Merge pull request 'prep next release' (#801) from prep_v7.0.0 into main

Reviewed-on: #801
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -16,6 +16,54 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v7.0.0] 2023-10-11
+
+- Bumped `eive-tmtc` to v5.7.1.
+- Bumped `eive-fsfw`
+
+## Added
+
+- EPS Subsystem has been added to EIVE System Tree
+- Power Controller for calculating the State of Charge and FDIR regarding low SoC has been
+  introduced.
+
+## Changed
+
+- Changed internals for MPSoC boot process to make the code more understandable and some
+  parameters better configurable. This should not affect the behaviour of the OBSW, but might
+  make it more reliable and fix some corner cases.
+
+## Fixed
+
+- Missing `nullptr` checks for PLOC Supervisor handler, which could lead to crashes.
+- SCEX bugfix for normal and transition commanding.
+
+# [v6.6.0] 2023-09-18
+
+## Changed
+
+- Changed the memory initialized for the PDEC Config Memory and the PDEC RAM by using `mmap`
+  directly and ignoring UIO. This makes the OBSW compatible to a device tree update, where those
+  memory segments are marked reserved and are thus not properly accessible through the UIO API
+  anymore. This change should be downwards compatible to older device trees.
+
+# [v6.5.1] 2023-09-12
+
+- Bumped `eive-tmtc` to v5.5.0.
+
+# [v6.5.0] 2023-09-12
+
+## Changed
+
+- Relaxed SUS FDIR. The devices have shown to be glitchy in orbit, but still seem to deliver
+  sensible raw values most of the time. Some further testing is necessary, but some changes in the
+  code should cause the SUS devices to remain healthy for now.
+- The primary and the secondary temperature sensors for the PLOC mission boards are exchanged.
+- ACS parameters for the SUSMGM (FLP) safe mode have been adjusted. This safe mode is now the
+  default one.
+- MGM3100 Startup Configuration: Ignore bit 1 of the CMM reply, which is sometimes set to
+  1 in the reply for some reason.
+
 # [v6.4.1] 2023-08-21
 
 ## Fixed

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 6)
-set(OBSW_VERSION_MINOR 4)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_MAJOR 7)
+set(OBSW_VERSION_MINOR 0)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 304 translations.
+ * @brief    Auto-generated event translation file. Contains 313 translations.
  * @details
- * Generated on: 2023-08-21 15:54:29
+ * Generated on: 2023-10-10 13:50:27
  */
 #include "translateEvents.h"
 
@@ -105,6 +105,11 @@ const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
 const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
+const char *DATASET_READ_FAILED_STRING = "DATASET_READ_FAILED";
+const char *VOLTAGE_OUT_OF_BOUNDS_STRING = "VOLTAGE_OUT_OF_BOUNDS";
+const char *TIMEDELTA_OUT_OF_BOUNDS_STRING = "TIMEDELTA_OUT_OF_BOUNDS";
+const char *POWER_LEVEL_LOW_STRING = "POWER_LEVEL_LOW";
+const char *POWER_LEVEL_CRITICAL_STRING = "POWER_LEVEL_CRITICAL";
 const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
 const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
 const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
@@ -128,6 +133,8 @@ const char *EXE_FAILURE_STRING = "EXE_FAILURE";
 const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
 const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
+const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
+const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -309,6 +316,8 @@ const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
 const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
 const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
+const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
+const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -512,6 +521,16 @@ const char *translateEvents(Event event) {
       return SWITCHING_Q7S_DENIED_STRING;
     case (11303):
       return FDIR_REACTION_IGNORED_STRING;
+    case (11304):
+      return DATASET_READ_FAILED_STRING;
+    case (11305):
+      return VOLTAGE_OUT_OF_BOUNDS_STRING;
+    case (11306):
+      return TIMEDELTA_OUT_OF_BOUNDS_STRING;
+    case (11307):
+      return POWER_LEVEL_LOW_STRING;
+    case (11308):
+      return POWER_LEVEL_CRITICAL_STRING;
     case (11400):
       return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
@@ -558,6 +577,10 @@ const char *translateEvents(Event event) {
       return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
     case (11606):
       return MPSOC_SHUTDOWN_FAILED_STRING;
+    case (11607):
+      return SUPV_NOT_ON_STRING;
+    case (11608):
+      return SUPV_REPLY_TIMEOUT_STRING;
     case (11701):
       return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):
@@ -920,6 +943,10 @@ const char *translateEvents(Event event) {
       return DUMP_HK_CANCELLED_STRING;
     case (14314):
       return DUMP_CFDP_CANCELLED_STRING;
+    case (14500):
+      return TEMPERATURE_ALL_ONES_START_STRING;
+    case (14501):
+      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,14 +1,15 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 171 translations.
- * Generated on: 2023-08-21 15:54:29
+ * Contains 173 translations.
+ * Generated on: 2023-10-10 13:50:27
  */
 #include "translateObjects.h"
 
 const char *TEST_TASK_STRING = "TEST_TASK";
 const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
+const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
 const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
@@ -164,6 +165,7 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
 const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
+const char *EPS_SUBSYSTEM_STRING = "EPS_SUBSYSTEM";
 const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
 const char *OK_TM_STORE_STRING = "OK_TM_STORE";
 const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
@@ -186,6 +188,8 @@ const char *translateObject(object_id_t object) {
       return ACS_CONTROLLER_STRING;
     case 0x43000003:
       return CORE_CONTROLLER_STRING;
+    case 0x43000004:
+      return POWER_CONTROLLER_STRING;
     case 0x43000006:
       return GLOBAL_JSON_CFG_STRING;
     case 0x43400001:
@@ -496,6 +500,8 @@ const char *translateObject(object_id_t object) {
       return TCS_SUBSYSTEM_STRING;
     case 0x73010004:
       return COM_SUBSYSTEM_STRING;
+    case 0x73010005:
+      return EPS_SUBSYSTEM_STRING;
     case 0x73020001:
       return MISC_TM_STORE_STRING;
     case 0x73020002:

bsp_q7s/em/emObjectFactory.cpp

@@ -106,6 +106,17 @@ void ObjectFactory::produce(void* args) {
 #endif
   satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
 
+  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
+  if (core::FW_VERSION_MAJOR >= 4) {
+    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
+  }
+  static_cast<void>(battAndImtqI2cDev);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
+#endif
+  createPowerController(true, enableHkSets);
+
   dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
 
   new CoreController(objects::CORE_CONTROLLER, enableHkSets);
@@ -126,12 +137,6 @@ void ObjectFactory::produce(void* args) {
   gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
 #endif
 
-  const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
-  if (core::FW_VERSION_MAJOR >= 4) {
-    battAndImtqI2cDev = q7s::I2C_PS_EIVE;
-  }
-  static_cast<void>(battAndImtqI2cDev);
-
 #if OBSW_ADD_MGT == 1
   createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
 #endif
@@ -144,10 +149,6 @@ void ObjectFactory::produce(void* args) {
   createReactionWheelComponents(gpioComIF, pwrSwitcher);
 #endif
 
-#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
-#endif
-
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */

bsp_q7s/fmObjectFactory.cpp

@@ -81,14 +81,6 @@ void ObjectFactory::produce(void* args) {
   createTmpComponents(tmpDevsToAdd);
 #endif
   createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
-#if OBSW_ADD_PL_PCDU == 1
-  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
-#endif
-#if OBSW_ADD_SYRLINKS == 1
-  createSyrlinksComponents(pwrSwitcher);
-#endif /* OBSW_ADD_SYRLINKS == 1 */
-  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
-  createPayloadComponents(gpioComIF, *pwrSwitcher);
 
   const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
   if (core::FW_VERSION_MAJOR >= 4) {
@@ -102,6 +94,17 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
 #endif
+  createPowerController(true, enableHkSets);
+
+#if OBSW_ADD_PL_PCDU == 1
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
+#endif
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  createPayloadComponents(gpioComIF, *pwrSwitcher);
 
 #if OBSW_ADD_STAR_TRACKER == 1
   createStrComponents(pwrSwitcher);

bsp_q7s/scheduling.cpp

@@ -157,6 +157,10 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
   }
+  result = genericSysTask->addComponent(objects::EPS_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("EPS_SUBSYSTEM", objects::EPS_SUBSYSTEM);
+  }
   result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);

common/config/eive/definitions.h

@@ -79,6 +79,7 @@ static constexpr uint32_t SCHED_BLOCK_RTD = 150;
 static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300;
 static constexpr uint32_t SCHED_BLOCK_8_PLPCDU_MS = 320;
 static constexpr uint32_t SCHED_BLOCK_9_RAD_SENS_MS = 340;
+static constexpr uint32_t SCHED_BLOCK_10_PWR_CTRL_MS = 350;
 
 // 15 ms for FM
 static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
@@ -94,6 +95,8 @@ static constexpr float SCHED_BLOCK_RTD_PERIOD = static_cast<float>(SCHED_BLOCK_R
 static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_RW_READ_MS) / 400.0;
 static constexpr float SCHED_BLOCK_8_PERIOD = static_cast<float>(SCHED_BLOCK_8_PLPCDU_MS) / 400.0;
 static constexpr float SCHED_BLOCK_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0;
+static constexpr float SCHED_BLOCK_10_PERIOD =
+    static_cast<float>(SCHED_BLOCK_10_PWR_CTRL_MS) / 400.0;
 
 }  // namespace spiSched
 

common/config/eive/eventSubsystemIds.h

@@ -40,6 +40,7 @@ enum : uint8_t {
   COM_SUBSYSTEM = 142,
   PERSISTENT_TM_STORE = 143,
   SYRLINKS_COM = 144,
+  SUS_HANDLER = 145,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -26,6 +26,7 @@ enum commonObjects : uint32_t {
   THERMAL_CONTROLLER = 0x43400001,
   ACS_CONTROLLER = 0x43000002,
   CORE_CONTROLLER = 0x43000003,
+  POWER_CONTROLLER = 0x43000004,
   GLOBAL_JSON_CFG = 0x43000006,
 
   /* 0x44 ('D') for device handlers */
@@ -157,6 +158,7 @@ enum commonObjects : uint32_t {
   PL_SUBSYSTEM = 0x73010002,
   TCS_SUBSYSTEM = 0x73010003,
   COM_SUBSYSTEM = 0x73010004,
+  EPS_SUBSYSTEM = 0x73010005,
 
   TM_FUNNEL = 0x73000100,
   PUS_TM_FUNNEL = 0x73000101,

dummies/PlPcduDummy.cpp

@@ -43,3 +43,16 @@ ReturnValue_t PlPcduDummy::initializeLocalDataPool(localpool::DataPool &localDat
   localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, new PoolEntry<float>({0.0}, true));
   return returnvalue::OK;
 }
+
+ReturnValue_t PlPcduDummy::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                            uint32_t *msToReachTheMode) {
+  if (commandedMode != MODE_OFF) {
+    PoolReadGuard pg(&enablePl);
+    if (pg.getReadResult() == returnvalue::OK) {
+      if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
+        return NON_OP_STATE_OF_CHARGE;
+      }
+    }
+  }
+  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
+}

dummies/PlPcduDummy.h

@@ -1,7 +1,9 @@
 #ifndef DUMMIES_PLPCDUDUMMY_H_
 #define DUMMIES_PLPCDUDUMMY_H_
 
+#include <common/config/eive/objects.h>
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
 #include <mission/payload/payloadPcduDefinitions.h>
 
 class PlPcduDummy : public DeviceHandlerBase {
@@ -29,6 +31,10 @@ class PlPcduDummy : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
+
+  ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                 uint32_t *msToReachTheMode) override;
+  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
 };
 
 #endif /* DUMMIES_PLPCDUDUMMY_H_ */

dummies/PlocMpsocDummy.cpp

@@ -23,6 +23,19 @@ ReturnValue_t PlocMpsocDummy::buildCommandFromCommand(DeviceCommandId_t deviceCo
   return returnvalue::OK;
 }
 
+ReturnValue_t PlocMpsocDummy::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                               uint32_t *msToReachTheMode) {
+  if (commandedMode != MODE_OFF) {
+    PoolReadGuard pg(&enablePl);
+    if (pg.getReadResult() == returnvalue::OK) {
+      if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
+        return NON_OP_STATE_OF_CHARGE;
+      }
+    }
+  }
+  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
+}
+
 ReturnValue_t PlocMpsocDummy::scanForReply(const uint8_t *start, size_t len,
                                            DeviceCommandId_t *foundId, size_t *foundLen) {
   return returnvalue::OK;

dummies/PlocMpsocDummy.h

@@ -1,6 +1,8 @@
 #pragma once
 
+#include <common/config/eive/objects.h>
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
 
 #include "mission/power/defs.h"
 
