bsp_q7s/core/ObjectFactory.cpp

@@ -83,8 +83,8 @@
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
-#include "mission/system/AcsBoardAssembly.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
+#include "mission/system/AcsBoardAssembly.h"
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
 #include "mission/utility/TmFunnel.h"

common/config/devices/powerSwitcherList.h

@@ -3,6 +3,7 @@
 
 #include "OBSWConfig.h"
 
+#include <array>
 #include <cstdint>
 
 namespace pcduSwitches {
@@ -33,32 +34,36 @@ enum Switches: uint8_t {
 static const uint8_t ON = 1;
 static const uint8_t OFF = 0;
 
-/* Output states after reboot of the PDUs */
+// 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
 #if BOARD_TE0720 == 1
-/* Because the TE0720 is not connected to the PCDU, this switch is always on */
+    ON,
-static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
 #else
-static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
+    OFF,
 #endif
-static const uint8_t INIT_STATE_SYRLINKS = OFF;
+    OFF,
-static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
+    OFF,
-static const uint8_t INIT_STATE_MGT = OFF;
+    OFF,
-static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
+    OFF,
-static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
+    OFF,
-static const uint8_t INIT_STATE_PLOC = OFF;
+    OFF,
-static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
+    OFF,
-
+    OFF,
-static const uint8_t INIT_STATE_Q7S = ON;
-static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
-static const uint8_t INIT_STATE_RW = OFF;
-static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
-static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
-static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
-static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
-static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
-static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
 
+    // PDU 2
+    ON,
+    OFF,
+    OFF,
+    OFF,
+    OFF,
+    OFF,
+    OFF,
+    OFF,
+    OFF
+};
 }
 
-
 #endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

mission/devices/PCDUHandler.cpp

@@ -77,25 +77,9 @@ ReturnValue_t PCDUHandler::initialize() {
 
 void PCDUHandler::initializeSwitchStates() {
   using namespace pcduSwitches;
-  switchStates[Switches::PDU2_CH0_Q7S] = pcduSwitches::INIT_STATE_Q7S;
+  for (uint8_t idx = 0; idx < Switches::NUMBER_OF_SWITCHES; idx++) {
-  switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1;
+    switchStates[idx] = INIT_SWITCH_STATES[idx];
-  switchStates[Switches::PDU2_CH2_RW_5V] = pcduSwitches::INIT_STATE_RW;
+  }
-  switchStates[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V] =
-      pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN;
-  switchStates[Switches::PDU2_CH4_SUS_REDUNDANT_3V3] = pcduSwitches::INIT_STATE_SUS_REDUNDANT;
-  switchStates[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V] =
-      pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM;
-  switchStates[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8] = pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6;
-  switchStates[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B;
-  switchStates[Switches::PDU2_CH8_PAYLOAD_CAMERA] = pcduSwitches::INIT_STATE_PAYLOAD_CAMERA;
-  switchStates[Switches::PDU1_CH0_TCS_BOARD_3V3] = pcduSwitches::INIT_STATE_TCS_BOARD_3V3;
-  switchStates[Switches::PDU1_CH1_SYRLINKS_12V] = pcduSwitches::INIT_STATE_SYRLINKS;
-  switchStates[Switches::PDU1_CH2_STAR_TRACKER_5V] = pcduSwitches::INIT_STATE_STAR_TRACKER;
-  switchStates[Switches::PDU1_CH3_MGT_5V] = pcduSwitches::INIT_STATE_MGT;
-  switchStates[Switches::PDU1_CH4_SUS_NOMINAL_3V3] = pcduSwitches::INIT_STATE_SUS_NOMINAL;
-  switchStates[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP;
-  switchStates[Switches::PDU1_CH6_PLOC_12V] = pcduSwitches::INIT_STATE_PLOC;
-  switchStates[Switches::PDU1_CH7_ACS_A_SIDE_3V3] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
 }
 
