bsp_q7s/callbacks/pcduSwitchCb.cpp

@@ -10,8 +10,8 @@ void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void*
     return;
   }
   if (pdu == GOMSPACE::Pdu::PDU1) {
-    PDU1::SwitchChannels typedChannel = static_cast<PDU1::SwitchChannels>(channel);
+    PDU1::Channels typedChannel = static_cast<PDU1::Channels>(channel);
-    if (typedChannel == PDU1::SwitchChannels::ACS_A_SIDE) {
+    if (typedChannel == PDU1::Channels::ACS_A_SIDE) {
       if (state) {
         gpioComIF->pullHigh(gpioIds::GNSS_0_NRESET);
       } else {
@@ -20,8 +20,8 @@ void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void*
     }
 
   } else if (pdu == GOMSPACE::Pdu::PDU2) {
-    PDU2::SwitchChannels typedChannel = static_cast<PDU2::SwitchChannels>(channel);
+    PDU2::Channels typedChannel = static_cast<PDU2::Channels>(channel);
-    if (typedChannel == PDU2::SwitchChannels::ACS_B_SIDE) {
+    if (typedChannel == PDU2::Channels::ACS_B_SIDE) {
       if (state) {
         gpioComIF->pullHigh(gpioIds::GNSS_1_NRESET);
       } else {

bsp_q7s/core/ObjectFactory.cpp

@@ -192,7 +192,7 @@ void ObjectFactory::produce(void* args) {
   starTrackerCookie->setNoFixedSizeReply();
   StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
   new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper,
-                         pcduSwitches::PDU1_CH2_STAR_TRACKER_5V);
+                         pcdu::PDU1_CH2_STAR_TRACKER_5V);
 
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
@@ -601,7 +601,7 @@ void ObjectFactory::createHeaterComponents() {
   heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
   new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
-                    objects::PCDU_HANDLER, pcduSwitches::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+                    objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents() {
@@ -621,7 +621,7 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
   // TODO: Find out burn time. For now set to 1000 ms.
   new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
                                   solarArrayDeplCookie, objects::PCDU_HANDLER,
-                                  pcduSwitches::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
+                                  pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
                                   gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
 }
 
@@ -632,7 +632,7 @@ void ObjectFactory::createSyrlinksComponents() {
   syrlinksUartCookie->setParityEven();
 
   new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                        pcduSwitches::PDU1_CH1_SYRLINKS_12V);
+                        pcdu::PDU1_CH1_SYRLINKS_12V);
 }
 
 void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
@@ -668,7 +668,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
   supervisorCookie->setNoFixedSizeReply();
   new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
                             supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                            pcduSwitches::PDU1_CH6_PLOC_12V);
+                            pcdu::PDU1_CH6_PLOC_12V);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
 }
@@ -925,8 +925,8 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   // Create device handler components
   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,
+      pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
-      pcduSwitches::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
+      pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
 //  plPcduHandler->enablePeriodicPrintout(true, 5);
 //  static_cast<void>(plPcduHandler);

common/config/devices/powerSwitcherList.h

@@ -1,72 +1,6 @@
 #ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
 #define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
 
-#include "OBSWConfig.h"
+#include "mission/devices/devicedefinitions/GomspaceDefinitions.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: power::Switch_t {
-  PDU1_CH0_TCS_BOARD_3V3,
-  PDU1_CH1_SYRLINKS_12V,
-  PDU1_CH2_STAR_TRACKER_5V,
-  PDU1_CH3_MGT_5V,
-  PDU1_CH4_SUS_NOMINAL_3V3,
-  PDU1_CH5_SOLAR_CELL_EXP_5V,
-  PDU1_CH6_PLOC_12V,
-  PDU1_CH7_ACS_A_SIDE_3V3,
-  PDU1_CH8_UNOCCUPIED,
-
-  PDU2_CH0_Q7S,
-  PDU2_CH1_PL_PCDU_BATT_0_14V8,
-  PDU2_CH2_RW_5V,
-  PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
-  PDU2_CH4_SUS_REDUNDANT_3V3,
-  PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-  PDU2_CH6_PL_PCDU_BATT_1_14V8,
-  PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
-  PDU2_CH8_PAYLOAD_CAMERA,
-  NUMBER_OF_SWITCHES
-};
-
-static const uint8_t ON = 1;
-static const uint8_t OFF = 0;
-
-// Output states after reboot of the PDUs
-
-const std::array<uint8_t, NUMBER_OF_SWITCHES> INIT_SWITCH_STATES = {
-    // PDU 1
-// Because the TE0720 is not connected to the PCDU, this switch is always on
-#ifdef TE0720_1CFA
-    ON,
-#else
-    OFF,
-#endif
-    OFF,
-    OFF,
-    OFF,
-    OFF,
-    OFF,
-    OFF,
-    OFF,
-    OFF,
-
-    // PDU 2
-    ON,
-    OFF,
-    OFF,
-    OFF,
-    OFF,
-    OFF,
-    OFF,
-    OFF,
-    OFF
-};
-}
 
 #endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

fsfw

@@ -1 +1 @@
-Subproject commit a11d7455dfaf2e736f73f6c4dda1f8c06b9f1234
+Subproject commit 94ed5822971575e9715c39c86ab4466c81718441

linux/ObjectFactory.cpp

@@ -280,7 +280,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   TcsBoardHelper helper(rtdIds);
   TcsBoardAssembly* tcsBoardAss =
       new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
-                           pcduSwitches::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+                           pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
   static_cast<void>(tcsBoardAss);
 #endif  // OBSW_ADD_RTD_DEVICES == 1
 }

mission/devices/GomspaceDeviceHandler.cpp

@@ -1,6 +1,7 @@
 #include "GomspaceDeviceHandler.h"
 
 #include <common/config/commonObjects.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 
 #include "devicedefinitions/GomSpacePackets.h"
 #include "devicedefinitions/powerDefinitions.h"
@@ -356,6 +357,46 @@ ReturnValue_t GomspaceDeviceHandler::setParamCallback(SetParamMessageUnpacker& u
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t GomspaceDeviceHandler::initializePduPool(
+    localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager,
+    std::array<uint8_t, PDU::CHANNELS_LEN> initOutEnb) {
+  localDataPoolMap.emplace(P60System::pool::PDU_CURRENTS, new PoolEntry<int16_t>(9));
+  localDataPoolMap.emplace(P60System::pool::PDU_VOLTAGES, new PoolEntry<int16_t>(9));
+
+  localDataPoolMap.emplace(P60System::pool::PDU_VCC, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_VBAT, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_TEMPERATURE, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_CONV_EN_1, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_CONV_EN_2, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_CONV_EN_3, new PoolEntry<uint8_t>({0}));
+
+  localDataPoolMap.emplace(P60System::pool::PDU_OUT_ENABLE,
+                           new PoolEntry<uint8_t>(initOutEnb.data(), initOutEnb.size()));
+
+  localDataPoolMap.emplace(P60System::pool::PDU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_BOOTCNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_UPTIME, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_RESETCAUSE, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_BATT_MODE, new PoolEntry<uint8_t>({0}));
+
+  localDataPoolMap.emplace(P60System::pool::PDU_LATCHUPS, new PoolEntry<uint16_t>(9));
+
+  localDataPoolMap.emplace(P60System::pool::PDU_DEVICES, new PoolEntry<uint8_t>(8));
+  localDataPoolMap.emplace(P60System::pool::PDU_STATUSES, new PoolEntry<uint8_t>(8));
+
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
+  return RETURN_OK;
+}
+
 ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd() {
   WatchdogResetCommand watchdogResetCommand;
   size_t cspPacketLen = 0;
@@ -405,3 +446,112 @@ ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
   sif::info << "No printHkTable implementation given.." << std::endl;
   return HasReturnvaluesIF::RETURN_OK;
 }
+
+ReturnValue_t GomspaceDeviceHandler::parsePduHkTable(PDU::PduCoreHk& coreHk, PDU::PduAuxHk& auxHk,
+                                                     const uint8_t* packet) {
+  uint16_t dataOffset = 0;
+  PoolReadGuard pg0(&coreHk);
+  PoolReadGuard pg1(&auxHk);
+  if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
+      pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Reading PDU1 datasets failed!" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  /* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
+   * address. */
+  dataOffset += 12;
+  for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
+    coreHk.currents[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+  for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
+    coreHk.voltages[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
+    dataOffset += 4;
+  }
+
+  auxHk.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  dataOffset += 4;
+  auxHk.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  dataOffset += 4;
+  coreHk.temperature = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+  dataOffset += 4;
+
+  auxHk.converterEnable1 = *(packet + dataOffset);
+  dataOffset += 3;
+  auxHk.converterEnable2 = *(packet + dataOffset);
+  dataOffset += 3;
+  auxHk.converterEnable3 = *(packet + dataOffset);
+  dataOffset += 3;
+
+  for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
+    coreHk.outputEnables[idx] = packet[dataOffset];
+    dataOffset += 3;
+  }
+
+  auxHk.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  coreHk.bootcount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.resetcause = *(packet + dataOffset + 1) << 8 | *(packet + dataOffset);
+  dataOffset += 4;
+  coreHk.battMode = *(packet + dataOffset);
+  /* +10 because here begins the second gomspace csp packet */
+  dataOffset += 3 + 10;
+
+  for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
+    auxHk.latchups[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
+    dataOffset += 4;
+  }
+
+  for (uint8_t idx = 0; idx < PDU::DEVICES_NUM; idx++) {
+    auxHk.deviceTypes[idx] = *(packet + dataOffset);
+    dataOffset += 3;
+  }
+  for (uint8_t idx = 0; idx < PDU::DEVICES_NUM; idx++) {
+    auxHk.devicesStatus[idx] = *(packet + dataOffset);
+    dataOffset += 3;
+  }
+
+  auxHk.gndWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                        *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.i2cWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                        *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.canWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                        *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.csp1WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                         *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.csp2WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                         *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.groundWatchdogSecondsLeft = *(packet + dataOffset) << 24 |
+                                    *(packet + dataOffset + 1) << 16 |
+                                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.i2cWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.canWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
+                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
+  dataOffset += 6;
+  auxHk.csp1WatchdogPingsLeft = *(packet + dataOffset);
+  dataOffset += 3;
+  auxHk.csp2WatchdogPingsLeft = *(packet + dataOffset);
+
+  coreHk.setChanged(true);
+  if (not coreHk.isValid()) {
+    coreHk.setValidity(true, true);
+  }
+  if (not auxHk.isValid()) {
+    auxHk.setValidity(true, true);
+  }
+  return RETURN_OK;
+}

mission/devices/GomspaceDeviceHandler.h

@@ -110,6 +110,12 @@ class GomspaceDeviceHandler : public DeviceHandlerBase {
   virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
                                          size_t commandDataLen);
 
+  ReturnValue_t parsePduHkTable(PDU::PduCoreHk &coreHk, PDU::PduAuxHk &auxHk,
+                                const uint8_t *packet);
+  ReturnValue_t initializePduPool(localpool::DataPool &localDataPoolMap,
+                                  LocalDataPoolManager &poolManager,
+                                  std::array<uint8_t, PDU::CHANNELS_LEN> initOutEnb);
+
  private:
   SetParamMessageUnpacker setParamCacher;
   /**

mission/devices/P60DockHandler.cpp

@@ -216,11 +216,11 @@ void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
 ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                       LocalDataPoolManager &poolManager) {
   using namespace P60System;
-  localDataPoolMap.emplace(pool::CURRENTS, &hkCurrents);
+  localDataPoolMap.emplace(pool::P60_CURRENTS, &hkCurrents);
 
-  localDataPoolMap.emplace(pool::VOLTAGES, &hkVoltages);
+  localDataPoolMap.emplace(pool::P60_VOLTAGES, &hkVoltages);
 
-  localDataPoolMap.emplace(pool::OUTPUT_ENABLE, &outputEnables);
+  localDataPoolMap.emplace(pool::P60_OUTPUT_ENABLE, &outputEnables);
 
   localDataPoolMap.emplace(pool::P60DOCK_TEMPERATURE_1, new PoolEntry<int16_t>({0}));
   localDataPoolMap.emplace(pool::P60DOCK_TEMPERATURE_2, new PoolEntry<int16_t>({0}));

mission/devices/PCDUHandler.cpp

@@ -11,8 +11,9 @@
 PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
     : SystemObject(setObjectId),
       poolManager(this, nullptr),
-      pdu2HkTableDataset(this),
+      pdu1CoreHk(this),
-      pdu1HkTableDataset(this),
+      pdu2CoreHk(this),
+      switcherSet(this),
       cmdQueueSize(cmdQueueSize) {
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
@@ -51,8 +52,8 @@ ReturnValue_t PCDUHandler::initialize() {
     return RETURN_FAILED;
   }
   result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
-      static_cast<uint32_t>(P60System::SetIds::PDU_2), this->getObjectId(), commandQueue->getId(),
+      static_cast<uint32_t>(P60System::SetIds::PDU_2_CORE), this->getObjectId(),
-      true);
+      commandQueue->getId(), true);
   if (result != RETURN_OK) {
     sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
                << "PDU2Handler" << std::endl;
@@ -67,8 +68,8 @@ ReturnValue_t PCDUHandler::initialize() {
     return RETURN_FAILED;
   }
   result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
-      static_cast<uint32_t>(P60System::SetIds::PDU_1), this->getObjectId(), commandQueue->getId(),
+      static_cast<uint32_t>(P60System::SetIds::PDU_1_CORE), this->getObjectId(),
-      true);
+      commandQueue->getId(), true);
   if (result != RETURN_OK) {
     sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
                << "PDU1Handler" << std::endl;
@@ -79,9 +80,13 @@ ReturnValue_t PCDUHandler::initialize() {
 }
 
 void PCDUHandler::initializeSwitchStates() {
-  using namespace pcduSwitches;
+  using namespace pcdu;
-  for (uint8_t idx = 0; idx < Switches::NUMBER_OF_SWITCHES; idx++) {
+  for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
-    switchStates[idx] = INIT_SWITCH_STATES[idx];
+    if (idx < PDU::CHANNELS_LEN) {
+      switchStates[idx] = INIT_SWITCHES_PDU1[idx];
+    } else {
+      switchStates[idx] = INIT_SWITCHES_PDU2[idx];
+    }
   }
 }
 
