CHANGELOG.md

@@ -10,6 +10,10 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+## Changed
+
+- 5V stack is now off by default
+
 ## Fixed
 
 - PLOC SUPV: Minor adaptions and important bugfix for UART manager
@@ -23,6 +27,8 @@ list yields a list of all related PRs for each release.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/329
 - Allow commanding the 5V stack internally in software
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/334
+- Add automatic 5V stack commanding for all connected devices
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/335
 
 # [v1.18.0] 01.12.2022
 

bsp_q7s/core/ObjectFactory.cpp

@@ -54,6 +54,7 @@
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
 #include <mission/devices/ImtqHandler.h>
+#include <mission/devices/PcduHandler.h>
 
 #include <sstream>
 
@@ -80,7 +81,6 @@
 #include "mission/devices/HeaterHandler.h"
 #include "mission/devices/Max31865PT1000Handler.h"
 #include "mission/devices/P60DockHandler.h"
-#include "mission/devices/PCDUHandler.h"
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
 #include "mission/devices/PayloadPcduHandler.h"
@@ -205,7 +205,8 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
 #endif
 }
 
-ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
+ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
+                                                      Stack5VHandler& stackHandler) {
   using namespace gpio;
   if (gpioComIF == nullptr) {
     return returnvalue::FAILED;
@@ -226,12 +227,8 @@ ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF)
                     spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
   spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
   auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
-                                              spiCookieRadSensor, gpioComIF);
+                                              spiCookieRadSensor, gpioComIF, stackHandler);
   static_cast<void>(radSensor);
-  // The radiation sensor ADC is powered by the 5V stack connector which should always be on
-  radSensor->setStartUpImmediately();
-  // It's a simple sensor, so just to to normal mode immediately
-  radSensor->setToGoToNormalModeImmediately();
 #if OBSW_DEBUG_RAD_SENSOR == 1
   radSensor->enablePeriodicDataPrint(true);
 #endif
@@ -834,7 +831,8 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
 }
 
 void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                                           PowerSwitchIF* pwrSwitcher) {
+                                           PowerSwitchIF* pwrSwitcher,
+                                           Stack5VHandler& stackHandler) {
   using namespace gpio;
   // Create all GPIO components first
   GpioCookie* plPcduGpios = new GpioCookie;
@@ -880,10 +878,9 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
       new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
   // Create device handler components
-  auto plPcduHandler = new PayloadPcduHandler(
+  auto plPcduHandler =
-      objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, gpioComIF,
+      new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
-      SdCardManager::instance(), pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
+                             gpioComIF, SdCardManager::instance(), stackHandler, false);
-      pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
 //  plPcduHandler->enablePeriodicPrintout(true, 5);
 //  static_cast<void>(plPcduHandler);

bsp_q7s/core/ObjectFactory.h

@@ -2,6 +2,7 @@
 #define BSP_Q7S_OBJECTFACTORY_H_
 
 #include <fsfw/returnvalues/returnvalue.h>
+#include <mission/system/objects/Stack5VHandler.h>
 #include <mission/tmtc/CcsdsIpCoreHandler.h>
 #include <mission/tmtc/CfdpTmFunnel.h>
 #include <mission/tmtc/PusTmFunnel.h>
@@ -27,9 +28,9 @@ void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uar
                                    SpiComIF** spiRwComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                            PowerSwitchIF* pwrSwitcher);
+                            PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
 void createTmpComponents();
-ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
+ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);

bsp_q7s/fmObjectFactory.cpp

@@ -33,8 +33,10 @@ void ObjectFactory::produce(void* args) {
 
   new CoreController(objects::CORE_CONTROLLER);
   createPcduComponents(gpioComIF, &pwrSwitcher);
+  auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
+
 #if OBSW_ADD_RAD_SENSORS == 1
-  createRadSensorComponent(gpioComIF);
+  createRadSensorComponent(gpioComIF, *stackHandler);
 #endif
 #if OBSW_ADD_SUN_SENSORS == 1
   createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
@@ -48,7 +50,7 @@ void ObjectFactory::produce(void* args) {
   createTmpComponents();
 #endif
   createSolarArrayDeploymentComponents(*pwrSwitcher, *gpioComIF);
-  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */

