bsp_q7s/core/ObjectFactory.cpp

@@ -149,7 +149,7 @@ void ObjectFactory::produce(void* args) {
 
   createHeaterComponents();
   createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiComIF);
+  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents();
 #endif /* OBSW_ADD_SYRLINKS == 1 */
@@ -1151,7 +1151,8 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   gpioComIF->addGpios(gpioRS485Chip);
 }
 
-void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) {
+void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                                           PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   // Create all GPIO components first
   GpioCookie* plPcduGpios = new GpioCookie;
@@ -1197,9 +1198,10 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
                                        q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
                                        spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
   // Create device handler components
-  auto plPcduHandler =
-      new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF,
-                             SdCardManager::instance(), false);
+  auto plPcduHandler = new PayloadPcduHandler(
+      objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
+      pwrSwitcher, pcduSwitches::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
+      pcduSwitches::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
 //  plPcduHandler->enablePeriodicPrintout(true, 5);
 //  static_cast<void>(plPcduHandler);

bsp_q7s/core/ObjectFactory.h

@@ -15,7 +15,8 @@ void produce(void* args);
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
                                    SpiComIF** spiComIF, I2cComIF** i2cComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
-void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
+void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                            PowerSwitchIF* pwrSwitcher);
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,

common/config/devices/powerSwitcherList.h

@@ -3,12 +3,15 @@
 
 #include "OBSWConfig.h"
 
+#include <fsfw/power/definitions.h>
+
 #include <array>
 #include <cstdint>
 
 namespace pcduSwitches {
+
 /* Switches are uint8_t datatype and go from 0 to 255 */
-enum Switches: uint8_t {
+enum Switches: power::Switch_t {
   PDU1_CH0_TCS_BOARD_3V3,
   PDU1_CH1_SYRLINKS_12V,
   PDU1_CH2_STAR_TRACKER_5V,

linux/fsfwconfig/OBSWConfig.h.in

@@ -50,7 +50,7 @@ debugging. */
 #define OBSW_ADD_RTD_DEVICES                        1
 #define OBSW_ADD_TMP_DEVICES                        0
 #define OBSW_ADD_RAD_SENSORS                        1
-#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_PL_PCDU                            1
 #define OBSW_ADD_SYRLINKS                           0
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
@@ -88,10 +88,10 @@ debugging. */
 #define OBSW_ADD_PL_PCDU                            0
 #define OBSW_ADD_SYRLINKS                           0
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
-#define OBSW_SYRLINKS_SIMULATED										  1
+#define OBSW_SYRLINKS_SIMULATED                     1
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
 #define OBSW_ENABLE_PERIODIC_HK                     0
-#define OBSW_PRINT_CORE_HK													0
+#define OBSW_PRINT_CORE_HK                          0
 #define OBSW_INITIALIZE_SWITCHES                    0
 
 #endif

mission/devices/HeaterHandler.cpp

@@ -134,7 +134,7 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
   return result;
 }
 
-void HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const {
+ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
   ReturnValue_t result;
   store_address_t storeAddress;
   uint8_t commandData[2];
@@ -164,6 +164,7 @@ void HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) con
                  << "message" << std::endl;
     }
   }
+  return result;
 }
 
 void HeaterHandler::handleActiveCommands() {
@@ -338,7 +339,9 @@ gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) {
 
 MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->getId(); }
 
-void HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) const {}
+ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) {
+  return RETURN_OK;
+}
 
 ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const { return 0; }
 

mission/devices/HeaterHandler.h

@@ -43,8 +43,8 @@ class HeaterHandler : public ExecutableObjectIF,
 
   virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
-  virtual void sendFuseOnCommand(uint8_t fuseNr) const override;
+  virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
   /**
    * @brief	This function will be called from the Heater object to check
    * 			the current switch state.

