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ineskhoukevinthegreat1hyuncatmoisesmataMikefly123
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Load switch (#86)
* Add load switch component * Fix tables * Sarah Kevin MoMata Squad Load Switch * Sarah Kevin and MoMata fixed a bug * Commit farming * Added mcp23017 to v5 dtsi * Rough initial implementation + add to topology * Ion even know any mane * Working Device Tree (But F Prime Crash) * Update CommandDispatcherImplCfg.hpp Fixed the Crashes! * Update Submodules * Revert "Update Submodules" This reverts commit b5544e7. * Initial plan * Reset m_totalAttempts in resetDeploymentState to fix integration test failures Co-authored-by: Mikefly123 <[email protected]> * Fix integration test failures - final status Co-authored-by: Mikefly123 <[email protected]> * Remove CodeQL artifact and update gitignore Co-authored-by: Mikefly123 <[email protected]> * Add Reset port functionality * Add remaining load switch instances * Small updates to extra loadSwitch instances, update max packets - Max packets from 8 to 9 * Remove output read port, add output write port * Modify LoadSwitch to use ZephyrGpioDriver Component * Modify gpioDriver name for watchdog for clarity * Instances of GPIO Drivers, connected to load switches in topology * First implementation load_switch_test * Labels for devicetree gpios fixed * Update sdd * Moises made them active lmao * corrected merge errors * appease linter * fixed the queue build error bc of linter * fixed burnwire incremnentation * changed increments * move invrement * ading inclused * remove the degugs * formal burnwire timer * switched the order of the rate grounps * reverted timer debugdding code * linter * remove the reset of the count for now * refer to the right load switch in the tests * checking a differnt conversion for the tests * missed some binary * switched the telem packets * switched the correct onces back * Very important commit --------- Co-authored-by: Kevinthegreat <[email protected]> Co-authored-by: sarah <[email protected]> Co-authored-by: Moises Mata <[email protected]> Co-authored-by: Michael Pham <[email protected]> Co-authored-by: Moises Mata <[email protected]> Co-authored-by: copilot-swe-agent[bot] <[email protected]> Co-authored-by: Ethan Hu <[email protected]> Co-authored-by: robertpendergrast <[email protected]>
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‎FprimeZephyrReference/Components/CMakeLists.txt‎

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@@ -11,3 +11,4 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ImuManager/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/NullPrmDb/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/PowerMonitor/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LoadSwitch/")

‎FprimeZephyrReference/Components/LoadSwitch/CMakeLists.txt‎

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####
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# F Prime CMakeLists.txt:
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#
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# SOURCES: list of source files (to be compiled)
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# AUTOCODER_INPUTS: list of files to be passed to the autocoders
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# DEPENDS: list of libraries that this module depends on
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#
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# More information in the F´ CMake API documentation:
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# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
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#
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####
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# Module names are derived from the path from the nearest project/library/framework
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# root when not specifically overridden by the developer. i.e. The module defined by
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# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
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register_fprime_library(
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AUTOCODER_INPUTS
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"${CMAKE_CURRENT_LIST_DIR}/LoadSwitch.fpp"
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SOURCES
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"${CMAKE_CURRENT_LIST_DIR}/LoadSwitch.cpp"
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# DEPENDS
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# MyPackage_MyOtherModule
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)
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### Unit Tests ###
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# register_fprime_ut(
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# AUTOCODER_INPUTS
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# "${CMAKE_CURRENT_LIST_DIR}/LoadSwitch.fpp"
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# SOURCES
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# "${CMAKE_CURRENT_LIST_DIR}/test/ut/LoadSwitchTestMain.cpp"
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# "${CMAKE_CURRENT_LIST_DIR}/test/ut/LoadSwitchTester.cpp"
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# DEPENDS
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# STest # For rules-based testing
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# UT_AUTO_HELPERS
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# )