@@ -24,6 +26,9 @@ class PlocMpsocDummy : public DeviceHandlerBase {
                                         size_t commandDataLen) override;
   ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
                              size_t *foundLen) override;
+  ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                 uint32_t *msToReachTheMode) override;
+  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
   void fillCommandAndReplyMap() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;

dummies/PlocSupervisorDummy.cpp

@@ -51,3 +51,17 @@ ReturnValue_t PlocSupervisorDummy::getSwitches(const uint8_t **switches,
   *switches = reinterpret_cast<const uint8_t *>(&switchId);
   return returnvalue::OK;
 }
+
+ReturnValue_t PlocSupervisorDummy::checkModeCommand(Mode_t commandedMode,
+                                                    Submode_t commandedSubmode,
+                                                    uint32_t *msToReachTheMode) {
+  if (commandedMode != MODE_OFF) {
+    PoolReadGuard pg(&enablePl);
+    if (pg.getReadResult() == returnvalue::OK) {
+      if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
+        return NON_OP_STATE_OF_CHARGE;
+      }
+    }
+  }
+  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
+}

dummies/PlocSupervisorDummy.h

@@ -1,6 +1,8 @@
 #pragma once
 
+#include <common/config/eive/objects.h>
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
 #include <mission/power/defs.h>
 
 class PlocSupervisorDummy : public DeviceHandlerBase {
@@ -32,4 +34,7 @@ class PlocSupervisorDummy : public DeviceHandlerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
   ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
+  ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                 uint32_t *msToReachTheMode) override;
+  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
 };

dummies/RwDummy.cpp

@@ -93,3 +93,21 @@ ReturnValue_t RwDummy::initializeLocalDataPool(localpool::DataPool &localDataPoo
       subdp::RegularHkPeriodicParams(lastResetStatusSet.getSid(), false, 30.0));
   return returnvalue::OK;
 }
+
+LocalPoolDataSetBase *RwDummy::getDataSetHandle(sid_t sid) {
+  switch (sid.ownerSetId) {
+    case (rws::SetIds::STATUS_SET_ID): {
+      return &statusSet;
+    }
+    case (rws::SetIds::LAST_RESET_ID): {
+      return &lastResetStatusSet;
+    }
+    case (rws::SetIds::SPEED_CMD_SET): {
+      return &rwSpeedActuationSet;
+    }
+    case (rws::SetIds::TM_SET_ID): {
+      return &tmDataset;
+    }
+  }
+  return nullptr;
+}

dummies/RwDummy.h

@@ -37,6 +37,7 @@ class RwDummy : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
 };
 
 #endif /* DUMMIES_RWDUMMY_H_ */

generators/bsp_hosted_events.csv

@@ -99,6 +99,11 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
 11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/power/defs.h
+11304;0x2c28;DATASET_READ_FAILED;INFO;The dataset read for the inputs of the Power Controller has failed.;mission/power/defs.h
+11305;0x2c29;VOLTAGE_OUT_OF_BOUNDS;HIGH;No description;mission/power/defs.h
+11306;0x2c2a;TIMEDELTA_OUT_OF_BOUNDS;LOW;Time difference for Coulomb Counter was too large. P1: time in s * 10;mission/power/defs.h
+11307;0x2c2b;POWER_LEVEL_LOW;HIGH;The State of Charge is below the limit for payload use. Setting Payload to faulty.;mission/power/defs.h
+11308;0x2c2c;POWER_LEVEL_CRITICAL;HIGH;The State of Charge is below the limit for higher modes. Setting Reaction Wheels to faulty.;mission/power/defs.h
 11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h
@@ -122,6 +127,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHandler.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/PlocMpsocHandler.h
+11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/PlocMpsocHandler.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
@@ -303,3 +310,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14312;0x37e8;DUMP_MISC_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
+14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
+14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h

generators/bsp_hosted_objects.csv

@@ -1,6 +1,7 @@
 0x42694269;TEST_TASK
 0x43000002;ACS_CONTROLLER
 0x43000003;CORE_CONTROLLER
+0x43000004;POWER_CONTROLLER
 0x43000006;GLOBAL_JSON_CFG
 0x43400001;THERMAL_CONTROLLER
 0x44000001;DUMMY_HANDLER
@@ -156,6 +157,7 @@
 0x73010002;PL_SUBSYSTEM
 0x73010003;TCS_SUBSYSTEM
 0x73010004;COM_SUBSYSTEM
+0x73010005;EPS_SUBSYSTEM
 0x73020001;MISC_TM_STORE
 0x73020002;OK_TM_STORE
 0x73020003;NOT_OK_TM_STORE

generators/bsp_hosted_returnvalues.csv

@@ -210,6 +210,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x27a8;DHI_NoReplyExpected;No description;168;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a9;DHI_NonOpTemperature;No description;169;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27aa;DHI_CommandNotImplemented;No description;170;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27ab;DHI_NonOpStateOfCharge;No description;171;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27b0;DHI_ChecksumError;No description;176;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27b1;DHI_LengthMissmatch;No description;177;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27b2;DHI_InvalidData;No description;178;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
@@ -357,6 +358,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
 0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
 0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3b00;SPH_ConnBroken;No description;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
 0x3b01;SPH_SemaphoreTimeout;No description;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
 0x3b02;SPH_SemaphoreNotOwned;No description;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
 0x3b03;SPH_SemaphoreInvalid;No description;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
@@ -372,7 +374,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
 0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x4100;PUS9_ConnBroken;No description;0;PUS_SERVICE_9;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@@ -402,9 +403,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4503;HSPI_Timeout;No description;3;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4504;HSPI_Busy;No description;4;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4505;HSPI_GenericError;No description;5;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h

generators/bsp_hosted_subsystems.csv

@@ -60,3 +60,4 @@
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
 144;SYRLINKS_COM
+145;SUS_HANDLER

generators/bsp_q7s_events.csv

@@ -99,6 +99,11 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
 11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/power/defs.h
+11304;0x2c28;DATASET_READ_FAILED;INFO;The dataset read for the inputs of the Power Controller has failed.;mission/power/defs.h
+11305;0x2c29;VOLTAGE_OUT_OF_BOUNDS;HIGH;No description;mission/power/defs.h
+11306;0x2c2a;TIMEDELTA_OUT_OF_BOUNDS;LOW;Time difference for Coulomb Counter was too large. P1: time in s * 10;mission/power/defs.h
+11307;0x2c2b;POWER_LEVEL_LOW;HIGH;The State of Charge is below the limit for payload use. Setting Payload to faulty.;mission/power/defs.h
+11308;0x2c2c;POWER_LEVEL_CRITICAL;HIGH;The State of Charge is below the limit for higher modes. Setting Reaction Wheels to faulty.;mission/power/defs.h
 11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;No description;mission/tcs/HeaterHandler.h
 11402;0x2c8a;HEATER_WENT_ON;INFO;No description;mission/tcs/HeaterHandler.h
@@ -122,6 +127,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
 11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHandler.h
 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/PlocMpsocHandler.h
+11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/PlocMpsocHandler.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
@@ -303,3 +310,5 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 14312;0x37e8;DUMP_MISC_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14313;0x37e9;DUMP_HK_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
 14314;0x37ea;DUMP_CFDP_CANCELLED;LOW;P1: Number of dumped packets. P2: Total dumped bytes.;mission/persistentTmStoreDefs.h
+14500;0x38a4;TEMPERATURE_ALL_ONES_START;MEDIUM;Detected invalid values, starting invalid message counting;mission/acs/SusHandler.h
+14501;0x38a5;TEMPERATURE_ALL_ONES_RECOVERY;INFO;Detected valid values again, resetting invalid message counter. P1: Invalid message counter.;mission/acs/SusHandler.h

generators/bsp_q7s_objects.csv

@@ -1,6 +1,7 @@
 0x00005060;P60DOCK_TEST_TASK
 0x43000002;ACS_CONTROLLER
 0x43000003;CORE_CONTROLLER
+0x43000004;POWER_CONTROLLER
 0x43000006;GLOBAL_JSON_CFG
 0x43400001;THERMAL_CONTROLLER
 0x44120006;MGM_0_LIS3_HANDLER
@@ -161,6 +162,7 @@
 0x73010002;PL_SUBSYSTEM
 0x73010003;TCS_SUBSYSTEM
 0x73010004;COM_SUBSYSTEM
+0x73010005;EPS_SUBSYSTEM
 0x73020001;MISC_TM_STORE
 0x73020002;OK_TM_STORE
 0x73020003;NOT_OK_TM_STORE

generators/bsp_q7s_returnvalues.csv

@@ -210,6 +210,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x27a8;DHI_NoReplyExpected;No description;168;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27a9;DHI_NonOpTemperature;No description;169;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27aa;DHI_CommandNotImplemented;No description;170;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+0x27ab;DHI_NonOpStateOfCharge;No description;171;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27b0;DHI_ChecksumError;No description;176;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27b1;DHI_LengthMissmatch;No description;177;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
 0x27b2;DHI_InvalidData;No description;178;DEVICE_HANDLER_IF;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
@@ -357,6 +358,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3a02;MQI_Full;No space left for more messages;2;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
 0x3a03;MQI_NoReplyPartner;Returned if a reply method was called without partner;3;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
 0x3a04;MQI_DestinationInvalid;Returned if the target destination is invalid.;4;MESSAGE_QUEUE_IF;fsfw/src/fsfw/ipc/MessageQueueIF.h
+0x3b00;SPH_ConnBroken;No description;0;SEMAPHORE_IF;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
 0x3b01;SPH_SemaphoreTimeout;No description;1;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
 0x3b02;SPH_SemaphoreNotOwned;No description;2;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
 0x3b03;SPH_SemaphoreInvalid;No description;3;SEMAPHORE_IF;fsfw/src/fsfw/tasks/SemaphoreIF.h
@@ -372,7 +374,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h
 0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
 0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h
-0x4100;PUS9_ConnBroken;No description;0;PUS_SERVICE_9;fsfw/src/fsfw/osal/common/TcpTmTcServer.h
 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
@@ -402,9 +403,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
-0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4503;HSPI_Timeout;No description;3;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4504;HSPI_Busy;No description;4;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4505;HSPI_GenericError;No description;5;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h

generators/bsp_q7s_subsystems.csv

@@ -60,3 +60,4 @@
 142;COM_SUBSYSTEM
 143;PERSISTENT_TM_STORE
 144;SYRLINKS_COM
+145;SUS_HANDLER

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 304 translations.
+ * @brief    Auto-generated event translation file. Contains 313 translations.
  * @details
- * Generated on: 2023-08-21 15:54:29
+ * Generated on: 2023-10-10 13:50:27
  */
 #include "translateEvents.h"
 
@@ -105,6 +105,11 @@ const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
 const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
+const char *DATASET_READ_FAILED_STRING = "DATASET_READ_FAILED";
+const char *VOLTAGE_OUT_OF_BOUNDS_STRING = "VOLTAGE_OUT_OF_BOUNDS";
+const char *TIMEDELTA_OUT_OF_BOUNDS_STRING = "TIMEDELTA_OUT_OF_BOUNDS";
+const char *POWER_LEVEL_LOW_STRING = "POWER_LEVEL_LOW";
+const char *POWER_LEVEL_CRITICAL_STRING = "POWER_LEVEL_CRITICAL";
 const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
 const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
 const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
@@ -128,6 +133,8 @@ const char *EXE_FAILURE_STRING = "EXE_FAILURE";
 const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
 const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
+const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
+const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -309,6 +316,8 @@ const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
 const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
 const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
+const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
+const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -512,6 +521,16 @@ const char *translateEvents(Event event) {
       return SWITCHING_Q7S_DENIED_STRING;
     case (11303):
       return FDIR_REACTION_IGNORED_STRING;
+    case (11304):
+      return DATASET_READ_FAILED_STRING;
+    case (11305):
+      return VOLTAGE_OUT_OF_BOUNDS_STRING;
+    case (11306):
+      return TIMEDELTA_OUT_OF_BOUNDS_STRING;
+    case (11307):
+      return POWER_LEVEL_LOW_STRING;
+    case (11308):
+      return POWER_LEVEL_CRITICAL_STRING;
     case (11400):
       return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
@@ -558,6 +577,10 @@ const char *translateEvents(Event event) {
       return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
     case (11606):
       return MPSOC_SHUTDOWN_FAILED_STRING;
+    case (11607):
+      return SUPV_NOT_ON_STRING;
+    case (11608):
+      return SUPV_REPLY_TIMEOUT_STRING;
     case (11701):
       return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):
@@ -920,6 +943,10 @@ const char *translateEvents(Event event) {
       return DUMP_HK_CANCELLED_STRING;
     case (14314):
       return DUMP_CFDP_CANCELLED_STRING;
+    case (14500):
+      return TEMPERATURE_ALL_ONES_START_STRING;
+    case (14501):
+      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

generators/objects/translateObjects.cpp

@@ -1,14 +1,15 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 175 translations.
- * Generated on: 2023-08-21 15:54:29
+ * Contains 177 translations.
+ * Generated on: 2023-10-10 13:50:27
  */
 #include "translateObjects.h"
 
 const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
 const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
+const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
 const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
@@ -169,6 +170,7 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
 const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
+const char *EPS_SUBSYSTEM_STRING = "EPS_SUBSYSTEM";
 const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
 const char *OK_TM_STORE_STRING = "OK_TM_STORE";
 const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
@@ -190,6 +192,8 @@ const char *translateObject(object_id_t object) {
       return ACS_CONTROLLER_STRING;
     case 0x43000003:
       return CORE_CONTROLLER_STRING;
+    case 0x43000004:
+      return POWER_CONTROLLER_STRING;
     case 0x43000006:
       return GLOBAL_JSON_CFG_STRING;
     case 0x43400001:
@@ -510,6 +514,8 @@ const char *translateObject(object_id_t object) {
       return TCS_SUBSYSTEM_STRING;
     case 0x73010004:
       return COM_SUBSYSTEM_STRING;
+    case 0x73010005:
+      return EPS_SUBSYSTEM_STRING;
     case 0x73020001:
       return MISC_TM_STORE_STRING;
     case 0x73020002:

linux/ObjectFactory.cpp

@@ -13,6 +13,7 @@
 #include <linux/tcs/Max31865RtdPolling.h>
 #include <mission/acs/SusHandler.h>
 #include <mission/controller/AcsController.h>
+#include <mission/controller/PowerController.h>
 #include <mission/genericFactory.h>
 #include <mission/payload/ScexDeviceHandler.h>
 #include <mission/system/acs/SusAssembly.h>
@@ -27,6 +28,7 @@
 #include "devices/gpioIds.h"
 #include "eive/definitions.h"
 #include "mission/system/acs/acsModeTree.h"
+#include "mission/system/power/epsModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/tcs/defs.h"
@@ -337,6 +339,14 @@ AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool en
   return acsCtrl;
 }
 
