bsp_q7s/core/ObjectFactory.cpp

@@ -28,8 +28,13 @@
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/csp/CspComIF.h"
 #include "linux/csp/CspCookie.h"
+#include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "linux/devices/startracker/StarTrackerHandler.h"
+#include "linux/devices/startracker/StrHelper.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
+
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
@@ -51,13 +56,6 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "fsfw_hal/linux/uart/UartCookie.h"
-#include "linux/boardtest/SpiTestClass.h"
-#include "linux/csp/CspComIF.h"
-#include "linux/csp/CspCookie.h"
-#include "linux/devices/GPSHyperionLinuxController.h"
-#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
-#include "linux/devices/startracker/StarTrackerHandler.h"
-#include "linux/devices/startracker/StrHelper.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
 #include "mission/devices/BpxBatteryHandler.h"
@@ -69,6 +67,7 @@
 #include "mission/devices/PCDUHandler.h"
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
+#include "mission/devices/PayloadPcduHandler.h"
 #include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
@@ -83,6 +82,7 @@
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
 #include "mission/utility/TmFunnel.h"
@@ -390,8 +390,7 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
   spiCookie =
       new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  SusHandler* susHandler6 = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie,
+  SusHandler* susHandler6 = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
-                                           gpioComIF, gpioIds::CS_SUS_6);
 
   spiCookie =
       new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
@@ -737,7 +736,7 @@ void ObjectFactory::createHeaterComponents() {
   heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
   new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
-                    objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+                    objects::PCDU_HANDLER, pcduSwitches::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents() {
@@ -757,8 +756,8 @@ 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::DEPLOYMENT_MECHANISM, gpioIds::DEPLSA1,
+                                  pcduSwitches::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-                                  gpioIds::DEPLSA2, 1000);
+                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
 }
 
 void ObjectFactory::createSyrlinksComponents() {
@@ -1181,15 +1180,6 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
                                     gpio::Levels::LOW);
   plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
-  consumer = "PLPCDU_ENB_HPA";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
-                                    gpio::Levels::LOW);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
-  consumer = "PLPCDU_ENB_MPA";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
-                                    gpio::Levels::LOW);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
-
   consumer = "PLPCDU_ENB_X8";
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
                                     gpio::Levels::LOW);
@@ -1198,6 +1188,14 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
                                     gpio::Levels::LOW);
   plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
+  consumer = "PLPCDU_ENB_MPA";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
+  consumer = "PLPCDU_ENB_HPA";
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
+                                    gpio::Levels::LOW);
+  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
 
   // Chip select pin is active low
   consumer = "PLPCDU_ADC_CS";
@@ -1205,6 +1203,22 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
                                     gpio::Levels::HIGH);
   plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
   gpioComIF->addGpios(plPcduGpios);
+  SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
+                                       q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
+                                       spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
+  // Create device handler components
+  auto plPcduHandler =
+      new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF,
+                             SdCardManager::instance(), false);
+  spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
+  static_cast<void>(plPcduHandler);
+#if OBSW_TEST_PL_PCDU == 1
+  plPcduHandler->setStartUpImmediately();
+#if OBSW_DEBUG_PL_PCDU == 1
+  plPcduHandler->setToGoToNormalModeImmediately(true);
+  plPcduHandler->enablePeriodicPrintout(true, 5);
+#endif
+#endif
 }
 
 void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {

common/config/devConf.h

@@ -32,6 +32,8 @@ static const uint32_t SUS_MAX1227_SPI_FREQ = 976'000;
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
+static constexpr uint32_t PL_PCDU_MAX_1227_SPEED = 976'000;
+
 static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 

mission/devices/CMakeLists.txt

@@ -17,5 +17,6 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     RwHandler.cpp
     max1227.cpp
     SusHandler.cpp
+    PayloadPcduHandler.cpp
     SolarArrayDeploymentHandler.cpp
 )

