferMap::iterator;
+    std::vector<uint8_t> replyBuf;
+    size_t replyLen = 0;
+  };
+  using VectorBufferMap = std::unordered_map<node_t, ReplyInfo>;
 
   /* In this map assigns reply buffers to a CSP device */
   VectorBufferMap cspDeviceMap;
 
-  uint16_t replySize = 0;
-
   /* This is the CSP address of the OBC. */
   node_t cspOwnAddress = 1;
 

mission/controller/ThermalController.cpp

@@ -699,7 +699,7 @@ void ThermalController::copyDevices() {
     sif::warning << "ThermalController: Failed to commit" << std::endl;
   }
   lp_vec_t<float, 3> tempAcu =
-      lp_vec_t<float, 3>(objects::ACU_HANDLER, P60System::pool::ACU_TEMPERATURES);
+      lp_vec_t<float, 3>(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES);
   result = tempAcu.read();
   if (result != returnvalue::OK) {
     sif::warning << "ThermalController: Failed to read ACU temperatures" << std::endl;
@@ -715,8 +715,7 @@ void ThermalController::copyDevices() {
   if (result != returnvalue::OK) {
     sif::warning << "ThermalController: Failed to commit" << std::endl;
   }
-  lp_var_t<float> tempPdu1 =
+  lp_var_t<float> tempPdu1 = lp_var_t<float>(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE);
-      lp_var_t<float>(objects::PDU1_HANDLER, P60System::pool::PDU_TEMPERATURE);
   result = tempPdu1.read();
   if (result != returnvalue::OK) {
     sif::warning << "ThermalController: Failed to read PDU1 temperature" << std::endl;
@@ -730,8 +729,7 @@ void ThermalController::copyDevices() {
   if (result != returnvalue::OK) {
     sif::warning << "ThermalController: Failed to commit" << std::endl;
   }
-  lp_var_t<float> tempPdu2 =
+  lp_var_t<float> tempPdu2 = lp_var_t<float>(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE);
-      lp_var_t<float>(objects::PDU2_HANDLER, P60System::pool::PDU_TEMPERATURE);
   result = tempPdu2.read();
   if (result != returnvalue::OK) {
     sif::warning << "ThermalController: Failed to read PDU2 temperature" << std::endl;
@@ -746,7 +744,7 @@ void ThermalController::copyDevices() {
     sif::warning << "ThermalController: Failed to commit" << std::endl;
   }
   lp_var_t<float> temp1P60dock =
-      lp_var_t<float>(objects::P60DOCK_HANDLER, P60System::pool::P60DOCK_TEMPERATURE_1);
+      lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1);
   result = temp1P60dock.read();
   if (result != returnvalue::OK) {
     sif::warning << "ThermalController: Failed to read P60 dock temperature 1" << std::endl;
@@ -761,7 +759,7 @@ void ThermalController::copyDevices() {
     sif::warning << "ThermalController: Failed to commit" << std::endl;
   }
   lp_var_t<float> temp2P60dock =
-      lp_var_t<float>(objects::P60DOCK_HANDLER, P60System::pool::P60DOCK_TEMPERATURE_2);
+      lp_var_t<float>(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2);
   result = temp2P60dock.read();
   if (result != returnvalue::OK) {
     sif::warning << "ThermalController: Failed to read P60 dock temperature 2" << std::endl;

mission/devices/ACUHandler.cpp

@@ -42,6 +42,10 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
   }
 }
 
+void ACUHandler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
+  handleDeviceTM(packet, ACU::CONFIG_TABLE_SIZE, id);
+}
+
 LocalPoolDataSetBase *ACUHandler::getDataSetHandle(sid_t sid) {
   if (sid == coreHk.getSid()) {
     return &coreHk;
@@ -114,7 +118,7 @@ ReturnValue_t ACUHandler::parseHkTableReply(const uint8_t *packet) {
 
 ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                   LocalDataPoolManager &poolManager) {
-  using namespace P60System;
+  using namespace ACU;
   localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNELS, new PoolEntry<int16_t>(6));
   localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNELS, new PoolEntry<uint16_t>(6));
 

mission/devices/ACUHandler.h

@@ -22,8 +22,8 @@ class ACUHandler : public GomspaceDeviceHandler {
                                                 LocalDataPoolManager& poolManager) override;
 
  protected:
-  virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
-
+  void letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t* packet) override;
   /**
    * @brief   As soon as the device is in MODE_NORMAL, this function is executed periodically.
    */