mission/devices/PCDUHandler.cpp

@@ -205,7 +205,7 @@ void PCDUHandler::updatePdu1SwitchStates() {
 
 LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
 
-void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const {
+ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
   using namespace pcduSwitches;
   ReturnValue_t result;
   uint16_t memoryAddress = 0;
@@ -261,7 +261,7 @@ void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const
     }
     // This is a dangerous command. Reject/Igore it for now
     case pcduSwitches::PDU2_CH0_Q7S: {
-      return;
+      return RETURN_FAILED;
       // memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_Q7S;
       // pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       // break;
@@ -309,7 +309,7 @@ void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const
 
     default: {
       sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl;
-      return;
+      return RETURN_FAILED;
     }
   }
 
@@ -322,7 +322,7 @@ void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const
       break;
     default:
       sif::error << "PCDUHandler::sendSwitchCommand: Invalid state commanded" << std::endl;
-      return;
+      return RETURN_FAILED;
   }
 
   GomspaceSetParamMessage setParamMessage(memoryAddress, &parameterValue, parameterValueSize);
@@ -347,9 +347,12 @@ void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const
     // Can't use trigger event because of const function constraint, but this hack seems to work
     this->forwardEvent(power::SWITCH_CMD_SENT, parameterValue, switchNr);
   }
+  return result;
 }
 
-void PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) const {}
+ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) {
+  return RETURN_OK;
+}
 
 ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
   if (switchNr >= pcduSwitches::NUMBER_OF_SWITCHES) {

mission/devices/PCDUHandler.h

@@ -33,8 +33,8 @@ class PCDUHandler : public PowerSwitchIF,
                                     store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
                                     bool* clearMessage = nullptr) override;
 
-  virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
-  virtual void sendFuseOnCommand(uint8_t fuseNr) const override;
+  virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
   virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
   virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
   virtual uint32_t getSwitchDelayMs(void) const override;

mission/devices/PayloadPcduHandler.cpp

@@ -14,197 +14,164 @@
 
 PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie,
                                        GpioIF* gpioIF, SdCardMountedIF* sdcMan,
-                                       bool periodicPrintout)
+                                       PowerSwitchIF* pwrSwitcher, power::Switch_t switchA,
+                                       power::Switch_t switchB, bool periodicPrintout)
     : DeviceHandlerBase(objectId, comIF, cookie),
       adcSet(this),
       periodicPrintout(periodicPrintout),
       gpioIF(gpioIF),
-      sdcMan(sdcMan) {}
+      sdcMan(sdcMan),
+      pwrStateMachine(switchA, switchB, pwrSwitcher) {}
 
 void PayloadPcduHandler::doStartUp() {
-  if ((state != States::PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
+  if ((state != States::PL_PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
     // Config error
     sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
   }
-  if (state == States::PCDU_OFF) {
-    // Switch on relays here
-    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
-    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
-    state = States::ON_TRANS_SSR;
-    transitionOk = true;
+  if (pwrStateMachine.getState() == power::States::IDLE) {
+    pwrStateMachine.start(MODE_ON, pwrSubmode);
   }
-  if (state == States::ON_TRANS_SSR) {
-    // If necessary, check whether a certain amount of time has elapsed
-    if (transitionOk) {
-      transitionOk = false;
-      state = States::ON_TRANS_ADC_CLOSE_ZERO;
-      // We are now in ON mode
-      startTransition(MODE_NORMAL, 0);
-      adcCountdown.setTimeout(50);
-      adcCountdown.resetTimer();
-      adcState = AdcStates::BOOT_DELAY;
-      // The ADC can now be read. If the values are not close to zero, we should not allow
-      // transition
-      monMode = MonitoringMode::CLOSE_TO_ZERO;
-    }
+  auto opCode = pwrStateMachine.fsm();
+  if (opCode == power::OpCodes::TO_NOT_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
+    pwrStateMachine.reset();
+    quickTransitionAlreadyCalled = false;
+    state = States::POWER_CHANNELS_ON;
+    setMode(_MODE_TO_ON);
   }
 }
 