mission/devices/CMakeLists.txt

@@ -3,7 +3,7 @@ target_sources(
   PRIVATE GomspaceDeviceHandler.cpp
           BpxBatteryHandler.cpp
           Tmp1075Handler.cpp
-          PCDUHandler.cpp
+          PcduHandler.cpp
           P60DockHandler.cpp
           PDU1Handler.cpp
           PDU2Handler.cpp

mission/devices/PayloadPcduHandler.cpp

@@ -16,29 +16,37 @@
 
 PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie,
                                        GpioIF* gpioIF, SdCardMountedIF* sdcMan,
-                                       PowerSwitchIF* pwrSwitcher, power::Switch_t switchA,
+                                       Stack5VHandler& stackHandler, bool periodicPrintout)
-                                       power::Switch_t switchB, bool periodicPrintout)
     : DeviceHandlerBase(objectId, comIF, cookie),
       adcSet(this),
+      stackHandler(stackHandler),
       periodicPrintout(periodicPrintout),
       gpioIF(gpioIF),
-      sdcMan(sdcMan),
+      sdcMan(sdcMan) {}
-      pwrStateMachine(switchA, switchB, pwrSwitcher) {}
 
 void PayloadPcduHandler::doStartUp() {
-  if ((state != States::PL_PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
+  if (state > States::STACK_5V_CORRECT) {
     // Config error
     sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
   }
-  if (pwrStateMachine.getState() == power::States::IDLE) {
-    pwrStateMachine.start(MODE_ON, pwrSubmode);
-  }
   clearSetOnOffFlag = true;
-  auto opCode = pwrStateMachine.fsm();
+  if (state == States::PL_PCDU_OFF) {
-  if (opCode == power::OpCodes::TO_NOT_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
+    state = States::STACK_5V_SWITCHING;
-    pwrStateMachine.reset();
+  }
+  if (state == States::STACK_5V_SWITCHING) {
+    ReturnValue_t retval = stackHandler.deviceToOn(StackCommander::PL_PCDU, true);
+    if (retval == BUSY) {
+      return;
+    }
+    state = States::STACK_5V_PENDING;
+  }
+  if (state == States::STACK_5V_PENDING) {
+    if (stackHandler.isSwitchOn()) {
+      state = States::STACK_5V_CORRECT;
+    }
+  }
+  if (state == States::STACK_5V_CORRECT) {
     quickTransitionAlreadyCalled = false;
-    state = States::POWER_CHANNELS_ON;
     setMode(_MODE_TO_ON);
   }
 }
@@ -48,21 +56,17 @@ void PayloadPcduHandler::doShutDown() {
     quickTransitionBackToOff(false, false);
     quickTransitionAlreadyCalled = true;
   }
-  if (pwrStateMachine.getState() == power::States::IDLE) {
-    pwrStateMachine.start(MODE_OFF, 0);
-  }
   if (clearSetOnOffFlag) {
     std::memset(adcSet.processed.value, 0, adcSet.processed.getSerializedSize());
     clearSetOnOffFlag = false;
   }
-
+  ReturnValue_t retval = stackHandler.deviceToOff(StackCommander::PL_PCDU, true);
-  auto opCode = pwrStateMachine.fsm();
+  if (retval == BUSY) {
-  if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
+    return;
-    pwrStateMachine.reset();
+  }
   state = States::PL_PCDU_OFF;
   // No need to set mode _MODE_POWER_DOWN, power switching was already handled
   setMode(MODE_OFF);
-  }
 }
 
 void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
@@ -78,7 +82,7 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
     gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
     gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
     gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
-    state = States::POWER_CHANNELS_ON;
+    state = States::STACK_5V_CORRECT;
   }
   DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
 }
@@ -93,7 +97,7 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
       setMode(MODE_OFF);
       return returnvalue::FAILED;
     }
-    if (state == States::POWER_CHANNELS_ON) {
+    if (state == States::STACK_5V_CORRECT) {
 #if OBSW_VERBOSE_LEVEL >= 1
       sif::info << "Switching on SSR VBAT0 & VBAT1 GPIOs" << std::endl;
 #endif
@@ -372,7 +376,7 @@ void PayloadPcduHandler::quickTransitionBackToOff(bool startTransitionToOff, boo
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
   gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
-  state = States::PL_PCDU_OFF;
+  state = States::STACK_5V_SWITCHING;
   adcState = AdcStates::OFF;
   if (startTransitionToOff) {
     startTransition(MODE_OFF, 0);

mission/devices/PayloadPcduHandler.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <mission/system/objects/Stack5VHandler.h>
 