mission/devices/GomspaceDeviceHandler.cpp

@@ -92,7 +92,8 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t d
       } else if (getObjectId() == objects::P60DOCK_HANDLER) {
         reqType = SpecialRequestTypes::GET_P60DOCK_HK;
       }
-      result = generateRequestFullTableCmd(reqType, GOMSPACE::TableIds::HK, tableCfg.hkTableSize);
+      result = generateRequestFullTableCmd(reqType, GOMSPACE::TableIds::HK, tableCfg.hkTableSize,
+                                           deviceCommand);
       if (result != returnvalue::OK) {
         return result;
       }
@@ -102,11 +103,13 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t d
       auto reqType = SpecialRequestTypes::DEFAULT_COM_IF;
       if (getObjectId() == objects::PDU1_HANDLER or getObjectId() == objects::PDU2_HANDLER) {
         reqType = SpecialRequestTypes::GET_PDU_CONFIG;
-      } else {
+      } else if (getObjectId() == objects::ACU_HANDLER) {
-        reqType = SpecialRequestTypes::DEFAULT_COM_IF;
+        reqType = SpecialRequestTypes::GET_ACU_CONFIG;
+      } else if (getObjectId() == objects::P60DOCK_HANDLER) {
+        reqType = SpecialRequestTypes::GET_P60DOCK_CONFIG;
       }
-      result =
+      result = generateRequestFullTableCmd(reqType, GOMSPACE::TableIds::CONFIG,
-          generateRequestFullTableCmd(reqType, GOMSPACE::TableIds::CONFIG, tableCfg.cfgTableSize);
+                                           tableCfg.cfgTableSize, deviceCommand);
       if (result != returnvalue::OK) {
         return result;
       }
@@ -124,6 +127,7 @@ void GomspaceDeviceHandler::fillCommandAndReplyMap() {
   this->insertInCommandAndReplyMap(GOMSPACE::PARAM_SET, 3);
   this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
   this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
+  this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_CONFIG_TABLE, 3);
   this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
   this->insertInCommandMap(GOMSPACE::PRINT_SWITCH_V_I);
   this->insertInCommandMap(GOMSPACE::PRINT_LATCHUPS);
@@ -149,9 +153,16 @@ ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t* start, size_t r
       rememberCommandId = GOMSPACE::NONE;
       break;
     }
-    case (GOMSPACE::REQUEST_HK_TABLE): {
+    case (GOMSPACE::REQUEST_HK_TABLE):
-      *foundId = GOMSPACE::REQUEST_HK_TABLE;
+    case (GOMSPACE::REQUEST_CONFIG_TABLE): {
-      *foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
+      if (remainingSize < rememberRequestedSize) {
+        sif::error << "GomspaceDeviceHandler::scanForReply: Table reply, received data smaller "
+                      "than expected "
+                   << rememberRequestedSize << std::endl;
+        return returnvalue::FAILED;
+      }
+      *foundId = rememberCommandId;
+      *foundLen = rememberRequestedSize;
       rememberCommandId = GOMSPACE::NONE;
       break;
     }
@@ -209,6 +220,10 @@ ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
       letChildHandleHkReply(id, packet);
       break;
     }
+    case (GOMSPACE::REQUEST_CONFIG_TABLE): {
+      letChildHandleConfigReply(id, packet);
+      break;
+    }
     default:
       break;
   }
@@ -384,38 +399,39 @@ ReturnValue_t GomspaceDeviceHandler::setParamCallback(SetParamMessageUnpacker& u
 ReturnValue_t GomspaceDeviceHandler::initializePduPool(
     localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager,
     std::array<uint8_t, PDU::CHANNELS_LEN> initOutEnb) {
-  localDataPoolMap.emplace(P60System::pool::PDU_CURRENTS, new PoolEntry<int16_t>(9));
+  using namespace PDU;
-  localDataPoolMap.emplace(P60System::pool::PDU_VOLTAGES, new PoolEntry<int16_t>(9));
+  localDataPoolMap.emplace(pool::PDU_CURRENTS, new PoolEntry<int16_t>(9));
+  localDataPoolMap.emplace(pool::PDU_VOLTAGES, new PoolEntry<int16_t>(9));
 
-  localDataPoolMap.emplace(P60System::pool::PDU_VCC, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_VCC, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_VBAT, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_VBAT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_CONV_EN, new PoolEntry<uint8_t>(3));
+  localDataPoolMap.emplace(pool::PDU_CONV_EN, new PoolEntry<uint8_t>(3));
 
-  localDataPoolMap.emplace(P60System::pool::PDU_OUT_ENABLE,
+  localDataPoolMap.emplace(pool::PDU_OUT_ENABLE,
                            new PoolEntry<uint8_t>(initOutEnb.data(), initOutEnb.size()));
 
-  localDataPoolMap.emplace(P60System::pool::PDU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_BOOTCNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_BOOTCNT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_UPTIME, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_UPTIME, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_RESETCAUSE, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_RESETCAUSE, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_BATT_MODE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_BATT_MODE, new PoolEntry<uint8_t>({0}));
 
-  localDataPoolMap.emplace(P60System::pool::PDU_LATCHUPS, new PoolEntry<uint16_t>(9));
+  localDataPoolMap.emplace(pool::PDU_LATCHUPS, new PoolEntry<uint16_t>(9));
 
-  localDataPoolMap.emplace(P60System::pool::PDU_DEVICES, new PoolEntry<uint8_t>(8));
+  localDataPoolMap.emplace(pool::PDU_DEVICES, new PoolEntry<uint8_t>(8));
-  localDataPoolMap.emplace(P60System::pool::PDU_STATUSES, new PoolEntry<uint8_t>(8));
+  localDataPoolMap.emplace(pool::PDU_STATUSES, new PoolEntry<uint8_t>(8));
 
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(pool::PDU_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
   return returnvalue::OK;
 }
 
@@ -448,7 +464,8 @@ ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd() {
 
 ReturnValue_t GomspaceDeviceHandler::generateRequestFullTableCmd(SpecialRequestTypes reqType,
                                                                  uint8_t tableId,
-                                                                 uint16_t tableReplySize) {
+                                                                 uint16_t tableReplySize,
+                                                                 DeviceCommandId_t id) {
   uint16_t querySize = tableReplySize;
   if (reqType == SpecialRequestTypes::DEFAULT_COM_IF) {
     sif::warning << "Default communication for table requests not implemented anymore" << std::endl;
@@ -458,7 +475,7 @@ ReturnValue_t GomspaceDeviceHandler::generateRequestFullTableCmd(SpecialRequestT
   cspCookie->setRequest(reqType, tableReplySize);
   cspCookie->setCspPort(CspPorts::P60_PORT_RPARAM_ENUM);
   rememberRequestedSize = querySize;
-  rememberCommandId = GOMSPACE::REQUEST_HK_TABLE;
+  rememberCommandId = id;
   return returnvalue::OK;
 }
 

mission/devices/GomspaceDeviceHandler.h

@@ -83,7 +83,8 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
    *          specific. Thus the child has to build this command.
    */
   virtual ReturnValue_t generateRequestFullTableCmd(GOMSPACE::SpecialRequestTypes reqType,
-                                                    uint8_t tableId, uint16_t tableSize);
+                                                    uint8_t tableId, uint16_t tableSize,
+                                                    DeviceCommandId_t id);
 