 void PCDUHandler::readCommandQueue() {
@@ -178,6 +162,9 @@ void PCDUHandler::updatePdu2SwitchStates() {
                          pdu2HkTableDataset.outEnabledAcsBoardSideB.value);
     checkAndUpdateSwitch(Switches::PDU2_CH8_PAYLOAD_CAMERA,
                          pdu2HkTableDataset.outEnabledPayloadCamera.value);
+    if (firstSwitchInfo) {
+      firstSwitchInfo = false;
+    }
   } else {
     sif::debug << "PCDUHandler::updatePdu2SwitchStates: Failed to read PDU2 Hk Dataset"
                << std::endl;
@@ -205,6 +192,9 @@ void PCDUHandler::updatePdu1SwitchStates() {
                          pdu1HkTableDataset.outEnabledAcsBoardSideA.value);
     checkAndUpdateSwitch(Switches::PDU1_CH8_UNOCCUPIED,
                          pdu1HkTableDataset.outEnabledChannel8.value);
+    if (firstSwitchInfo) {
+      firstSwitchInfo = false;
+    }
   } else {
     sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl;
   }
@@ -381,6 +371,7 @@ object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(
 
 ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                    LocalDataPoolManager& poolManager) {
+  using namespace pcduSwitches;
   localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_Q7S, new PoolEntry<int16_t>({0}));
   localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1,
                            new PoolEntry<int16_t>({0}));
@@ -419,28 +410,34 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
   localDataPoolMap.emplace(P60System::PDU2_CONV_EN_3, new PoolEntry<uint8_t>({0}));
 
   localDataPoolMap.emplace(P60System::PDU2_OUT_EN_Q7S,
-                           new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_Q7S}));
+                           new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH0_Q7S]}));
-  localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
+  localDataPoolMap.emplace(
-                           new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH1}));
+      P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
+      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8]}));
   localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW,
-                           new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_RW}));
+                           new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH2_RW_5V]}));
 #if BOARD_TE0720 == 1
   localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>({1}));
 #else
   localDataPoolMap.emplace(
       P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN,
-      new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_TCS_BOARD_8V_HEATER_IN}));
+      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V]}));
 #endif
-  localDataPoolMap.emplace(P60System::PDU2_OUT_EN_SUS_REDUNDANT,
+  localDataPoolMap.emplace(
-                           new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_SUS_REDUNDANT}));
+      P60System::PDU2_OUT_EN_SUS_REDUNDANT,
-  localDataPoolMap.emplace(P60System::PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
+      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH4_SUS_REDUNDANT_3V3]}));
-                           new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_DEPLOYMENT_MECHANISM}));
+  localDataPoolMap.emplace(
-  localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
+      P60System::PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
-                           new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_PAYLOAD_PCDU_CH6}));
+      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V]}));
-  localDataPoolMap.emplace(P60System::PDU2_OUT_EN_ACS_BOARD_SIDE_B,
+  localDataPoolMap.emplace(
-                           new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_B}));
+      P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
-  localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_CAMERA,
+      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8]}));
-                           new PoolEntry<uint8_t>({pcduSwitches::INIT_STATE_PAYLOAD_CAMERA}));
+  localDataPoolMap.emplace(
+      P60System::PDU2_OUT_EN_ACS_BOARD_SIDE_B,
+      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3]}));
+  localDataPoolMap.emplace(
+      P60System::PDU2_OUT_EN_PAYLOAD_CAMERA,
+      new PoolEntry<uint8_t>({INIT_SWITCH_STATES[Switches::PDU2_CH8_PAYLOAD_CAMERA]}));
 
   localDataPoolMap.emplace(P60System::PDU2_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(P60System::PDU2_BOOTCNT, new PoolEntry<uint32_t>({0}));
@@ -502,16 +499,32 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
                            new PoolEntry<int16_t>({0}));
   localDataPoolMap.emplace(P60System::PDU1_CURRENT_OUT_CHANNEL8, new PoolEntry<int16_t>({0}));
 