+PowerController* ObjectFactory::createPowerController(bool connectSubsystem, bool enableHkSets) {
+  auto pwrCtrl = new PowerController(objects::POWER_CONTROLLER, enableHkSets);
+  if (connectSubsystem) {
+    pwrCtrl->connectModeTreeParent(satsystem::eps::EPS_SUBSYSTEM);
+  }
+  return pwrCtrl;
+}
+
 void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
   if (result != returnvalue::OK) {
     sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;

linux/ObjectFactory.h

@@ -16,6 +16,7 @@ class GpioIF;
 class SpiComIF;
 class PowerSwitchIF;
 class AcsController;
+class PowerController;
 
 namespace ObjectFactory {
 
@@ -31,5 +32,6 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
 void gpioChecker(ReturnValue_t result, std::string output);
 
 AcsController* createAcsController(bool connectSubsystem, bool enableHkSets);
+PowerController* createPowerController(bool connectSubsystem, bool enableHkSets);
 
 }  // namespace ObjectFactory

linux/acs/AcsBoardPolling.cpp

@@ -767,6 +767,9 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
         mgm.replyResult = result;
         return;
       }
+      // For some reason, bit 1 is sometimes set on the reply, even if it is not set for the
+      // command.. Ignore it for now by clearing it.
+      rawReply[1] &= ~(1 << 1);
       if (rawReply[1] != mgmRm3100::CMM_VALUE) {
         sif::error << "AcsBoardPolling: MGM RM3100 read back CMM invalid" << std::endl;
         mgm.replyResult = result;

linux/acs/SusPolling.cpp

@@ -170,18 +170,12 @@ ReturnValue_t SusPolling::handleSusPolling() {
       }
       MutexGuard mg(ipcLock);
       susDevs[idx].ownReply.tempRaw = ((rawReply[0] & 0x0f) << 8) | rawReply[1];
-      // Reply is all ones. Sensor is probably off or faulty when
-      // it should not be.
-      if (susDevs[idx].ownReply.tempRaw == 0x0fff) {
-        susDevs[idx].replyResult = returnvalue::FAILED;
-      } else {
-        susDevs[idx].replyResult = returnvalue::OK;
-        for (unsigned chIdx = 0; chIdx < 6; chIdx++) {
-          susDevs[idx].ownReply.channelsRaw[chIdx] =
-              (rawReply[chIdx * 2 + 2] << 8) | rawReply[chIdx * 2 + 3];
-        }
-        susDevs[idx].ownReply.dataWasSet = true;
+      susDevs[idx].replyResult = returnvalue::OK;
+      for (unsigned chIdx = 0; chIdx < 6; chIdx++) {
+        susDevs[idx].ownReply.channelsRaw[chIdx] =
+            (rawReply[chIdx * 2 + 2] << 8) | rawReply[chIdx * 2 + 3];
       }
+      susDevs[idx].ownReply.dataWasSet = true;
     }
   }
   return OK;

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 304 translations.
+ * @brief    Auto-generated event translation file. Contains 313 translations.
  * @details
- * Generated on: 2023-08-21 15:54:29
+ * Generated on: 2023-10-10 13:50:27
  */
 #include "translateEvents.h"
 
@@ -105,6 +105,11 @@ const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
 const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
+const char *DATASET_READ_FAILED_STRING = "DATASET_READ_FAILED";
+const char *VOLTAGE_OUT_OF_BOUNDS_STRING = "VOLTAGE_OUT_OF_BOUNDS";
+const char *TIMEDELTA_OUT_OF_BOUNDS_STRING = "TIMEDELTA_OUT_OF_BOUNDS";
+const char *POWER_LEVEL_LOW_STRING = "POWER_LEVEL_LOW";
+const char *POWER_LEVEL_CRITICAL_STRING = "POWER_LEVEL_CRITICAL";
 const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
 const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
 const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
@@ -128,6 +133,8 @@ const char *EXE_FAILURE_STRING = "EXE_FAILURE";
 const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
 const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
+const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
+const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -309,6 +316,8 @@ const char *DUMP_NOK_CANCELLED_STRING = "DUMP_NOK_CANCELLED";
 const char *DUMP_MISC_CANCELLED_STRING = "DUMP_MISC_CANCELLED";
 const char *DUMP_HK_CANCELLED_STRING = "DUMP_HK_CANCELLED";
 const char *DUMP_CFDP_CANCELLED_STRING = "DUMP_CFDP_CANCELLED";
+const char *TEMPERATURE_ALL_ONES_START_STRING = "TEMPERATURE_ALL_ONES_START";
+const char *TEMPERATURE_ALL_ONES_RECOVERY_STRING = "TEMPERATURE_ALL_ONES_RECOVERY";
 
 const char *translateEvents(Event event) {
   switch ((event & 0xFFFF)) {
@@ -512,6 +521,16 @@ const char *translateEvents(Event event) {
       return SWITCHING_Q7S_DENIED_STRING;
     case (11303):
       return FDIR_REACTION_IGNORED_STRING;
+    case (11304):
+      return DATASET_READ_FAILED_STRING;
+    case (11305):
+      return VOLTAGE_OUT_OF_BOUNDS_STRING;
+    case (11306):
+      return TIMEDELTA_OUT_OF_BOUNDS_STRING;
+    case (11307):
+      return POWER_LEVEL_LOW_STRING;
+    case (11308):
+      return POWER_LEVEL_CRITICAL_STRING;
     case (11400):
       return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
@@ -558,6 +577,10 @@ const char *translateEvents(Event event) {
       return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
     case (11606):
       return MPSOC_SHUTDOWN_FAILED_STRING;
+    case (11607):
+      return SUPV_NOT_ON_STRING;
+    case (11608):
+      return SUPV_REPLY_TIMEOUT_STRING;
     case (11701):
       return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):
@@ -920,6 +943,10 @@ const char *translateEvents(Event event) {
       return DUMP_HK_CANCELLED_STRING;
     case (14314):
       return DUMP_CFDP_CANCELLED_STRING;
+    case (14500):
+      return TEMPERATURE_ALL_ONES_START_STRING;
+    case (14501):
+      return TEMPERATURE_ALL_ONES_RECOVERY_STRING;
     default:
       return "UNKNOWN_EVENT";
   }

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,14 +1,15 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 175 translations.
- * Generated on: 2023-08-21 15:54:29
+ * Contains 177 translations.
+ * Generated on: 2023-10-10 13:50:27
  */
 #include "translateObjects.h"
 
 const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
 const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
+const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
 const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
@@ -169,6 +170,7 @@ const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
 const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
+const char *EPS_SUBSYSTEM_STRING = "EPS_SUBSYSTEM";
 const char *MISC_TM_STORE_STRING = "MISC_TM_STORE";
 const char *OK_TM_STORE_STRING = "OK_TM_STORE";
 const char *NOT_OK_TM_STORE_STRING = "NOT_OK_TM_STORE";
@@ -190,6 +192,8 @@ const char *translateObject(object_id_t object) {
       return ACS_CONTROLLER_STRING;
     case 0x43000003:
       return CORE_CONTROLLER_STRING;
+    case 0x43000004:
+      return POWER_CONTROLLER_STRING;
     case 0x43000006:
       return GLOBAL_JSON_CFG_STRING;
     case 0x43400001:
@@ -510,6 +514,8 @@ const char *translateObject(object_id_t object) {
       return TCS_SUBSYSTEM_STRING;
     case 0x73010004:
       return COM_SUBSYSTEM_STRING;
+    case 0x73010005:
+      return EPS_SUBSYSTEM_STRING;
     case 0x73020001:
       return MISC_TM_STORE_STRING;
     case 0x73020002:

linux/ipcore/PdecHandler.cpp

@@ -53,23 +53,30 @@ ReturnValue_t PdecHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  ReturnValue_t result = returnvalue::OK;
-
   UioMapper regMapper(uioNames.registers);
-  result = regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
+  ReturnValue_t result =
+      regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
-  UioMapper configMemMapper(uioNames.configMemory);
-  result = configMemMapper.getMappedAdress(&memoryBaseAddress, UioMapper::Permissions::READ_WRITE);
-  if (result != returnvalue::OK) {
+
+  int fd = 0;
+  if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) == -1) {
+    sif::error << "PdecHandler::initialize: Opening /dev/mem failed" << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  };
+  memoryBaseAddress = static_cast<uint32_t*>(
+      mmap(0, PDEC_CFG_MEM_SIZE, static_cast<int>(UioMapper::Permissions::READ_WRITE), MAP_SHARED,
+           fd, PDEC_CFG_MEM_PHY_ADDR));
+  if (memoryBaseAddress == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
-  } else {
-    pdecConfig.setMemoryBaseAddress(memoryBaseAddress);
   }
-  UioMapper ramMapper(uioNames.ramMemory);
-  result = ramMapper.getMappedAdress(&ramBaseAddress, UioMapper::Permissions::READ_WRITE);
-  if (result != returnvalue::OK) {
+  pdecConfig.setMemoryBaseAddress(memoryBaseAddress);
+
+  ramBaseAddress = static_cast<uint32_t*>(mmap(0, PDEC_RAM_SIZE,
+                                               static_cast<int>(UioMapper::Permissions::READ_WRITE),
+                                               MAP_SHARED, fd, PDEC_RAM_PHY_ADDR));
+  if (ramBaseAddress == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 

linux/ipcore/PdecHandler.h

@@ -51,6 +51,10 @@ class PdecHandler : public SystemObject,
                     public ReceivesParameterMessagesIF {
  public:
   static constexpr dur_millis_t IRQ_TIMEOUT_MS = 500;
+  static constexpr uint32_t PDEC_CFG_MEM_SIZE = 0x1000;
+  static constexpr uint32_t PDEC_CFG_MEM_PHY_ADDR = 0x24000000;
+  static constexpr uint32_t PDEC_RAM_SIZE = 0x10000;
+  static constexpr uint32_t PDEC_RAM_PHY_ADDR = 0x26000000;
 
   enum class Modes { POLLED, IRQ };
 

linux/payload/PlocMpsocHandler.cpp

@@ -188,72 +188,27 @@ void PlocMpsocHandler::doStartUp() {
     startupState = StartupState::HW_INIT;
   }
   if (startupState == StartupState::HW_INIT) {
-#ifdef XIPHOS_Q7S
-#if not OBSW_MPSOC_JTAG_BOOT == 1
-    switch (powerState) {
-      case PowerState::OFF:
-        commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
-        powerState = PowerState::BOOTING;
-        return;
-      case PowerState::ON:
-        uartIsolatorSwitch.pullHigh();
-        startupState = StartupState::WAIT_CYCLES;
-        break;
-      default:
-        return;
-    }
-#else
-    uartIsolatorSwitch.pullHigh();
-    startupState = StartupState::WAIT_CYCLES;
-#endif /* not MSPOC_JTAG_BOOT == 1 */
-#else
-    startupState = StartupState::WAIT_CYCLES;
-    powerState = PowerState::ON;
-#endif /* XIPHOS_Q7S */
-  }
-  // Need to wait, MPSoC still not booted properly, requesting HK without these wait cycles does
-  // not work, no replies..
-  if (startupState == StartupState::WAIT_CYCLES) {
-    waitCycles++;
-    if (waitCycles >= 8) {
+    if (handleHwStartup()) {
       startupState = StartupState::DONE;
-      waitCycles = 0;
     }
   }
   if (startupState == StartupState::DONE) {
     setMode(_MODE_TO_ON);
     hkReport.setReportingEnabled(true);
+    powerState = PowerState::IDLE;
     startupState = StartupState::IDLE;
   }
 }
 
 void PlocMpsocHandler::doShutDown() {
-#ifdef XIPHOS_Q7S
-#if not OBSW_MPSOC_JTAG_BOOT == 1
-  if (powerState == PowerState::ON) {
-    uartIsolatorSwitch.pullLow();
-    commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
-    powerState = PowerState::SHUTDOWN;
-    return;
-  } else if (powerState == PowerState::SHUTDOWN) {
-    // Wait till power state is OFF.
-    return;
+  if (handleHwShutdown()) {
+    hkReport.setReportingEnabled(false);
+    setMode(_MODE_POWER_DOWN);
+    commandIsPending = false;
+    sequenceCount = 0;
+    powerState = PowerState::IDLE;
+    startupState = StartupState::IDLE;
   }
-#else
-  uartIsolatorSwitch.pullLow();
-  powerState = PowerState::OFF;
-#endif
-#endif
-
-  if (specialComHelper != nullptr) {
-    specialComHelper->stopProcess();
-  }
-  hkReport.setReportingEnabled(false);
-  setMode(_MODE_POWER_DOWN);
-  commandIsPending = false;
-  sequenceCount = 0;
-  specialComHelperExecuting = false;
-  startupState = StartupState::IDLE;
 }
 