 #include "events/subsystemIdRanges.h"
 #include "fsfw/FSFW.h"
@@ -62,8 +63,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   static constexpr Event I_HPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 11, severity::MEDIUM);
 
   PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie, GpioIF* gpioIF,
-                     SdCardMountedIF* sdcMan, PowerSwitchIF* pwrSwitcher, power::Switch_t switchCh0,
+                     SdCardMountedIF* sdcMan, Stack5VHandler& stackHandler, bool periodicPrintout);
-                     power::Switch_t switchCh1, bool periodicPrintout);
 
   void setToGoToNormalModeImmediately(bool enable);
   void enablePeriodicPrintout(bool enable, uint8_t divider);
@@ -78,7 +78,9 @@ class PayloadPcduHandler : public DeviceHandlerBase {
  private:
   enum class States : uint8_t {
     PL_PCDU_OFF,
-    POWER_CHANNELS_ON,
+    STACK_5V_SWITCHING,
+    STACK_5V_PENDING,
+    STACK_5V_CORRECT,
     // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
     // the ADC
     ON_TRANS_SSR,
@@ -108,6 +110,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   bool goToNormalMode = false;
   plpcdu::PlPcduAdcSet adcSet;
+  Stack5VHandler& stackHandler;
   std::array<uint8_t, plpcdu::MAX_ADC_REPLY_SIZE> cmdBuf = {};
   // This variable is tied to DRO +6 V voltage. Voltages, currents are monitored and the experiment
   // is shut down immediately if there is a negative voltage.
@@ -140,7 +143,6 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   PoolEntry<float> processedValues =
       PoolEntry<float>({0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
   PoolEntry<float> tempC = PoolEntry<float>({0.0});
-  DualLanePowerStateMachine pwrStateMachine;
 
   void updateSwitchGpio(gpioId_t id, gpio::Levels level);
 

mission/devices/PcduHandler.cpp

@@ -1,16 +1,16 @@
-#include "PCDUHandler.h"
-
 #include <OBSWConfig.h>
 #include <devices/powerSwitcherList.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/housekeeping/HousekeepingSnapshot.h>
 #include <fsfw/ipc/MutexFactory.h>
 #include <fsfw/ipc/QueueFactory.h>
+#include <mission/devices/PcduHandler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
 PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
     : SystemObject(setObjectId),
       poolManager(this, nullptr),
+      p60CoreHk(objects::P60DOCK_HANDLER),
       pdu1CoreHk(this),
       pdu2CoreHk(this),
       switcherSet(this),
@@ -26,8 +26,28 @@ PCDUHandler::~PCDUHandler() {}
 ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
   if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
     readCommandQueue();
+  }
+  uint8_t switchState = 0;
+  {
+    PoolReadGuard pg(&p60CoreHk.outputEnables);
+    if (pg.getReadResult() == returnvalue::OK) {
+      switchState = p60CoreHk.outputEnables.value[10];
+    } else {
       return returnvalue::OK;
     }
+  }
+  {
+    PoolReadGuard pg(&switcherSet.p60Dock5VStack);
+    if (pg.getReadResult() == returnvalue::OK) {
+      if (switcherSet.p60Dock5VStack.value != switchState) {
+        triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
+        MutexGuard mg(pwrMutex);
+        switchStates[pcdu::P60_DOCK_5V_STACK] = switchState;
+      }
+      switcherSet.p60Dock5VStack.setValid(true);
+      switcherSet.p60Dock5VStack.value = switchState;
+    }
+  }
   return returnvalue::OK;
 }
 
@@ -85,8 +105,10 @@ void PCDUHandler::initializeSwitchStates() {
     for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
       if (idx < PDU::CHANNELS_LEN) {
         switchStates[idx] = INIT_SWITCHES_PDU1.at(idx);
-      } else {
+      } else if (idx < PDU::CHANNELS_LEN * 2) {
         switchStates[idx] = INIT_SWITCHES_PDU2.at(idx - PDU::CHANNELS_LEN);
+      } else {
+        switchStates[idx] = OFF;
       }
     }
   } catch (const std::out_of_range& err) {
@@ -156,23 +178,24 @@ void PCDUHandler::updatePdu2SwitchStates() {
     for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
       switcherSet.pdu2Switches[idx] = pdu2CoreHk.outputEnables[idx];
     }
+    switcherSet.pdu2Switches.setValid(true);
     MutexGuard mg(pwrMutex);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
+    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
 