‎FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.cpp‎

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// ======================================================================
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// \title LoadSwitch.cpp
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// \author Moises, sarah
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// \brief cpp file for LoadSwitch component implementation class
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// ======================================================================
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#include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp"
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#include <zephyr/drivers/gpio.h>
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namespace Components {
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// ----------------------------------------------------------------------
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// Component construction and destruction
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// ----------------------------------------------------------------------
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LoadSwitch ::LoadSwitch(const char* const compName) : LoadSwitchComponentBase(compName) {}
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LoadSwitch ::~LoadSwitch() {}
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// ----------------------------------------------------------------------
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// Handler implementations for typed input ports
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// ----------------------------------------------------------------------
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void LoadSwitch ::Reset_handler(FwIndexType portNum) {
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this->gpioSet_out(0, Fw::Logic::LOW);
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this->log_ACTIVITY_HI_StatusChanged(Fw::On::OFF);
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this->tlmWrite_IsOn(Fw::On::OFF);
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k_sleep(K_MSEC(100));
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this->gpioSet_out(0, Fw::Logic::HIGH);
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this->log_ACTIVITY_HI_StatusChanged(Fw::On::ON);
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this->tlmWrite_IsOn(Fw::On::ON);
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}
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// ----------------------------------------------------------------------
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// Handler implementations for commands
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// ----------------------------------------------------------------------
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void LoadSwitch ::TURN_ON_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
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this->gpioSet_out(0, Fw::Logic::HIGH);
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this->log_ACTIVITY_HI_StatusChanged(Fw::On::ON);
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this->tlmWrite_IsOn(Fw::On::ON);
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this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
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}
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void LoadSwitch ::TURN_OFF_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
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this->gpioSet_out(0, Fw::Logic::LOW);
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this->log_ACTIVITY_HI_StatusChanged(Fw::On::OFF);
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this->tlmWrite_IsOn(Fw::On::OFF);
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this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
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}
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} // namespace Components

‎FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.fpp‎

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module Components {
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@ A generic load switch for controlling power to components
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passive component LoadSwitch {
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# One async command/port is required for active components
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# This should be overridden by the developers with a useful command/port
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##############################################################################
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#### Uncomment the following examples to start customizing your component ####
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##############################################################################
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# @ Example async command
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# async command COMMAND_NAME(param_name: U32)
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sync command TURN_ON()
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sync command TURN_OFF()
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# @ Example telemetry counter
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# telemetry ExampleCounter: U64
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telemetry IsOn: Fw.On
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# @ Example event
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# event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
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event StatusChanged($state: Fw.On) severity activity high id 1 format "Load switch state changed to {}"
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# @ Example port: receiving calls from the rate group
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# sync input port run: Svc.Sched
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#output port Status: Drv.GpioRead
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#We will not be putting a Drv.GpioRead port here, we are using the Gpio Driver component which has this already!
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@ Port sending calls to the GPIO driver
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output port gpioSet: Drv.GpioWrite
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# Input that will be used by other components if they want to force a reset
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# (off and on again) of the load switch
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sync input port Reset: Fw.Signal
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# @ Example parameter
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# param PARAMETER_NAME: U32
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###############################################################################
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# Standard AC Ports: Required for Channels, Events, Commands, and Parameters #
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###############################################################################
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@ Port for requesting the current time
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time get port timeCaller
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@ Port for sending command registrations
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command reg port cmdRegOut
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@ Port for receiving commands
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command recv port cmdIn
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@ Port for sending command responses
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command resp port cmdResponseOut
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@ Port for sending textual representation of events
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text event port logTextOut
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@ Port for sending events to downlink
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event port logOut
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@ Port for sending telemetry channels to downlink
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telemetry port tlmOut
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@ Port to return the value of a parameter
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param get port prmGetOut
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@Port to set the value of a parameter
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param set port prmSetOut
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}
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}