 ReturnValue_t PlocMpsocHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -1247,15 +1202,11 @@ void PlocMpsocHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
   switch (actionId) {
     case supv::START_MPSOC: {
       sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
-      // This usually happens when the supervisor handler is in off mode
-      powerState = PowerState::OFF;
-      setMode(MODE_OFF);
       break;
     }
     case supv::SHUTDOWN_MPSOC: {
       triggerEvent(MPSOC_SHUTDOWN_FAILED);
       sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
-      powerState = PowerState::OFF;
       break;
     }
     default:
@@ -1263,6 +1214,7 @@ void PlocMpsocHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
                  << std::endl;
       break;
   }
+  powerState = PowerState::SUPV_FAILED;
 }
 
 void PlocMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
@@ -1270,18 +1222,24 @@ void PlocMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, ui
 }
 
 void PlocMpsocHandler::completionSuccessfulReceived(ActionId_t actionId) {
-  if (actionId != supv::EXE_REPORT) {
-    sif::debug << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action "
-               << "ID" << std::endl;
+  if (actionId == supv::ACK_REPORT) {
+    sif::warning
+        << "PlocMpsocHandler::completionSuccessfulReceived: Only received ACK report. Consider "
+           "increasing the MPSoC boot timer."
+        << std::endl;
+  } else if (actionId != supv::EXE_REPORT) {
+    sif::warning << "PlocMpsocHandler::completionSuccessfulReceived: Did not expect the action "
+                 << "ID " << actionId << std::endl;
     return;
   }
   switch (powerState) {
-    case PowerState::BOOTING: {
-      powerState = PowerState::ON;
+    case PowerState::PENDING_STARTUP: {
+      mpsocBootTransitionCd.resetTimer();
+      powerState = PowerState::DONE;
       break;
     }
-    case PowerState::SHUTDOWN: {
-      powerState = PowerState::OFF;
+    case PowerState::PENDING_SHUTDOWN: {
+      powerState = PowerState::DONE;
       break;
     }
     default: {
@@ -1409,36 +1367,117 @@ void PlocMpsocHandler::disableExeReportReply() {
   info->command->second.expectedReplies = 0;
 }
 
+void PlocMpsocHandler::stopSpecialComHelper() {
+  if (specialComHelper != nullptr) {
+    specialComHelper->stopProcess();
+  }
+  specialComHelperExecuting = false;
+}
+
+bool PlocMpsocHandler::handleHwStartup() {
+#if OBSW_MPSOC_JTAG_BOOT == 1
+  uartIsolatorSwitch.pullHigh();
+  startupState = StartupState::WAIT_CYCLES;
+  return true;
+#endif
+  if (powerState == PowerState::IDLE) {
+    if (supv::SUPV_ON) {
+      commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
+      supvTransitionCd.resetTimer();
+      powerState = PowerState::PENDING_STARTUP;
+    } else {
+      triggerEvent(SUPV_NOT_ON, 1);
+      // Set back to OFF for now, failing the transition.
+      setMode(MODE_OFF);
+    }
+  }
+  if (powerState == PowerState::SUPV_FAILED) {
+    setMode(MODE_OFF);
+    powerState = PowerState::IDLE;
+    return false;
+  }
+  if (powerState == PowerState::PENDING_STARTUP) {
+    if (supvTransitionCd.hasTimedOut()) {
+      // Process with transition nonetheless..
+      triggerEvent(SUPV_REPLY_TIMEOUT);
+      powerState = PowerState::DONE;
+    } else {
+      return false;
+    }
+  }
+  if (powerState == PowerState::DONE) {
+    if (mpsocBootTransitionCd.hasTimedOut()) {
+      // Wait a bit for the MPSoC to fully boot.
+      uartIsolatorSwitch.pullHigh();
+      powerState = PowerState::IDLE;
+    } else {
+      return false;
+    }
+  }
+  return true;
+}
+
+bool PlocMpsocHandler::handleHwShutdown() {
+  stopSpecialComHelper();
+  uartIsolatorSwitch.pullLow();
+#if OBSW_MPSOC_JTAG_BOOT == 1
+  powerState = PowerState::DONE;
+  return true;
+#endif
+
+  if (powerState == PowerState::IDLE) {
+    if (supv::SUPV_ON) {
+      commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
+      supvTransitionCd.resetTimer();
+      powerState = PowerState::PENDING_SHUTDOWN;
+    } else {
+      triggerEvent(SUPV_NOT_ON, 0);
+      powerState = PowerState::DONE;
+    }
+  }
+  if (powerState == PowerState::PENDING_SHUTDOWN) {
+    if (supvTransitionCd.hasTimedOut()) {
+      powerState = PowerState::DONE;
+      // Process with transition nonetheless..
+      triggerEvent(SUPV_REPLY_TIMEOUT);
+      return true;
+    } else {
+      // Wait till power state is OFF.
+      return false;
+    }
+  }
+  return true;
+}
+
 void PlocMpsocHandler::handleActionCommandFailure(ActionId_t actionId) {
   switch (actionId) {
     case supv::ACK_REPORT:
     case supv::EXE_REPORT:
       break;
     default:
-      sif::debug << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect this action ID "
-                 << std::endl;
+      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect the action ID "
+                   << actionId << std::endl;
       return;
   }
   switch (powerState) {
-    case PowerState::BOOTING: {
+    case PowerState::PENDING_STARTUP: {
       sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
                 << std::endl;
       // This is commonly the case when the MPSoC is already operational. Thus the power state is
       // set to on here
-      powerState = PowerState::ON;
       break;
     }
-    case PowerState::SHUTDOWN: {
+    case PowerState::PENDING_SHUTDOWN: {
       // FDIR will intercept event and switch PLOC power off
       triggerEvent(MPSOC_SHUTDOWN_FAILED);
       sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
                    << std::endl;
-      powerState = PowerState::OFF;
       break;
     }
     default:
       break;
   }
+  powerState = PowerState::SUPV_FAILED;
   return;
 }
 
@@ -1466,3 +1505,16 @@ void PlocMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
   }
   disableAllReplies();
 }
+
+ReturnValue_t PlocMpsocHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                                 uint32_t* msToReachTheMode) {
+  if (commandedMode != MODE_OFF) {
+    PoolReadGuard pg(&enablePl);
+    if (pg.getReadResult() == returnvalue::OK) {
+      if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
+        return NON_OP_STATE_OF_CHARGE;
+      }
+    }
+  }
+  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
+}

linux/payload/PlocMpsocHandler.h

@@ -5,6 +5,7 @@
 #include <linux/payload/mpsocRetvals.h>
 #include <linux/payload/plocMpsocHelpers.h>
 #include <linux/payload/plocSupvDefs.h>
+#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
 
 #include <string>
 
@@ -103,11 +104,17 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
   //! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
   //! thus also to shutdown the supervisor.
   static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
+  //! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
+  //! ON transition.
+  static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
+  static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
 
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
 
   mpsoc::HkReport hkReport;
+  Countdown mpsocBootTransitionCd = Countdown(6500);
+  Countdown supvTransitionCd = Countdown(3000);
 
   MessageQueueIF* eventQueue = nullptr;
   MessageQueueIF* commandActionHelperQueue = nullptr;
@@ -186,12 +193,11 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
 
   size_t foundPacketLen = 0;
   TelemetryBuffer tmBuffer;
-  uint32_t waitCycles = 0;
 
-  enum class StartupState { IDLE, HW_INIT, WAIT_CYCLES, DONE } startupState = StartupState::IDLE;
-  enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
+  enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
+  enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
 
-  PowerState powerState = PowerState::OFF;
+  PowerState powerState = PowerState::IDLE;
 
   /**
    * @brief   Handles events received from the PLOC MPSoC helper
@@ -299,8 +305,15 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
   ReturnValue_t prepareTcModeReplay();
 
   void cmdDoneHandler(bool success, ReturnValue_t result);
+  bool handleHwStartup();
+  bool handleHwShutdown();
+  void stopSpecialComHelper();
 
   void handleActionCommandFailure(ActionId_t actionId);
+
+  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
+  ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                 uint32_t* msToReachTheMode) override;
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

linux/payload/PlocSupervisorHandler.cpp

@@ -19,6 +19,8 @@
 using namespace supv;
 using namespace returnvalue;
 
+std::atomic_bool supv::SUPV_ON = false;
+
 PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, CookieIF* comCookie,
                                              Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
                                              PlocSupvUartManager& supvHelper)
@@ -156,6 +158,7 @@ void PlocSupervisorHandler::doStartUp() {
   }
   if (startupState == StartupState::ON) {
     hkset.setReportingEnabled(true);
+    supv::SUPV_ON = true;
     setMode(_MODE_TO_ON);
   }
 }
@@ -169,6 +172,7 @@ void PlocSupervisorHandler::doShutDown() {
   nextReplyId = supv::NONE;
   uartManager.stop();
   uartIsolatorSwitch.pullLow();
+  supv::SUPV_ON = false;
   startupState = StartupState::OFF;
 }
 
@@ -202,11 +206,13 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d
       break;
     }
     case START_MPSOC: {
+      sif::info << "PLOC SUPV: Starting MPSoC" << std::endl;
       prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::START_MPSOC));
       result = returnvalue::OK;
       break;
     }
     case SHUTDOWN_MPSOC: {
+      sif::info << "PLOC SUPV: Shutting down MPSoC" << std::endl;
       prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::SHUTDOWN_MPSOC));
       result = returnvalue::OK;
       break;
@@ -1527,7 +1533,13 @@ void PlocSupervisorHandler::disableAllReplies() {
 
   /* Disable ack reply */
   iter = deviceReplyMap.find(ACK_REPORT);
+  if (iter == deviceReplyMap.end()) {
+    return;
+  }
   DeviceReplyInfo* info = &(iter->second);
+  if (info == nullptr) {
+    return;
+  }
   info->delayCycles = 0;
   info->command = deviceCommandMap.end();
 
@@ -1981,6 +1993,20 @@ uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t mod
   return 7000;
 }
 
+ReturnValue_t PlocSupervisorHandler::checkModeCommand(Mode_t commandedMode,
+                                                      Submode_t commandedSubmode,
+                                                      uint32_t* msToReachTheMode) {
+  if (commandedMode != MODE_OFF) {
+    PoolReadGuard pg(&enablePl);
+    if (pg.getReadResult() == returnvalue::OK) {
+      if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
+        return NON_OP_STATE_OF_CHARGE;
+      }
+    }
+  }
+  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
+}
+
 // ReturnValue_t PlocSupervisorHandler::checkMramPacketApid() {
 //   uint16_t apid = (spacePacketBuffer[0] << 8 | spacePacketBuffer[1]) & supv::APID_MASK;
 //  TODO: Fix

linux/payload/PlocSupervisorHandler.h

@@ -3,6 +3,7 @@
 
 #include <linux/payload/PlocSupvUartMan.h>
 #include <linux/payload/plocSupvDefs.h>
+#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
 
 #include "OBSWConfig.h"
 #include "devices/powerSwitcherList.h"
@@ -395,6 +396,10 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   void handleExecutionFailureReport(ExecutionReport& report);
 
   void printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId);
+
+  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
+  ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                 uint32_t* msToReachTheMode) override;
 };
 
 #endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */

linux/payload/plocSupvDefs.h

@@ -10,12 +10,15 @@
 #include <fsfw/tmtcpacket/ccsds/SpacePacketReader.h>
 #include <mission/payload/plocSpBase.h>
 