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
                             pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH1]);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH2_RW_5V, pdu2CoreHk.outputEnables[Channels::RW]);
+    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH2_RW_5V, pdu2CoreHk.outputEnables[Channels::RW]);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V,
                             pdu2CoreHk.outputEnables[Channels::TCS_HEATER_IN]);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH4_SUS_REDUNDANT_3V3,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH4_SUS_REDUNDANT_3V3,
                             pdu2CoreHk.outputEnables[Channels::SUS_REDUNDANT]);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
                             pdu2CoreHk.outputEnables[Channels::DEPY_MECHANISM]);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8,
                             pdu2CoreHk.outputEnables[Channels::PAYLOAD_PCDU_CH6]);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
                             pdu2CoreHk.outputEnables[Channels::ACS_B_SIDE]);
-    checkAndUpdateSwitch(pdu, Switches::PDU2_CH8_PAYLOAD_CAMERA,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH8_PAYLOAD_CAMERA,
                             pdu2CoreHk.outputEnables[Channels::PAYLOAD_CAMERA]);
     if (firstSwitchInfoPdu2) {
       firstSwitchInfoPdu2 = false;
@@ -192,23 +215,25 @@ void PCDUHandler::updatePdu1SwitchStates() {
     for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
       switcherSet.pdu1Switches[idx] = pdu1CoreHk.outputEnables[idx];
     }
+    switcherSet.pdu1Switches.setValid(true);
     MutexGuard mg(pwrMutex);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
                             pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
                             pdu1CoreHk.outputEnables[Channels::SYRLINKS]);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH2_STAR_TRACKER_5V,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH2_STAR_TRACKER_5V,
                             pdu1CoreHk.outputEnables[Channels::STR]);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH3_MGT_5V, pdu1CoreHk.outputEnables[Channels::MGT]);
+    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH3_MGT_5V,
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH4_SUS_NOMINAL_3V3,
+                            pdu1CoreHk.outputEnables[Channels::MGT]);
+    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH4_SUS_NOMINAL_3V3,
                             pdu1CoreHk.outputEnables[Channels::SUS_NOMINAL]);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH5_SOLAR_CELL_EXP_5V,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH5_SOLAR_CELL_EXP_5V,
                             pdu1CoreHk.outputEnables[Channels::SOL_CELL_EXPERIMENT]);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH6_PLOC_12V,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH6_PLOC_12V,
                             pdu1CoreHk.outputEnables[Channels::PLOC]);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH7_ACS_A_SIDE_3V3,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH7_ACS_A_SIDE_3V3,
                             pdu1CoreHk.outputEnables[Channels::ACS_A_SIDE]);
-    checkAndUpdateSwitch(pdu, Switches::PDU1_CH8_UNOCCUPIED,
+    checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH8_UNOCCUPIED,
                             pdu1CoreHk.outputEnables[Channels::UNUSED]);
     if (firstSwitchInfoPdu1) {
       firstSwitchInfoPdu1 = false;
@@ -226,52 +251,52 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
   uint16_t memoryAddress = 0;
   size_t parameterValueSize = sizeof(uint8_t);
   uint8_t parameterValue = 0;
-  GomspaceDeviceHandler* pdu = nullptr;
+  GomspaceDeviceHandler* module = nullptr;
 
   switch (switchNr) {
     case pcdu::PDU1_CH0_TCS_BOARD_3V3: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     case pcdu::PDU1_CH1_SYRLINKS_12V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SYRLINKS;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     case pcdu::PDU1_CH2_STAR_TRACKER_5V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_STAR_TRACKER;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     case pcdu::PDU1_CH3_MGT_5V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_MGT;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     case pcdu::PDU1_CH4_SUS_NOMINAL_3V3: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     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);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     case pcdu::PDU1_CH6_PLOC_12V: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_PLOC;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     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);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     case pcdu::PDU1_CH8_UNOCCUPIED: {
       memoryAddress = PDU1::CONFIG_ADDRESS_OUT_EN_CHANNEL8;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU1_HANDLER);
       break;
     }
     // This is a dangerous command. Reject/Igore it for now
@@ -283,47 +308,47 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
     }
     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);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
     case pcdu::PDU2_CH2_RW_5V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_RW;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
     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);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
     case pcdu::PDU2_CH4_SUS_REDUNDANT_3V3: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
     case pcdu::PDU2_CH5_DEPLOYMENT_MECHANISM_8V: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
     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);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
     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);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
     case pcdu::PDU2_CH8_PAYLOAD_CAMERA: {
       memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
       break;
     }
     case pcdu::P60_DOCK_5V_STACK: {
       memoryAddress = P60Dock::CONFIG_ADDRESS_OUT_EN_5V_STACK;
-      pdu = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::P60DOCK_HANDLER);
+      module = ObjectManager::instance()->get<GomspaceDeviceHandler>(objects::P60DOCK_HANDLER);
       break;
     }
 