   /**
    * This command handles printing the HK table to the console. This is useful for debugging
@@ -99,7 +100,7 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
    * @param packet	Pointer to the reply containing the hk table.
    */
   virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
-
+  virtual void letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
   virtual LocalPoolDataSetBase *getDataSetHandle(sid_t sid) = 0;
 
   /**

mission/devices/P60DockHandler.cpp

@@ -121,7 +121,7 @@ void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
 
 ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                       LocalDataPoolManager &poolManager) {
-  using namespace P60System;
+  using namespace P60Dock;
   localDataPoolMap.emplace(pool::P60_CURRENTS, &hkCurrents);
 
   localDataPoolMap.emplace(pool::P60_VOLTAGES, &hkVoltages);
@@ -271,3 +271,7 @@ void P60DockHandler::printHkTableLatchups() {
 }
 
 void P60DockHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+
+void P60DockHandler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
+  handleDeviceTM(packet, P60Dock::CONFIG_TABLE_SIZE, id);
+}

mission/devices/P60DockHandler.h

@@ -36,8 +36,8 @@ class P60DockHandler : public GomspaceDeviceHandler {
    */
   virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
 
-  virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
-
+  void letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t* packet) override;
   /**
    * This command handles printing the HK table to the console. This is useful for debugging
    * purposes

mission/devices/PDU1Handler.cpp

@@ -80,6 +80,10 @@ ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
   return returnvalue::OK;
 }
 
+void PDU1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
+  handleDeviceTM(packet, PDU::CONFIG_TABLE_SIZE, id);
+}
+
 void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
   GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
 }

mission/devices/PDU1Handler.h

@@ -35,7 +35,8 @@ class PDU1Handler : public GomspaceDeviceHandler {
    * @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;
+  void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  void letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t* packet) override;
   ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t setParamCallback(SetParamMessageUnpacker& unpacker, bool afterExectuion) override;

mission/devices/PDU2Handler.cpp

@@ -29,6 +29,10 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
   handleDeviceTM(&coreHk, id, true);
 }
 
+void PDU2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
+  handleDeviceTM(packet, PDU::CONFIG_TABLE_SIZE, id);
+}
+
 void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
   this->channelSwitchHook = hook;
   this->hookArgs = args;

mission/devices/PDU2Handler.h

@@ -34,7 +34,8 @@ class PDU2Handler : public GomspaceDeviceHandler {
    * @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;
+  void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  void letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t* packet) override;
   ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
   ReturnValue_t setParamCallback(SetParamMessageUnpacker& unpacker, bool afterExecution) override;
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -101,9 +101,16 @@ enum class SetIds : uint32_t {
   P60_CORE = 5,
   P60_AUX = 6,
   ACU_CORE = 7,
-  ACU_AUX = 8
+  ACU_AUX = 8,
+
+  PDU_1_CONFIG = 9,
+  PDU_2_CONFIG = 10
 };
 
+}  // namespace P60System
+
+namespace P60Dock {
+
 namespace pool {
 
 enum Ids : lp_id_t {
@@ -146,60 +153,8 @@ enum Ids : lp_id_t {
   P60DOCK_BATT_DISCHARGE_CURRENT,
   P60DOCK_ANT6_DEPL,
   P60DOCK_AR6_DEPL,
-
-  // IDs for both PDUs
-  PDU_CURRENTS,
-  PDU_VOLTAGES,
-  PDU_VCC,
-  PDU_VBAT,
-  PDU_TEMPERATURE,
-  PDU_CONV_EN,
-  PDU_OUT_ENABLE,
-  PDU_BOOTCAUSE,
-  PDU_BOOTCNT,
-  PDU_UPTIME,
-  PDU_RESETCAUSE,
-  PDU_BATT_MODE,
-  PDU_LATCHUPS,
-  PDU_DEVICES,
-  PDU_STATUSES,
-  PDU_WDT_CNT_GND,
-  PDU_WDT_CNT_I2C,
-  PDU_WDT_CNT_CAN,
-  PDU_WDT_CNT_CSP1,
-  PDU_WDT_CNT_CSP2,
-  PDU_WDT_GND_LEFT,
-  PDU_WDT_I2C_LEFT,
-  PDU_WDT_CAN_LEFT,
-  PDU_WDT_CSP_LEFT1,
-  PDU_WDT_CSP_LEFT2,
-
-  /** ACU Ids */
-  ACU_CURRENT_IN_CHANNELS,
-  ACU_VOLTAGE_IN_CHANNELS,
-  ACU_VCC,
-  ACU_VBAT,
-  ACU_TEMPERATURES,
-  ACU_MPPT_MODE,
-  ACU_VBOOST_IN_CHANNELS,
-  ACU_POWER_IN_CHANNELS,
-  ACU_DAC_ENABLES,
-  ACU_DAC_RAW_CHANNELS,
-  ACU_BOOTCAUSE,
-  ACU_BOOTCNT,
-  ACU_UPTIME,
-  ACU_RESET_CAUSE,
-  ACU_MPPT_TIME,
-  ACU_MPPT_PERIOD,
-  ACU_DEVICES,
-  ACU_DEVICES_STATUS,
-  ACU_WDT_CNT_GND,
-  ACU_WDT_GND_LEFT,
 };
 }
-}  // namespace P60System
-
-namespace P60Dock {
 
 static constexpr uint8_t NUM_DEVS = 8;
 
@@ -260,33 +215,26 @@ class CoreHkSet : public StaticLocalDataSet<16> {
 
   /** Measured output currents */
   lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN> currents =
-      lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, P60System::pool::P60_CURRENTS,
+      lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, pool::P60_CURRENTS, this);
-                                                       this);
 