-  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(
-  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SYRLINKS, new PoolEntry<int16_t>({0}));
+      P60System::PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
-  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_STAR_TRACKER, new PoolEntry<int16_t>({0}));
+      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH0_TCS_BOARD_3V3]}));
-  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_MGT, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(
-  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SUS_NOMINAL, new PoolEntry<int16_t>({0}));
+      P60System::PDU1_VOLTAGE_OUT_SYRLINKS,
-  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP, new PoolEntry<int16_t>({0}));
+      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH1_SYRLINKS_12V]}));
-  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_PLOC, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(
-  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
+      P60System::PDU1_VOLTAGE_OUT_STAR_TRACKER,
-                           new PoolEntry<int16_t>({0}));
+      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH2_STAR_TRACKER_5V]}));
-  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_CHANNEL8, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(P60System::PDU1_VOLTAGE_OUT_MGT,
+                           new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH3_MGT_5V]}));
+  localDataPoolMap.emplace(
+      P60System::PDU1_VOLTAGE_OUT_SUS_NOMINAL,
+      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH4_SUS_NOMINAL_3V3]}));
+  localDataPoolMap.emplace(
+      P60System::PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
+      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH5_SOLAR_CELL_EXP_5V]}));
+  localDataPoolMap.emplace(
+      P60System::PDU1_VOLTAGE_OUT_PLOC,
+      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH6_PLOC_12V]}));
+  localDataPoolMap.emplace(
+      P60System::PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
+      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH7_ACS_A_SIDE_3V3]}));
+  localDataPoolMap.emplace(
+      P60System::PDU1_VOLTAGE_OUT_CHANNEL8,
+      new PoolEntry<int16_t>({INIT_SWITCH_STATES[Switches::PDU1_CH8_UNOCCUPIED]}));
 
   localDataPoolMap.emplace(P60System::PDU1_VCC, new PoolEntry<int16_t>({0}));
   localDataPoolMap.emplace(P60System::PDU1_VBAT, new PoolEntry<int16_t>({0}));
@@ -603,8 +616,17 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
 }
 
 void PCDUHandler::checkAndUpdateSwitch(pcduSwitches::Switches switchIdx, uint8_t setValue) {
+  using namespace pcduSwitches;
   if (switchStates[switchIdx] != setValue) {
+    if (firstSwitchInfo) {
+      ReturnValue_t state = PowerSwitchIF::SWITCH_OFF;
+      if (INIT_SWITCH_STATES[switchIdx] == ON) {
+        state = PowerSwitchIF::SWITCH_ON;
+      }
+      sendSwitchCommand(switchIdx, state);
+    } else {
       triggerEvent(power::SWITCH_HAS_CHANGED, setValue, switchIdx);
     }
+  }
   switchStates[switchIdx] = setValue;
 }

mission/devices/PCDUHandler.h

@@ -84,6 +84,7 @@ class PCDUHandler : public PowerSwitchIF,
   MessageQueueIF* commandQueue = nullptr;
 
   size_t cmdQueueSize;
+  bool firstSwitchInfo = true;
 
   PeriodicTaskIF* executingTask = nullptr;
 

mission/devices/devicedefinitions/powerDefinitions.h

@@ -7,9 +7,11 @@
 namespace power {
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
-//! [EXPORT] : [COMMENT] Indicated that a FSFW object requested setting a switch
+//! [EXPORT] : [COMMENT] Indicates that a FSFW object requested setting a switch
 //! P1: 1 if on was requested, 0 for off | P2: Switch Index
 static constexpr Event SWITCH_CMD_SENT = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
+//! [EXPORT] : [COMMENT] Indicated that a swithc state has changed
+//! P1: New switch state, 1 for on, 0 for off | P2: Switch Index
 static constexpr Event SWITCH_HAS_CHANGED = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
 

mission/system/AcsBoardAssembly.cpp

@@ -150,12 +150,13 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
     if (mode == DeviceHandlerIF::MODE_NORMAL) {
       if (isUseable(objectId, devMode)) {
-        if (devMode == MODE_OFF or devMode == HasModesIF::UNDEFINED_MODE) {
+        if (devMode == MODE_ON) {
-          modeTable[tableIdx].setMode(MODE_ON);
-          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-        } else {
           modeTable[tableIdx].setMode(mode);
           modeTable[tableIdx].setSubmode(SUBMODE_NONE);
+
+        } else {
+          modeTable[tableIdx].setMode(MODE_ON);
+          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
         }
       }
     } else if (mode == MODE_ON) {