-void PayloadPcduHandler::stateMachineToNormal() {
-  using namespace plpcdu;
-  if (adcState == AdcStates::BOOT_DELAY) {
-    if (adcCountdown.hasTimedOut()) {
-      adcState = AdcStates::SEND_SETUP;
-      adcCmdExecuted = false;
-    }
+void PayloadPcduHandler::doShutDown() {
+  if (not quickTransitionAlreadyCalled) {
+    quickTransitionBackToOff(false, false);
+    quickTransitionAlreadyCalled = true;
   }
-  if (adcState == AdcStates::SEND_SETUP) {
-    if (adcCmdExecuted) {
-      adcState = AdcStates::NORMAL;
-      setMode(MODE_NORMAL, NORMAL_ADC_ONLY);
-      adcCountdown.setTimeout(100);
-      adcCountdown.resetTimer();
-      adcCmdExecuted = false;
-    }
+  if (pwrStateMachine.getState() == power::States::IDLE) {
+    pwrStateMachine.start(MODE_OFF, 0);
   }
-  if (submode == plpcdu::NORMAL_ALL_ON) {
-    if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
-      if (not commandExecuted) {
-        float waitTime = DFT_SSR_TO_DRO_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[SSR_TO_DRO_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
-        commandExecuted = true;
-        // TODO: For now, skip ADC check
-        transitionOk = true;
-      }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_DRO;
-        // Now start monitoring for negative voltages instead
-        monMode = MonitoringMode::NEGATIVE;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_DRO) {
-      if (not commandExecuted) {
-        float waitTime = DFT_DRO_TO_X8_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[DRO_TO_X8_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
-#if OBSW_VERBOSE_LEVEL >= 1
-        sif::info << "Enabling PL PCDU DRO module" << std::endl;
-#endif
-        // Switch on DRO and start monitoring for negative voltages
-        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
-        adcCountdown.setTimeout(100);
-        adcCountdown.resetTimer();
-        commandExecuted = true;
-      }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_X8;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_X8) {
-      if (not commandExecuted) {
-        float waitTime = DFT_X8_TO_TX_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[X8_TO_TX_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
-#if OBSW_VERBOSE_LEVEL >= 1
-        sif::info << "Enabling PL PCDU X8 module" << std::endl;
-#endif
-        // Switch on X8
-        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8);
-        adcCountdown.setTimeout(100);
-        adcCountdown.resetTimer();
-        commandExecuted = true;
-      }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_TX;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_TX) {
-      if (not commandExecuted) {
-        float waitTime = DFT_TX_TO_MPA_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[TX_TO_MPA_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
-#if OBSW_VERBOSE_LEVEL >= 1
-        sif::info << "Enabling PL PCDU TX module" << std::endl;
-#endif
-        // Switch on TX
-        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
-        // Wait for 100 ms before checking ADC values
-        adcCountdown.setTimeout(100);
-        adcCountdown.resetTimer();
-        commandExecuted = true;
-      }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_MPA;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_MPA) {
-      if (not commandExecuted) {
-        float waitTime = DFT_MPA_TO_HPA_WAIT_TIME;
-        params.getValue(PARAM_KEY_MAP[MPA_TO_HPA_WAIT_TIME], waitTime);
-        countdown.setTimeout(std::round(waitTime * 1000));
-        countdown.resetTimer();
-#if OBSW_VERBOSE_LEVEL >= 1
-        sif::info << "Enabling PL PCDU MPA module" << std::endl;
-#endif
-        // Switch on MPA
-        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
-        // Wait for 100 ms before checking ADC values
-        adcCountdown.setTimeout(100);
-        adcCountdown.resetTimer();
-        commandExecuted = true;
-      }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::ON_TRANS_HPA;
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
-    if (state == States::ON_TRANS_HPA) {
-      if (not commandExecuted) {
-        // Switch on HPA
-        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
-#if OBSW_VERBOSE_LEVEL >= 1
-        sif::info << "Enabling PL PCDU HPA module" << std::endl;
-#endif
-        commandExecuted = true;
-      }
-      // ADC values are ok, 5 seconds have elapsed
-      if (transitionOk and countdown.hasTimedOut()) {
-        state = States::PCDU_ON;
-        setMode(MODE_NORMAL, plpcdu::NORMAL_ALL_ON);
-        countdown.resetTimer();
-        commandExecuted = false;
-        transitionOk = false;
-      }
-    }
+  auto opCode = pwrStateMachine.fsm();
+  if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
+    pwrStateMachine.reset();
+    // No need to set mode _MODE_POWER_DOWN, power switching was already handled
+    setMode(MODE_OFF);
   }
 }
 
 void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   if (mode == _MODE_TO_NORMAL) {
-    stateMachineToNormal();
+    stateMachineToNormal(modeFrom, subModeFrom);
+    return;
   }
+  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
 }
 