   /** Measured output voltages */
   lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN> voltages =
-      lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, P60System::pool::P60_VOLTAGES,
+      lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, pool::P60_VOLTAGES, this);
-                                                        this);
 
   /** Output enable states */
   lp_vec_t<uint8_t, P60Dock::hk::Index::CHNLS_LEN> outputEnables =
-      lp_vec_t<uint8_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId,
+      lp_vec_t<uint8_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, pool::P60_OUTPUT_ENABLE, this);
-                                                       P60System::pool::P60_OUTPUT_ENABLE, this);
+  lp_var_t<uint32_t> bootCount = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_BOOT_CNT, this);
-  lp_var_t<uint32_t> bootCount =
+  lp_var_t<uint8_t> battMode = lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_BATT_MODE, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_BOOT_CNT, this);
-  lp_var_t<uint8_t> battMode =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::P60DOCK_BATT_MODE, this);
 
   // Difference between charge and discharge current
   lp_var_t<int16_t> batteryCurrent =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::P60DOCK_BATTERY_CURRENT, this);
+      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATTERY_CURRENT, this);
   lp_var_t<uint16_t> batteryVoltage =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::P60DOCK_BATTERY_VOLTAGE, this);
+      lp_var_t<uint16_t>(sid.objectId, pool::P60DOCK_BATTERY_VOLTAGE, this);
 
-  lp_var_t<float> temperature1 =
+  lp_var_t<float> temperature1 = lp_var_t<float>(sid.objectId, pool::P60DOCK_TEMPERATURE_1, this);
-      lp_var_t<float>(sid.objectId, P60System::pool::P60DOCK_TEMPERATURE_1, this);
+  lp_var_t<float> temperature2 = lp_var_t<float>(sid.objectId, pool::P60DOCK_TEMPERATURE_2, this);
-  lp_var_t<float> temperature2 =
-      lp_var_t<float>(sid.objectId, P60System::pool::P60DOCK_TEMPERATURE_2, this);
 };
 /**
  * @brief   This class defines a dataset for the hk table of the P60 Dock.
@@ -304,70 +252,59 @@ class HkTableDataset : public StaticLocalDataSet<32> {
 
   /** Number of detected latchups on each output channel */
   lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN> latchups =
-      lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, P60System::pool::LATCHUPS,
+      lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, pool::LATCHUPS, this);
-                                                        this);
 
-  lp_var_t<uint32_t> bootcause =
+  lp_var_t<uint32_t> bootcause = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_BOOT_CAUSE, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_BOOT_CAUSE, this);
+  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_UPTIME, this);
-  lp_var_t<uint32_t> uptime =
+  lp_var_t<uint16_t> resetcause = lp_var_t<uint16_t>(sid.objectId, pool::P60DOCK_RESETCAUSE, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_UPTIME, this);
-  lp_var_t<uint16_t> resetcause =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::P60DOCK_RESETCAUSE, this);
 
   /** Battery heater control only possible on BP4 packs */
-  lp_var_t<uint8_t> heaterOn =
+  lp_var_t<uint8_t> heaterOn = lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_HEATER_ON, this);
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::P60DOCK_HEATER_ON, this);
   lp_var_t<uint8_t> converter5VStatus =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::P60DOCK_CONV_5V_ENABLE_STATUS, this);
+      lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_CONV_5V_ENABLE_STATUS, this);
 
   lp_var_t<uint16_t> dockVbatVoltageValue =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::P60DOCK_DOCK_VBAT, this);
+      lp_var_t<uint16_t>(sid.objectId, pool::P60DOCK_DOCK_VBAT, this);
   lp_var_t<int16_t> dockVccCurrent =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::P60DOCK_DOCK_VCC_CURRENT, this);
+      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_DOCK_VCC_CURRENT, this);
 
   lp_var_t<int16_t> batteryTemperature1 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::P60DOCK_BATTERY_TEMPERATURE_1, this);
+      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATTERY_TEMPERATURE_1, this);
   lp_var_t<int16_t> batteryTemperature2 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::P60DOCK_BATTERY_TEMPERATURE_2, this);
+      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATTERY_TEMPERATURE_2, this);
 
-  lp_var_t<uint8_t> dearmStatus =
+  lp_var_t<uint8_t> dearmStatus = lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_DEARM_STATUS, this);
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::P60DOCK_DEARM_STATUS, this);
 
   /** Number of reboots due to gnd, i2c, csp watchdog timeout */
-  lp_var_t<uint32_t> wdtCntGnd =
+  lp_var_t<uint32_t> wdtCntGnd = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_GND, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_WDT_CNT_GND, this);
+  lp_var_t<uint32_t> wdtCntI2c = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_I2C, this);
-  lp_var_t<uint32_t> wdtCntI2c =
+  lp_var_t<uint32_t> wdtCntCan = lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_CAN, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_WDT_CNT_I2C, this);
-  lp_var_t<uint32_t> wdtCntCan =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_WDT_CNT_CAN, this);
   lp_var_t<uint32_t> wdtCntCsp1 =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_WDT_CNT_CSP_1, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_CSP_1, this);
   lp_var_t<uint32_t> wdtCntCsp2 =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_WDT_CNT_CSP_2, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CNT_CSP_2, this);
 