mission/devices/PayloadPcduHandler.cpp

@@ -0,0 +1,808 @@
+#include "PayloadPcduHandler.h"
+
+#include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
+
+#ifdef FSFW_OSAL_LINUX
+#include <fsfw_hal/linux/UnixFileGuard.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <fsfw_hal/linux/utility.h>
+#include <sys/ioctl.h>
+#endif
+
+#include "devices/gpioIds.h"
+
+PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie,
+                                       GpioIF* gpioIF, SdCardMountedIF* sdcMan,
+                                       bool periodicPrintout)
+    : DeviceHandlerBase(objectId, comIF, cookie),
+      adcSet(this),
+      periodicPrintout(periodicPrintout),
+      gpioIF(gpioIF),
+      sdcMan(sdcMan) {}
+
+void PayloadPcduHandler::doStartUp() {
+  if ((state != States::PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
+    // Config error
+    sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
+  }
+  if (state == States::PCDU_OFF) {
+    // Switch on relays here
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
+    state = States::ON_TRANS_SSR;
+    transitionOk = true;
+  }
+  if (state == States::ON_TRANS_SSR) {
+    // If necessary, check whether a certain amount of time has elapsed
+    if (transitionOk) {
+      transitionOk = false;
+      state = States::ON_TRANS_ADC_CLOSE_ZERO;
+      // We are now in ON mode
+      startTransition(MODE_NORMAL, 0);
+      adcCountdown.setTimeout(50);
+      adcCountdown.resetTimer();
+      adcState = AdcStates::BOOT_DELAY;
+      // The ADC can now be read. If the values are not close to zero, we should not allow
+      // transition
+      monMode = MonitoringMode::CLOSE_TO_ZERO;
+    }
+  }
+}
+
+void PayloadPcduHandler::stateMachineToNormal() {
+  using namespace plpcdu;
+  if (adcState == AdcStates::BOOT_DELAY) {
+    if (adcCountdown.hasTimedOut()) {
+      adcState = AdcStates::SEND_SETUP;
+      adcCmdExecuted = false;
+    }
+  }
+  if (adcState == AdcStates::SEND_SETUP) {
+    if (adcCmdExecuted) {
+      adcState = AdcStates::NORMAL;
+      setMode(MODE_NORMAL, NORMAL_ADC_ONLY);
+      adcCountdown.setTimeout(100);
+      adcCountdown.resetTimer();
+      adcCmdExecuted = false;
+    }
+  }
+  if (submode == plpcdu::NORMAL_ALL_ON) {
+    if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
+      if (not commandExecuted) {
+        float waitTime = DFT_SSR_TO_DRO_WAIT_TIME;
+        params.getValue(PARAM_KEY_MAP[SSR_TO_DRO_WAIT_TIME], waitTime);
+        countdown.setTimeout(std::round(waitTime * 1000));
+        countdown.resetTimer();
+        commandExecuted = true;
+        // TODO: For now, skip ADC check
+        transitionOk = true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if (transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_DRO;
+        // Now start monitoring for negative voltages instead
+        monMode = MonitoringMode::NEGATIVE;
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if (state == States::ON_TRANS_DRO) {
+      if (not commandExecuted) {
+        float waitTime = DFT_DRO_TO_X8_WAIT_TIME;
+        params.getValue(PARAM_KEY_MAP[DRO_TO_X8_WAIT_TIME], waitTime);
+        countdown.setTimeout(std::round(waitTime * 1000));
+        countdown.resetTimer();
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::info << "Enabling PL PCDU DRO module" << std::endl;
+#endif
+        // Switch on DRO and start monitoring for negative voltages
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
+        adcCountdown.setTimeout(100);
+        adcCountdown.resetTimer();
+        commandExecuted = true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if (transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_X8;
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if (state == States::ON_TRANS_X8) {
+      if (not commandExecuted) {
+        float waitTime = DFT_X8_TO_TX_WAIT_TIME;
+        params.getValue(PARAM_KEY_MAP[X8_TO_TX_WAIT_TIME], waitTime);
+        countdown.setTimeout(std::round(waitTime * 1000));
+        countdown.resetTimer();
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::info << "Enabling PL PCDU X8 module" << std::endl;
+#endif
+        // Switch on X8
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8);
+        adcCountdown.setTimeout(100);
+        adcCountdown.resetTimer();
+        commandExecuted = true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if (transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_TX;
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if (state == States::ON_TRANS_TX) {
+      if (not commandExecuted) {
+        float waitTime = DFT_TX_TO_MPA_WAIT_TIME;
+        params.getValue(PARAM_KEY_MAP[TX_TO_MPA_WAIT_TIME], waitTime);
+        countdown.setTimeout(std::round(waitTime * 1000));
+        countdown.resetTimer();
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::info << "Enabling PL PCDU TX module" << std::endl;
+#endif
+        // Switch on TX
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
+        // Wait for 100 ms before checking ADC values
+        adcCountdown.setTimeout(100);
+        adcCountdown.resetTimer();
+        commandExecuted = true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if (transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_MPA;
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if (state == States::ON_TRANS_MPA) {
+      if (not commandExecuted) {
+        float waitTime = DFT_MPA_TO_HPA_WAIT_TIME;
+        params.getValue(PARAM_KEY_MAP[MPA_TO_HPA_WAIT_TIME], waitTime);
+        countdown.setTimeout(std::round(waitTime * 1000));
+        countdown.resetTimer();