@@ -103,11 +108,12 @@ void PCDUHandler::readCommandQueue() {
 MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
 
 void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
-  if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::PDU_2))) {
+  if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::PDU_2_CORE))) {
-    updateHkTableDataset(storeId, &pdu2HkTableDataset, &timeStampPdu2HkDataset);
+    updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
     updatePdu2SwitchStates();
-  } else if (sid == sid_t(objects::PDU1_HANDLER, static_cast<uint32_t>(P60System::SetIds::PDU_1))) {
+  } else if (sid ==
-    updateHkTableDataset(storeId, &pdu1HkTableDataset, &timeStampPdu1HkDataset);
+             sid_t(objects::PDU1_HANDLER, static_cast<uint32_t>(P60System::SetIds::PDU_1_CORE))) {
+    updateHkTableDataset(storeId, &pdu1CoreHk, &timeStampPdu1HkDataset);
     updatePdu1SwitchStates();
   } else {
     sif::error << "PCDUHandler::handleChangedDataset: Invalid sid" << std::endl;
@@ -143,29 +149,33 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
 }
 
 void PCDUHandler::updatePdu2SwitchStates() {
-  using namespace pcduSwitches;
+  using namespace pcdu;
+  using namespace PDU2;
   GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
-  PoolReadGuard rg(&pdu2HkTableDataset);
+  PoolReadGuard rg0(&switcherSet);
-  if (rg.getReadResult() == RETURN_OK) {
+  PoolReadGuard rg1(&pdu2CoreHk);
+  if (rg0.getReadResult() == RETURN_OK and rg1.getReadResult() == RETURN_OK) {
+    for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
+      switcherSet.pdu2Switches[idx] = pdu2CoreHk.outputEnables[idx];
+    }
     MutexGuard mg(pwrMutex);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2HkTableDataset.outEnabledQ7S.value);
+    checkAndUpdateSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
 
     checkAndUpdateSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
-                         pdu2HkTableDataset.outEnabledPlPCDUCh1.value);
+                         pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH1]);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH2_RW_5V,
+    checkAndUpdateSwitch(pdu, Switches::PDU2_CH2_RW_5V, pdu2CoreHk.outputEnables[Channels::RW]);
-                         pdu2HkTableDataset.outEnabledReactionWheels.value);
     checkAndUpdateSwitch(pdu, Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
-                         pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value);
+                         pdu2CoreHk.outputEnables[Channels::TCS_HEATER_IN]);
     checkAndUpdateSwitch(pdu, Switches::PDU2_CH4_SUS_REDUNDANT_3V3,
-                         pdu2HkTableDataset.outEnabledSUSRedundant.value);
+                         pdu2CoreHk.outputEnables[Channels::SUS_REDUNDANT]);
     checkAndUpdateSwitch(pdu, Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-                         pdu2HkTableDataset.outEnabledDeplMechanism.value);
+                         pdu2CoreHk.outputEnables[Channels::DEPY_MECHANISM]);
     checkAndUpdateSwitch(pdu, Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8,
-                         pdu2HkTableDataset.outEnabledPlPCDUCh6.value);
+                         pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH6]);
     checkAndUpdateSwitch(pdu, Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
-                         pdu2HkTableDataset.outEnabledAcsBoardSideB.value);
+                         pdu2CoreHk.outputEnables[Channels::ACS_B_SIDE]);
     checkAndUpdateSwitch(pdu, Switches::PDU2_CH8_PAYLOAD_CAMERA,
-                         pdu2HkTableDataset.outEnabledPayloadCamera.value);
+                         pdu2CoreHk.outputEnables[Channels::PAYLOAD_CAMERA]);
     if (firstSwitchInfoPdu2) {
       firstSwitchInfoPdu2 = false;
     }
@@ -176,27 +186,33 @@ void PCDUHandler::updatePdu2SwitchStates() {
 }
 
 void PCDUHandler::updatePdu1SwitchStates() {
-  using namespace pcduSwitches;
+  using namespace pcdu;
-  PoolReadGuard rg(&pdu1HkTableDataset);
+  using namespace PDU1;
+  PoolReadGuard rg0(&switcherSet);
+  PoolReadGuard rg1(&pdu1CoreHk);
   GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
-  if (rg.getReadResult() == RETURN_OK) {
+  if (rg0.getReadResult() == RETURN_OK and rg1.getReadResult() == RETURN_OK) {
+    for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
+      switcherSet.pdu1Switches[idx] = pdu1CoreHk.outputEnables[idx];
+    }
     MutexGuard mg(pwrMutex);
     checkAndUpdateSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
-                         pdu1HkTableDataset.outEnabledTCSBoard3V3.value);
+                         pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]);
     checkAndUpdateSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
-                         pdu1HkTableDataset.outEnabledSyrlinks.value);
+                         pdu1CoreHk.outputEnables[Channels::SYRLINKS]);
     checkAndUpdateSwitch(pdu, Switches::PDU1_CH2_STAR_TRACKER_5V,
-                         pdu1HkTableDataset.outEnabledStarTracker.value);
+                         pdu1CoreHk.outputEnables[Channels::STR]);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH3_MGT_5V, pdu1HkTableDataset.outEnabledMGT.value);
+    checkAndUpdateSwitch(pdu, Switches::PDU1_CH3_MGT_5V, pdu1CoreHk.outputEnables[Channels::MGT]);
     checkAndUpdateSwitch(pdu, Switches::PDU1_CH4_SUS_NOMINAL_3V3,
-                         pdu1HkTableDataset.outEnabledSUSNominal.value);
+                         pdu1CoreHk.outputEnables[Channels::SUS_NOMINAL]);
     checkAndUpdateSwitch(pdu, Switches::PDU1_CH5_SOLAR_CELL_EXP_5V,
-                         pdu1HkTableDataset.outEnabledSolarCellExp.value);
+                         pdu1CoreHk.outputEnables[Channels::SOL_CELL_EXPERIMENT]);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH6_PLOC_12V, pdu1HkTableDataset.outEnabledPLOC.value);
+    checkAndUpdateSwitch(pdu, Switches::PDU1_CH6_PLOC_12V,
+                         pdu1CoreHk.outputEnables[Channels::PLOC]);
     checkAndUpdateSwitch(pdu, Switches::PDU1_CH7_ACS_A_SIDE_3V3,
-                         pdu1HkTableDataset.outEnabledAcsBoardSideA.value);
+                         pdu1CoreHk.outputEnables[Channels::ACS_A_SIDE]);
     checkAndUpdateSwitch(pdu, Switches::PDU1_CH8_UNOCCUPIED,
-                         pdu1HkTableDataset.outEnabledChannel8.value);
+                         pdu1CoreHk.outputEnables[Channels::UNUSED]);
     if (firstSwitchInfoPdu1) {
       firstSwitchInfoPdu1 = false;
     }
@@ -208,7 +224,7 @@ void PCDUHandler::updatePdu1SwitchStates() {
 LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
 
 ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
-  using namespace pcduSwitches;
+  using namespace pcdu;
   ReturnValue_t result;
   uint16_t memoryAddress = 0;
   size_t parameterValueSize = sizeof(uint8_t);
@@ -216,94 +232,94 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
   GomspaceDeviceHandler* pdu = nullptr;
 
   switch (switchNr) {
-    case pcduSwitches::PDU1_CH0_TCS_BOARD_3V3: {
+    case pcdu::PDU1_CH0_TCS_BOARD_3V3: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcduSwitches::PDU1_CH1_SYRLINKS_12V: {
+    case pcdu::PDU1_CH1_SYRLINKS_12V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SYRLINKS;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcduSwitches::PDU1_CH2_STAR_TRACKER_5V: {
+    case pcdu::PDU1_CH2_STAR_TRACKER_5V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_STAR_TRACKER;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcduSwitches::PDU1_CH3_MGT_5V: {
+    case pcdu::PDU1_CH3_MGT_5V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_MGT;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcduSwitches::PDU1_CH4_SUS_NOMINAL_3V3: {
+    case pcdu::PDU1_CH4_SUS_NOMINAL_3V3: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcduSwitches::PDU1_CH5_SOLAR_CELL_EXP_5V: {
+    case pcdu::PDU1_CH5_SOLAR_CELL_EXP_5V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcduSwitches::PDU1_CH6_PLOC_12V: {
+    case pcdu::PDU1_CH6_PLOC_12V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_PLOC;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcduSwitches::PDU1_CH7_ACS_A_SIDE_3V3: {
+    case pcdu::PDU1_CH7_ACS_A_SIDE_3V3: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
-    case pcduSwitches::PDU1_CH8_UNOCCUPIED: {
+    case pcdu::PDU1_CH8_UNOCCUPIED: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_CHANNEL8;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     // This is a dangerous command. Reject/Igore it for now
-    case pcduSwitches::PDU2_CH0_Q7S: {
+    case pcdu::PDU2_CH0_Q7S: {
       return RETURN_FAILED;
       // memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_Q7S;
       // pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       // break;
     }
-    case pcduSwitches::PDU2_CH1_PL_PCDU_BATT_0_14V8: {
+    case pcdu::PDU2_CH1_PL_PCDU_BATT_0_14V8: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcduSwitches::PDU2_CH2_RW_5V: {
+    case pcdu::PDU2_CH2_RW_5V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_RW;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcduSwitches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V: {
+    case pcdu::PDU2_CH3_TCS_BOARD_HEATER_IN_8V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcduSwitches::PDU2_CH4_SUS_REDUNDANT_3V3: {
+    case pcdu::PDU2_CH4_SUS_REDUNDANT_3V3: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcduSwitches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
+    case pcdu::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcduSwitches::PDU2_CH6_PL_PCDU_BATT_1_14V8: {
+    case pcdu::PDU2_CH6_PL_PCDU_BATT_1_14V8: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcduSwitches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3: {
+    case pcdu::PDU2_CH7_ACS_BOARD_SIDE_B_3V3: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
-    case pcduSwitches::PDU2_CH8_PAYLOAD_CAMERA: {
+    case pcdu::PDU2_CH8_PAYLOAD_CAMERA: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA;
       pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
@@ -355,7 +371,7 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
 ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return RETURN_OK; }
 
 ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
-  if (switchNr >= pcduSwitches::NUMBER_OF_SWITCHES) {
+  if (switchNr >= pcdu::NUMBER_OF_SWITCHES) {
     sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
     return RETURN_FAILED;
   }
@@ -377,212 +393,10 @@ object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(
 
 ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                    LocalDataPoolManager& poolManager) {
-  using namespace pcduSwitches;
+  using namespace pcdu;
-  using namespace P60System;
+  localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_Q7S, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu2Switches);
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>({0}));
+  poolManager.subscribeForPeriodicPacket(switcherSet.getSid(), false, 5.0, true);
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_RW, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_Q7S, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_RW, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_VCC, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VBAT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CONV_EN_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CONV_EN_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CONV_EN_3, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_Q7S,
-                           new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH0_Q7S]}));
-  localDataPoolMap.emplace(
-      pool::PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
-      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8]}));
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_RW,
-                           new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH2_RW_5V]}));
-#ifdef TE0720_1CFA
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>({1}));
-#else
-  localDataPoolMap.emplace(
-      pool::PDU2_OUT_EN_TCS_BOARD_HEATER_IN,
-      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V]}));
-#endif
-  localDataPoolMap.emplace(
-      pool::PDU2_OUT_EN_SUS_REDUNDANT,
-      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH4_SUS_REDUNDANT_3V3]}));
-  localDataPoolMap.emplace(
-      pool::PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
-      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V]}));
-  localDataPoolMap.emplace(
-      pool::PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
-      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8]}));
-  localDataPoolMap.emplace(
-      pool::PDU2_OUT_EN_ACS_BOARD_SIDE_B,
-      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3]}));
-  localDataPoolMap.emplace(
-      pool::PDU2_OUT_EN_PAYLOAD_CAMERA,
-      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH8_PAYLOAD_CAMERA]}));
-
-  localDataPoolMap.emplace(pool::PDU2_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_BOOTCNT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_UPTIME, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_RESETCAUSE, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_BATT_MODE, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_Q7S, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_PAYLOAD_PCDU_CH1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_RW, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_SUS_REDUNDANT, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_DEPLOYMENT_MECHANISM, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_PAYLOAD_PCDU_CH6, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_ACS_BOARD_SIDE_B, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_PAYLOAD_CAMERA, new PoolEntry<uint16_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_0, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_3, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_4, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_5, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_6, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_7, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_0_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_1_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_2_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_3_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_4_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_5_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_6_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_7_STATUS, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU1_CURRENT_OUT_TCS_BOARD_3V3, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CURRENT_OUT_SYRLINKS, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CURRENT_OUT_STAR_TRACKER, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CURRENT_OUT_MGT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CURRENT_OUT_SUS_NOMINAL, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CURRENT_OUT_SOLAR_CELL_EXP, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CURRENT_OUT_PLOC, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CURRENT_OUT_CHANNEL8, new PoolEntry<int16_t>({0}));
-
-  localDataPoolMap.emplace(
-      pool::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
-      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH0_TCS_BOARD_3V3]}));
-  localDataPoolMap.emplace(
-      pool::PDU1_VOLTAGE_OUT_SYRLINKS,
-      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH1_SYRLINKS_12V]}));
-  localDataPoolMap.emplace(
-      pool::PDU1_VOLTAGE_OUT_STAR_TRACKER,
-      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH2_STAR_TRACKER_5V]}));
-  localDataPoolMap.emplace(pool::PDU1_VOLTAGE_OUT_MGT,
-                           new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH3_MGT_5V]}));
-  localDataPoolMap.emplace(
-      pool::PDU1_VOLTAGE_OUT_SUS_NOMINAL,
-      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH4_SUS_NOMINAL_3V3]}));
-  localDataPoolMap.emplace(
-      pool::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
-      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V]}));
-  localDataPoolMap.emplace(
-      pool::PDU1_VOLTAGE_OUT_PLOC,
-      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH6_PLOC_12V]}));
-  localDataPoolMap.emplace(
-      pool::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
-      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH7_ACS_A_SIDE_3V3]}));
-  localDataPoolMap.emplace(
-      pool::PDU1_VOLTAGE_OUT_CHANNEL8,
-      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH8_UNOCCUPIED]}));
-
-  localDataPoolMap.emplace(pool::PDU1_VCC, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_VBAT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CONV_EN_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CONV_EN_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_CONV_EN_3, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU1_OUT_EN_TCS_BOARD_3V3, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_OUT_EN_SYRLINKS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_OUT_EN_STAR_TRACKER, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_OUT_EN_MGT, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_OUT_EN_SUS_NOMINAL, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_OUT_EN_SOLAR_CELL_EXP, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_OUT_EN_PLOC, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_OUT_EN_ACS_BOARD_SIDE_A, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_OUT_EN_CHANNEL8, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU1_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_BOOTCNT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_UPTIME, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_RESETCAUSE, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_BATT_MODE, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU1_LATCHUP_TCS_BOARD_3V3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_LATCHUP_SYRLINKS, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_LATCHUP_STAR_TRACKER, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_LATCHUP_MGT, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_LATCHUP_SUS_NOMINAL, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_LATCHUP_SOLAR_CELL_EXP, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_LATCHUP_PLOC, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_LATCHUP_ACS_BOARD_SIDE_A, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_LATCHUP_CHANNEL8, new PoolEntry<uint16_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_0, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_3, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_4, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_5, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_6, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_7, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_0_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_1_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_2_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_3_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_4_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_5_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_6_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_DEVICE_7_STATUS, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU1_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU1_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
-
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -602,17 +416,17 @@ uint32_t PCDUHandler::getPeriodicOperationFrequency() const { return pstInterval
 void PCDUHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
 
 LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
-  if (sid == pdu2HkTableDataset.getSid()) {
+  if (sid == switcherSet.getSid()) {
-    return &pdu2HkTableDataset;
+    return &switcherSet;
   } else {
     sif::error << "PCDUHandler::getDataSetHandle: Invalid sid" << std::endl;
     return nullptr;
   }
 }
 
-void PCDUHandler::checkAndUpdateSwitch(GOMSPACE::Pdu pdu, pcduSwitches::Switches switchIdx,
+void PCDUHandler::checkAndUpdateSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
                                        uint8_t setValue) {
-  using namespace pcduSwitches;
+  using namespace pcdu;
   if (switchStates[switchIdx] != setValue) {
 #if OBSW_INITIALIZE_SWITCHES == 1
     // This code initializes the switches to the default init switch states on every reboot.

mission/devices/PCDUHandler.h

@@ -2,6 +2,7 @@
 #define MISSION_DEVICES_PCDUHANDLER_H_
 
 #include <devices/powerSwitcherList.h>
+#include <fsfw/datapool/PoolEntry.h>
 #include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitchIF.h>
@@ -56,21 +57,29 @@ class PCDUHandler : public PowerSwitchIF,
   /** Housekeeping manager. Handles updates of local pool variables. */
   LocalDataPoolManager poolManager;
 
+  /** Hk table dataset of PDU1 */
+  PDU1::Pdu1CoreHk pdu1CoreHk;
   /**
    * The dataset holding the hk table of PDU2. This dataset is a copy of the PDU2 HK dataset
    * of the PDU2Handler. Each time the PDU2Handler updates his HK dataset, a copy is sent
    * to this object via a HousekeepingMessage.
    */
-  PDU2::PDU2HkTableDataset pdu2HkTableDataset;
+  PDU2::Pdu2CoreHk pdu2CoreHk;
+
+  pcdu::SwitcherStates switcherSet;
+
+  PoolEntry<uint8_t> pdu1Switches =
+      PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU1.data(), pcdu::INIT_SWITCHES_PDU1.size());
+  PoolEntry<uint8_t> pdu2Switches =
+      PoolEntry<uint8_t>(pcdu::INIT_SWITCHES_PDU2.data(), pcdu::INIT_SWITCHES_PDU2.size());
+
   /** The timeStamp of the current pdu2HkTableDataset */
   CCSDSTime::CDS_short timeStampPdu2HkDataset;
 
-  /** Hk table dataset of PDU1 */
-  PDU1::PDU1HkTableDataset pdu1HkTableDataset;
   /** The timeStamp of the current pdu1HkTableDataset */
   CCSDSTime::CDS_short timeStampPdu1HkDataset;
 
-  uint8_t switchStates[pcduSwitches::NUMBER_OF_SWITCHES];
+  uint8_t switchStates[pcdu::NUMBER_OF_SWITCHES];
   /**
    * Pointer to the IPCStore.
    * This caches the pointer received from the objectManager in the constructor.
@@ -119,7 +128,7 @@ class PCDUHandler : public PowerSwitchIF,
    */
   void updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
                             CCSDSTime::CDS_short* datasetTimeStamp);
-  void checkAndUpdateSwitch(GOMSPACE::Pdu pdu, pcduSwitches::Switches switchIdx, uint8_t setValue);
+  void checkAndUpdateSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, uint8_t setValue);
 };
 
 #endif /* MISSION_DEVICES_PCDUHANDLER_H_ */

mission/devices/PDU1Handler.cpp

@@ -3,12 +3,13 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
-#include "OBSWConfig.h"
+#include "devices/powerSwitcherList.h"
 
 PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
     : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
                             PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
-      pdu1HkTableDataset(this) {}
+      coreHk(this),
+      auxHk(this) {}
 
 PDU1Handler::~PDU1Handler() {}
 
@@ -19,52 +20,7 @@ ReturnValue_t PDU1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
 
 void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
   parseHkTableReply(packet);
-  handleDeviceTM(&pdu1HkTableDataset, id, true);
+  handleDeviceTM(&coreHk, id, true);
-
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PDU1 == 1
-  pdu1HkTableDataset.read();
-  sif::info << "PDU1 TCS Board voltage: " << pdu1HkTableDataset.voltageOutTCSBoard3V3 << std::endl;
-  sif::info << "PDU1 Syrlinks voltage: " << pdu1HkTableDataset.voltageOutSyrlinks << std::endl;
-  sif::info << "PDU1 star tracker voltage: " << pdu1HkTableDataset.voltageOutStarTracker
-            << std::endl;
-  sif::info << "PDU1 MGT voltage: " << pdu1HkTableDataset.voltageOutMGT << std::endl;
-  sif::info << "PDU1 SUS nominal voltage: " << pdu1HkTableDataset.voltageOutSUSNominal << std::endl;
-  sif::info << "PDU1 solar cell experiment voltage: " << pdu1HkTableDataset.voltageOutSolarCellExp
-            << std::endl;
-  sif::info << "PDU1 PLOC voltage: " << pdu1HkTableDataset.voltageOutPLOC << std::endl;
-  sif::info << "PDU1 ACS Side A voltage: " << pdu1HkTableDataset.voltageOutACSBoardSideA
-            << std::endl;
-  sif::info << "PDU1 channel 8 voltage: " << pdu1HkTableDataset.voltageOutACSBoardSideA
-            << std::endl;
-
-  sif::info << "PDU1 TCS Board current: " << pdu1HkTableDataset.currentOutTCSBoard3V3 << std::endl;
-  sif::info << "PDU1 Syrlinks current: " << pdu1HkTableDataset.currentOutSyrlinks << std::endl;
-  sif::info << "PDU1 star tracker current: " << pdu1HkTableDataset.currentOutStarTracker
-            << std::endl;
-  sif::info << "PDU1 MGT current: " << pdu1HkTableDataset.currentOutMGT << std::endl;
-  sif::info << "PDU1 SUS nominal current: " << pdu1HkTableDataset.currentOutSUSNominal << std::endl;
-  sif::info << "PDU1 solar cell experiment current: " << pdu1HkTableDataset.currentOutSolarCellExp
-            << std::endl;
-  sif::info << "PDU1 PLOC current: " << pdu1HkTableDataset.currentOutPLOC << std::endl;
-  sif::info << "PDU1 ACS Side A current: " << pdu1HkTableDataset.currentOutACSBoardSideA
-            << std::endl;
-  sif::info << "PDU1 channel 8 current: " << pdu1HkTableDataset.currentOutChannel8 << std::endl;
-  printOutputSwitchStates();
-  sif::info << "PDU1 battery mode: " << static_cast<unsigned int>(pdu1HkTableDataset.battMode.value)
-            << std::endl;
-  sif::info << "PDU1 VCC: " << pdu1HkTableDataset.vcc << " mV" << std::endl;
-  float vbat = pdu1HkTableDataset.vbat.value * 0.001;
-  sif::info << "PDU1 VBAT: " << vbat << "V" << std::endl;
-  float temperatureC = pdu1HkTableDataset.temperature.value * 0.1;
-  sif::info << "PDU1 Temperature: " << temperatureC << " °C" << std::endl;
-  sif::info << "PDU1 csp1 watchdog pings before reboot: "
-            << static_cast<unsigned int>(pdu1HkTableDataset.csp1WatchdogPingsLeft.value)
-            << std::endl;
-  sif::info << "PDU1 csp2 watchdog pings before reboot: "
-            << static_cast<unsigned int>(pdu1HkTableDataset.csp2WatchdogPingsLeft.value)
-            << std::endl;
-  pdu1HkTableDataset.commit();
-#endif
 }
 
 void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
@@ -123,315 +79,22 @@ ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
 }
 
 void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
-  uint16_t dataOffset = 0;
+  GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
-  PoolReadGuard pg(&pdu1HkTableDataset);
-  ReturnValue_t readResult = pg.getReadResult();
-  if (readResult != HasReturnvaluesIF::RETURN_OK) {
-    sif::warning << "Reading PDU1 HK table failed!" << std::endl;
-    return;
-  }
-  /* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
-   * address. */
-  dataOffset += 12;
-  pdu1HkTableDataset.currentOutTCSBoard3V3 =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.currentOutSyrlinks = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.currentOutStarTracker =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.currentOutMGT = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.currentOutSUSNominal =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.currentOutSolarCellExp =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.currentOutPLOC = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.currentOutACSBoardSideA =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.currentOutChannel8 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  pdu1HkTableDataset.voltageOutTCSBoard3V3 =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.voltageOutSyrlinks = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.voltageOutStarTracker =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.voltageOutMGT = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.voltageOutSUSNominal =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.voltageOutSolarCellExp =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.voltageOutPLOC = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.voltageOutACSBoardSideA =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.voltageOutChannel8 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  pdu1HkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.temperature = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  pdu1HkTableDataset.converterEnable1 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.converterEnable2 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.converterEnable3 = *(packet + dataOffset);
-  dataOffset += 3;
-
-  pdu1HkTableDataset.outEnabledTCSBoard3V3 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.outEnabledSyrlinks = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.outEnabledStarTracker = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.outEnabledMGT = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.outEnabledSUSNominal = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.outEnabledSolarCellExp = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.outEnabledPLOC = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.outEnabledAcsBoardSideA = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.outEnabledChannel8 = *(packet + dataOffset);
-  dataOffset += 3;
-
-  pdu1HkTableDataset.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.bootcount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                              *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.resetcause = *(packet + dataOffset + 1) << 8 | *(packet + dataOffset);
-  dataOffset += 4;
-  pdu1HkTableDataset.battMode = *(packet + dataOffset);
-  /* +10 because here begins the second gomspace csp packet */
-  dataOffset += 3 + 10;
-
-  pdu1HkTableDataset.latchupsTcsBoard3V3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.latchupsSyrlinks = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.latchupsStarTracker = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.latchupsMgt = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.latchupsSusNominal = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.latchupsSolarCellExp =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.latchupsPloc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.latchupsAcsBoardSideA =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu1HkTableDataset.latchupsChannel8 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  pdu1HkTableDataset.device0 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device1 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device2 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device3 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device4 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device5 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device6 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device7 = *(packet + dataOffset);
-  dataOffset += 3;
-
-  pdu1HkTableDataset.device0Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device1Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device2Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device3Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device4Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device5Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device6Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.device7Status = *(packet + dataOffset);
-  dataOffset += 3;
-
-  pdu1HkTableDataset.gndWdtReboots = *(packet + dataOffset) << 24 |
-                                     *(packet + dataOffset + 1) << 16 |
-                                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.i2cWdtReboots = *(packet + dataOffset) << 24 |
-                                     *(packet + dataOffset + 1) << 16 |
-                                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.canWdtReboots = *(packet + dataOffset) << 24 |
-                                     *(packet + dataOffset + 1) << 16 |
-                                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.csp1WdtReboots = *(packet + dataOffset) << 24 |
-                                      *(packet + dataOffset + 1) << 16 |
-                                      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.csp2WdtReboots = *(packet + dataOffset) << 24 |
-                                      *(packet + dataOffset + 1) << 16 |
-                                      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.groundWatchdogSecondsLeft =
-      *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.i2cWatchdogSecondsLeft =
-      *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.canWatchdogSecondsLeft =
-      *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu1HkTableDataset.csp1WatchdogPingsLeft = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu1HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset);
-
-  pdu1HkTableDataset.setChanged(true);
-  if (not pdu1HkTableDataset.isValid()) {
-    pdu1HkTableDataset.setValidity(true, true);
-  }
 }
 
 ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                    LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(P60System::pool::PDU1_CURRENT_OUT_TCS_BOARD_3V3,
+  initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
-                           new PoolEntry<int16_t>({0}));
+  poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, false);
-  localDataPoolMap.emplace(P60System::pool::PDU1_CURRENT_OUT_SYRLINKS, new PoolEntry<int16_t>({0}));
+  poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
-  localDataPoolMap.emplace(P60System::pool::PDU1_CURRENT_OUT_STAR_TRACKER,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_CURRENT_OUT_MGT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_CURRENT_OUT_SUS_NOMINAL,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_CURRENT_OUT_SOLAR_CELL_EXP,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_CURRENT_OUT_PLOC, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_CURRENT_OUT_CHANNEL8, new PoolEntry<int16_t>({0}));
-
-  localDataPoolMap.emplace(P60System::pool::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_VOLTAGE_OUT_SYRLINKS, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_VOLTAGE_OUT_STAR_TRACKER,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_VOLTAGE_OUT_MGT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_VOLTAGE_OUT_SUS_NOMINAL,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_VOLTAGE_OUT_PLOC, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_VOLTAGE_OUT_CHANNEL8, new PoolEntry<int16_t>({0}));
-
-  localDataPoolMap.emplace(P60System::pool::PDU1_VCC, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_VBAT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_CONV_EN_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_CONV_EN_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_CONV_EN_3, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(P60System::pool::PDU1_OUT_EN_TCS_BOARD_3V3, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_OUT_EN_SYRLINKS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_OUT_EN_STAR_TRACKER, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_OUT_EN_MGT, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_OUT_EN_SUS_NOMINAL, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_OUT_EN_SOLAR_CELL_EXP,
-                           new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_OUT_EN_PLOC, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_OUT_EN_ACS_BOARD_SIDE_A,
-                           new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_OUT_EN_CHANNEL8, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(P60System::pool::PDU1_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_BOOTCNT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_UPTIME, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_RESETCAUSE, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_BATT_MODE, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(P60System::pool::PDU1_LATCHUP_TCS_BOARD_3V3,
-                           new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_LATCHUP_SYRLINKS, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_LATCHUP_STAR_TRACKER,
-                           new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_LATCHUP_MGT, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_LATCHUP_SUS_NOMINAL, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_LATCHUP_SOLAR_CELL_EXP,
-                           new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_LATCHUP_PLOC, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_LATCHUP_ACS_BOARD_SIDE_A,
-                           new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_LATCHUP_CHANNEL8, new PoolEntry<uint16_t>({0}));
-
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_0, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_3, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_4, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_5, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_6, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_7, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_0_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_1_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_2_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_3_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_4_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_5_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_6_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_DEVICE_7_STATUS, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(P60System::pool::PDU1_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
-  poolManager.subscribeForPeriodicPacket(pdu1HkTableDataset.getSid(), false, 0.4, true);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
 LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) {
-  if (sid == pdu1HkTableDataset.getSid()) {
+  if (sid == coreHk.getSid()) {
-    return &pdu1HkTableDataset;
+    return &coreHk;
+  } else if (sid == auxHk.getSid()) {
+    return &auxHk;
   }
   return nullptr;
 }
@@ -440,7 +103,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
   ReturnValue_t result = RETURN_OK;
   switch (cmd) {
     case (GOMSPACE::PRINT_SWITCH_V_I): {
-      PoolReadGuard pg(&pdu1HkTableDataset);
+      PoolReadGuard pg(&coreHk);
       result = pg.getReadResult();
       if (result != HasReturnvaluesIF::RETURN_OK) {
         break;
@@ -449,7 +112,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
       break;
     }
     case (GOMSPACE::PRINT_LATCHUPS): {
-      PoolReadGuard pg(&pdu1HkTableDataset);
+      PoolReadGuard pg(&auxHk);
       result = pg.getReadResult();
       if (result != HasReturnvaluesIF::RETURN_OK) {
         break;
@@ -468,72 +131,46 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
 }
 
 void PDU1Handler::printHkTableSwitchVI() {
+  using namespace PDU1;
   sif::info << "PDU1 Info: " << std::endl;
-  sif::info << "Boot Cause: " << pdu1HkTableDataset.bootcause << " | Boot Count: " << std::setw(4)
+  sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
-            << std::right << pdu1HkTableDataset.bootcount << std::endl;
+            << coreHk.bootcount << std::endl;
-  sif::info << "Reset Cause: " << pdu1HkTableDataset.resetcause
+  sif::info << "Reset Cause: " << auxHk.resetcause
-            << " | Battery Mode: " << static_cast<int>(pdu1HkTableDataset.battMode.value)
+            << " | Battery Mode: " << static_cast<int>(coreHk.battMode.value) << std::endl;
-            << std::endl;
   sif::info << "SwitchState, Currents [mA], Voltages [mV]:" << std::endl;
-  sif::info << std::setw(30) << std::left << "TCS Board" << std::dec << "| "
+  auto printerHelper = [&](std::string channelStr, Channels idx) {
-            << unsigned(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << ", " << std::setw(4)
+    sif::info << std::setw(30) << std::left << channelStr << std::dec << "| "
-            << std::right << pdu1HkTableDataset.currentOutTCSBoard3V3.value << ", " << std::setw(4)
+              << unsigned(coreHk.outputEnables[idx]) << ", " << std::setw(4) << std::right
-            << pdu1HkTableDataset.voltageOutTCSBoard3V3.value << std::endl;
+              << coreHk.currents[idx] << ", " << std::setw(4) << coreHk.voltages[idx] << std::endl;
-  sif::info << std::setw(30) << std::left << "Syrlinks" << std::dec << "| "
+  };
-            << unsigned(pdu1HkTableDataset.outEnabledSyrlinks.value) << ", " << std::setw(4)
+
-            << std::right << pdu1HkTableDataset.currentOutSyrlinks.value << ", " << std::setw(4)
+  printerHelper("TCS Board", Channels::TCS_BOARD_3V3);
-            << pdu1HkTableDataset.voltageOutSyrlinks.value << std::endl;
+  printerHelper("Syrlinks", Channels::SYRLINKS);
-  sif::info << std::setw(30) << std::left << "Star Tracker" << std::dec << "| "
+  printerHelper("Star Tracker", Channels::STR);
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << ", "
+  printerHelper("MGT", Channels::MGT);
-            << std::setw(4) << std::right << pdu1HkTableDataset.currentOutStarTracker.value << ", "
+  printerHelper("SUS Nominal", Channels::SUS_NOMINAL);
-            << std::setw(4) << pdu1HkTableDataset.voltageOutStarTracker.value << std::endl;
+  printerHelper("SCEX", Channels::SOL_CELL_EXPERIMENT);
-  sif::info << std::setw(30) << std::left << "MGT" << std::dec << "| "
+  printerHelper("PLOC", Channels::PLOC);
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledMGT.value) << ", "
+  printerHelper("ACS Board A Side", Channels::ACS_A_SIDE);
-            << std::setw(4) << std::right << pdu1HkTableDataset.currentOutMGT.value << ", "
+  printerHelper("Channel 8", Channels::UNUSED);
-            << std::setw(4) << pdu1HkTableDataset.voltageOutMGT.value << std::endl;
+  printerHelper("Syrlinks", Channels::SYRLINKS);
-  sif::info << std::setw(30) << std::left << "SuS nominal" << std::dec << "| "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSUSNominal.value) << ", "
-            << std::setw(4) << std::right << pdu1HkTableDataset.currentOutSUSNominal.value << ", "
-            << std::setw(4) << pdu1HkTableDataset.voltageOutSUSNominal.value << std::endl;
-  sif::info << std::setw(30) << std::left << "Solar Cell Experiment" << std::dec << "| "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSolarCellExp.value) << ", "
-            << std::setw(4) << std::right << pdu1HkTableDataset.currentOutSolarCellExp.value << ", "
-            << std::setw(4) << pdu1HkTableDataset.voltageOutSolarCellExp.value << std::endl;
-  sif::info << std::setw(30) << std::left << "PLOC" << std::dec << "| "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledPLOC.value) << ", "
-            << std::setw(4) << std::right << pdu1HkTableDataset.currentOutPLOC.value << ", "
-            << std::setw(4) << pdu1HkTableDataset.voltageOutPLOC.value << std::endl;
-  sif::info << std::setw(30) << std::left << "ACS Side A" << std::dec << "| "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << ", "
-            << std::setw(4) << std::right << pdu1HkTableDataset.currentOutACSBoardSideA.value
-            << ", " << std::setw(4) << pdu1HkTableDataset.voltageOutACSBoardSideA.value
-            << std::endl;
-  sif::info << std::setw(30) << std::left << "Channel 8" << std::dec << "| "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledChannel8.value) << ", "
-            << std::setw(4) << std::right << pdu1HkTableDataset.currentOutChannel8.value << ", "
-            << std::setw(4) << pdu1HkTableDataset.voltageOutChannel8.value << std::right
-            << std::endl;
 }
 
 void PDU1Handler::printHkTableLatchups() {
+  using namespace PDU1;
   sif::info << "PDU1 Latchup Information" << std::endl;
+  auto printerHelper = [&](std::string channelStr, Channels idx) {
     sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "TCS Board" << std::dec << "| "
-            << std::setw(4) << std::right << pdu1HkTableDataset.latchupsTcsBoard3V3 << std::endl;
+              << std::setw(4) << std::right << auxHk.latchups[idx] << std::endl;
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Syrlinks" << std::dec << "| "
+  };
-            << std::setw(4) << std::right << pdu1HkTableDataset.latchupsSyrlinks << std::endl;
+  printerHelper("TCS Board", Channels::TCS_BOARD_3V3);
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Star Tracker" << std::dec << "| "
+  printerHelper("Syrlinks", Channels::SYRLINKS);
-            << std::setw(4) << std::right << pdu1HkTableDataset.latchupsStarTracker << std::endl;
+  printerHelper("Star Tracker", Channels::STR);
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "MGT" << std::dec << "| "
+  printerHelper("MGT", Channels::MGT);
-            << std::setw(4) << std::right << pdu1HkTableDataset.latchupsMgt << std::endl;
+  printerHelper("SUS Nominal", Channels::SUS_NOMINAL);
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "SuS Nominal" << std::dec << "| "
+  printerHelper("SCEX", Channels::SOL_CELL_EXPERIMENT);
-            << std::setw(4) << std::right << pdu1HkTableDataset.latchupsSusNominal << std::endl;
+  printerHelper("PLOC", Channels::PLOC);
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Solar Cell Experiment" << std::dec
+  printerHelper("ACS Board A Side", Channels::ACS_A_SIDE);
-            << "| " << std::setw(4) << std::right << pdu1HkTableDataset.latchupsSolarCellExp
+  printerHelper("Channel 8", Channels::UNUSED);
-            << std::endl;
+  printerHelper("Syrlinks", Channels::SYRLINKS);
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "PLOC" << std::dec << "| "
-            << std::setw(4) << std::right << pdu1HkTableDataset.latchupsPloc << std::endl;
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "ACS A Side" << std::dec << "| "
-            << std::setw(4) << std::right << pdu1HkTableDataset.latchupsAcsBoardSideA << std::endl;
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Channel 8" << std::dec << "| "
-            << std::setw(4) << std::right << pdu1HkTableDataset.latchupsChannel8 << std::endl;
 }

mission/devices/PDU1Handler.h

@@ -43,7 +43,8 @@ class PDU1Handler : public GomspaceDeviceHandler {
   static constexpr uint8_t MAX_CHANNEL_STR_WIDTH = 24;
 
   /** Dataset for the housekeeping table of the PDU1 */
-  PDU1::PDU1HkTableDataset pdu1HkTableDataset;
+  PDU1::Pdu1CoreHk coreHk;
+  PDU1::Pdu1AuxHk auxHk;
   GOMSPACE::ChannelSwitchHook channelSwitchHook = nullptr;
   void* hookArgs = nullptr;
 

mission/devices/PDU2Handler.cpp

@@ -3,12 +3,13 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
-#include "OBSWConfig.h"
+#include "devices/powerSwitcherList.h"
 
 PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
     : GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
                             PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE),
-      pdu2HkTableDataset(this) {}
+      coreHk(this),
+      auxHk(this) {}
 
 PDU2Handler::~PDU2Handler() {}
 
@@ -23,29 +24,7 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
    * Hk table will be sent to the commander if hk table request was not triggered by the
    * PDU2Handler itself.
    */
-  handleDeviceTM(&pdu2HkTableDataset, id, true);
+  handleDeviceTM(&coreHk, id, true);
-
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PDU2 == 1
-  pdu2HkTableDataset.read();
-  sif::info << "PDU2 Q7S current voltage: " << pdu2HkTableDataset.voltageOutQ7S << " mV"
-            << std::endl;
-  sif::info << "PDU2 VCC: " << pdu2HkTableDataset.vcc << " mV" << std::endl;
-  float vbat = pdu2HkTableDataset.vbat.value * 0.1;
-  sif::info << "PDU2 VBAT: " << vbat << std::endl;
-  float temperatureC = pdu2HkTableDataset.temperature.value * 0.1;
-  sif::info << "PDU2 Temperature: " << temperatureC << " °C" << std::endl;
-  printOutputSwitchStates();
-  sif::info << "PDU2 uptime: " << pdu2HkTableDataset.uptime << " seconds" << std::endl;
-  sif::info << "PDU2 battery mode: " << unsigned(pdu2HkTableDataset.battMode.value) << std::endl;
-  sif::info << "PDU2 ground watchdog reboots: " << pdu2HkTableDataset.gndWdtReboots << std::endl;
-  sif::info << "PDU2 ground watchdog timer seconds left: "
-            << pdu2HkTableDataset.groundWatchdogSecondsLeft << " seconds" << std::endl;
-  sif::info << "PDU2 csp1 watchdog pings before reboot: "
-            << unsigned(pdu2HkTableDataset.csp1WatchdogPingsLeft.value) << std::endl;
-  sif::info << "PDU2 csp2 watchdog pings before reboot: "
-            << unsigned(pdu2HkTableDataset.csp2WatchdogPingsLeft.value) << std::endl;
-  pdu2HkTableDataset.commit();
-#endif
 }
 
 void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
@@ -54,315 +33,23 @@ void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, vo
 }
 
 LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
-  if (sid == pdu2HkTableDataset.getSid()) {
+  if (sid == coreHk.getSid()) {
-    return &pdu2HkTableDataset;
+    return &coreHk;
+  } else if (sid == auxHk.getSid()) {
+    return &auxHk;
   }
   return nullptr;
 }
 
 void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
-  uint16_t dataOffset = 0;
+  GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
-  pdu2HkTableDataset.read();
-  /**
-   * Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
-   * address.
-   */
-  dataOffset += 12;
-  pdu2HkTableDataset.currentOutQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.currentOutPayloadPCDUCh1 =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.currentOutReactionWheels =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.currentOutTCSBoardHeaterIn =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.currentOutSUSRedundant =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.currentOutDeplMechanism =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.currentOutPayloadPCDUCh6 =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.currentOutACSBoardSideB =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.currentOutPayloadCamera =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  pdu2HkTableDataset.voltageOutQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.voltageOutPayloadPCDUCh1 =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.voltageOutReactionWheels =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.voltageOutTCSBoardHeaterIn =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.voltageOutSUSRedundant =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.voltageOutDeplMechanism =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.voltageOutPayloadPCDUCh6 =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.voltageOutACSBoardSideB =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.voltageOutPayloadCamera =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  pdu2HkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.temperature = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  pdu2HkTableDataset.converterEnable1 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.converterEnable2 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.converterEnable3 = *(packet + dataOffset);
-  dataOffset += 3;
-
-  pdu2HkTableDataset.outEnabledQ7S = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.outEnabledPlPCDUCh1 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.outEnabledReactionWheels = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.outEnabledTCSBoardHeaterIn = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.outEnabledSUSRedundant = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.outEnabledDeplMechanism = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.outEnabledPlPCDUCh6 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.outEnabledAcsBoardSideB = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.outEnabledPayloadCamera = *(packet + dataOffset);
-  dataOffset += 3;
-
-  pdu2HkTableDataset.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.bootcount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-                              *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.resetcause = *(packet + dataOffset + 1) << 8 | *(packet + dataOffset);
-  dataOffset += 4;
-  pdu2HkTableDataset.battMode = *(packet + dataOffset);
-  /* +10 because here begins the second gomspace csp packet */
-  dataOffset += 3 + 10;
-
-  pdu2HkTableDataset.latchupsQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.latchupsPayloadPcduCh1 =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.latchupsRw = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.latchupsTcsBoardHeaterIn =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.latchupsSusRedundant =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.latchupsDeplMenchanism =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.latchupsPayloadPcduCh6 =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.latchupsAcsBoardSideB =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-  pdu2HkTableDataset.latchupsPayloadCamera =
-      *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
-  dataOffset += 4;
-
-  pdu2HkTableDataset.device0 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device1 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device2 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device3 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device4 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device5 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device6 = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device7 = *(packet + dataOffset);
-  dataOffset += 3;
-
-  pdu2HkTableDataset.device0Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device1Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device2Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device3Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device4Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device5Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device6Status = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.device7Status = *(packet + dataOffset);
-  dataOffset += 3;
-
-  pdu2HkTableDataset.gndWdtReboots = *(packet + dataOffset) << 24 |
-                                     *(packet + dataOffset + 1) << 16 |
-                                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.i2cWdtReboots = *(packet + dataOffset) << 24 |
-                                     *(packet + dataOffset + 1) << 16 |
-                                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.canWdtReboots = *(packet + dataOffset) << 24 |
-                                     *(packet + dataOffset + 1) << 16 |
-                                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.csp1WdtReboots = *(packet + dataOffset) << 24 |
-                                      *(packet + dataOffset + 1) << 16 |
-                                      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.csp2WdtReboots = *(packet + dataOffset) << 24 |
-                                      *(packet + dataOffset + 1) << 16 |
-                                      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.groundWatchdogSecondsLeft =
-      *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.i2cWatchdogSecondsLeft =
-      *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.canWatchdogSecondsLeft =
-      *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
-      *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
-  dataOffset += 6;
-  pdu2HkTableDataset.csp1WatchdogPingsLeft = *(packet + dataOffset);
-  dataOffset += 3;
-  pdu2HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset);
-
-  pdu2HkTableDataset.commit();
-  pdu2HkTableDataset.setChanged(true);
 }
 
 ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                    LocalDataPoolManager &poolManager) {
-  using namespace P60System;
+  initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_Q7S, new PoolEntry<int16_t>({0}));
+  poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, false);
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>({0}));
+  poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_RW, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_Q7S, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_RW, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_VCC, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_VBAT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_TEMPERATURE, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CONV_EN_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CONV_EN_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_CONV_EN_3, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_Q7S, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>({0}));
-#ifdef TE0720_1CFA
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>({1}));
-#else
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>({0}));
-#endif
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_SUS_REDUNDANT, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_ACS_BOARD_SIDE_B, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_OUT_EN_PAYLOAD_CAMERA, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_BOOTCNT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_UPTIME, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_RESETCAUSE, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_BATT_MODE, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_Q7S, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_PAYLOAD_PCDU_CH1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_RW, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_SUS_REDUNDANT, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_DEPLOYMENT_MECHANISM, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_PAYLOAD_PCDU_CH6, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_ACS_BOARD_SIDE_B, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_LATCHUP_PAYLOAD_CAMERA, new PoolEntry<uint16_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_0, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_2, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_3, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_4, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_5, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_6, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_7, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_0_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_1_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_2_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_3_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_4_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_5_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_6_STATUS, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_DEVICE_7_STATUS, new PoolEntry<uint8_t>({0}));
-
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
-  localDataPoolMap.emplace(pool::PDU2_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
-#if OBSW_ENABLE_PERIODIC_HK == 1
-  poolManager.subscribeForPeriodicPacket(pdu2HkTableDataset.getSid(), false, 0.4, true);
-#endif
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -370,7 +57,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
   ReturnValue_t result = RETURN_OK;
   switch (cmd) {
     case (GOMSPACE::PRINT_SWITCH_V_I): {
-      PoolReadGuard pg(&pdu2HkTableDataset);
+      PoolReadGuard pg(&coreHk);
       result = pg.getReadResult();
       if (result != HasReturnvaluesIF::RETURN_OK) {
         break;
@@ -379,7 +66,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
       break;
     }
     case (GOMSPACE::PRINT_LATCHUPS): {
-      PoolReadGuard pg(&pdu2HkTableDataset);
+      PoolReadGuard pg(&auxHk);
       result = pg.getReadResult();
       if (result != HasReturnvaluesIF::RETURN_OK) {
         break;
@@ -398,77 +85,45 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
 }
 
 void PDU2Handler::printHkTableSwitchVI() {
+  using namespace PDU2;
   sif::info << "PDU2 Info:" << std::endl;
-  sif::info << "Boot Cause: " << pdu2HkTableDataset.bootcause << " | Boot Count: " << std::setw(4)
+  sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
-            << std::right << pdu2HkTableDataset.bootcount << std::endl;
+            << coreHk.bootcount << std::endl;
-  sif::info << "Reset Cause: " << pdu2HkTableDataset.resetcause
+  sif::info << "Reset Cause: " << auxHk.resetcause
-            << " | Battery Mode: " << static_cast<int>(pdu2HkTableDataset.battMode.value)
+            << " | Battery Mode: " << static_cast<int>(coreHk.battMode.value) << std::endl;
-            << std::endl;
   sif::info << "SwitchState, Currents [mA], Voltages [mV]: " << std::endl;
-  sif::info << std::setw(30) << std::left << "Q7S" << std::dec << "| "
+  auto printerHelper = [&](std::string channelStr, Channels idx) {
-            << unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << ", " << std::setw(4)
+    sif::info << std::setw(30) << std::left << channelStr << std::dec << "| "
-            << std::right << pdu2HkTableDataset.currentOutQ7S.value << ", " << std::setw(4)
+              << unsigned(coreHk.outputEnables[idx]) << ", " << std::setw(4) << std::right
-            << pdu2HkTableDataset.voltageOutQ7S.value << std::endl;
+              << coreHk.currents[idx] << ", " << std::setw(4) << coreHk.voltages[idx] << std::endl;
-  sif::info << std::setw(30) << std::left << "Payload PCDU Channel 1" << std::dec << "| "
+  };
-            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << ", " << std::setw(4)
+  printerHelper("Q7S", Channels::Q7S);
-            << std::right << pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << ", "
+  printerHelper("PL PCDU CH1", Channels::PAYLOAD_PCDU_CH1);
-            << std::setw(4) << pdu2HkTableDataset.voltageOutPayloadPCDUCh1.value << std::endl;
+  printerHelper("Reaction Wheels", Channels::RW);
-  sif::info << std::setw(30) << std::left << "Reaction Wheels" << std::dec << "| "
+  printerHelper("TCS Board Heater Input", Channels::TCS_HEATER_IN);
-            << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << ", " << std::setw(4)
+  printerHelper("SUS Redundant", Channels::SUS_REDUNDANT);
-            << std::right << pdu2HkTableDataset.currentOutReactionWheels.value << ", "
+  printerHelper("Deployment Mechanism", Channels::DEPY_MECHANISM);
-            << std::setw(4) << pdu2HkTableDataset.voltageOutReactionWheels.value << std::endl;
+  printerHelper("PL PCDU CH6", Channels::PAYLOAD_PCDU_CH6);
-  sif::info << std::setw(30) << std::left << "TCS Board Heater Input" << std::dec << "| "
+  printerHelper("ACS Board B Side", Channels::ACS_B_SIDE);
-            << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << ", " << std::setw(4)
+  printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
-            << std::right << pdu2HkTableDataset.currentOutTCSBoardHeaterIn.value << ", "
-            << std::setw(4) << pdu2HkTableDataset.voltageOutTCSBoardHeaterIn.value << std::endl;
-  sif::info << std::setw(30) << std::left << "SuS Redundant" << std::dec << "| "
-            << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << ", " << std::setw(4)
-            << std::right << pdu2HkTableDataset.currentOutSUSRedundant.value << ", " << std::setw(4)
-            << pdu2HkTableDataset.voltageOutSUSRedundant.value << std::endl;
-  sif::info << std::setw(30) << std::left << "Deployment mechanism" << std::dec << "| "
-            << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << ", " << std::setw(4)
-            << std::right << pdu2HkTableDataset.currentOutDeplMechanism.value << ", "
-            << std::setw(4) << pdu2HkTableDataset.voltageOutDeplMechanism.value << std::endl;
-  sif::info << std::setw(30) << std::left << "Payload PCDU Channel 6" << std::dec << "| "
-            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << ", " << std::setw(4)
-            << std::right << pdu2HkTableDataset.currentOutPayloadPCDUCh6.value << ", "
-            << std::setw(4) << pdu2HkTableDataset.voltageOutPayloadPCDUCh6.value << std::endl;
-  sif::info << std::setw(30) << std::left << "ACS Board Side B" << std::dec << "| "
-            << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << ", " << std::setw(4)
-            << std::right << pdu2HkTableDataset.currentOutACSBoardSideB.value << ", "
-            << std::setw(4) << pdu2HkTableDataset.voltageOutACSBoardSideB.value << std::endl;
-  sif::info << std::setw(30) << std::left << "Payload Camera" << std::dec << "| "
-            << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << ", " << std::setw(4)
-            << std::right << pdu2HkTableDataset.currentOutPayloadCamera.value << ", "
-            << std::setw(4) << pdu2HkTableDataset.voltageOutPayloadCamera.value << std::right
-            << std::endl;
 }
 
 void PDU2Handler::printHkTableLatchups() {
+  using namespace PDU2;
   sif::info << "PDU2 Latchup Information" << std::endl;
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Q7S" << std::dec << "| "
+  auto printerHelper = [&](std::string channelStr, Channels idx) {
-            << std::setw(4) << std::right << pdu2HkTableDataset.latchupsQ7S << std::endl;
+    sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "TCS Board" << std::dec << "| "
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Payload PCDU Channel 1" << std::dec
+              << std::setw(4) << std::right << auxHk.latchups[idx] << std::endl;
-            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsPayloadPcduCh1
+  };
-            << std::endl;
+  printerHelper("Q7S", Channels::Q7S);
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Reaction Wheels" << std::dec
+  printerHelper("PL PCDU CH1", Channels::PAYLOAD_PCDU_CH1);
-            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsRw << std::endl;
+  printerHelper("Reaction Wheels", Channels::RW);
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "TCS Board Heater Input" << std::dec
+  printerHelper("TCS Board Heater Input", Channels::TCS_HEATER_IN);
-            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsTcsBoardHeaterIn
+  printerHelper("SUS Redundant", Channels::SUS_REDUNDANT);
-            << std::endl;
+  printerHelper("Deployment Mechanism", Channels::DEPY_MECHANISM);
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "SuS Nominal" << std::dec << "| "
+  printerHelper("PL PCDU CH6", Channels::PAYLOAD_PCDU_CH6);
-            << std::setw(4) << std::right << pdu2HkTableDataset.latchupsSusRedundant << std::endl;
+  printerHelper("ACS Board B Side", Channels::ACS_B_SIDE);
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Deployment mechanism" << std::dec
+  printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
-            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsDeplMenchanism
-            << std::endl;
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Payload PCDU Channel 6" << std::dec
-            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsPayloadPcduCh6
-            << std::endl;
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "ACS Board Side B" << std::dec
-            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsAcsBoardSideB
-            << std::endl;
-  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Payload Camera" << std::dec << "| "
-            << std::setw(4) << std::right << pdu2HkTableDataset.latchupsPayloadCamera << std::endl;
 }
 
 ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,

mission/devices/PDU2Handler.h

@@ -42,7 +42,8 @@ class PDU2Handler : public GomspaceDeviceHandler {
   static constexpr uint8_t MAX_CHANNEL_STR_WIDTH = 24;
 