   lp_var_t<uint32_t> wdtGndLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_WDT_GND_LEFT, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_GND_LEFT, this);
   lp_var_t<uint32_t> wdtI2cLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_WDT_I2C_LEFT, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_I2C_LEFT, this);
   lp_var_t<uint32_t> wdtCanLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_WDT_CAN_LEFT, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::P60DOCK_WDT_CAN_LEFT, this);
   lp_var_t<uint8_t> wdtCspLeft1 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::P60DOCK_WDT_CSP_LEFT_1, this);
+      lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_WDT_CSP_LEFT_1, this);
   lp_var_t<uint8_t> wdtCspLeft2 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::P60DOCK_WDT_CSP_LEFT_2, this);
+      lp_var_t<uint8_t>(sid.objectId, pool::P60DOCK_WDT_CSP_LEFT_2, this);
   lp_var_t<int16_t> batteryChargeCurrent =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::P60DOCK_BATT_CHARGE_CURRENT, this);
+      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATT_CHARGE_CURRENT, this);
   lp_var_t<int16_t> batteryDischargeCurrent =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::P60DOCK_BATT_DISCHARGE_CURRENT, this);
+      lp_var_t<int16_t>(sid.objectId, pool::P60DOCK_BATT_DISCHARGE_CURRENT, this);
-  lp_var_t<int8_t> ant6Depl =
+  lp_var_t<int8_t> ant6Depl = lp_var_t<int8_t>(sid.objectId, pool::P60DOCK_ANT6_DEPL, this);
-      lp_var_t<int8_t>(sid.objectId, P60System::pool::P60DOCK_ANT6_DEPL, this);
+  lp_var_t<int8_t> ar6Depl = lp_var_t<int8_t>(sid.objectId, pool::P60DOCK_AR6_DEPL, this);
-  lp_var_t<int8_t> ar6Depl =
-      lp_var_t<int8_t>(sid.objectId, P60System::pool::P60DOCK_AR6_DEPL, this);
 
   lp_vec_t<uint8_t, P60Dock::NUM_DEVS> devicesType =
-      lp_vec_t<uint8_t, P60Dock::NUM_DEVS>(sid.objectId, P60System::pool::DEVICES_TYPE, this);
+      lp_vec_t<uint8_t, P60Dock::NUM_DEVS>(sid.objectId, pool::DEVICES_TYPE, this);
   lp_vec_t<uint8_t, P60Dock::NUM_DEVS> devicesStatus =
-      lp_vec_t<uint8_t, P60Dock::NUM_DEVS>(sid.objectId, P60System::pool::DEVICES_STATUS, this);
+      lp_vec_t<uint8_t, P60Dock::NUM_DEVS>(sid.objectId, pool::DEVICES_STATUS, this);
 };
 }  // namespace P60Dock
 
@@ -376,6 +313,66 @@ class HkTableDataset : public StaticLocalDataSet<32> {
  */
 namespace PDU {
 
+namespace pool {
+enum Ids {
+  // IDs for both PDUs
+  PDU_CURRENTS,
+  PDU_VOLTAGES,
+  PDU_VCC,
+  PDU_VBAT,
+  PDU_TEMPERATURE,
+  PDU_CONV_EN,
+  PDU_OUT_ENABLE,
+  PDU_BOOTCAUSE,
+  PDU_BOOTCNT,
+  PDU_UPTIME,
+  PDU_RESETCAUSE,
+  PDU_BATT_MODE,
+  PDU_LATCHUPS,
+  PDU_DEVICES,
+  PDU_STATUSES,
+  PDU_WDT_CNT_GND,
+  PDU_WDT_CNT_I2C,
+  PDU_WDT_CNT_CAN,
+  PDU_WDT_CNT_CSP1,
+  PDU_WDT_CNT_CSP2,
+  PDU_WDT_GND_LEFT,
+  PDU_WDT_I2C_LEFT,
+  PDU_WDT_CAN_LEFT,
+  PDU_WDT_CSP_LEFT1,
+  PDU_WDT_CSP_LEFT2,
+
+  OUT_ON_CNT,
+  OUT_OFF_CNT,
+  INIT_OUT_NORM,
+  INIT_OUT_SAFE,
+  INIT_ON_DLY,
+  INIT_OFF_DLY,
+  SAFE_OFF_DLY,
+  CUR_LU_LIM,
+  CUR_LIM,
+  CUR_EMA,
+  OUT_LINK,
+  OUT_CONV,
+  OUT_VOLTAGE,
+  CONV_EN,
+  CUR_EMA_GAIN,
+  BATT_HWMAX,
+  BATT_MAX,
+  BATT_NORM,
+  BATT_SAFE,
+  BATT_CRIT,
+  WDT_I2C_RST,
+  WDT_CAN_RST,
+  WDT_I2C,
+  WDT_CAN,
+  WDT_CSP,
+  WDT_CSP_PING,
+  WDT_CSP_CHAN,
+  WDT_CSP_ADDR
+};
+}
+
 static const uint16_t MAX_CONFIGTABLE_ADDRESS = 316;
 static const uint16_t MAX_HKTABLE_ADDRESS = 141;
 /** The size of the csp reply containing the housekeeping table data */
@@ -395,22 +392,53 @@ class PduCoreHk : public StaticLocalDataSet<9> {
   PduCoreHk(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
 