@@ -359,7 +384,7 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
   CommandMessage message;
   ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress);
 
-  result = commandQueue->sendMessage(pdu->getCommandQueue(), &message, 0);
+  result = commandQueue->sendMessage(module->getCommandQueue(), &message, 0);
   if (result != returnvalue::OK) {
     sif::debug << "PCDUHandler::sendSwitchCommand: Failed to send message to PDU Handler"
                << std::endl;
@@ -398,6 +423,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
   using namespace pcdu;
   localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
   localDataPoolMap.emplace(PoolIds::PDU2_SWITCHES, &pdu2Switches);
+  localDataPoolMap.emplace(PoolIds::P60DOCK_SWITCHES, &p60Dock5VSwitch);
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(switcherSet.getSid(), false, 5.0));
   return returnvalue::OK;
@@ -427,7 +453,7 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
   }
 }
 
-void PCDUHandler::checkAndUpdateSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
+void PCDUHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
                                           uint8_t setValue) {
   using namespace pcdu;
   if (switchStates[switchIdx] != setValue) {

mission/devices/PcduHandler.h

@@ -56,6 +56,8 @@ class PCDUHandler : public PowerSwitchIF,
   /** Housekeeping manager. Handles updates of local pool variables. */
   LocalDataPoolManager poolManager;
 
+  P60Dock::CoreHkSet p60CoreHk;
+
   /** Hk table dataset of PDU1 */
   PDU1::Pdu1CoreHk pdu1CoreHk;
   /**
@@ -71,6 +73,7 @@ class PCDUHandler : public PowerSwitchIF,
       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());
+  PoolEntry<uint8_t> p60Dock5VSwitch = PoolEntry<uint8_t>();
 
   /** The timeStamp of the current pdu2HkTableDataset */
   CCSDSTime::CDS_short timeStampPdu2HkDataset;
@@ -127,7 +130,7 @@ class PCDUHandler : public PowerSwitchIF,
    */
   void updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
                             CCSDSTime::CDS_short* datasetTimeStamp);
-  void checkAndUpdateSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, uint8_t setValue);
+  void checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx, uint8_t setValue);
 };
 
 #endif /* MISSION_DEVICES_PCDUHANDLER_H_ */

mission/devices/RadiationSensorHandler.cpp

@@ -2,11 +2,16 @@
 #include <devices/gpioIds.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <mission/devices/RadiationSensorHandler.h>
+#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/devices/max1227.h>
 
 RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t comIF,
-                                               CookieIF *comCookie, GpioIF *gpioIF)
+                                               CookieIF *comCookie, GpioIF *gpioIF,
-    : DeviceHandlerBase(objectId, comIF, comCookie), dataset(this), gpioIF(gpioIF) {
+                                               Stack5VHandler &stackHandler)
+    : DeviceHandlerBase(objectId, comIF, comCookie),
+      dataset(this),
+      gpioIF(gpioIF),
+      stackHandler(stackHandler) {
   if (comCookie == nullptr) {
     sif::error << "RadiationSensorHandler: Invalid com cookie" << std::endl;
   }
@@ -15,18 +20,35 @@ RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t
 RadiationSensorHandler::~RadiationSensorHandler() {}
 
 void RadiationSensorHandler::doStartUp() {
+  if (internalState == InternalState::OFF) {
+    ReturnValue_t retval = stackHandler.deviceToOn(StackCommander::RAD_SENSOR, true);
+    if (retval == BUSY) {
+      return;
+    }
+    internalState = InternalState::POWER_SWITCHING;
+  }
+  if (internalState == InternalState::POWER_SWITCHING) {
+    if (stackHandler.isSwitchOn()) {
+      internalState = InternalState::SETUP;
+    }
+  }
   if (internalState == InternalState::CONFIGURED) {
     if (goToNormalMode) {
       setMode(MODE_NORMAL);
-    }
+    } else {
-
-    else {
       setMode(_MODE_TO_ON);
     }
   }
 }
 