   /** Dataset for the housekeeping table of the PDU2 */
-  PDU2::PDU2HkTableDataset pdu2HkTableDataset;
+  PDU2::Pdu2CoreHk coreHk;
+  PDU2::Pdu2AuxHk auxHk;
   GOMSPACE::ChannelSwitchHook channelSwitchHook = nullptr;
   void* hookArgs = nullptr;
 

mission/devices/SolarArrayDeploymentHandler.cpp

@@ -7,7 +7,7 @@
 
 SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(
     object_id_t setObjectId_, object_id_t gpioDriverId_, CookieIF* gpioCookie_,
-    object_id_t mainLineSwitcherObjectId_, pcduSwitches::Switches mainLineSwitch_, gpioId_t deplSA1,
+    object_id_t mainLineSwitcherObjectId_, pcdu::Switches mainLineSwitch_, gpioId_t deplSA1,
     gpioId_t deplSA2, uint32_t burnTimeMs)
     : SystemObject(setObjectId_),
       gpioDriverId(gpioDriverId_),

mission/devices/SolarArrayDeploymentHandler.h

@@ -43,8 +43,8 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
    */
   SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
                               CookieIF* gpioCookie, object_id_t mainLineSwitcherObjectId,
-                              pcduSwitches::Switches mainLineSwitch, gpioId_t deplSA1,
+                              pcdu::Switches mainLineSwitch, gpioId_t deplSA1, gpioId_t deplSA2,
-                              gpioId_t deplSA2, uint32_t burnTimeMs);
+                              uint32_t burnTimeMs);
 
   virtual ~SolarArrayDeploymentHandler();
 

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -4,9 +4,12 @@
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/power/definitions.h>
 
 #include <cstdint>
 
+#include "devices/powerSwitcherList.h"
+
 namespace GOMSPACE {
 
 enum class Pdu { PDU1, PDU2 };
@@ -45,14 +48,22 @@ namespace P60System {
 
 enum class BatteryModes : uint8_t { CRITICAL = 1, SAFE = 2, NORMAL = 3, FULL = 4 };
 
-enum class SetIds : uint32_t { PDU_1 = 1, PDU_2 = 2, P60_CORE = 3, P60_AUX = 4, ACU = 5 };
+enum class SetIds : uint32_t {
+  PDU_1_CORE = 1,
+  PDU_1_AUX = 2,
+  PDU_2_CORE = 3,
+  PDU_2_AUX = 4,
+  P60_CORE = 5,
+  P60_AUX = 6,
+  ACU = 7
+};
 
 namespace pool {
 
 enum Ids : lp_id_t {
-  CURRENTS,
+  P60_CURRENTS,
-  VOLTAGES,
+  P60_VOLTAGES,
-  OUTPUT_ENABLE,
+  P60_OUTPUT_ENABLE,
   P60DOCK_TEMPERATURE_1,
   P60DOCK_TEMPERATURE_2,
   P60DOCK_BOOT_CAUSE,
@@ -90,154 +101,34 @@ enum Ids : lp_id_t {
   P60DOCK_ANT6_DEPL,
   P60DOCK_AR6_DEPL,
 
-  PDU1_CURRENT_OUT_TCS_BOARD_3V3,
+  // IDs for both PDUs
-  PDU1_CURRENT_OUT_SYRLINKS,
+  PDU_CURRENTS,
-  PDU1_CURRENT_OUT_STAR_TRACKER,
+  PDU_VOLTAGES,
-  PDU1_CURRENT_OUT_MGT,
+  PDU_VCC,
-  PDU1_CURRENT_OUT_SUS_NOMINAL,
+  PDU_VBAT,
-  PDU1_CURRENT_OUT_SOLAR_CELL_EXP,
+  PDU_TEMPERATURE,
-  PDU1_CURRENT_OUT_PLOC,
+  PDU_CONV_EN_1,
-  PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A,
+  PDU_CONV_EN_2,
-  PDU1_CURRENT_OUT_CHANNEL8,
+  PDU_CONV_EN_3,
-  PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
+  PDU_OUT_ENABLE,
-  PDU1_VOLTAGE_OUT_SYRLINKS,
+  PDU_BOOTCAUSE,
-  PDU1_VOLTAGE_OUT_STAR_TRACKER,
+  PDU_BOOTCNT,
-  PDU1_VOLTAGE_OUT_MGT,
+  PDU_UPTIME,
-  PDU1_VOLTAGE_OUT_SUS_NOMINAL,
+  PDU_RESETCAUSE,
-  PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
+  PDU_BATT_MODE,
-  PDU1_VOLTAGE_OUT_PLOC,
+  PDU_LATCHUPS,
-  PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
+  PDU_DEVICES,
-  PDU1_VOLTAGE_OUT_CHANNEL8,
+  PDU_STATUSES,
-  PDU1_VCC,
+  PDU_WDT_CNT_GND,
-  PDU1_VBAT,
+  PDU_WDT_CNT_I2C,
-  PDU1_TEMPERATURE,
+  PDU_WDT_CNT_CAN,
-  PDU1_CONV_EN_1,
+  PDU_WDT_CNT_CSP1,
-  PDU1_CONV_EN_2,
+  PDU_WDT_CNT_CSP2,
-  PDU1_CONV_EN_3,
+  PDU_WDT_GND_LEFT,
-  PDU1_OUT_EN_TCS_BOARD_3V3,
+  PDU_WDT_I2C_LEFT,
-  PDU1_OUT_EN_SYRLINKS,
+  PDU_WDT_CAN_LEFT,
-  PDU1_OUT_EN_STAR_TRACKER,
+  PDU_WDT_CSP_LEFT1,
-  PDU1_OUT_EN_MGT,
+  PDU_WDT_CSP_LEFT2,
-  PDU1_OUT_EN_SUS_NOMINAL,
-  PDU1_OUT_EN_SOLAR_CELL_EXP,
-  PDU1_OUT_EN_PLOC,
-  PDU1_OUT_EN_ACS_BOARD_SIDE_A,
-  PDU1_OUT_EN_CHANNEL8,
-  PDU1_BOOTCAUSE,
-  PDU1_BOOTCNT,
-  PDU1_UPTIME,
-  PDU1_RESETCAUSE,
-  PDU1_BATT_MODE,
-  PDU1_LATCHUP_TCS_BOARD_3V3,
-  PDU1_LATCHUP_SYRLINKS,
-  PDU1_LATCHUP_STAR_TRACKER,
-  PDU1_LATCHUP_MGT,
-  PDU1_LATCHUP_SUS_NOMINAL,
-  PDU1_LATCHUP_SOLAR_CELL_EXP,
-  PDU1_LATCHUP_PLOC,
-  PDU1_LATCHUP_ACS_BOARD_SIDE_A,
-  PDU1_LATCHUP_CHANNEL8,
-  PDU1_DEVICE_0,
-  PDU1_DEVICE_1,
-  PDU1_DEVICE_2,
-  PDU1_DEVICE_3,
-  PDU1_DEVICE_4,
-  PDU1_DEVICE_5,
-  PDU1_DEVICE_6,
-  PDU1_DEVICE_7,
-  PDU1_DEVICE_0_STATUS,
-  PDU1_DEVICE_1_STATUS,
-  PDU1_DEVICE_2_STATUS,
-  PDU1_DEVICE_3_STATUS,
-  PDU1_DEVICE_4_STATUS,
-  PDU1_DEVICE_5_STATUS,
-  PDU1_DEVICE_6_STATUS,
-  PDU1_DEVICE_7_STATUS,
-  PDU1_WDT_CNT_GND,
-  PDU1_WDT_CNT_I2C,
-  PDU1_WDT_CNT_CAN,
-  PDU1_WDT_CNT_CSP1,
-  PDU1_WDT_CNT_CSP2,
-  PDU1_WDT_GND_LEFT,
-  PDU1_WDT_I2C_LEFT,
-  PDU1_WDT_CAN_LEFT,
-  PDU1_WDT_CSP_LEFT1,
-  PDU1_WDT_CSP_LEFT2,
-
-  /** PDU2 Ids */
-  PDU2_CURRENT_OUT_Q7S,
-  PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1,
-  PDU2_CURRENT_OUT_RW,
-  PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN,
-  PDU2_CURRENT_OUT_SUS_REDUNDANT,
-  PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM,
-  PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6,
-  PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B,
-  PDU2_CURRENT_OUT_PAYLOAD_CAMERA,
-  PDU2_VOLTAGE_OUT_Q7S,
-  PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1,
-  PDU2_VOLTAGE_OUT_RW,
-  PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN,
-  PDU2_VOLTAGE_OUT_SUS_REDUNDANT,
-  PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM,
-  PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6,
-  PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B,
-  PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA,
-  PDU2_VCC,
-  PDU2_VBAT,
-  PDU2_TEMPERATURE,
-  PDU2_CONV_EN_1,
-  PDU2_CONV_EN_2,
-  PDU2_CONV_EN_3,
-  PDU2_OUT_EN_Q7S,
-  PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
-  PDU2_OUT_EN_RW,
-  PDU2_OUT_EN_TCS_BOARD_HEATER_IN,
-  PDU2_OUT_EN_SUS_REDUNDANT,
-  PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
-  PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
-  PDU2_OUT_EN_ACS_BOARD_SIDE_B,
-  PDU2_OUT_EN_PAYLOAD_CAMERA,
-  PDU2_BOOTCAUSE,
-  PDU2_BOOTCNT,
-  PDU2_UPTIME,
-  PDU2_RESETCAUSE,
-  PDU2_BATT_MODE,
-  PDU2_LATCHUP_Q7S,
-  PDU2_LATCHUP_PAYLOAD_PCDU_CH1,
-  PDU2_LATCHUP_RW,
-  PDU2_LATCHUP_TCS_BOARD_HEATER_IN,
-  PDU2_LATCHUP_SUS_REDUNDANT,
-  PDU2_LATCHUP_DEPLOYMENT_MECHANISM,
-  PDU2_LATCHUP_PAYLOAD_PCDU_CH6,
-  PDU2_LATCHUP_ACS_BOARD_SIDE_B,
-  PDU2_LATCHUP_PAYLOAD_CAMERA,
-  PDU2_DEVICE_0,
-  PDU2_DEVICE_1,
-  PDU2_DEVICE_2,
-  PDU2_DEVICE_3,
-  PDU2_DEVICE_4,
-  PDU2_DEVICE_5,
-  PDU2_DEVICE_6,
-  PDU2_DEVICE_7,
-  PDU2_DEVICE_0_STATUS,
-  PDU2_DEVICE_1_STATUS,
-  PDU2_DEVICE_2_STATUS,
-  PDU2_DEVICE_3_STATUS,
-  PDU2_DEVICE_4_STATUS,
-  PDU2_DEVICE_5_STATUS,
-  PDU2_DEVICE_6_STATUS,
-  PDU2_DEVICE_7_STATUS,
-  PDU2_WDT_CNT_GND,
-  PDU2_WDT_CNT_I2C,
-  PDU2_WDT_CNT_CAN,
-  PDU2_WDT_CNT_CSP1,
-  PDU2_WDT_CNT_CSP2,
-  PDU2_WDT_GND_LEFT,
-  PDU2_WDT_I2C_LEFT,
-  PDU2_WDT_CAN_LEFT,
-  PDU2_WDT_CSP_LEFT1,
-  PDU2_WDT_CSP_LEFT2,
 
   /** ACU Ids */
   ACU_CURRENT_IN_CHANNEL0,
@@ -302,7 +193,7 @@ enum Ids : lp_id_t {
   ACU_DEVICE_6_STATUS,
   ACU_DEVICE_7_STATUS,
   ACU_WDT_CNT_GND,
-  ACU_WDT_GND_LEFT
+  ACU_WDT_GND_LEFT,
 };
 }
 }  // namespace P60System
@@ -373,18 +264,18 @@ class CoreHkSet : public StaticLocalDataSet<16> {
 
   /** Measured output currents */
   lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN> currents =
-      lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, P60System::pool::CURRENTS,
+      lp_vec_t<int16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, P60System::pool::P60_CURRENTS,
                                                        this);
 
   /** Measured output voltages */
   lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN> voltages =
-      lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, P60System::pool::VOLTAGES,
+      lp_vec_t<uint16_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, P60System::pool::P60_VOLTAGES,
                                                         this);
 