   /** Measured output currents */
-  lp_vec_t<int16_t, 9> currents =
+  lp_vec_t<int16_t, 9> currents = lp_vec_t<int16_t, 9>(sid.objectId, pool::PDU_CURRENTS, this);
-      lp_vec_t<int16_t, 9>(sid.objectId, P60System::pool::PDU_CURRENTS, this);
   /** Measured output currents */
-  lp_vec_t<int16_t, 9> voltages =
+  lp_vec_t<int16_t, 9> voltages = lp_vec_t<int16_t, 9>(sid.objectId, pool::PDU_VOLTAGES, this);
-      lp_vec_t<int16_t, 9>(sid.objectId, P60System::pool::PDU_VOLTAGES, this);
   /** Output switch states */
   lp_vec_t<uint8_t, 9> outputEnables =
-      lp_vec_t<uint8_t, 9>(sid.objectId, P60System::pool::PDU_OUT_ENABLE, this);
+      lp_vec_t<uint8_t, 9>(sid.objectId, pool::PDU_OUT_ENABLE, this);
   /** Number of reboots */
-  lp_var_t<uint32_t> bootcount =
+  lp_var_t<uint32_t> bootcount = lp_var_t<uint32_t>(sid.objectId, pool::PDU_BOOTCNT, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_BOOTCNT, this);
   /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
-  lp_var_t<uint8_t> battMode =
+  lp_var_t<uint8_t> battMode = lp_var_t<uint8_t>(sid.objectId, pool::PDU_BATT_MODE, this);
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_BATT_MODE, this);
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, pool::PDU_TEMPERATURE, this);
-  lp_var_t<float> temperature =
+};
-      lp_var_t<float>(sid.objectId, P60System::pool::PDU_TEMPERATURE, this);
+
+class PduConfig : public StaticLocalDataSet<32> {
+ public:
+  PduConfig(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}
+
+  lp_vec_t<uint16_t, 9> outOnDelaySecs =
+      lp_vec_t<uint16_t, 9>(sid.objectId, pool::OUT_ON_CNT, this);
+  lp_vec_t<uint16_t, 9> outOffDelaySecs =
+      lp_vec_t<uint16_t, 9>(sid.objectId, pool::OUT_OFF_CNT, this);
+  lp_vec_t<uint8_t, 9> initOutNorm = lp_vec_t<uint8_t, 9>(sid.objectId, pool::INIT_OUT_NORM, this);
+  lp_vec_t<uint8_t, 9> initOutSafe = lp_vec_t<uint8_t, 9>(sid.objectId, pool::INIT_OUT_SAFE, this);
+  lp_vec_t<uint16_t, 9> initOnDly = lp_vec_t<uint16_t, 9>(sid.objectId, pool::INIT_ON_DLY, this);
+  lp_vec_t<uint16_t, 9> initOffDly = lp_vec_t<uint16_t, 9>(sid.objectId, pool::INIT_OFF_DLY, this);
+  lp_vec_t<uint8_t, 9> safeOffDly = lp_vec_t<uint8_t, 9>(sid.objectId, pool::SAFE_OFF_DLY, this);
+  lp_vec_t<uint16_t, 9> curLuLim = lp_vec_t<uint16_t, 9>(sid.objectId, pool::CUR_LU_LIM, this);
+  lp_vec_t<uint16_t, 9> curLim = lp_vec_t<uint16_t, 9>(sid.objectId, pool::CUR_LIM, this);
+  lp_vec_t<uint16_t, 9> curEma = lp_vec_t<uint16_t, 9>(sid.objectId, pool::CUR_EMA, this);
+  lp_vec_t<uint8_t, 9> outLink = lp_vec_t<uint8_t, 9>(sid.objectId, pool::OUT_LINK, this);
+  lp_vec_t<uint8_t, 9> outConv = lp_vec_t<uint8_t, 9>(sid.objectId, pool::OUT_CONV, this);
+  lp_vec_t<uint16_t, 9> outVoltage = lp_vec_t<uint16_t, 9>(sid.objectId, pool::OUT_VOLTAGE, this);
+  lp_vec_t<uint8_t, 9> convEnable = lp_vec_t<uint8_t, 9>(sid.objectId, pool::CONV_EN, this);
+  lp_var_t<float> curEmaGain = lp_var_t<float>(sid.objectId, pool::CUR_EMA_GAIN, this);
+  lp_var_t<uint16_t> battHwMax = lp_var_t<uint16_t>(sid.objectId, pool::BATT_HWMAX, this);
+  lp_var_t<uint16_t> battMax = lp_var_t<uint16_t>(sid.objectId, pool::BATT_MAX, this);
+  lp_var_t<uint16_t> battNorm = lp_var_t<uint16_t>(sid.objectId, pool::BATT_NORM, this);
+  lp_var_t<uint16_t> battSafe = lp_var_t<uint16_t>(sid.objectId, pool::BATT_SAFE, this);
+  lp_var_t<uint16_t> battCrit = lp_var_t<uint16_t>(sid.objectId, pool::BATT_CRIT, this);
+  lp_var_t<uint16_t> wdtI2cRst = lp_var_t<uint16_t>(sid.objectId, pool::WDT_I2C_RST, this);
+  lp_var_t<uint16_t> wdtCanRst = lp_var_t<uint16_t>(sid.objectId, pool::WDT_CAN_RST, this);
+  lp_var_t<uint32_t> wdtI2c = lp_var_t<uint32_t>(sid.objectId, pool::WDT_I2C, this);
+  lp_var_t<uint32_t> wdtCan = lp_var_t<uint32_t>(sid.objectId, pool::WDT_CAN, this);
+  lp_vec_t<uint32_t, 2> wdtCsp = lp_vec_t<uint32_t, 2>(sid.objectId, pool::WDT_CSP, this);
+  lp_vec_t<uint8_t, 2> wdtCspPing = lp_vec_t<uint8_t, 2>(sid.objectId, pool::WDT_CSP_PING, this);
+  lp_vec_t<uint8_t, 2> wdtCspChannel = lp_vec_t<uint8_t, 2>(sid.objectId, pool::WDT_CSP_CHAN, this);
+  lp_vec_t<uint8_t, 2> wdtCspAddr = lp_vec_t<uint8_t, 2>(sid.objectId, pool::WDT_CSP_ADDR, this);
 };
 
 /**
@@ -423,64 +451,56 @@ class PduAuxHk : public StaticLocalDataSet<36> {
   PduAuxHk(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
 
   /** Measured VCC */
-  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU_VCC, this);
+  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, pool::PDU_VCC, this);
   /** Measured VBAT */
-  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU_VBAT, this);
+  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, pool::PDU_VBAT, this);
 
   /** Output converter enable status */
   lp_vec_t<uint8_t, 3> converterEnable =
-      lp_vec_t<uint8_t, 3>(sid.objectId, P60System::pool::PDU_CONV_EN, this);
+      lp_vec_t<uint8_t, 3>(sid.objectId, pool::PDU_CONV_EN, this);
 