-void PayloadPcduHandler::doShutDown() { transitionBackToOff(false); }
+ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
+  using namespace plpcdu;
+  if (submode == NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON) {
+    if (state == States::PL_PCDU_OFF) {
+      sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
+                 << "detected" << std::endl;
+      setMode(MODE_OFF);
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if (state == States::POWER_CHANNELS_ON) {
+#if OBSW_VERBOSE_LEVEL >= 1
+      sif::info << "Switching on SSR VBAT0 & VBAT1 GPIOs" << std::endl;
+#endif
+      // Switch on relays here
+      gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
+      gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
+      state = States::ON_TRANS_SSR;
+      transitionOk = true;
+    }
+    if (state == States::ON_TRANS_SSR) {
+      // If necessary, check whether a certain amount of time has elapsed
+      if (transitionOk) {
+        transitionOk = false;
+        state = States::ON_TRANS_ADC_CLOSE_ZERO;
+
+        adcCountdown.setTimeout(50);
+        adcCountdown.resetTimer();
+        adcState = AdcStates::BOOT_DELAY;
+        // If the values are not close to zero, we should not allow transition
+        monMode = MonitoringMode::CLOSE_TO_ZERO;
+      }
+    }
+    if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
+      if (adcState == AdcStates::BOOT_DELAY) {
+        if (adcCountdown.hasTimedOut()) {
+          adcState = AdcStates::SEND_SETUP;
+          adcCmdExecuted = false;
+        }
+      }
+      if (adcState == AdcStates::SEND_SETUP) {
+        if (adcCmdExecuted) {
+          adcState = AdcStates::NORMAL;
+          adcCountdown.setTimeout(100);
+          adcCountdown.resetTimer();
+          adcCmdExecuted = false;
+          setMode(MODE_NORMAL, submode);
+          return HasReturnvaluesIF::RETURN_OK;
+        }
+      }
+    }
+  }
+
+  if (submode == NormalSubmodes::DRO_ON) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "Enabling PL PCDU DRO module" << std::endl;
+#endif
+    // Switch on DRO and start monitoring for negative voltages
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
+    adcCountdown.setTimeout(100);
+    adcCountdown.resetTimer();
+    setMode(MODE_NORMAL, submode);
+  }
+
+  if (submode == NormalSubmodes::X8_ON) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "Enabling PL PCDU X8 module" << std::endl;
+#endif
+    // Switch on DRO and start monitoring for negative voltages
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8);
+    adcCountdown.setTimeout(100);
+    adcCountdown.resetTimer();
+    setMode(MODE_NORMAL, submode);
+  }
+
+  if (submode == NormalSubmodes::TX_ON) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "Enabling PL PCDU TX module" << std::endl;
+#endif
+    // Switch on DRO and start monitoring for negative voltages
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
+    adcCountdown.setTimeout(100);
+    adcCountdown.resetTimer();
+    setMode(MODE_NORMAL, submode);
+  }
+
+  if (submode == NormalSubmodes::MPA_ON) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "Enabling PL PCDU MPA module" << std::endl;
+#endif
+    // Switch on DRO and start monitoring for negative voltages
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
+    adcCountdown.setTimeout(100);
+    adcCountdown.resetTimer();
+    setMode(MODE_NORMAL, submode);
+  }
+
+  if (submode == NormalSubmodes::HPA_ON) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "Enabling PL PCDU HPA module" << std::endl;
+#endif
+    // Switch on DRO and start monitoring for negative voltages
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
+    adcCountdown.setTimeout(100);
+    adcCountdown.resetTimer();
+    setMode(MODE_NORMAL, submode);
+  }
+  return RETURN_OK;
+}
 
 ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (adcState) {
@@ -388,7 +355,7 @@ void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
   opDivider.setDivider(divider);
 }
 