+#include <atomic>
 #include <optional>
 
 #include "eive/resultClassIds.h"
 
 namespace supv {
 
+extern std::atomic_bool SUPV_ON;
+
 namespace result {
 static const uint8_t INTERFACE_ID = CLASS_ID::SUPV_RETURN_VALUES_IF;
 

mission/acs/SusHandler.cpp

@@ -20,6 +20,9 @@ void SusHandler::doStartUp() {
   }
   if (internalState == InternalState::STARTUP) {
     if (commandExecuted) {
+      if (waitingForRecovery) {
+        waitingForRecovery = false;
+      }
       setMode(MODE_ON);
       internalState = InternalState::NONE;
       commandExecuted = false;
@@ -83,15 +86,36 @@ ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t len, DeviceC
 }
 ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   const auto *reply = reinterpret_cast<const acs::SusReply *>(packet);
-  if (reply->dataWasSet) {
-    if (internalState == InternalState::STARTUP) {
-      commandExecuted = true;
-    }
-    PoolReadGuard pg(&dataset);
-    dataset.setValidity(true, true);
-    dataset.tempC = max1227::getTemperature(reply->tempRaw);
-    std::memcpy(dataset.channels.value, reply->channelsRaw, sizeof(reply->channelsRaw));
+  if (!reply->dataWasSet) {
+    return returnvalue::OK;
   }
+  if (internalState == InternalState::STARTUP) {
+    commandExecuted = true;
+  }
+  PoolReadGuard pg(&dataset);
+  // Simple FDIR variant to make the handler more robust to invalid messages which
+  // appear sometimes for the SUS device: Allow invalid message up to a certain threshold
+  // before triggering FDIR reactions.
+  if (reply->tempRaw == 0xfff and not waitingForRecovery) {
+    if (invalidMsgCounter == 0) {
+      triggerEvent(TEMPERATURE_ALL_ONES_START);
+    } else if (invalidMsgCounter == susMax1227::MAX_INVALID_MSG_COUNT) {
+      triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT);
+      waitingForRecovery = true;
+    }
+    invalidMsgCounter++;
+    dataset.setValidity(false, true);
+    dataset.tempC = thermal::INVALID_TEMPERATURE;
+    std::memset(dataset.channels.value, 0, sizeof(dataset.channels.value));
+    return returnvalue::OK;
+  }
+  if (invalidMsgCounter > 0) {
+    triggerEvent(TEMPERATURE_ALL_ONES_RECOVERY, invalidMsgCounter);
+    invalidMsgCounter = 0;
+  }
+  dataset.setValidity(true, true);
+  dataset.tempC = max1227::getTemperature(reply->tempRaw);
+  std::memcpy(dataset.channels.value, reply->channelsRaw, sizeof(reply->channelsRaw));
   return returnvalue::OK;
 }
 

mission/acs/SusHandler.h

@@ -15,7 +15,15 @@ class SusHandler : public DeviceHandlerBase {
   static constexpr DeviceCommandId_t REPLY = 0x77;
 
   static const uint8_t INTERFACE_ID = CLASS_ID::SUS_HANDLER;
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_BOARD_ASS;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_HANDLER;
+
+  //! [EXPORT] : [COMMENT] Detected invalid values, starting invalid message counting
+  static constexpr Event TEMPERATURE_ALL_ONES_START =
+      event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] Detected valid values again, resetting invalid message counter.
+  //! P1: Invalid message counter.
+  static constexpr Event TEMPERATURE_ALL_ONES_RECOVERY =
+      event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 
   SusHandler(uint32_t objectId, uint8_t susIdx, object_id_t deviceCommunication,
              CookieIF *comCookie);
@@ -46,6 +54,8 @@ class SusHandler : public DeviceHandlerBase {
   susMax1227::SusDataset dataset;
   acs::SusRequest request{};
   uint8_t susIdx;
+  bool waitingForRecovery = true;
+  uint32_t invalidMsgCounter = 0;
 
   uint32_t transitionDelay = 1000;
   bool goToNormalMode = false;

mission/acs/susMax1227Helpers.h

@@ -8,6 +8,14 @@
 
 namespace susMax1227 {
 
+// This is 16 seconds for a polling frequency of 0.4 seconds.
+static constexpr uint32_t MAX_INVALID_MSG_COUNT = 40;
+// Using a decrement time of 32 seconds should cause faulty device incrementation to best faster
+// the decrementation, so that FDIR reactions will eventuall be triggered.
+// NOTE: Not used currently, we perform the strange reply check logic in the handler and trigger
+// a reboot directly using the appropriate event.
+static constexpr uint32_t FAULTY_COM_DECREMENT_TIME_MS = 32000;
+
 static const DeviceCommandId_t NONE = 0x0;  // Set when no command is pending
 
 static const DeviceCommandId_t WRITE_SETUP = 1;

mission/controller/CMakeLists.txt

@@ -1,6 +1,7 @@
 if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "")
   target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp
-                                             AcsController.cpp)
+                                             AcsController.cpp
+                                             PowerController.cpp)
 endif()
 
 add_subdirectory(acs)

mission/controller/PowerController.cpp

@@ -0,0 +1,372 @@
+#include <mission/controller/PowerController.h>
+
+PowerController::PowerController(object_id_t objectId, bool enableHkSets)
+    : ExtendedControllerBase(objectId),
+      enableHkSets(enableHkSets),
+      parameterHelper(this),
+      pwrCtrlCoreHk(this),
+      enablePl(this) {}
+
+ReturnValue_t PowerController::initialize() {
+  ReturnValue_t result = parameterHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return ExtendedControllerBase::initialize();
+}
+
+ReturnValue_t PowerController::handleCommandMessage(CommandMessage *message) {
+  ReturnValue_t result = actionHelper.handleActionMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
+  result = parameterHelper.handleParameterMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
+MessageQueueId_t PowerController::getCommandQueue() const { return commandQueue->getId(); }
+
+ReturnValue_t PowerController::getParameter(uint8_t domainId, uint8_t parameterId,
+                                            ParameterWrapper *parameterWrapper,
+                                            const ParameterWrapper *newValues,
+                                            uint16_t startAtIndex) {
+  switch (domainId) {
+    case 0x0:  // direct members
+      switch (parameterId) {
+        case 0x0:
+          parameterWrapper->set(batteryInternalResistance);
+          break;
+        case 0x1:
+          parameterWrapper->set(batteryMaximumCapacity);
+          break;
+        case 0x2: {
+          float oldCoulombCounterVoltageUpperThreshold = coulombCounterVoltageUpperThreshold;
+          ReturnValue_t result = newValues->getElement(&coulombCounterVoltageUpperThreshold);
+          if (result != returnvalue::OK) {
+            coulombCounterVoltageUpperThreshold = oldCoulombCounterVoltageUpperThreshold;
+            return result;
+          }
+          result = calculateCoulombCounterChargeUpperThreshold();
+          if (result != returnvalue::OK) {
+            coulombCounterVoltageUpperThreshold = oldCoulombCounterVoltageUpperThreshold;
+            return result;
+          }
+          parameterWrapper->set(coulombCounterVoltageUpperThreshold);
+          break;
+        }
+        case 0x3:
+          parameterWrapper->set(maxAllowedTimeDiff);
+          break;
+        case 0x4:
+          parameterWrapper->set(payloadOpLimitOn);
+          break;
+        case 0x5:
+          parameterWrapper->set(payloadOpLimitLow);
+          break;
+        case 0x6:
+          parameterWrapper->set(higherModesLimit);
+          break;
+        default:
+          return INVALID_IDENTIFIER_ID;
+      }
+      break;
+    default:
+      return INVALID_DOMAIN_ID;
+  };
+  return returnvalue::OK;
+}
+
+void PowerController::performControlOperation() {
+  switch (internalState) {
+    case InternalState::STARTUP: {
+      initialCountdown.resetTimer();
+      internalState = InternalState::INITIAL_DELAY;
+      return;
+    }
+    case InternalState::INITIAL_DELAY: {
+      if (initialCountdown.hasTimedOut()) {
+        internalState = InternalState::INIT;
+      }
+      return;
+    }
+    case InternalState::INIT: {
+      ReturnValue_t result = calculateCoulombCounterChargeUpperThreshold();
+      if (result == returnvalue::OK) {
+        internalState = InternalState::READY;
+      }
+      return;
+    }
+    case InternalState::READY: {
+      if (mode != MODE_OFF) {
+        calculateStateOfCharge();
+        if (mode == MODE_NORMAL) {
+          watchStateOfCharge();
+        } else {
+          PoolReadGuard pg(&enablePl);
+          if (pg.getReadResult() == returnvalue::OK) {
+            enablePl.setValidity(false, true);
+          }
+        }
+      }
+      break;
+    }
+    default:
+      break;
+  }
+}
+
+ReturnValue_t PowerController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                       LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(pwrctrl::PoolIds::TOTAL_BATTERY_CURRENT, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(pwrctrl::PoolIds::OPEN_CIRCUIT_VOLTAGE_CHARGE,
+                           new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(pwrctrl::PoolIds::COULOMB_COUNTER_CHARGE, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForRegularPeriodicPacket({pwrCtrlCoreHk.getSid(), enableHkSets, 60.0});
+  localDataPoolMap.emplace(pwrctrl::PoolIds::PAYLOAD_FLAG, new PoolEntry<uint8_t>({false}));
+  poolManager.subscribeForRegularPeriodicPacket({enablePl.getSid(), false, 60.0});
+  return returnvalue::OK;
+}
+
+LocalPoolDataSetBase *PowerController::getDataSetHandle(sid_t sid) {
+  switch (sid.ownerSetId) {
+    case pwrctrl::CORE_HK:
+      return &pwrCtrlCoreHk;
+    case pwrctrl::ENABLE_PL:
+      return &enablePl;
+    default:
+      return nullptr;
+  }
+  return nullptr;
+}
+
+ReturnValue_t PowerController::checkModeCommand(Mode_t mode, Submode_t submode,
+                                                uint32_t *msToReachTheMode) {
+  if (mode == MODE_OFF or mode == MODE_ON or mode == MODE_NORMAL) {
+    if (submode == SUBMODE_NONE) {
+      return returnvalue::OK;
+    } else {
+      return INVALID_SUBMODE;
+    }
+  }
+  return INVALID_MODE;
+}
+
+void PowerController::calculateStateOfCharge() {
+  // get time
+  Clock::getClock_timeval(&now);
+
+  // update EPS HK values
+  ReturnValue_t result = updateEpsData();
+  if (result != returnvalue::OK) {
+    triggerEvent(power::DATASET_READ_FAILED);
+    sif::error << "Power Controller::Reading of Datasets has failed" << std::endl;
+    {
+      PoolReadGuard pg(&pwrCtrlCoreHk);
+      if (pg.getReadResult() == returnvalue::OK) {
+        pwrCtrlCoreHk.totalBatteryCurrent.value = INVALID_TOTAL_BATTERY_CURRENT;
+        pwrCtrlCoreHk.openCircuitVoltageCharge.value = INVALID_SOC;
+        pwrCtrlCoreHk.coulombCounterCharge.value = INVALID_SOC;
+        pwrCtrlCoreHk.setValidity(false, true);
+      }
+    }
+    // store time for next run
+    oldTime = now;
+    return;
+  }
+
+  // calculate total battery current
+  iBat = p60CoreHk.batteryCurrent.value + bpxBatteryHk.dischargeCurrent.value;
+
+  result = calculateOpenCircuitVoltageCharge();
+  if (result != returnvalue::OK) {
+    // notifying events have already been triggered
+    {
+      PoolReadGuard pg(&pwrCtrlCoreHk);
+      if (pg.getReadResult() == returnvalue::OK) {
+        pwrCtrlCoreHk.totalBatteryCurrent.value = iBat;
+        pwrCtrlCoreHk.totalBatteryCurrent.setValid(true);
+        pwrCtrlCoreHk.openCircuitVoltageCharge.value = INVALID_SOC;
+        pwrCtrlCoreHk.openCircuitVoltageCharge.setValid(false);
+        pwrCtrlCoreHk.coulombCounterCharge.value = INVALID_SOC;
+        pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
+      }
+    }
+    // store time for next run
+    oldTime = now;
+    return;
+  }
+
+  result = calculateCoulombCounterCharge();
+  if (result != returnvalue::OK) {
+    // notifying events have already been triggered
+    {
+      PoolReadGuard pg(&pwrCtrlCoreHk);
+      if (pg.getReadResult() == returnvalue::OK) {
+        pwrCtrlCoreHk.totalBatteryCurrent.value = iBat;
+        pwrCtrlCoreHk.totalBatteryCurrent.setValid(true);
+        pwrCtrlCoreHk.openCircuitVoltageCharge.value =
+            charge2stateOfCharge(openCircuitVoltageCharge, false);
+        pwrCtrlCoreHk.openCircuitVoltageCharge.setValid(true);
+        pwrCtrlCoreHk.coulombCounterCharge.value = INVALID_SOC;
+        pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
+      }
+    }
+    // store time for next run
+    oldTime = now;
+    return;
+  }
+
+  // commit to dataset
+  {
+    PoolReadGuard pg(&pwrCtrlCoreHk);
+    if (pg.getReadResult() == returnvalue::OK) {
+      pwrCtrlCoreHk.totalBatteryCurrent.value = iBat;
+      pwrCtrlCoreHk.openCircuitVoltageCharge.value =
+          charge2stateOfCharge(openCircuitVoltageCharge, false);
+      pwrCtrlCoreHk.coulombCounterCharge.value = charge2stateOfCharge(coulombCounterCharge, true);
+      pwrCtrlCoreHk.setValidity(true, true);
+    }
+  }
+  // store time for next run
+  oldTime = now;
+}
+
+void PowerController::watchStateOfCharge() {
+  if (pwrCtrlCoreHk.coulombCounterCharge.isValid()) {
+    if (pwrCtrlCoreHk.coulombCounterCharge.value < payloadOpLimitOn) {
+      PoolReadGuard pg(&enablePl);
+      if (pg.getReadResult() == returnvalue::OK) {
+        enablePl.plUseAllowed.value = false;
+        enablePl.setValidity(true, true);
+      }
+    } else {
+      PoolReadGuard pg(&enablePl);
+      if (pg.getReadResult() == returnvalue::OK) {
+        enablePl.plUseAllowed.value = true;
+        enablePl.setValidity(true, true);
+      }
+    }
+    if (not pwrLvlLowFlag and pwrCtrlCoreHk.coulombCounterCharge.value < payloadOpLimitLow) {
+      triggerEvent(power::POWER_LEVEL_LOW);
+      pwrLvlLowFlag = true;
+    } else if (pwrLvlLowFlag and pwrCtrlCoreHk.coulombCounterCharge.value > payloadOpLimitLow) {
+      pwrLvlLowFlag = false;
+    }
+    if (not pwrLvlCriticalFlag and pwrCtrlCoreHk.coulombCounterCharge.value < higherModesLimit) {
+      triggerEvent(power::POWER_LEVEL_CRITICAL);
+      pwrLvlCriticalFlag = true;
+    } else if (pwrLvlCriticalFlag and pwrCtrlCoreHk.coulombCounterCharge.value > higherModesLimit) {
+      pwrLvlCriticalFlag = false;
+    }
+  } else {
+    PoolReadGuard pg(&enablePl);
+    if (pg.getReadResult() == returnvalue::OK) {
+      enablePl.plUseAllowed.value = false;
+      enablePl.setValidity(true, true);
+    }
+  }
+}
+
+ReturnValue_t PowerController::calculateOpenCircuitVoltageCharge() {
+  float vBatCorrected =
+      (bpxBatteryHk.battVoltage.value - iBat * batteryInternalResistance) * CONVERT_FROM_MILLI;
+  uint8_t lookUpTableIdx = LOOK_UP_TABLE_MAX_IDX;
+  ReturnValue_t result = lookUpTableOcvIdxFinder(vBatCorrected, lookUpTableIdx, false);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  openCircuitVoltageCharge = linearInterpolation(
+      vBatCorrected, lookUpTableOcv[1][lookUpTableIdx], lookUpTableOcv[1][lookUpTableIdx + 1],
+      lookUpTableOcv[0][lookUpTableIdx], lookUpTableOcv[0][lookUpTableIdx + 1]);
+  return returnvalue::OK;
+}
+
+ReturnValue_t PowerController::calculateCoulombCounterCharge() {
+  double timeDiff = timevalOperations::toDouble(now - oldTime);
+  if (timeDiff > maxAllowedTimeDiff) {
+    // should not be a permanent state so no spam protection required
+    triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS, static_cast<uint32_t>(timeDiff * 10));
+    sif::error << "Power Controller::Time delta too large for Coulomb Counter: " << timeDiff
+               << std::endl;
+    return returnvalue::FAILED;
+  }
+  if (not pwrCtrlCoreHk.coulombCounterCharge.isValid()) {
+    coulombCounterCharge = openCircuitVoltageCharge;
+  } else {
+    coulombCounterCharge =
+        coulombCounterCharge + iBat * CONVERT_FROM_MILLI * timeDiff * SECONDS_TO_HOURS;
+    if (coulombCounterCharge >= coulombCounterChargeUpperThreshold) {
+      coulombCounterCharge = coulombCounterChargeUpperThreshold;
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t PowerController::updateEpsData() {
+  std::vector<ReturnValue_t> results;
+  {
+    PoolReadGuard pgBat(&bpxBatteryHk);
+    results.push_back(pgBat.getReadResult());
+  }
+  {
+    PoolReadGuard pgP60(&p60CoreHk);
+    results.push_back(pgP60.getReadResult());
+  }
+  for (const auto &result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
+}
+
+float PowerController::charge2stateOfCharge(float capacity, bool coulombCounter) {
+  if (coulombCounter) {
+    return capacity / coulombCounterChargeUpperThreshold;
+  }
+  return capacity / batteryMaximumCapacity;
+}
+
+float PowerController::linearInterpolation(float x, float x0, float x1, float y0, float y1) {
+  return y0 + (x - x0) * (y1 - y0) / (x1 - x0);
+}
+
+ReturnValue_t PowerController::lookUpTableOcvIdxFinder(float voltage, uint8_t &idx, bool paramCmd) {
+  if (voltage >= lookUpTableOcv[1][99]) {
+    if (not voltageOutOfBoundsFlag and not paramCmd) {
+      triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 0, static_cast<uint32_t>(voltage * 10));
+      voltageOutOfBoundsFlag = true;
+    }
+    sif::error << "Power Controller::Voltage is too high: " << voltage << std::endl;
+    return returnvalue::FAILED;
+  } else if (voltage <= lookUpTableOcv[1][0]) {
+    if (not voltageOutOfBoundsFlag and not paramCmd) {
+      triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 1, static_cast<uint32_t>(voltage * 10));
+      voltageOutOfBoundsFlag = true;
+    }
+    sif::error << "Power Controller::Voltage is too low: " << voltage << std::endl;
+    return returnvalue::FAILED;
+  }
+  voltageOutOfBoundsFlag = false;
+  while (lookUpTableOcv[1][idx] > voltage) {
+    idx--;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t PowerController::calculateCoulombCounterChargeUpperThreshold() {
+  uint8_t lookUpTableIdx = LOOK_UP_TABLE_MAX_IDX;
+  ReturnValue_t result =
+      lookUpTableOcvIdxFinder(coulombCounterVoltageUpperThreshold, lookUpTableIdx, true);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  coulombCounterChargeUpperThreshold =
+      linearInterpolation(coulombCounterVoltageUpperThreshold, lookUpTableOcv[1][lookUpTableIdx],
+                          lookUpTableOcv[1][lookUpTableIdx + 1], lookUpTableOcv[0][lookUpTableIdx],
+                          lookUpTableOcv[0][lookUpTableIdx + 1]);
+  return returnvalue::OK;
+}