-void RadiationSensorHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void RadiationSensorHandler::doShutDown() {
+  ReturnValue_t retval = stackHandler.deviceToOff(StackCommander::RAD_SENSOR, true);
+  if (retval == BUSY) {
+    return;
+  }
+  internalState = InternalState::OFF;
+  setMode(_MODE_POWER_DOWN);
+}
 
 ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   switch (communicationStep) {
@@ -73,7 +95,8 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
       ReturnValue_t result = gpioIF->pullHigh(gpioIds::ENABLE_RADFET);
       if (result != returnvalue::OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
-        sif::warning << "RadiationSensorHandler::buildCommandFromCommand; Pulling RADFET Enale pin "
+        sif::warning
+            << "RadiationSensorHandler::buildCommandFromCommand: Pulling RADFET Enable pin "
                "high failed"
             << std::endl;
 #endif

mission/devices/RadiationSensorHandler.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
+#include <mission/system/objects/Stack5VHandler.h>
 
 /**
  * @brief	This is the device handler class for radiation sensor on the OBC IF Board. The
@@ -16,7 +17,7 @@
 class RadiationSensorHandler : public DeviceHandlerBase {
  public:
   RadiationSensorHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-                         GpioIF *gpioIF);
+                         GpioIF *gpioIF, Stack5VHandler &handler);
   virtual ~RadiationSensorHandler();
   void setToGoToNormalModeImmediately();
   void enablePeriodicDataPrint(bool enable);
@@ -39,16 +40,17 @@ class RadiationSensorHandler : public DeviceHandlerBase {
  private:
   enum class CommunicationStep { START_CONVERSION, READ_CONVERSIONS };
 
-  enum class InternalState { SETUP, CONFIGURED };
+  enum class InternalState { OFF, POWER_SWITCHING, SETUP, CONFIGURED };
 
   bool printPeriodicData = false;
   RAD_SENSOR::RadSensorDataset dataset;
   static const uint8_t MAX_CMD_LEN = RAD_SENSOR::READ_SIZE;
   GpioIF *gpioIF = nullptr;
+  Stack5VHandler &stackHandler;
 
   bool goToNormalMode = false;
   uint8_t cmdBuffer[MAX_CMD_LEN];
-  InternalState internalState = InternalState::SETUP;
+  InternalState internalState = InternalState::OFF;
   CommunicationStep communicationStep = CommunicationStep::START_CONVERSION;
 };
 

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -713,7 +713,7 @@ class AuxHk : public StaticLocalDataSet<12> {
 
 namespace pcdu {
 
-enum PoolIds : uint32_t { PDU1_SWITCHES, PDU2_SWITCHES };
+enum PoolIds : uint32_t { PDU1_SWITCHES, PDU2_SWITCHES, P60DOCK_SWITCHES };
 
 /* Switches are uint8_t datatype and go from 0 to 255 */
 enum Switches : power::Switch_t {
@@ -737,11 +737,10 @@ enum Switches : power::Switch_t {
   PDU2_CH7_ACS_BOARD_SIDE_B_3V3,
   PDU2_CH8_PAYLOAD_CAMERA,
 
-  P60_DOCK_5V_STACK
+  P60_DOCK_5V_STACK,
+  NUMBER_OF_SWITCHES
 };
 
-static constexpr uint8_t NUMBER_OF_SWITCHES = 18;
-
 static const uint8_t ON = 1;
 static const uint8_t OFF = 0;
 
@@ -771,6 +770,7 @@ class SwitcherStates : public StaticLocalDataSet<NUMBER_OF_SWITCHES> {
       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);
+  lp_var_t<uint8_t> p60Dock5VStack = lp_var_t<uint8_t>(sid.objectId, P60DOCK_SWITCHES, this);
 };
 
