bsp_q7s/core/InitMission.cpp

@@ -127,12 +127,14 @@ void initmission::initTasks() {
       "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = sysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ACS_ASS", objects::ACS_BOARD_ASS);
+    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
+#if OBSW_ADD_SUS_BOARD_ASS == 1
   result = sysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SUS_ASS", objects::SUS_BOARD_ASS);
+    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
+#endif
   result = sysTask->addComponent(objects::TCS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);

bsp_q7s/core/ObjectFactory.cpp

@@ -252,10 +252,8 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
       new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
   PDU1Handler* pdu1handler =
       new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
-  pdu1handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
   PDU2Handler* pdu2handler =
       new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
-  pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
   ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
   auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
 
@@ -558,15 +556,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                                      acsBoardHelper, gpioComIF);
   static_cast<void>(acsAss);
-#if OBSW_TEST_ACS_BOARD_ASS == 1
-  CommandMessage msg;
-  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
-                              duallane::A_SIDE);
-  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::warning << "Sending mode command failed" << std::endl;
-  }
-#endif
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
@@ -962,3 +951,13 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
   new UartTestClass(objects::UART_TEST);
 #endif
 }
+
+void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
+  CommandMessage msg;
+  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
+                              duallane::A_SIDE);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Sending mode command failed" << std::endl;
+  }
+}

bsp_q7s/core/ObjectFactory.h

@@ -6,6 +6,7 @@ class UartComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
+class AcsBoardAssembly;
 
 namespace ObjectFactory {
 
@@ -29,6 +30,8 @@ void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
 void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
+void testAcsBrdAss(AcsBoardAssembly* assAss);
+
 };  // namespace ObjectFactory
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */

generators/fsfwgen

@@ -1 +1 @@
-Subproject commit 1c8be25e185aada13392a75234fa463240f424a0
+Subproject commit 5ad9fb94af3312d29863527106396395f7b808a5

linux/fsfwconfig/OBSWConfig.h.in

@@ -44,6 +44,7 @@ debugging. */
 #define OBSW_ADD_PLOC_SUPERVISOR                    0
 #define OBSW_ADD_PLOC_MPSOC                         0
 #define OBSW_ADD_SUN_SENSORS                        1
+#define OBSW_ADD_SUS_BOARD_ASS                      1
 #define OBSW_ADD_ACS_BOARD                          1
 #define OBSW_ADD_ACS_HANDLERS                       1
 #define OBSW_ADD_RW                                 0
@@ -115,7 +116,6 @@ debugging. */
 #define OBSW_ADD_UART_TEST_CODE                     0
 
 #define OBSW_TEST_ACS                               0
-#define OBSW_TEST_ACS_BOARD_ASS                     0
 #define OBSW_DEBUG_ACS                              0
 #define OBSW_TEST_SUS                               0
 #define OBSW_DEBUG_SUS                              0

mission/system/AcsBoardAssembly.cpp

@@ -142,12 +142,14 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
       cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
       if (gpsUsable) {
-        if (gpioIF->pullLow(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
+        gpioHandler(gpioIds::GNSS_0_NRESET, true,
-#if OBSW_VERBOSE_LEVEL >= 1
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low"
+            "of GNSS 0 high (used GNSS)");
-                     << std::endl;
+        gpioHandler(gpioIds::GNSS_1_NRESET, false,
-#endif
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-        }
+             "of GNSS 1 low (unused GNSS)");
+        gpioHandler(gpioIds::GNSS_SELECT, false,
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low");
       }
       break;
     }
@@ -165,12 +167,14 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
       cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
       if (gpsUsable) {
-        if (gpioIF->pullHigh(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
+        gpioHandler(gpioIds::GNSS_0_NRESET, false,
-#if OBSW_VERBOSE_LEVEL >= 1
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high"
+            "of GNSS 0 low (unused GNSS)");
-                     << std::endl;
+        gpioHandler(gpioIds::GNSS_1_NRESET, true,
-#endif
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-        }
+             "of GNSS 1 high (used GNSS)");
+        gpioHandler(gpioIds::GNSS_SELECT, true,
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high");
       }
       break;
     }
@@ -186,6 +190,12 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
       ReturnValue_t status = RETURN_OK;
       if (gpsUsable) {
+        gpioHandler(gpioIds::GNSS_0_NRESET, true,
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+            "of GNSS 0 high (used GNSS)");
+        gpioHandler(gpioIds::GNSS_1_NRESET, true,
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+             "of GNSS 1 high (used GNSS)");
         if (defaultSubmode == Submodes::A_SIDE) {
           status = gpioIF->pullLow(gpioIds::GNSS_SELECT);
         } else {
@@ -233,6 +243,20 @@ void AcsBoardAssembly::selectGpsInDualMode(duallane::Submodes side) {
   }
 }
 
+void AcsBoardAssembly::gpioHandler(gpioId_t gpio, bool high, std::string error) {
+  ReturnValue_t result = RETURN_OK;
+  if(high) {
+    result = gpioIF->pullHigh(gpio);
+  } else {
+    result = gpioIF->pullLow(gpio);
+  }
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::error << error << std::endl;
+#endif
+  }
+}
+
 void AcsBoardAssembly::refreshHelperModes() {
   try {
     helper.gyro0SideAMode = childrenMap.at(helper.gyro0AdisIdSideA).mode;

mission/system/AcsBoardAssembly.h

@@ -4,6 +4,7 @@
 #include <common/config/commonSubsystemIds.h>
 #include <devices/powerSwitcherList.h>
 #include <fsfw/objectmanager/frameworkObjects.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
 
 #include "DualLaneAssemblyBase.h"
 #include "DualLanePowerStateMachine.h"
@@ -115,6 +116,7 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   GpioIF* gpioIF = nullptr;
 
   FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
+  void gpioHandler(gpioId_t gpio, bool high, std::string error);
 
   ReturnValue_t initialize() override;
 

mission/system/DualLaneAssemblyBase.h

@@ -50,6 +50,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
    * @return
    */
   bool isUseable(object_id_t object, Mode_t mode);
+
   /**
    * Thin wrapper function which is required because the helper class
    * can not access protected member functions.