‎FprimeZephyrReference/Components/LoadSwitch/LoadSwitch.hpp‎

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// ======================================================================
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// \title LoadSwitch.hpp
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// \author Moises, sarah
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// \brief hpp file for LoadSwitch component implementation class
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// ======================================================================
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#ifndef Components_LoadSwitch_HPP
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#define Components_LoadSwitch_HPP
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#include "FprimeZephyrReference/Components/LoadSwitch/LoadSwitchComponentAc.hpp"
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#include <zephyr/kernel.h>
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// Forward declare Zephyr types to avoid header conflicts
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struct device;
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namespace Components {
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class LoadSwitch final : public LoadSwitchComponentBase {
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public:
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// ----------------------------------------------------------------------
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// Component construction and destruction
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// ----------------------------------------------------------------------
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//! Construct LoadSwitch object
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LoadSwitch(const char* const compName //!< The component name
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);
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//! Destroy LoadSwitch object
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~LoadSwitch();
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private:
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// ----------------------------------------------------------------------
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// Handler implementations for commands
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// ----------------------------------------------------------------------
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//! Handler implementation for command TURN_ON
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void TURN_ON_cmdHandler(FwOpcodeType opCode, //!< The opcode
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U32 cmdSeq //!< The command sequence number
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) override;
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//! Handler implementation for command TURN_OFF
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void TURN_OFF_cmdHandler(FwOpcodeType opCode, //!< The opcode
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U32 cmdSeq //!< The command sequence number
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) override;
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// ----------------------------------------------------------------------
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// Handler implementations for typed input ports
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// ----------------------------------------------------------------------
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//! Handler implementation for Reset
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void Reset_handler(FwIndexType portNum //!< The port number
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) override;
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};
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} // namespace Components
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#endif

‎FprimeZephyrReference/Components/LoadSwitch/docs/LoadSwitch.svg‎

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‎FprimeZephyrReference/Components/LoadSwitch/docs/sdd.md‎

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# Components::LoadSwitch
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![LoadSwitch](LoadSwitch.svg)
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## Overview
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The `LoadSwitch` component is an active F' component that controls a single load switch output
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through the `gpioSet` output port (connected to the platform's GPIO driver). It exposes two
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async commands to turn the switch on and off, telemetry reporting the current state, and an
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async `Reset` input which toggles the switch (off, short delay, on).
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## Responsibility
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- Control the power rail for a connected peripheral by asserting/deasserting a GPIO.
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- Report state changes via an event and telemetry channel.
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## External interface
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### Commands
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| Name | Description | Implementation notes |
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|---|---|---|
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| TURN_ON | Turn on the associated power rail | `TURN_ON_cmdHandler` sets the gpio via `gpioSet_out(0, Fw::Logic::HIGH)`, emits `StatusChanged` (ON), updates `IsOn` telemetry, replies OK. |
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| TURN_OFF | Turn off the associated power rail | `TURN_OFF_cmdHandler` sets the gpio via `gpioSet_out(0, Fw::Logic::LOW)`, emits `StatusChanged` (OFF), updates `IsOn` telemetry, replies OK. |
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### Telemetry
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| Name | Type | Description |
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|---|---:|---|
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| IsOn | Fw.On | Current power state; written after commands and on Reset handling. |
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### Events
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| Name | Severity | ID | Format |
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|---|---|---:|---|
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| StatusChanged | activity high | 1 | "Load switch state changed to {}" |
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The component logs the `StatusChanged` event whenever the switch transitions due to a command or a Reset.
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### Ports
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| Port name | Direction | Port type | Notes |
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|---|---|---|---|
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| gpioSet | output | Drv.GpioWrite | Used to write the physical GPIO. Implementation always uses index 0 (`gpioSet_out(0, ...)`). |
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| Reset | input (async) | Fw.Signal | Causes the component to perform a hardware reset sequence: LOW -> wait 100ms -> HIGH. |
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## Change Log
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| Date | Description |
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|---|---|
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| 10-22-2025 | Sarah, Kevin, and MoMata's first commit |
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| 11-07-2025 | Updated SDD to match implementation in `LoadSwitch.cpp/.hpp/.fpp` (commands, telemetry, event, ports, reset behavior). |

‎FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi‎

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ReferenceDeployment.antennaDeployer.LastDistance
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}
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packet PowerMonitor id 9 group 4 {
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packet LoadSwitches id 9 group 4 {
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ReferenceDeployment.face4LoadSwitch.IsOn
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ReferenceDeployment.face0LoadSwitch.IsOn
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ReferenceDeployment.face1LoadSwitch.IsOn
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ReferenceDeployment.face2LoadSwitch.IsOn
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ReferenceDeployment.face3LoadSwitch.IsOn
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ReferenceDeployment.face5LoadSwitch.IsOn
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ReferenceDeployment.payloadPowerLoadSwitch.IsOn
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ReferenceDeployment.payloadBatteryLoadSwitch.IsOn
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}
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packet PowerMonitor id 10 group 4 {
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ReferenceDeployment.ina219SysManager.Voltage
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ReferenceDeployment.ina219SysManager.Current
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ReferenceDeployment.ina219SysManager.Power

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