 }  // namespace pcdu

mission/system/objects/CMakeLists.txt

@@ -6,6 +6,7 @@ target_sources(
           ComSubsystem.cpp
           PayloadSubsystem.cpp
           AcsBoardAssembly.cpp
+          Stack5VHandler.cpp
           SusAssembly.cpp
           RwAssembly.cpp
           DualLanePowerStateMachine.cpp

mission/system/objects/Stack5VHandler.cpp

@@ -0,0 +1,81 @@
+#include "Stack5VHandler.h"
+
+Stack5VHandler::Stack5VHandler(PowerSwitchIF& switcher) : switcher(switcher) {
+  stackLock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateStates) {
+  MutexGuard mg(stackLock);
+  if (updateStates) {
+    updateInternalStates();
+  }
+  if (handlerState == HandlerState::SWITCH_PENDING) {
+    return BUSY;
+  }
+  if (switchIsOn) {
+    if (commander == StackCommander::PL_PCDU) {
+      plPcduIsOn = true;
+    } else {
+      radSensorIsOn = true;
+    }
+    return returnvalue::OK;
+  }
+
+  handlerState = HandlerState::SWITCH_PENDING;
+  targetState = true;
+  return switcher.sendSwitchCommand(stackSwitch, PowerSwitchIF::SWITCH_ON);
+}
+
+ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateStates) {
+  MutexGuard mg(stackLock);
+  if (updateStates) {
+    updateInternalStates();
+  }
+  // wait for our turn
+  if (handlerState == HandlerState::SWITCH_PENDING) {
+    return BUSY;
+  }
+  // If the switch is already off, we are done
+  if (not switchIsOn) {
+    if (commander == StackCommander::PL_PCDU) {
+      plPcduIsOn = false;
+    } else {
+      radSensorIsOn = false;
+    }
+    return returnvalue::OK;
+  }
+  // If one device is still on, do not turn off the switch
+  if ((commander == StackCommander::PL_PCDU and radSensorIsOn) or
+      (commander == StackCommander::RAD_SENSOR and plPcduIsOn)) {
+    return returnvalue::OK;
+  }
+  handlerState = HandlerState::SWITCH_PENDING;
+  targetState = false;
+  return switcher.sendSwitchCommand(stackSwitch, PowerSwitchIF::SWITCH_OFF);
+}
+
+bool Stack5VHandler::isSwitchOn() {
+  MutexGuard mg(stackLock);
+  return updateInternalStates();
+}
+
+void Stack5VHandler::update() {
+  MutexGuard mg(stackLock);
+  updateInternalStates();
+}
+
+bool Stack5VHandler::updateInternalStates() {
+  if (switcher.getSwitchState(stackSwitch) == PowerSwitchIF::SWITCH_ON) {
+    if (handlerState == HandlerState::SWITCH_PENDING and targetState) {
+      handlerState = HandlerState::IDLE;
+      switchIsOn = true;
+    }
+    return true;
+  } else if (handlerState == HandlerState::SWITCH_PENDING and not targetState) {
+    handlerState = HandlerState::IDLE;
+    switchIsOn = false;
+    radSensorIsOn = false;
+    plPcduIsOn = false;
+  }
+  return false;
+}

mission/system/objects/Stack5VHandler.h

@@ -0,0 +1,35 @@
+#ifndef MISSION_SYSTEM_OBJECTS_STACK5VHANDLER_H_
+#define MISSION_SYSTEM_OBJECTS_STACK5VHANDLER_H_
+
+#include <fsfw/power/PowerSwitchIF.h>
+
+#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
+
+enum class StackCommander { RAD_SENSOR = 0, PL_PCDU = 1 };
+enum class HandlerState { SWITCH_PENDING, IDLE };
+
+class Stack5VHandler {
+ public:
+  static constexpr ReturnValue_t BUSY = returnvalue::makeCode(1, 0);
+  Stack5VHandler(PowerSwitchIF& switcher);
+
+  ReturnValue_t deviceToOn(StackCommander commander, bool updateStates);
+  ReturnValue_t deviceToOff(StackCommander commander, bool updateStates);
+
+  bool isSwitchOn();
+  void update();
+
+ private:
+  MutexIF* stackLock;
+  PowerSwitchIF& switcher;
+  bool switchIsOn = false;
+  bool targetState = false;
+  HandlerState handlerState = HandlerState::IDLE;
+  bool radSensorIsOn = false;
+  bool plPcduIsOn = false;
+  pcdu::Switches stackSwitch = pcdu::Switches::P60_DOCK_5V_STACK;
+
+  bool updateInternalStates();
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_STACK5VHANDLER_H_ */

tmtc

@@ -1 +1 @@
-Subproject commit c4dbf3d8bedc7be1848945629c6367586390c4f4
+Subproject commit b032defa7c6450cbbf21ffe8cfc50f6d5d5bc614