-  lp_var_t<uint32_t> bootcause =
+  lp_var_t<uint32_t> bootcause = lp_var_t<uint32_t>(sid.objectId, pool::PDU_BOOTCAUSE, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_BOOTCAUSE, this);
 
   /** Uptime in seconds */
-  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_UPTIME, this);
+  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, pool::PDU_UPTIME, this);
-  lp_var_t<uint16_t> resetcause =
+  lp_var_t<uint16_t> resetcause = lp_var_t<uint16_t>(sid.objectId, pool::PDU_RESETCAUSE, this);
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU_RESETCAUSE, this);
 
   /** Number of detected latchups on each output channel */
-  lp_vec_t<uint16_t, 9> latchups =
+  lp_vec_t<uint16_t, 9> latchups = lp_vec_t<uint16_t, 9>(sid.objectId, pool::PDU_LATCHUPS, this);
-      lp_vec_t<uint16_t, 9>(sid.objectId, P60System::pool::PDU_LATCHUPS, this);
 
   /**
    * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
    * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
    */
-  lp_vec_t<uint8_t, 8> deviceTypes =
+  lp_vec_t<uint8_t, 8> deviceTypes = lp_vec_t<uint8_t, 8>(sid.objectId, pool::PDU_DEVICES, this);
-      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::PDU_DEVICES, this);
   /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
-  lp_vec_t<uint8_t, 8> devicesStatus =
+  lp_vec_t<uint8_t, 8> devicesStatus = lp_vec_t<uint8_t, 8>(sid.objectId, pool::PDU_STATUSES, this);
-      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::PDU_STATUSES, this);
 
   /** Number of reboots triggered by the ground watchdog */
-  lp_var_t<uint32_t> gndWdtReboots =
+  lp_var_t<uint32_t> gndWdtReboots = lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_GND, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_GND, this);
   /** Number of reboots triggered through the I2C watchdog. Not relevant for EIVE. */
-  lp_var_t<uint32_t> i2cWdtReboots =
+  lp_var_t<uint32_t> i2cWdtReboots = lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_I2C, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_I2C, this);
   /** Number of reboots triggered through the CAN watchdog */
-  lp_var_t<uint32_t> canWdtReboots =
+  lp_var_t<uint32_t> canWdtReboots = lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_CAN, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_CAN, this);
   /** Number of reboots triggered through the CSP watchdog */
   lp_var_t<uint32_t> csp1WdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_CSP1, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_CSP1, this);
   lp_var_t<uint32_t> csp2WdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_CSP2, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CNT_CSP2, this);
   /** Ground watchdog remaining seconds before rebooting */
   lp_var_t<uint32_t> groundWatchdogSecondsLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_GND_LEFT, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_GND_LEFT, this);
   /** I2C watchdog remaining seconds before rebooting. Not relevant for EIVE. */
   lp_var_t<uint32_t> i2cWatchdogSecondsLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_I2C_LEFT, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_I2C_LEFT, this);
   /** CAN watchdog remaining seconds before rebooting. */
   lp_var_t<uint32_t> canWatchdogSecondsLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CAN_LEFT, this);
+      lp_var_t<uint32_t>(sid.objectId, pool::PDU_WDT_CAN_LEFT, this);
   /** CSP watchdogs remaining pings before rebooting. */
   lp_var_t<uint8_t> csp2WatchdogPingsLeft =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_WDT_CSP_LEFT1, this);
+      lp_var_t<uint8_t>(sid.objectId, pool::PDU_WDT_CSP_LEFT1, this);
   lp_var_t<uint8_t> csp1WatchdogPingsLeft =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_WDT_CSP_LEFT2, this);
+      lp_var_t<uint8_t>(sid.objectId, pool::PDU_WDT_CSP_LEFT2, this);
 };
 }  // namespace PDU
 
@@ -531,6 +551,12 @@ class Pdu1AuxHk : public ::PDU::PduAuxHk {
       : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_1_AUX)) {}
 };
 
+class Pdu1Config : public ::PDU::PduConfig {
+ public:
+  Pdu1Config(HasLocalDataPoolIF* owner)
+      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1_CONFIG)) {}
+};
+
 }  // namespace PDU1
 
 namespace PDU2 {
@@ -580,10 +606,42 @@ class Pdu2AuxHk : public ::PDU::PduAuxHk {
       : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_2_AUX)) {}
 };
 
+class Pdu2Config : public ::PDU::PduConfig {
+ public:
+  Pdu2Config(HasLocalDataPoolIF* owner)
+      : PduConfig(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2_CONFIG)) {}
+};
+
 }  // namespace PDU2
 
 namespace ACU {
 
+namespace pool {
+enum Ids : lp_id_t {
+  /** ACU Ids */
+  ACU_CURRENT_IN_CHANNELS,
+  ACU_VOLTAGE_IN_CHANNELS,
+  ACU_VCC,
+  ACU_VBAT,
+  ACU_TEMPERATURES,
+  ACU_MPPT_MODE,
+  ACU_VBOOST_IN_CHANNELS,
+  ACU_POWER_IN_CHANNELS,
+  ACU_DAC_ENABLES,
+  ACU_DAC_RAW_CHANNELS,
+  ACU_BOOTCAUSE,
+  ACU_BOOTCNT,
+  ACU_UPTIME,
+  ACU_RESET_CAUSE,
+  ACU_MPPT_TIME,
+  ACU_MPPT_PERIOD,
+  ACU_DEVICES,
+  ACU_DEVICES_STATUS,
+  ACU_WDT_CNT_GND,
+  ACU_WDT_GND_LEFT
+};
+}
+
 static const uint16_t MAX_CONFIGTABLE_ADDRESS = 26;
 static const uint16_t MAX_HKTABLE_ADDRESS = 120;
 static const uint8_t HK_TABLE_ENTRIES = 64;
@@ -599,31 +657,27 @@ class CoreHk : public StaticLocalDataSet<14> {
   CoreHk(object_id_t objectId)
       : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_CORE))) {}
 