mission/controller/PowerController.h

@@ -0,0 +1,131 @@
+#ifndef MISSION_CONTROLLER_POWERCONTROLLER_H_
+#define MISSION_CONTROLLER_POWERCONTROLLER_H_
+
+#include <eive/objects.h>
+#include <fsfw/controller/ExtendedControllerBase.h>
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/parameters/ParameterHelper.h>
+#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
+#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
+#include <mission/power/bpxBattDefs.h>
+#include <mission/power/gsDefs.h>
+
+#include <cmath>
+
+class PowerController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
+ public:
+  static constexpr dur_millis_t INIT_DELAY = 500;
+
+  PowerController(object_id_t objectId, bool enableHkSets);
+
+  MessageQueueId_t getCommandQueue() const;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
+                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
+                             uint16_t startAtIndex) override;
+
+ private:
+  bool enableHkSets = false;
+  ParameterHelper parameterHelper;
+
+  enum class InternalState { STARTUP, INITIAL_DELAY, INIT, READY };
+  InternalState internalState = InternalState::STARTUP;
+
+  // Initial delay to make sure all pool variables have been initialized their owners
+  Countdown initialCountdown = Countdown(INIT_DELAY);
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  void performControlOperation() override;
+
+  void calculateStateOfCharge();
+  void watchStateOfCharge();
+  ReturnValue_t calculateOpenCircuitVoltageCharge();
+  ReturnValue_t calculateCoulombCounterCharge();
+  ReturnValue_t updateEpsData();
+  float charge2stateOfCharge(float capacity, bool coulombCounter);
+  ReturnValue_t lookUpTableOcvIdxFinder(float voltage, uint8_t& idx, bool paramCmd);
+  float linearInterpolation(float x, float x0, float x1, float y0, float y1);
+  ReturnValue_t calculateCoulombCounterChargeUpperThreshold();
+
+  // Parameters
+  float batteryInternalResistance = 70.0 / 2.0 / 1000.0;  // [Ohm]
+  float batteryMaximumCapacity = 2.6 * 2;                 // [Ah]
+  float coulombCounterVoltageUpperThreshold = 16.2;       // [V]
+  double maxAllowedTimeDiff = 1.5;                        // [s]
+  float payloadOpLimitOn = 0.90;                          // [%]
+  float payloadOpLimitLow = 0.75;                         // [%]
+  float higherModesLimit = 0.6;                           // [%]
+
+  // OCV Look-up-Table {[Ah],[V]}
+  static constexpr uint8_t LOOK_UP_TABLE_MAX_IDX = 99;
+  float lookUpTableOcv[2][100] = {
+      {0.00000000e+00, 3.16227766e-04, 4.52809661e-04, 6.48382625e-04, 9.28425483e-04,
+       1.32942162e-03, 1.90361194e-03, 2.72580074e-03, 3.90310099e-03, 5.58888885e-03,
+       8.00278514e-03, 1.14592671e-02, 1.64086377e-02, 2.34956903e-02, 3.36437110e-02,
+       4.81747620e-02, 6.89819174e-02, 9.87758887e-02, 1.41438170e-01, 2.02526713e-01,
+       2.90000000e-01, 3.00000000e-01, 3.62820513e-01, 4.25641026e-01, 4.88461538e-01,
+       5.51282051e-01, 6.14102564e-01, 6.76923077e-01, 7.39743590e-01, 8.02564103e-01,
+       8.65384615e-01, 9.28205128e-01, 9.91025641e-01, 1.05384615e+00, 1.11666667e+00,
+       1.17948718e+00, 1.24230769e+00, 1.30512821e+00, 1.36794872e+00, 1.43076923e+00,
+       1.49358974e+00, 1.55641026e+00, 1.61923077e+00, 1.68205128e+00, 1.74487179e+00,
+       1.80769231e+00, 1.87051282e+00, 1.93333333e+00, 1.99615385e+00, 2.05897436e+00,
+       2.12179487e+00, 2.18461538e+00, 2.24743590e+00, 2.31025641e+00, 2.37307692e+00,
+       2.43589744e+00, 2.49871795e+00, 2.56153846e+00, 2.62435897e+00, 2.68717949e+00,
+       2.75000000e+00, 2.81282051e+00, 2.87564103e+00, 2.93846154e+00, 3.00128205e+00,
+       3.06410256e+00, 3.12692308e+00, 3.18974359e+00, 3.25256410e+00, 3.31538462e+00,
+       3.37820513e+00, 3.44102564e+00, 3.50384615e+00, 3.56666667e+00, 3.62948718e+00,
+       3.69230769e+00, 3.75512821e+00, 3.81794872e+00, 3.88076923e+00, 3.94358974e+00,
+       4.00641026e+00, 4.06923077e+00, 4.13205128e+00, 4.19487179e+00, 4.25769231e+00,
+       4.32051282e+00, 4.38333333e+00, 4.44615385e+00, 4.50897436e+00, 4.57179487e+00,
+       4.63461538e+00, 4.69743590e+00, 4.76025641e+00, 4.82307692e+00, 4.88589744e+00,
+       4.94871795e+00, 5.01153846e+00, 5.07435897e+00, 5.13717949e+00, 5.20000000e+00},
+      {12.52033533, 12.58720948, 12.61609309, 12.65612591, 12.67105282, 12.69242681, 12.72303245,
+       12.76685696, 12.80313768, 12.83600741, 12.8830739,  12.94720576, 13.00112629, 13.07833563,
+       13.17486308, 13.27128842, 13.37713879, 13.49275604, 13.60395193, 13.68708863, 13.75196335,
+       13.7582376,  13.79298643, 13.82885799, 13.87028849, 13.91585718, 13.96701874, 14.02343574,
+       14.07665641, 14.12626342, 14.1675095,  14.20582917, 14.23342159, 14.25724476, 14.27264301,
+       14.28922389, 14.30898535, 14.32750837, 14.34358057, 14.35965277, 14.37698366, 14.3943261,
+       14.41079196, 14.42679817, 14.44261008, 14.45771025, 14.47281042, 14.48751461, 14.50193089,
+       14.5164887,  14.53193477, 14.54738084, 14.56341235, 14.58054578, 14.59799552, 14.61632769,
+       14.63716465, 14.66935073, 14.70511347, 14.74315094, 14.77251031, 14.80005585, 14.8315427,
+       14.86078285, 14.89444687, 14.93495892, 14.97114013, 15.01055751, 15.0538516,  15.09698825,
+       15.14850029, 15.18947994, 15.24249483, 15.28521713, 15.335695,   15.37950723, 15.43241224,
+       15.48082213, 15.53314287, 15.58907248, 15.64030253, 15.68385331, 15.74149122, 15.80051882,
+       15.84959348, 15.90443241, 15.95743724, 16.01283068, 16.07629253, 16.13470801, 16.1890518,
+       16.24200781, 16.30521118, 16.37368429, 16.43661267, 16.49604875, 16.56223813, 16.62741412,
+       16.67249918, 16.74926904}};
+
+  // Variables
+  timeval now;
+  timeval oldTime;
+  int16_t iBat = 0;                                    // [mA]
+  float openCircuitVoltageCharge = 0.0;                // [Ah]
+  float coulombCounterCharge = 0.0;                    // [Ah]
+  float coulombCounterChargeUpperThreshold = 0.0;      // [Ah]
+  float oldCoulombCounterVoltageUpperThreshold = 0.0;  // [V]
+
+  static constexpr float CONVERT_FROM_MILLI = 1e-3;
+  static constexpr float SECONDS_TO_HOURS = 1. / (60. * 60.);
+
+  static constexpr int16_t INVALID_TOTAL_BATTERY_CURRENT = 0;
+  static constexpr float INVALID_SOC = -1;
+
+  bool pwrLvlLowFlag = false;
+  bool pwrLvlCriticalFlag = false;
+  bool voltageOutOfBoundsFlag = false;
+
+  // HK Datasets for Calculation
+  BpxBatteryHk bpxBatteryHk = BpxBatteryHk(objects::BPX_BATT_HANDLER);
+  P60Dock::CoreHkSet p60CoreHk = P60Dock::CoreHkSet(objects::P60DOCK_HANDLER);
+  // Output Dataset
+  pwrctrl::CoreHk pwrCtrlCoreHk;
+  // Dataset for PL Flag
+  pwrctrl::EnablePl enablePl;
+};
+
+#endif /* MISSION_CONTROLLER_POWERCONTROLLER_H_ */

mission/controller/ThermalController.cpp

@@ -1372,12 +1372,13 @@ void ThermalController::ctrlPlPcduBoard() {
   tooHotHandler(objects::PLPCDU_HANDLER, tooHotFlags.eBandTooHotFlag);
 }
 