   /** Output enable states */
   lp_vec_t<uint8_t, P60Dock::hk::Index::CHNLS_LEN> outputEnables =
-      lp_vec_t<uint8_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId, P60System::pool::OUTPUT_ENABLE,
+      lp_vec_t<uint8_t, P60Dock::hk::Index::CHNLS_LEN>(sid.objectId,
-                                                       this);
+                                                       P60System::pool::P60_OUTPUT_ENABLE, this);
   lp_var_t<uint32_t> bootCount =
       lp_var_t<uint32_t>(sid.objectId, P60System::pool::P60DOCK_BOOT_CNT, this);
   lp_var_t<uint8_t> battMode =
@@ -495,11 +386,114 @@ static const uint16_t MAX_HKTABLE_ADDRESS = 141;
 /** The size of the csp reply containing the housekeeping table data */
 static const uint16_t HK_TABLE_REPLY_SIZE = 303;
 static const uint8_t HK_TABLE_ENTRIES = 73;
+
+static constexpr uint8_t CHANNELS_LEN = 9;
+static constexpr uint8_t DEVICES_NUM = 8;
+
+class PduCoreHk : public StaticLocalDataSet<9> {
+ public:
+  PduCoreHk(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}
+
+  PduCoreHk(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
+
+  /** Measured output currents */
+  lp_vec_t<int16_t, 9> currents =
+      lp_vec_t<int16_t, 9>(sid.objectId, P60System::pool::PDU_CURRENTS, this);
+  /** Measured output currents */
+  lp_vec_t<int16_t, 9> voltages =
+      lp_vec_t<int16_t, 9>(sid.objectId, P60System::pool::PDU_VOLTAGES, this);
+  /** Output switch states */
+  lp_vec_t<uint8_t, 9> outputEnables =
+      lp_vec_t<uint8_t, 9>(sid.objectId, P60System::pool::PDU_VOLTAGES, this);
+  /** Number of reboots */
+  lp_var_t<uint32_t> bootcount =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_BOOTCNT, this);
+  /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
+  lp_var_t<uint8_t> battMode =
+      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_BATT_MODE, this);
+  lp_var_t<int16_t> temperature =
+      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU_TEMPERATURE, this);
+};
+
+/**
+ * @brief   This class defines a dataset for the hk table of a PDU
+ */
+class PduAuxHk : public StaticLocalDataSet<36> {
+ public:
+  PduAuxHk(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}
+
+  PduAuxHk(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
+
+  /** Measured VCC */
+  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU_VCC, this);
+  /** Measured VBAT */
+  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU_VBAT, this);
+
+  /** Output converter enable status */
+  lp_var_t<uint8_t> converterEnable1 =
+      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_CONV_EN_1, this);
+  lp_var_t<uint8_t> converterEnable2 =
+      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_CONV_EN_2, this);
+  lp_var_t<uint8_t> converterEnable3 =
+      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_CONV_EN_3, this);
+
+  lp_var_t<uint32_t> bootcause =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_BOOTCAUSE, this);
+
+  /** Uptime in seconds */
+  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_UPTIME, this);
+  lp_var_t<uint16_t> resetcause =
+      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU_RESETCAUSE, this);
+
+  /** Number of detected latchups on each output channel */
+  lp_vec_t<uint16_t, 9> latchups =
+      lp_vec_t<uint16_t, 9>(sid.objectId, P60System::pool::PDU_LATCHUPS, this);
+
+  /**
+   * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
+   * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
+   */
+  lp_vec_t<uint8_t, 8> deviceTypes =
+      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::PDU_DEVICES, this);
+  /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
+  lp_vec_t<uint8_t, 8> devicesStatus =
+      lp_vec_t<uint8_t, 8>(sid.objectId, P60System::pool::PDU_STATUSES, this);
+
+  /** Number of reboots triggered by the ground watchdog */
+  lp_var_t<uint32_t> gndWdtReboots =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_GND, this);
+  /** Number of reboots triggered through the I2C watchdog. Not relevant for EIVE. */
+  lp_var_t<uint32_t> i2cWdtReboots =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_I2C, this);
+  /** Number of reboots triggered through the CAN watchdog */
+  lp_var_t<uint32_t> canWdtReboots =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_CAN, this);
+  /** Number of reboots triggered through the CSP watchdog */
+  lp_var_t<uint32_t> csp1WdtReboots =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_CSP1, this);
+  lp_var_t<uint32_t> csp2WdtReboots =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CNT_CSP2, this);
+  /** Ground watchdog remaining seconds before rebooting */
+  lp_var_t<uint32_t> groundWatchdogSecondsLeft =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_GND_LEFT, this);
+  /** I2C watchdog remaining seconds before rebooting. Not relevant for EIVE. */
+  lp_var_t<uint32_t> i2cWatchdogSecondsLeft =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_I2C_LEFT, this);
+  /** CAN watchdog remaining seconds before rebooting. */
+  lp_var_t<uint32_t> canWatchdogSecondsLeft =
+      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU_WDT_CAN_LEFT, this);
+  /** CSP watchdogs remaining pings before rebooting. */
+  lp_var_t<uint8_t> csp2WatchdogPingsLeft =
+      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_WDT_CSP_LEFT1, this);
+  lp_var_t<uint8_t> csp1WatchdogPingsLeft =
+      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU_WDT_CSP_LEFT2, this);
+};
+
 }  // namespace PDU
 
 namespace PDU1 {
 
-enum SwitchChannels : uint8_t {
+enum Channels : uint8_t {
   TCS_BOARD_3V3 = 0,
   SYRLINKS = 1,
   STR = 2,
@@ -508,7 +502,8 @@ enum SwitchChannels : uint8_t {
   SOL_CELL_EXPERIMENT = 5,
   PLOC = 6,
   ACS_A_SIDE = 7,
-  UNUSED = 8
+  UNUSED = 8,
+  LEN = 9
 };
 
 /**
@@ -525,185 +520,29 @@ static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x4E;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x4F;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x50;
 
-/**
+class Pdu1CoreHk : public ::PDU::PduCoreHk {
- * @brief   This class defines a dataset for the hk table of the PDU1.
- */
-class PDU1HkTableDataset : public StaticLocalDataSet<PDU::HK_TABLE_ENTRIES> {
  public:
-  PDU1HkTableDataset(HasLocalDataPoolIF* owner)
+  Pdu1CoreHk(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1)) {}
+      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1_CORE)) {}
 
-  PDU1HkTableDataset(object_id_t objectId)
+  Pdu1CoreHk(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_1))) {}
+      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_1_CORE)) {}
-
-  /** Measured output currents */
-  lp_var_t<int16_t> currentOutTCSBoard3V3 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_CURRENT_OUT_TCS_BOARD_3V3, this);
-  lp_var_t<int16_t> currentOutSyrlinks =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_CURRENT_OUT_SYRLINKS, this);
-  lp_var_t<int16_t> currentOutStarTracker =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_CURRENT_OUT_STAR_TRACKER, this);
-  lp_var_t<int16_t> currentOutMGT =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_CURRENT_OUT_MGT, this);
-  lp_var_t<int16_t> currentOutSUSNominal =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_CURRENT_OUT_SUS_NOMINAL, this);
-  lp_var_t<int16_t> currentOutSolarCellExp =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_CURRENT_OUT_SOLAR_CELL_EXP, this);
-  lp_var_t<int16_t> currentOutPLOC =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_CURRENT_OUT_PLOC, this);
-  lp_var_t<int16_t> currentOutACSBoardSideA =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A, this);
-  lp_var_t<int16_t> currentOutChannel8 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_CURRENT_OUT_CHANNEL8, this);
-  /** Measured voltage of output channels */
-  lp_var_t<int16_t> voltageOutTCSBoard3V3 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, this);
-  lp_var_t<int16_t> voltageOutSyrlinks =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VOLTAGE_OUT_SYRLINKS, this);
-  lp_var_t<int16_t> voltageOutStarTracker =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VOLTAGE_OUT_STAR_TRACKER, this);
-  lp_var_t<int16_t> voltageOutMGT =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VOLTAGE_OUT_MGT, this);
-  lp_var_t<int16_t> voltageOutSUSNominal =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VOLTAGE_OUT_SUS_NOMINAL, this);
-  lp_var_t<int16_t> voltageOutSolarCellExp =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, this);
-  lp_var_t<int16_t> voltageOutPLOC =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VOLTAGE_OUT_PLOC, this);
-  lp_var_t<int16_t> voltageOutACSBoardSideA =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A, this);
-  lp_var_t<int16_t> voltageOutChannel8 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VOLTAGE_OUT_CHANNEL8, this);
-  /** Measured VCC */
-  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VCC, this);
-  /** Measured VBAT */
-  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_VBAT, this);
-  lp_var_t<int16_t> temperature =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU1_TEMPERATURE, this);
-  /** Output converter enable status */
-  lp_var_t<uint8_t> converterEnable1 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_CONV_EN_1, this);
-  lp_var_t<uint8_t> converterEnable2 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_CONV_EN_2, this);
-  lp_var_t<uint8_t> converterEnable3 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_CONV_EN_3, this);
-
-  /** Output channels enable status */
-  lp_var_t<uint8_t> outEnabledTCSBoard3V3 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_OUT_EN_TCS_BOARD_3V3, this);
-  lp_var_t<uint8_t> outEnabledSyrlinks =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_OUT_EN_SYRLINKS, this);
-  lp_var_t<uint8_t> outEnabledStarTracker =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_OUT_EN_STAR_TRACKER, this);
-  lp_var_t<uint8_t> outEnabledMGT =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_OUT_EN_MGT, this);
-  lp_var_t<uint8_t> outEnabledSUSNominal =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_OUT_EN_SUS_NOMINAL, this);
-  lp_var_t<uint8_t> outEnabledSolarCellExp =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_OUT_EN_SOLAR_CELL_EXP, this);
-  lp_var_t<uint8_t> outEnabledPLOC =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_OUT_EN_PLOC, this);
-  lp_var_t<uint8_t> outEnabledAcsBoardSideA =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_OUT_EN_ACS_BOARD_SIDE_A, this);
-  lp_var_t<uint8_t> outEnabledChannel8 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_OUT_EN_CHANNEL8, this);
-  lp_var_t<uint32_t> bootcause =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_BOOTCAUSE, this);
-  /** Number of reboots */
-  lp_var_t<uint32_t> bootcount =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_BOOTCNT, this);
-  /** Uptime in seconds */
-  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_UPTIME, this);
-  lp_var_t<uint16_t> resetcause =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_RESETCAUSE, this);
-  /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
-  lp_var_t<uint8_t> battMode =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_BATT_MODE, this);
-
-  /** Number of detected latchups on each output channel */
-  lp_var_t<uint16_t> latchupsTcsBoard3V3 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_LATCHUP_TCS_BOARD_3V3, this);
-  lp_var_t<uint16_t> latchupsSyrlinks =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_LATCHUP_SYRLINKS, this);
-  lp_var_t<uint16_t> latchupsStarTracker =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_LATCHUP_STAR_TRACKER, this);
-  lp_var_t<uint16_t> latchupsMgt =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_LATCHUP_MGT, this);
-  lp_var_t<uint16_t> latchupsSusNominal =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_LATCHUP_SUS_NOMINAL, this);
-  lp_var_t<uint16_t> latchupsSolarCellExp =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_LATCHUP_SOLAR_CELL_EXP, this);
-  lp_var_t<uint16_t> latchupsPloc =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_LATCHUP_PLOC, this);
-  lp_var_t<uint16_t> latchupsAcsBoardSideA =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_LATCHUP_ACS_BOARD_SIDE_A, this);
-  lp_var_t<uint16_t> latchupsChannel8 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU1_LATCHUP_CHANNEL8, this);
-
-  /**
-   * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
-   * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
-   */
-  lp_var_t<uint8_t> device0 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_0, this);
-  lp_var_t<uint8_t> device1 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_1, this);
-  lp_var_t<uint8_t> device2 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_2, this);
-  lp_var_t<uint8_t> device3 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_3, this);
-  lp_var_t<uint8_t> device4 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_4, this);
-  lp_var_t<uint8_t> device5 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_5, this);
-  lp_var_t<uint8_t> device6 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_6, this);
-  lp_var_t<uint8_t> device7 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_7, this);
-  /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
-  lp_var_t<uint8_t> device0Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_0_STATUS, this);
-  lp_var_t<uint8_t> device1Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_1_STATUS, this);
-  lp_var_t<uint8_t> device2Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_2_STATUS, this);
-  lp_var_t<uint8_t> device3Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_3_STATUS, this);
-  lp_var_t<uint8_t> device4Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_4_STATUS, this);
-  lp_var_t<uint8_t> device5Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_5_STATUS, this);
-  lp_var_t<uint8_t> device6Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_6_STATUS, this);
-  lp_var_t<uint8_t> device7Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_DEVICE_7_STATUS, this);
-
-  /** Number of reboots triggered by the ground watchdog */
-  lp_var_t<uint32_t> gndWdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_WDT_CNT_GND, this);
-  /** Number of reboots triggered through the I2C watchdog. Not relevant for EIVE. */
-  lp_var_t<uint32_t> i2cWdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_WDT_CNT_I2C, this);
-  /** Number of reboots triggered through the CAN watchdog */
-  lp_var_t<uint32_t> canWdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_WDT_CNT_CAN, this);
-  /** Number of reboots triggered through the CSP watchdog */
-  lp_var_t<uint32_t> csp1WdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_WDT_CNT_CSP1, this);
-  lp_var_t<uint32_t> csp2WdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_WDT_CNT_CSP2, this);
-  /** Ground watchdog remaining seconds before rebooting */
-  lp_var_t<uint32_t> groundWatchdogSecondsLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_WDT_GND_LEFT, this);
-  /** I2C watchdog remaining seconds before rebooting. Not relevant for EIVE. */
-  lp_var_t<uint32_t> i2cWatchdogSecondsLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_WDT_I2C_LEFT, this);
-  /** CAN watchdog remaining seconds before rebooting. */
-  lp_var_t<uint32_t> canWatchdogSecondsLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU1_WDT_CAN_LEFT, this);
-  /** CSP watchdogs remaining pings before rebooting. */
-  lp_var_t<uint8_t> csp2WatchdogPingsLeft =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_WDT_CSP_LEFT1, this);
-  lp_var_t<uint8_t> csp1WatchdogPingsLeft =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU1_WDT_CSP_LEFT2, this);
 };
+
+class Pdu1AuxHk : public ::PDU::PduAuxHk {
+ public:
+  Pdu1AuxHk(HasLocalDataPoolIF* owner)
+      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_1_AUX)) {}
+
+  Pdu1AuxHk(object_id_t objectId)
+      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_1_AUX)) {}
+};
+
 }  // namespace PDU1
 
 namespace PDU2 {
 
-enum SwitchChannels : uint8_t {
+enum Channels : uint8_t {
   Q7S = 0,
   PAYLOAD_PCDU_CH1 = 1,
   RW = 2,
@@ -712,7 +551,8 @@ enum SwitchChannels : uint8_t {
   DEPY_MECHANISM = 5,
   PAYLOAD_PCDU_CH6 = 6,
   ACS_B_SIDE = 7,
-  PAYLOAD_CAMERA = 8
+  PAYLOAD_CAMERA = 8,
+  LEN = 9
 };
 
 /**
@@ -729,180 +569,24 @@ static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6 = 0x4E;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B = 0x4F;
 static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x50;
 
-/**
+class Pdu2CoreHk : public ::PDU::PduCoreHk {
- * @brief   This class defines a dataset for the hk table of the PDU2.
- */
-class PDU2HkTableDataset : public StaticLocalDataSet<PDU::HK_TABLE_ENTRIES> {
  public:
-  PDU2HkTableDataset(HasLocalDataPoolIF* owner)
+  Pdu2CoreHk(HasLocalDataPoolIF* owner)
-      : StaticLocalDataSet(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2)) {}
+      : PduCoreHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2_CORE)) {}
 