-  lp_var_t<uint8_t> mpptMode =
+  lp_var_t<uint8_t> mpptMode = lp_var_t<uint8_t>(sid.objectId, pool::ACU_MPPT_MODE, this);
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::ACU_MPPT_MODE, this);
 
   lp_vec_t<int16_t, 6> currentInChannels =
-      lp_vec_t<int16_t, 6>(sid.objectId, P60System::pool::ACU_CURRENT_IN_CHANNELS, this);
+      lp_vec_t<int16_t, 6>(sid.objectId, pool::ACU_CURRENT_IN_CHANNELS, this);
   lp_vec_t<uint16_t, 6> voltageInChannels =
-      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_VOLTAGE_IN_CHANNELS, this);
+      lp_vec_t<uint16_t, 6>(sid.objectId, pool::ACU_VOLTAGE_IN_CHANNELS, this);
 
-  lp_var_t<uint16_t> vcc = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VCC, this);
+  lp_var_t<uint16_t> vcc = lp_var_t<uint16_t>(sid.objectId, pool::ACU_VCC, this);
-  lp_var_t<uint16_t> vbat = lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_VBAT, this);
+  lp_var_t<uint16_t> vbat = lp_var_t<uint16_t>(sid.objectId, pool::ACU_VBAT, this);
 
   lp_vec_t<uint16_t, 6> vboostInChannels =
-      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_VBOOST_IN_CHANNELS, this);
+      lp_vec_t<uint16_t, 6>(sid.objectId, pool::ACU_VBOOST_IN_CHANNELS, this);
   lp_vec_t<uint16_t, 6> powerInChannels =
-      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_POWER_IN_CHANNELS, this);
+      lp_vec_t<uint16_t, 6>(sid.objectId, pool::ACU_POWER_IN_CHANNELS, this);
 
-  lp_vec_t<float, 3> temperatures =
+  lp_vec_t<float, 3> temperatures = lp_vec_t<float, 3>(sid.objectId, pool::ACU_TEMPERATURES, this);
-      lp_vec_t<float, 3>(sid.objectId, P60System::pool::ACU_TEMPERATURES, this);
 
-  lp_var_t<uint32_t> bootcnt = lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_BOOTCNT, this);
+  lp_var_t<uint32_t> bootcnt = lp_var_t<uint32_t>(sid.objectId, pool::ACU_BOOTCNT, this);
-  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_UPTIME, this);
+  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, pool::ACU_UPTIME, this);
-  lp_var_t<uint16_t> mpptTime =
+  lp_var_t<uint16_t> mpptTime = lp_var_t<uint16_t>(sid.objectId, pool::ACU_MPPT_TIME, this);
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_MPPT_TIME, this);
+  lp_var_t<uint16_t> mpptPeriod = lp_var_t<uint16_t>(sid.objectId, pool::ACU_MPPT_PERIOD, this);
-  lp_var_t<uint16_t> mpptPeriod =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_MPPT_PERIOD, this);
 };
 /**
  * @brief   This class defines a dataset for the hk table of the ACU.
@@ -636,31 +690,25 @@ class AuxHk : public StaticLocalDataSet<12> {
   AuxHk(object_id_t objectId)
       : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::ACU_AUX))) {}
 
-  lp_vec_t<uint8_t, 3> dacEnables =
+  lp_vec_t<uint8_t, 3> dacEnables = lp_vec_t<uint8_t, 3>(sid.objectId, pool::ACU_DAC_ENABLES, this);
-      lp_vec_t<uint8_t, 3>(sid.objectId, P60System::pool::ACU_DAC_ENABLES, this);
 
   lp_vec_t<uint16_t, 6> dacRawChannelVals =
-      lp_vec_t<uint16_t, 6>(sid.objectId, P60System::pool::ACU_DAC_RAW_CHANNELS, this);
+      lp_vec_t<uint16_t, 6>(sid.objectId, pool::ACU_DAC_RAW_CHANNELS, this);
 
-  lp_var_t<uint32_t> bootCause =
+  lp_var_t<uint32_t> bootCause = lp_var_t<uint32_t>(sid.objectId, pool::ACU_BOOTCAUSE, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_BOOTCAUSE, this);
+  lp_var_t<uint16_t> resetCause = lp_var_t<uint16_t>(sid.objectId, pool::ACU_RESET_CAUSE, this);
-  lp_var_t<uint16_t> resetCause =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::ACU_RESET_CAUSE, this);
 
-  lp_var_t<uint32_t> wdtCntGnd =
+  lp_var_t<uint32_t> wdtCntGnd = lp_var_t<uint32_t>(sid.objectId, pool::ACU_WDT_CNT_GND, this);
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_WDT_CNT_GND, this);
+  lp_var_t<uint32_t> wdtGndLeft = lp_var_t<uint32_t>(sid.objectId, pool::ACU_WDT_GND_LEFT, this);
-  lp_var_t<uint32_t> wdtGndLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::ACU_WDT_GND_LEFT, this);
 
   /**
    * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
    * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
    */
-  lp_vec_t<uint8_t, 8> deviceTypes =
+  lp_vec_t<uint8_t, 8> deviceTypes = lp_vec_t<uint8_t, 8>(sid.objectId, pool::ACU_DEVICES, this);
-      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::ACU_DEVICES, this);
   /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
   lp_vec_t<uint8_t, 8> devicesStatus =
-      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::ACU_DEVICES_STATUS, this);
+      lp_vec_t<uint8_t, 8>(sid.objectId, pool::ACU_DEVICES_STATUS, this);
 };
 }  // namespace ACU
 

tmtc

@@ -1 +1 @@
-Subproject commit 079a0f94727dc3f35578dc412aa01c871ae1ac6a
+Subproject commit efc8e3b4b2078d070a39efe5338ea89ba56cd248