+// ToDo: remove one of the following 2
 void ThermalController::ctrlPlocMissionBoard() {
   ctrlCtx.thermalComponent = tcsCtrl::PLOCMISSION_BOARD;
-  sensors[0].first = sensorTemperatures.plocHeatspreader.isValid();
-  sensors[0].second = sensorTemperatures.plocHeatspreader.value;
-  sensors[1].first = sensorTemperatures.plocMissionboard.isValid();
-  sensors[1].second = sensorTemperatures.plocMissionboard.value;
+  sensors[0].first = sensorTemperatures.plocMissionboard.isValid();
+  sensors[0].second = sensorTemperatures.plocMissionboard.value;
+  sensors[1].first = sensorTemperatures.plocHeatspreader.isValid();
+  sensors[1].second = sensorTemperatures.plocHeatspreader.value;
   sensors[2].first = sensorTemperatures.dacHeatspreader.isValid();
   sensors[2].second = sensorTemperatures.dacHeatspreader.value;
   numSensors = 3;

mission/controller/acs/AcsParameters.h

@@ -79,7 +79,7 @@ class AcsParameters : public HasParametersIF {
     float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
     float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
     float mgmVectorFilterWeight = 0.85;
-    float mgmDerivativeFilterWeight = 0.85;
+    float mgmDerivativeFilterWeight = 0.99;
     uint8_t useMgm4 = false;
   } mgmHandlingParameters;
 
@@ -771,7 +771,7 @@ class AcsParameters : public HasParametersIF {
          -0.000889232196185857, -0.00168429567131815}};
     float susBrightnessThreshold = 0.7;
     float susVectorFilterWeight = .85;
-    float susRateFilterWeight = .85;
+    float susRateFilterWeight = .99;
   } susHandlingParameters;
 
   struct GyrHandlingParameters {
@@ -834,15 +834,15 @@ class AcsParameters : public HasParametersIF {
     double k_alignGyr = 4.0e-5;
     double k_parallelGyr = 3.75e-4;
 
-    double k_orthoSusMgm = 1.1e-2;
-    double k_alignSusMgm = 2.0e-5;
-    double k_parallelSusMgm = 4.4e-4;
+    double k_orthoSusMgm = 4.4e-3;
+    double k_alignSusMgm = 4.0e-5;
+    double k_parallelSusMgm = 3.75e-4;
 
     double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
     double sunTargetDir[3] = {0, 0, 1};
 
     uint8_t useMekf = false;
-    uint8_t useGyr = true;
+    uint8_t useGyr = false;
     uint8_t dampingDuringEclipse = true;
 
     float sineLimitSunRotRate = 0.24;

mission/controller/controllerdefinitions/PowerCtrlDefinitions.h

@@ -0,0 +1,51 @@
+#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_POWERCTRLDEFINITIONS_H_
+#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_POWERCTRLDEFINITIONS_H_
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/localPoolDefinitions.h>
+#include <mission/power/defs.h>
+
+#include <cstdint>
+
+namespace pwrctrl {
+
+enum SetIds : uint32_t { CORE_HK, ENABLE_PL };
+
+enum PoolIds : lp_id_t {
+  TOTAL_BATTERY_CURRENT,
+  OPEN_CIRCUIT_VOLTAGE_CHARGE,
+  COULOMB_COUNTER_CHARGE,
+  PAYLOAD_FLAG
+};
+
+static constexpr uint8_t CORE_HK_ENTRIES = 3;
+static constexpr uint8_t ENABLE_PL_ENTRIES = 1;
+
+class CoreHk : public StaticLocalDataSet<CORE_HK_ENTRIES> {
+ public:
+  CoreHk(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, CORE_HK) {}
+
+  lp_var_t<int16_t> totalBatteryCurrent =
+      lp_var_t<int16_t>(sid.objectId, TOTAL_BATTERY_CURRENT, this);
+  lp_var_t<float> openCircuitVoltageCharge =
+      lp_var_t<float>(sid.objectId, OPEN_CIRCUIT_VOLTAGE_CHARGE, this);
+  lp_var_t<float> coulombCounterCharge =
+      lp_var_t<float>(sid.objectId, COULOMB_COUNTER_CHARGE, this);
+
+ private:
+};
+
+class EnablePl : public StaticLocalDataSet<ENABLE_PL_ENTRIES> {
+ public:
+  EnablePl(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, ENABLE_PL) {}
+  EnablePl(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, ENABLE_PL)) {}
+
+  lp_var_t<uint8_t> plUseAllowed = lp_var_t<uint8_t>(sid.objectId, PAYLOAD_FLAG, this);
+
+ private:
+};
+
+}  // namespace pwrctrl
+
+#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_POWERCTRLDEFINITIONS_H_ */

mission/payload/PayloadPcduHandler.cpp

@@ -564,6 +564,19 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
   return true;
 }
 
+ReturnValue_t PayloadPcduHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                                   uint32_t* msToReachTheMode) {
+  if (commandedMode != MODE_OFF) {
+    PoolReadGuard pg(&enablePl);
+    if (pg.getReadResult() == returnvalue::OK) {
+      if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
+        return NON_OP_STATE_OF_CHARGE;
+      }
+    }
+  }
+  return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
+}
+
 ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
   using namespace plpcdu;
   if (mode == MODE_NORMAL) {

mission/payload/PayloadPcduHandler.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
 #include <mission/payload/payloadPcduDefinitions.h>
 #include <mission/system/objects/Stack5VHandler.h>
 
@@ -170,6 +171,10 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   ReturnValue_t handleDoubleParamUpdate(std::string key, ParameterWrapper* parameterWrapper,
                                         const ParameterWrapper* newValues);
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+
+  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
+  ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                 uint32_t* msToReachTheMode) override;
 };
 
 #endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */

mission/payload/ScexDeviceHandler.cpp

@@ -38,9 +38,13 @@ void ScexDeviceHandler::doShutDown() {
   setMode(_MODE_POWER_DOWN);
 }
 
-ReturnValue_t ScexDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t ScexDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
 
-ReturnValue_t ScexDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t ScexDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
 
 ReturnValue_t ScexDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                          const uint8_t* commandData,
@@ -269,7 +273,7 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       // Unknown DeviceCommand
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
-  if (helper.getPacketCounter() == helper.getTotalPacketCounter()) {
+  if (helper.getPacketCounter() >= helper.getTotalPacketCounter()) {
     reader.finish();
     commandActive = false;
     if (id != PING) {

mission/pollingSeqTables.cpp

@@ -133,6 +133,7 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
   thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
   thisSequence->addSlot(objects::ACU_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
+
   if (thisSequence->checkSequence() != returnvalue::OK) {
     sif::error << "GomSpace PST initialization failed" << std::endl;
     return returnvalue::FAILED;
@@ -602,5 +603,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                         DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
                         DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::POWER_CONTROLLER, length * config::spiSched::SCHED_BLOCK_10_PERIOD,
+                        0);
   return returnvalue::OK;
 }

mission/power/defs.h

@@ -47,6 +47,23 @@ static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2,
 
 static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
 
+//! [EXPORT] : [COMMENT] The dataset read for the inputs of the Power Controller has failed.
+static constexpr Event DATASET_READ_FAILED = event::makeEvent(SUBSYSTEM_ID, 4, severity::INFO);
+//! [EXPORT] : [COMMENT] The battery voltage read is out of the bounds in which it is supposed to
+//! be.
+//! P1: 1 too high, 0 too low
+//! P2: voltage in V * 10
+static constexpr Event VOLTAGE_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 5, severity::HIGH);
+//! [EXPORT] : [COMMENT] Time difference for Coulomb Counter was too large.
+//! P1: time in s * 10
+static constexpr Event TIMEDELTA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 6, severity::LOW);
+//! [EXPORT] : [COMMENT] The State of Charge is below the limit for payload use. Setting Payload to
+//! faulty.
+static constexpr Event POWER_LEVEL_LOW = event::makeEvent(SUBSYSTEM_ID, 7, severity::HIGH);
+//! [EXPORT] : [COMMENT] The State of Charge is below the limit for higher modes. Setting Reaction
+//! Wheels to faulty.
+static constexpr Event POWER_LEVEL_CRITICAL = event::makeEvent(SUBSYSTEM_ID, 8, severity::HIGH);
+
 enum class States { IDLE, SWITCHING_POWER, CHECKING_POWER, MODE_COMMANDING };
 enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
 

mission/system/EiveSystem.cpp

@@ -81,6 +81,55 @@ ReturnValue_t EiveSystem::initialize() {
     return result;
   }
 
+  auto* plSs = ObjectManager::instance()->get<HasModesIF>(objects::PL_SUBSYSTEM);
+  if (plSs == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  plSsQueueId = plSs->getCommandQueue();
+
+  auto* plPcdu = ObjectManager::instance()->get<HasHealthIF>(objects::PLPCDU_HANDLER);
+  if (plPcdu == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  plPcduQueueId = plPcdu->getCommandQueue();
+
+  auto* plocMpsoc = ObjectManager::instance()->get<HasHealthIF>(objects::PLOC_MPSOC_HANDLER);
+  if (plocMpsoc == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  plocMpsocQueueId = plocMpsoc->getCommandQueue();
+
+  auto* plocSupervisor =
+      ObjectManager::instance()->get<HasHealthIF>(objects::PLOC_SUPERVISOR_HANDLER);
+  if (plocSupervisor == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  plocSupervisorQueueId = plocSupervisor->getCommandQueue();
+
+  auto* camera = ObjectManager::instance()->get<HasHealthIF>(objects::CAM_SWITCHER);
+  if (camera == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  cameraQueueId = camera->getCommandQueue();
+
+  auto* scex = ObjectManager::instance()->get<HasHealthIF>(objects::SCEX);
+  if (scex == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  scexQueueId = scex->getCommandQueue();
+
+  auto* radSensor = ObjectManager::instance()->get<HasHealthIF>(objects::RAD_SENSOR);
+  if (radSensor == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  radSensorQueueId = radSensor->getCommandQueue();
+
+  auto* str = ObjectManager::instance()->get<HasHealthIF>(objects::STAR_TRACKER);
+  if (str == nullptr) {
+    return ObjectManager::CHILD_INIT_FAILED;
+  }
+  strQueueId = str->getCommandQueue();
+
   auto* bpxDest = ObjectManager::instance()->get<HasActionsIF>(objects::BPX_BATT_HANDLER);
   if (bpxDest == nullptr) {
     return ObjectManager::CHILD_INIT_FAILED;
@@ -120,6 +169,8 @@ ReturnValue_t EiveSystem::initialize() {
   manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
   manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::MGT_OVERHEATING));
   manager->subscribeToEvent(eventQueue->getId(), event::getEventId(pdec::INVALID_TC_FRAME));
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_LOW));
+  manager->subscribeToEvent(eventQueue->getId(), event::getEventId(power::POWER_LEVEL_CRITICAL));
   return Subsystem::initialize();
 }
 
@@ -151,6 +202,20 @@ void EiveSystem::handleEventMessages() {
             commandSelfToSafe();
             break;
           }
+          case power::POWER_LEVEL_LOW: {
+            forceOffPayload();
+            break;
+          }
+          case power::POWER_LEVEL_CRITICAL:
+            CommandMessage msg;
+            HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
+            ReturnValue_t result = MessageQueueSenderIF::sendMessage(
+                strQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+            if (result != returnvalue::OK) {
+              sif::error << "EIVE System: Sending FAULTY command to STR Assembly failed"
+                         << std::endl;
+            }
+            break;
         }
         break;
       default:
@@ -336,6 +401,42 @@ void EiveSystem::pdecRecoveryLogic() {
   }
 }
 