-  PDU2HkTableDataset(object_id_t objectId)
+  Pdu2CoreHk(object_id_t objectId)
-      : StaticLocalDataSet(sid_t(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_2))) {}
+      : PduCoreHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_2_CORE)) {}
-
-  /** Measured output currents */
-  lp_var_t<int16_t> currentOutQ7S =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_CURRENT_OUT_Q7S, this);
-  lp_var_t<int16_t> currentOutPayloadPCDUCh1 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, this);
-  lp_var_t<int16_t> currentOutReactionWheels =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_CURRENT_OUT_RW, this);
-  lp_var_t<int16_t> currentOutTCSBoardHeaterIn =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, this);
-  lp_var_t<int16_t> currentOutSUSRedundant =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_CURRENT_OUT_SUS_REDUNDANT, this);
-  lp_var_t<int16_t> currentOutDeplMechanism =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, this);
-  lp_var_t<int16_t> currentOutPayloadPCDUCh6 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, this);
-  lp_var_t<int16_t> currentOutACSBoardSideB =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, this);
-  lp_var_t<int16_t> currentOutPayloadCamera =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, this);
-  /** Measured voltage of output channels */
-  lp_var_t<int16_t> voltageOutQ7S =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VOLTAGE_OUT_Q7S, this);
-  lp_var_t<int16_t> voltageOutPayloadPCDUCh1 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, this);
-  lp_var_t<int16_t> voltageOutReactionWheels =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VOLTAGE_OUT_RW, this);
-  lp_var_t<int16_t> voltageOutTCSBoardHeaterIn =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, this);
-  lp_var_t<int16_t> voltageOutSUSRedundant =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, this);
-  lp_var_t<int16_t> voltageOutDeplMechanism =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, this);
-  lp_var_t<int16_t> voltageOutPayloadPCDUCh6 =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, this);
-  lp_var_t<int16_t> voltageOutACSBoardSideB =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, this);
-  lp_var_t<int16_t> voltageOutPayloadCamera =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, this);
-  /** Measured VCC */
-  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VCC, this);
-  /** Measured VBAT */
-  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_VBAT, this);
-  lp_var_t<int16_t> temperature =
-      lp_var_t<int16_t>(sid.objectId, P60System::pool::PDU2_TEMPERATURE, this);
-  /** Output converter enable status */
-  lp_var_t<uint8_t> converterEnable1 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_CONV_EN_1, this);
-  lp_var_t<uint8_t> converterEnable2 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_CONV_EN_2, this);
-  lp_var_t<uint8_t> converterEnable3 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_CONV_EN_3, this);
-  /** Output channels enable status */
-  lp_var_t<uint8_t> outEnabledQ7S =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_OUT_EN_Q7S, this);
-  lp_var_t<uint8_t> outEnabledPlPCDUCh1 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, this);
-  lp_var_t<uint8_t> outEnabledReactionWheels =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_OUT_EN_RW, this);
-  lp_var_t<uint8_t> outEnabledTCSBoardHeaterIn =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, this);
-  lp_var_t<uint8_t> outEnabledSUSRedundant =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_OUT_EN_SUS_REDUNDANT, this);
-  lp_var_t<uint8_t> outEnabledDeplMechanism =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, this);
-  lp_var_t<uint8_t> outEnabledPlPCDUCh6 =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, this);
-  lp_var_t<uint8_t> outEnabledAcsBoardSideB =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_OUT_EN_ACS_BOARD_SIDE_B, this);
-  lp_var_t<uint8_t> outEnabledPayloadCamera =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_OUT_EN_PAYLOAD_CAMERA, this);
-
-  lp_var_t<uint32_t> bootcause =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_BOOTCAUSE, this);
-  /** Number of reboots */
-  lp_var_t<uint32_t> bootcount =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_BOOTCNT, this);
-  /** Uptime in seconds */
-  lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_UPTIME, this);
-  lp_var_t<uint16_t> resetcause =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_RESETCAUSE, this);
-  /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
-  lp_var_t<uint8_t> battMode =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_BATT_MODE, this);
-
-  /** Number of detected latchups on each output channel */
-  lp_var_t<uint16_t> latchupsQ7S =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_LATCHUP_Q7S, this);
-  lp_var_t<uint16_t> latchupsPayloadPcduCh1 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_LATCHUP_PAYLOAD_PCDU_CH1, this);
-  lp_var_t<uint16_t> latchupsRw =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_LATCHUP_RW, this);
-  lp_var_t<uint16_t> latchupsTcsBoardHeaterIn =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, this);
-  lp_var_t<uint16_t> latchupsSusRedundant =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_LATCHUP_SUS_REDUNDANT, this);
-  lp_var_t<uint16_t> latchupsDeplMenchanism =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_LATCHUP_DEPLOYMENT_MECHANISM, this);
-  lp_var_t<uint16_t> latchupsPayloadPcduCh6 =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_LATCHUP_PAYLOAD_PCDU_CH6, this);
-  lp_var_t<uint16_t> latchupsAcsBoardSideB =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_LATCHUP_ACS_BOARD_SIDE_B, this);
-  lp_var_t<uint16_t> latchupsPayloadCamera =
-      lp_var_t<uint16_t>(sid.objectId, P60System::pool::PDU2_LATCHUP_PAYLOAD_CAMERA, this);
-
-  /**
-   * There are 8 devices on the PDU. FRAM, ADCs, temperature sensor etc. Each device is
-   * identified by an ID. Refer also to gs-man-nanopower-p60-pdu-200-1.pdf on pages 17 and 18.
-   */
-  lp_var_t<uint8_t> device0 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_0, this);
-  lp_var_t<uint8_t> device1 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_1, this);
-  lp_var_t<uint8_t> device2 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_2, this);
-  lp_var_t<uint8_t> device3 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_3, this);
-  lp_var_t<uint8_t> device4 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_4, this);
-  lp_var_t<uint8_t> device5 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_5, this);
-  lp_var_t<uint8_t> device6 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_6, this);
-  lp_var_t<uint8_t> device7 = lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_7, this);
-  /** The status of each device. 0 = None, 1 = Ok, 2 = Error, 3 = Not found */
-  lp_var_t<uint8_t> device0Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_0_STATUS, this);
-  lp_var_t<uint8_t> device1Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_1_STATUS, this);
-  lp_var_t<uint8_t> device2Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_2_STATUS, this);
-  lp_var_t<uint8_t> device3Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_3_STATUS, this);
-  lp_var_t<uint8_t> device4Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_4_STATUS, this);
-  lp_var_t<uint8_t> device5Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_5_STATUS, this);
-  lp_var_t<uint8_t> device6Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_6_STATUS, this);
-  lp_var_t<uint8_t> device7Status =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_DEVICE_7_STATUS, this);
-
-  /** Number of reboots triggered by the ground watchdog */
-  lp_var_t<uint32_t> gndWdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_WDT_CNT_GND, this);
-  /** Number of reboots triggered through the I2C watchdog. Not relevant for EIVE. */
-  lp_var_t<uint32_t> i2cWdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_WDT_CNT_I2C, this);
-  /** Number of reboots triggered through the CAN watchdog */
-  lp_var_t<uint32_t> canWdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_WDT_CNT_CAN, this);
-  /** Number of reboots triggered through the CSP watchdog */
-  lp_var_t<uint32_t> csp1WdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_WDT_CNT_CSP1, this);
-  lp_var_t<uint32_t> csp2WdtReboots =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_WDT_CNT_CSP2, this);
-  /** Ground watchdog remaining seconds before rebooting */
-  lp_var_t<uint32_t> groundWatchdogSecondsLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_WDT_GND_LEFT, this);
-  /** I2C watchdog remaining seconds before rebooting. Not relevant for EIVE. */
-  lp_var_t<uint32_t> i2cWatchdogSecondsLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_WDT_I2C_LEFT, this);
-  /** CAN watchdog remaining seconds before rebooting. */
-  lp_var_t<uint32_t> canWatchdogSecondsLeft =
-      lp_var_t<uint32_t>(sid.objectId, P60System::pool::PDU2_WDT_CAN_LEFT, this);
-  /** CSP watchdog remaining pings before rebooting. */
-  lp_var_t<uint8_t> csp1WatchdogPingsLeft =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_WDT_CSP_LEFT1, this);
-  lp_var_t<uint8_t> csp2WatchdogPingsLeft =
-      lp_var_t<uint8_t>(sid.objectId, P60System::pool::PDU2_WDT_CSP_LEFT2, this);
 };
+
+class Pdu2AuxHk : public ::PDU::PduAuxHk {
+ public:
+  Pdu2AuxHk(HasLocalDataPoolIF* owner)
+      : PduAuxHk(owner, static_cast<uint32_t>(::P60System::SetIds::PDU_2_AUX)) {}
+
+  Pdu2AuxHk(object_id_t objectId)
+      : PduAuxHk(objectId, static_cast<uint32_t>(::P60System::SetIds::PDU_2_AUX)) {}
+};
+
 }  // namespace PDU2
 
 namespace ACU {
@@ -1054,4 +738,65 @@ class HkTableDataset : public StaticLocalDataSet<HK_TABLE_ENTRIES> {
 };
 }  // namespace ACU
 
+namespace pcdu {
+
+enum PoolIds : uint32_t { PDU1_SWITCHES, PDU2_SWITCHES };
+
+/* Switches are uint8_t datatype and go from 0 to 255 */
+enum Switches : power::Switch_t {
+  PDU1_CH0_TCS_BOARD_3V3,
+  PDU1_CH1_SYRLINKS_12V,
+  PDU1_CH2_STAR_TRACKER_5V,
+  PDU1_CH3_MGT_5V,
+  PDU1_CH4_SUS_NOMINAL_3V3,
+  PDU1_CH5_SOLAR_CELL_EXP_5V,
+  PDU1_CH6_PLOC_12V,
+  PDU1_CH7_ACS_A_SIDE_3V3,
+  PDU1_CH8_UNOCCUPIED,
+
+  PDU2_CH0_Q7S,
+  PDU2_CH1_PL_PCDU_BATT_0_14V8,
+  PDU2_CH2_RW_5V,
+  PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
+  PDU2_CH4_SUS_REDUNDANT_3V3,
+  PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
+  PDU2_CH6_PL_PCDU_BATT_1_14V8,
+  PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
+  PDU2_CH8_PAYLOAD_CAMERA
+};
+
+static constexpr uint8_t NUMBER_OF_SWITCHES = 18;
+
+static const uint8_t ON = 1;
+static const uint8_t OFF = 0;
+
+// Output states after reboot of the PDUs
+
+const std::array<uint8_t, PDU::CHANNELS_LEN> INIT_SWITCHES_PDU1 = {
+// Because the TE0720 is not connected to the PCDU, this switch is always on
+#ifdef TE0720_1CFA
+    ON,
+#else
+    OFF,
+#endif
+    OFF, OFF, OFF, OFF, OFF, OFF, OFF, OFF,
+};
+const std::array<uint8_t, PDU::CHANNELS_LEN> INIT_SWITCHES_PDU2 = {ON,  OFF, OFF, OFF, OFF,
+                                                                   OFF, OFF, OFF, OFF};
+
+static constexpr uint32_t SWITCHER_SET_ID = 0;
+
+class SwitcherStates : public StaticLocalDataSet<NUMBER_OF_SWITCHES> {
+ public:
+  SwitcherStates(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SWITCHER_SET_ID) {}
+
+  SwitcherStates(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SWITCHER_SET_ID)) {}
+
+  lp_vec_t<uint8_t, PDU::CHANNELS_LEN> pdu1Switches =
+      lp_vec_t<uint8_t, PDU::CHANNELS_LEN>(sid.objectId, PDU1_SWITCHES, this);
+  lp_vec_t<uint8_t, PDU::CHANNELS_LEN> pdu2Switches =
+      lp_vec_t<uint8_t, PDU::CHANNELS_LEN>(sid.objectId, PDU2_SWITCHES, this);
+};
+
+}  // namespace pcdu
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ */

mission/system/AcsBoardAssembly.cpp

@@ -4,6 +4,8 @@
 #include <fsfw/power/PowerSwitchIF.h>
 #include <fsfw/serviceinterface.h>
 
+#include "OBSWConfig.h"
+
 AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
                                    PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
     : DualLaneAssemblyBase(objectId, parentId, switcher, SWITCH_A, SWITCH_B,

mission/system/AcsBoardAssembly.h

@@ -105,10 +105,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   void selectGpsInDualMode(duallane::Submodes side);
 
  private:
-  static constexpr pcduSwitches::Switches SWITCH_A =
+  static constexpr pcdu::Switches SWITCH_A = pcdu::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
-      pcduSwitches::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
+  static constexpr pcdu::Switches SWITCH_B = pcdu::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
-  static constexpr pcduSwitches::Switches SWITCH_B =
-      pcduSwitches::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
 
   bool tryingOtherSide = false;
   bool dualModeErrorSwitch = true;

mission/system/DualLaneAssemblyBase.cpp

@@ -2,10 +2,11 @@
 
 #include <fsfw/ipc/QueueFactory.h>
 
+#include "OBSWConfig.h"
+
 DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId,
-                                           PowerSwitchIF* pwrSwitcher,
+                                           PowerSwitchIF* pwrSwitcher, pcdu::Switches switch1,
-                                           pcduSwitches::Switches switch1,
+                                           pcdu::Switches switch2, Event pwrTimeoutEvent,
-                                           pcduSwitches::Switches switch2, Event pwrTimeoutEvent,
                                            Event sideSwitchNotAllowedEvent,
                                            Event transitionOtherSideFailedEvent)
     : AssemblyBase(objectId, parentId, 20),

mission/system/DualLaneAssemblyBase.h

@@ -19,9 +19,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;
 
   DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
-                       pcduSwitches::Switches switch1, pcduSwitches::Switches switch2,
+                       pcdu::Switches switch1, pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
-                       Event pwrSwitchTimeoutEvent, Event sideSwitchNotAllowedEvent,
+                       Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
-                       Event transitionOtherSideFailedEvent);
 
  protected:
   // This helper object complete encapsulates power switching

mission/system/SusAssembly.h

@@ -43,10 +43,8 @@ class SusAssembly : public DualLaneAssemblyBase {
 
  private:
   enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
-  static constexpr pcduSwitches::Switches SWITCH_NOM =
+  static constexpr pcdu::Switches SWITCH_NOM = pcdu::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
-      pcduSwitches::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
+  static constexpr pcdu::Switches SWITCH_RED = pcdu::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
-  static constexpr pcduSwitches::Switches SWITCH_RED =
-      pcduSwitches::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
   FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;
 
   SusAssHelper helper;