-void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
+void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir) {
   States currentState = state;
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
@@ -398,9 +365,11 @@ void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
-  state = States::PCDU_OFF;
+  state = States::PL_PCDU_OFF;
   adcState = AdcStates::OFF;
-  setMode(MODE_OFF);
+  if (startTransitionToOff) {
+    startTransition(MODE_OFF, 0);
+  }
   if (notifyFdir) {
     triggerEvent(TRANSITION_BACK_TO_OFF, static_cast<uint32_t>(currentState));
   }
@@ -556,7 +525,8 @@ bool PayloadPcduHandler::checkVoltage(float val, float lowerBound, float upperBo
     serializeFloat(p2, val);
     triggerEvent(event, tooLarge, p2);
     transitionOk = false;
-    transitionBackToOff(true);
+    quickTransitionBackToOff(true, true);
+    quickTransitionAlreadyCalled = true;
     return false;
   }
   return true;
@@ -568,14 +538,37 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
     serializeFloat(p2, val);
     triggerEvent(event, true, p2);
     transitionOk = false;
-    transitionBackToOff(true);
+    quickTransitionBackToOff(true, true);
+    quickTransitionAlreadyCalled = true;
     return false;
   }
   return true;
 }
 
 ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  if (mode == MODE_NORMAL and submode <= 1) {
+  using namespace plpcdu;
+  if (mode == MODE_NORMAL) {
+    // Also deals with the case where the mode is MODE_ON, submode should be 0 here
+    if (submode == NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON and
+        (this->mode == MODE_NORMAL and this->submode != NormalSubmodes::ALL_OFF)) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::DRO_ON and
+         this->submode != NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::X8_ON and this->submode != NormalSubmodes::DRO_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::TX_ON and this->submode != NormalSubmodes::X8_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::MPA_ON and this->submode != NormalSubmodes::TX_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
+    if ((submode == NormalSubmodes::HPA_ON and this->submode != NormalSubmodes::MPA_ON)) {
+      return TRANS_NOT_ALLOWED;
+    }
     return HasReturnvaluesIF::RETURN_OK;
   }
   return DeviceHandlerBase::isModeCombinationValid(mode, submode);
@@ -658,7 +651,8 @@ void PayloadPcduHandler::handleFailureInjection(std::string output, Event event)
             << std::endl;
   triggerEvent(event, 0, 0);
   transitionOk = false;
-  transitionBackToOff(true);
+  quickTransitionBackToOff(true, true);
+  quickTransitionAlreadyCalled = true;
   droToX8InjectionRequested = false;
 }
 

mission/devices/PayloadPcduHandler.h

@@ -10,6 +10,8 @@
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/memory/SdCardMountedIF.h"
+#include "mission/system/DualLanePowerStateMachine.h"
+#include "mission/system/definitions.h"
 
 #ifdef FSFW_OSAL_LINUX
 class SpiComIF;
@@ -60,7 +62,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   static constexpr Event I_HPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 11, severity::MEDIUM);
 
   PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie, GpioIF* gpioIF,
-                     SdCardMountedIF* sdcMan, bool periodicPrintout);
+                     SdCardMountedIF* sdcMan, PowerSwitchIF* pwrSwitcher, power::Switch_t switchCh0,
+                     power::Switch_t switchCh1, bool periodicPrintout);
 
   void setToGoToNormalModeImmediately(bool enable);
   void enablePeriodicPrintout(bool enable, uint8_t divider);
@@ -75,7 +78,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
  private:
   enum class States : uint8_t {
-    PCDU_OFF,
+    PL_PCDU_OFF,
+    POWER_CHANNELS_ON,
     // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
     // the ADC
     ON_TRANS_SSR,
@@ -92,8 +96,10 @@ class PayloadPcduHandler : public DeviceHandlerBase {
     // Switch on HPA component and monitor voltages for 5 seconds
     ON_TRANS_HPA,
     // All components of the experiment are on
-    PCDU_ON,
-  } state = States::PCDU_OFF;
+    PL_PCDU_ON,
+  } state = States::PL_PCDU_OFF;
+
+  duallane::Submodes pwrSubmode = duallane::Submodes::A_SIDE;
 
   enum class AdcMode { EXT_CONV, INT_CONV } adcMode = AdcMode::INT_CONV;
 