+void EiveSystem::forceOffPayload() {
+  CommandMessage msg;
+  // set PL to faulty
+  HealthMessage::setHealthMessage(&msg, HealthMessage::HEALTH_SET, HasHealthIF::FAULTY);
+
+  ReturnValue_t result = commandQueue->sendMessage(plPcduQueueId, &msg);
+  if (result != returnvalue::OK) {
+    sif::error << "EIVE System: Sending FAULTY command to PL PCDU failed" << std::endl;
+  }
+
+  result = commandQueue->sendMessage(plocMpsocQueueId, &msg);
+  if (result != returnvalue::OK) {
+    sif::error << "EIVE System: Sending FAULTY command to PLOC MPSOC failed" << std::endl;
+  }
+
+  result = commandQueue->sendMessage(plocSupervisorQueueId, &msg);
+  if (result != returnvalue::OK) {
+    sif::error << "EIVE System: Sending FAULTY command to PLOC SUPERVISOR failed" << std::endl;
+  }
+
+  result = commandQueue->sendMessage(cameraQueueId, &msg);
+  if (result != returnvalue::OK) {
+    sif::error << "EIVE System: Sending FAULTY command to PL CAM failed" << std::endl;
+  }
+
+  result = commandQueue->sendMessage(scexQueueId, &msg);
+  if (result != returnvalue::OK) {
+    sif::error << "EIVE System: Sending FAULTY command to SCEX failed" << std::endl;
+  }
+
+  result = commandQueue->sendMessage(radSensorQueueId, &msg);
+  if (result != returnvalue::OK) {
+    sif::error << "EIVE System: Sending FAULTY command to RAD SENSOR failed" << std::endl;
+  }
+}
+
 void EiveSystem::commonI2cRecoverySequenceFinish() {
   alreadyTriedI2cRecovery = true;
   performI2cReboot = false;

mission/system/EiveSystem.h

@@ -49,6 +49,15 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   PowerSwitchIF* powerSwitcher = nullptr;
   std::atomic_uint16_t& i2cErrors;
 
+  MessageQueueId_t plSsQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t plPcduQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t plocMpsocQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t plocSupervisorQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t cameraQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t scexQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t radSensorQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t strQueueId = MessageQueueIF::NO_QUEUE;
+
   MessageQueueId_t pdecHandlerQueueId = MessageQueueIF::NO_QUEUE;
 
   MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
@@ -68,6 +77,8 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   ReturnValue_t sendFullRebootCommand();
   ReturnValue_t sendSelfRebootCommand();
 
+  void forceOffPayload();
+
   void pdecRecoveryLogic();
 
   void i2cRecoveryLogic();

mission/system/acs/SusFdir.cpp

@@ -1,6 +1,7 @@
 #include "SusFdir.h"
 
 #include "eive/objects.h"
+#include "mission/acs/susMax1227Helpers.h"
 
 SusFdir::SusFdir(object_id_t sensorId)
     : DeviceHandlerFailureIsolation(sensorId, objects::SUS_BOARD_ASS) {}

mission/system/objects/CamSwitcher.cpp

@@ -1,6 +1,6 @@
 #include "CamSwitcher.h"
 
-CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher,
+CamSwitcher::CamSwitcher(object_id_t objectId, PowerSwitchIF& pwrSwitcher,
                          power::Switch_t pwrSwitch)
     : PowerSwitcherComponent(objectId, &pwrSwitcher, pwrSwitch) {}
 void CamSwitcher::performFaultyOperation() {
@@ -8,3 +8,17 @@ void CamSwitcher::performFaultyOperation() {
     switcher.turnOff();
   }
 }
+
+ReturnValue_t CamSwitcher::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                            uint32_t* msToReachTheMode) {
+  if (commandedMode != MODE_OFF) {
+    PoolReadGuard pg(&enablePl);
+    if (pg.getReadResult() == returnvalue::OK) {
+      if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
+        return TRANS_NOT_ALLOWED;
+      }
+    }
+  }
+  return PowerSwitcherComponent::checkModeCommand(commandedMode, commandedSubmode,
+                                                  msToReachTheMode);
+}

mission/system/objects/CamSwitcher.h

@@ -1,13 +1,19 @@
 #ifndef MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
 #define MISSION_SYSTEM_OBJECTS_CAMSWITCHER_H_
 
+#include <common/config/eive/objects.h>
 #include <fsfw/power/PowerSwitcherComponent.h>
+#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
 
 class CamSwitcher : public PowerSwitcherComponent {
  public:
-  CamSwitcher(object_id_t objectId, PowerSwitchIF &pwrSwitcher, power::Switch_t pwrSwitch);
+  CamSwitcher(object_id_t objectId, PowerSwitchIF& pwrSwitcher, power::Switch_t pwrSwitch);
 
  private:
+  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
+  ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
+                                 uint32_t* msToReachTheMode) override;
+
   void performFaultyOperation() override;
 };
 

mission/system/power/CMakeLists.txt

@@ -1 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE GomspacePowerFdir.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE epsModeTree.cpp EpsSubsystem.cpp GomspacePowerFdir.cpp)

mission/system/power/EpsSubsystem.cpp

@@ -0,0 +1,27 @@
+#include <mission/system/power/EpsSubsystem.h>
+
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+
+EpsSubsystem::EpsSubsystem(object_id_t objectId, uint32_t maxNumberOfSequences,
+                           uint32_t maxNumberOfTables)
+    : Subsystem(objectId, maxNumberOfSequences, maxNumberOfTables) {}
+
+void EpsSubsystem::announceMode(bool recursive) {
+  const char* modeStr = "UNKNOWN";
+  switch (mode) {
+    case (HasModesIF::MODE_OFF): {
+      modeStr = "OFF";
+      break;
+    }
+    case (HasModesIF::MODE_ON): {
+      modeStr = "ON";
+      break;
+    }
+    case (DeviceHandlerIF::MODE_NORMAL): {
+      modeStr = "NORMAL";
+      break;
+    }
+  }
+  sif::info << "EPS subsystem is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}

mission/system/power/EpsSubsystem.h

@@ -0,0 +1,13 @@
+#ifndef MISSION_SYSTEM_OBJECTS_EPSSUBSYSTEM_H_
+#define MISSION_SYSTEM_OBJECTS_EPSSUBSYSTEM_H_
+#include <fsfw/subsystem/Subsystem.h>
+
+class EpsSubsystem : public Subsystem {
+ public:
+  EpsSubsystem(object_id_t objectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
+
+ private:
+  void announceMode(bool recursive) override;
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_EPSSUBSYSTEM_H_ */

mission/system/power/epsModeTree.cpp

@@ -0,0 +1,104 @@
+#include <mission/system/power/epsModeTree.h>
+
+#include "eive/objects.h"
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/subsystem/Subsystem.h"
+#include "mission/system/treeUtil.h"
+
+EpsSubsystem satsystem::eps::EPS_SUBSYSTEM(objects::EPS_SUBSYSTEM, 12, 24);
+
+namespace {
+// Alias for checker function
+const auto check = subsystem::checkInsert;
+void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
+void buildNormalSequence(Subsystem& ss, ModeListEntry& eh);
+}  // namespace
+
+static const auto OFF = HasModesIF::MODE_OFF;
+static const auto NML = DeviceHandlerIF::MODE_NORMAL;
+
+auto EPS_SEQUENCE_OFF = std::make_pair(OFF, FixedArrayList<ModeListEntry, 3>());
+auto EPS_TABLE_OFF_TGT = std::make_pair((OFF << 24) | 1, FixedArrayList<ModeListEntry, 2>());
+auto EPS_TABLE_OFF_TRANS_0 = std::make_pair((OFF << 24) | 2, FixedArrayList<ModeListEntry, 2>());
+
+auto EPS_SEQUENCE_NORMAL = std::make_pair(NML, FixedArrayList<ModeListEntry, 3>());
+auto EPS_TABLE_NORMAL_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 2>());
+auto EPS_TABLE_NORMAL_TRANS_0 = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 7>());
+
+Subsystem& satsystem::eps::init() {
+  ModeListEntry entry;
+  buildOffSequence(EPS_SUBSYSTEM, entry);
+  buildNormalSequence(EPS_SUBSYSTEM, entry);
+  EPS_SUBSYSTEM.setInitialMode(NML);
+  return EPS_SUBSYSTEM;
+}
+
+namespace {
+
+void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::eps::buildOffSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // OFF target table is empty
+  check(ss.addTable(TableEntry(EPS_TABLE_OFF_TGT.first, &EPS_TABLE_OFF_TGT.second)), ctxc);
+
+  // Transition 0
+  iht(objects::POWER_CONTROLLER, OFF, 0, EPS_TABLE_OFF_TRANS_0.second);
+  check(ss.addTable(TableEntry(EPS_TABLE_OFF_TRANS_0.first, &EPS_TABLE_OFF_TRANS_0.second)), ctxc);
+
+  ihs(EPS_SEQUENCE_OFF.second, EPS_TABLE_OFF_TGT.first, 0, false);
+  ihs(EPS_SEQUENCE_OFF.second, EPS_TABLE_OFF_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EPS_SEQUENCE_OFF.first, &EPS_SEQUENCE_OFF.second,
+                                     EPS_SEQUENCE_OFF.first)),
+        ctxc);
+}
+
+void buildNormalSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::tcs::buildNormalSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Normal table target table is empty
+  check(ss.addTable(TableEntry(EPS_TABLE_NORMAL_TGT.first, &EPS_TABLE_NORMAL_TGT.second)), ctxc);
+
+  // Transition 0
+  iht(objects::POWER_CONTROLLER, NML, 0, EPS_TABLE_NORMAL_TRANS_0.second);
+  check(ss.addTable(TableEntry(EPS_TABLE_NORMAL_TRANS_0.first, &EPS_TABLE_NORMAL_TRANS_0.second)),
+        ctxc);
+
+  ihs(EPS_SEQUENCE_NORMAL.second, EPS_TABLE_NORMAL_TGT.first, 0, false);
+  ihs(EPS_SEQUENCE_NORMAL.second, EPS_TABLE_NORMAL_TRANS_0.first, 0, false);
+  check(ss.addSequence(SequenceEntry(EPS_SEQUENCE_NORMAL.first, &EPS_SEQUENCE_NORMAL.second,
+                                     EPS_SEQUENCE_NORMAL.first)),
+        ctxc);
+}
+}  // namespace

mission/system/power/epsModeTree.h

@@ -0,0 +1,15 @@
+#ifndef MISSION_SYSTEM_TREE_EPSMODETREE_H_
+#define MISSION_SYSTEM_TREE_EPSMODETREE_H_
+
+#include <mission/system/power/EpsSubsystem.h>
+
+namespace satsystem {
+namespace eps {
+
+extern EpsSubsystem EPS_SUBSYSTEM;
+Subsystem& init();
+
+}  // namespace eps
+}  // namespace satsystem
+
+#endif /* MISSION_SYSTEM_TREE_EPSMODETREE_H_ */

mission/system/systemTree.cpp

@@ -11,6 +11,7 @@
 #include "eive/objects.h"
 #include "mission/com/defs.h"
 #include "mission/system/acs/acsModeTree.h"
+#include "mission/system/power/epsModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "treeUtil.h"
@@ -40,6 +41,8 @@ void satsystem::init(bool commandPlPcdu1) {
   tcsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
   auto& comSubsystem = com::init();
   comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
+  auto& epsSubsystem = eps::init();
+  epsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
   ModeListEntry entry;
   buildBootSequence(EIVE_SYSTEM, entry);
   buildSafeSequence(EIVE_SYSTEM, entry);
@@ -141,9 +144,11 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
   iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TGT.second);
   iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
+  iht(objects::EPS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TGT.second);
   check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TGT.first, &EIVE_TABLE_BOOT_TGT.second)), ctxc);
 
-  // Build SAFE transition 0.
+  // Build BOOT transition 0.
+  iht(objects::EPS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
   iht(objects::TCS_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
   iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_BOOT_TRANS_0.second);
   iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_BOOT_TRANS_0.second);
@@ -151,7 +156,7 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) {
   check(ss.addTable(TableEntry(EIVE_TABLE_BOOT_TRANS_0.first, &EIVE_TABLE_BOOT_TRANS_0.second)),
         ctxc);
 
-  // Build Safe sequence
+  // Build BOOT sequence
   ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TGT.first, 0, false);
   ihs(EIVE_SEQUENCE_BOOT.second, EIVE_TABLE_BOOT_TRANS_0.first, 0, false);
   check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_BOOT.first, &EIVE_SEQUENCE_BOOT.second,
@@ -187,13 +192,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);
 
   // Build SAFE transition 0.
+  iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
   iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
   check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
         ctxc);
 
-  // Build Safe sequence
+  // Build SAFE sequence
   ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
   ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
   check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
@@ -224,6 +230,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);
 
   // Build IDLE transition 0
+  iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
   iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
   check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
@@ -261,6 +268,7 @@ void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build PTG_NADIR transition 0
+  iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
   iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second);
   check(ss.addTable(
@@ -299,6 +307,7 @@ void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build PTG_TARGET transition 0
+  iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
   iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second);
   check(ss.addTable(
@@ -338,6 +347,7 @@ void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build PTG_TARGET_GS transition 0
+  iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
   iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0,
       EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second);
@@ -379,6 +389,7 @@ void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build PTG_INERTIAL transition 0
+  iht(objects::EPS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
   iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);
   iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0,
       EIVE_TABLE_PTG_INERTIAL_TRANS_0.second);