@@ -127,17 +133,19 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   GpioIF* gpioIF;
   SdCardMountedIF* sdcMan;
   plpcdu::PlPcduParameter params;
+  bool quickTransitionAlreadyCalled = true;
 
   PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
   PoolEntry<float> processedValues =
       PoolEntry<float>({0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
   PoolEntry<float> tempC = PoolEntry<float>({0.0});
+  DualLanePowerStateMachine pwrStateMachine;
 
   void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
   void doStartUp() override;
   void doShutDown() override;
   // Main FDIR function which goes from any PL PCDU state back to all off
-  void transitionBackToOff(bool notifyFdir);
+  void quickTransitionBackToOff(bool startTransitionToOff, bool notifyFdir);
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
   void fillCommandAndReplyMap() override;
@@ -158,7 +166,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   void checkAdcValues();
   void handleOutOfBoundsPrintout();
   void checkJsonFileInit();
-  void stateMachineToNormal();
+  ReturnValue_t stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom);
   bool checkVoltage(float val, float lowerBound, float upperBound, Event event);
   bool checkCurrent(float val, float upperBound, Event event);
   void handleFailureInjection(std::string output, Event event);

mission/devices/devicedefinitions/payloadPcduDefinitions.h

@@ -91,8 +91,15 @@ static constexpr DeviceCommandId_t SETUP_CMD = 1;
 static constexpr DeviceCommandId_t READ_TEMP_EXT = 2;
 static constexpr DeviceCommandId_t READ_WITH_TEMP_EXT = 3;
 
-static constexpr Submode_t NORMAL_ADC_ONLY = 0;
-static constexpr Submode_t NORMAL_ALL_ON = 1;
+enum NormalSubmodes {
+  ALL_OFF = 0,
+  SOLID_STATE_RELAYS_ADC_ON = 1,
+  DRO_ON = 2,
+  X8_ON = 3,
+  TX_ON = 4,
+  MPA_ON = 5,
+  HPA_ON = 6
+};
 
 // 12 ADC values * 2 + trailing zero
 static constexpr size_t ADC_REPLY_SIZE = 25;

mission/system/DualLanePowerStateMachine.cpp

@@ -3,8 +3,8 @@
 #include <fsfw/devicehandlers/AssemblyBase.h>
 #include <fsfw/power/PowerSwitchIF.h>
 
-DualLanePowerStateMachine::DualLanePowerStateMachine(pcduSwitches::Switches switchA,
-                                                     pcduSwitches::Switches switchB,
+DualLanePowerStateMachine::DualLanePowerStateMachine(power::Switch_t switchA,
+                                                     power::Switch_t switchB,
                                                      PowerSwitchIF* pwrSwitcher,
                                                      dur_millis_t checkTimeout)
     : PowerStateMachineBase(pwrSwitcher, checkTimeout), SWITCH_A(switchA), SWITCH_B(switchB) {}

mission/system/DualLanePowerStateMachine.h

@@ -12,12 +12,12 @@ class PowerSwitchIF;
 
 class DualLanePowerStateMachine : public PowerStateMachineBase {
  public:
-  DualLanePowerStateMachine(pcduSwitches::Switches switchA, pcduSwitches::Switches switchB,
+  DualLanePowerStateMachine(power::Switch_t switchA, power::Switch_t switchB,
                             PowerSwitchIF* pwrSwitcher, dur_millis_t checkTimeout = 5000);
   power::OpCodes fsm() override;
 
-  const pcduSwitches::Switches SWITCH_A;
-  const pcduSwitches::Switches SWITCH_B;
+  const power::Switch_t SWITCH_A;
+  const power::Switch_t SWITCH_B;
 
  private:
 };

mission/system/PlPcduAssembly.cpp

@@ -1 +0,0 @@
-#include "PlPcduAssembly.h"

mission/system/PlPcduAssembly.h

@@ -1,4 +0,0 @@
-#ifndef MISSION_SYSTEM_PLPCDUASSEMBLY_H_
-#define MISSION_SYSTEM_PLPCDUASSEMBLY_H_
-
-#endif /* MISSION_SYSTEM_PLPCDUASSEMBLY_H_ */