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::info << "Enabling PL PCDU MPA module" << std::endl;
+#endif
+        // Switch on MPA
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
+        // Wait for 100 ms before checking ADC values
+        adcCountdown.setTimeout(100);
+        adcCountdown.resetTimer();
+        commandExecuted = true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if (transitionOk and countdown.hasTimedOut()) {
+        state = States::ON_TRANS_HPA;
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+    if (state == States::ON_TRANS_HPA) {
+      if (not commandExecuted) {
+        // Switch on HPA
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::info << "Enabling PL PCDU HPA module" << std::endl;
+#endif
+        commandExecuted = true;
+      }
+      // ADC values are ok, 5 seconds have elapsed
+      if (transitionOk and countdown.hasTimedOut()) {
+        state = States::PCDU_ON;
+        setMode(MODE_NORMAL, plpcdu::NORMAL_ALL_ON);
+        countdown.resetTimer();
+        commandExecuted = false;
+        transitionOk = false;
+      }
+    }
+  }
+}
+
+void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  if (mode == _MODE_TO_NORMAL) {
+    stateMachineToNormal();
+  }
+}
+
+void PayloadPcduHandler::doShutDown() { transitionBackToOff(false); }
+
+ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  switch (adcState) {
+    case (AdcStates::SEND_SETUP): {
+      *id = plpcdu::SETUP_CMD;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case (AdcStates::NORMAL): {
+      *id = plpcdu::READ_WITH_TEMP_EXT;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    default: {
+      break;
+    }
+  }
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (adcState == AdcStates::SEND_SETUP) {
+    *id = plpcdu::SETUP_CMD;
+    return buildCommandFromCommand(*id, nullptr, 0);
+  }
+  if (mode == _MODE_TO_NORMAL) {
+    return buildNormalDeviceCommand(id);
+  }
+  return NOTHING_TO_SEND;
+}
+
+void PayloadPcduHandler::fillCommandAndReplyMap() {
+  insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::SETUP_CMD, 1);
+}
+
+ReturnValue_t PayloadPcduHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                          const uint8_t* commandData,
+                                                          size_t commandDataLen) {
+  switch (deviceCommand) {
+    case (plpcdu::SETUP_CMD): {
+      cmdBuf[0] = plpcdu::SETUP_BYTE;
+      rawPacket = cmdBuf.data();
+      rawPacketLen = 1;
+      break;
+    }
+    case (plpcdu::READ_CMD): {
+      max1227::prepareExternallyClockedRead0ToN(cmdBuf.data(), plpcdu::CHANNEL_N, rawPacketLen);
+      rawPacket = cmdBuf.data();
+      break;
+    }
+    case (plpcdu::READ_TEMP_EXT): {
+      max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data(), rawPacketLen);
+      rawPacket = cmdBuf.data();
+      break;
+    }
+    case (plpcdu::READ_WITH_TEMP_EXT): {
+      size_t sz = 0;
+      max1227::prepareExternallyClockedRead0ToN(cmdBuf.data(), plpcdu::CHANNEL_N, sz);
+      max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data() + sz, sz);
+      rawPacketLen = sz;
+      rawPacket = cmdBuf.data();
+      break;
+    }
+    default: {
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PayloadPcduHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+                                               DeviceCommandId_t* foundId, size_t* foundLen) {
+  // SPI is full duplex
+  *foundId = getPendingCommand();
+  *foundLen = remainingSize;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
+                                                       const uint8_t* packet) {
+  using namespace plpcdu;
+  switch (id) {
+    case (SETUP_CMD): {
+      if (mode == _MODE_TO_NORMAL) {
+        adcCmdExecuted = true;
+      }
+      break;
+    }
+    case (READ_TEMP_EXT): {
+      uint8_t tempStartIdx = TEMP_REPLY_SIZE - 2;
+      adcSet.tempC.value =
+          max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
+      break;
+    }
+    case (READ_CMD): {
+      PoolReadGuard pg(&adcSet);
+      if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+        return pg.getReadResult();
+      }
+      handleExtConvRead(packet);
+      checkAdcValues();
+      adcSet.setValidity(true, true);
+      handlePrintout();
+      break;
+    }
+    case (READ_WITH_TEMP_EXT): {
+      PoolReadGuard pg(&adcSet);
+      if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+        return pg.getReadResult();
+      }
+      handleExtConvRead(packet);
+      uint8_t tempStartIdx = ADC_REPLY_SIZE + TEMP_REPLY_SIZE - 2;
+      adcSet.tempC.value =
+          max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
+      checkAdcValues();
+      adcSet.setValidity(true, true);
+      handlePrintout();
+      break;
+    }
+    default: {
+      break;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PayloadPcduHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+  // 20 minutes transition delay is allowed
+  return 20 * 60 * 60;
+}
+
+ReturnValue_t PayloadPcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                          LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::CHANNEL_VEC, &channelValues);
+  localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::PROCESSED_VEC, &processedValues);
+  localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, &tempC);
+  poolManager.subscribeForPeriodicPacket(adcSet.getSid(), false, 0.1, true);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PayloadPcduHandler::setToGoToNormalModeImmediately(bool enable) {
+  this->goToNormalMode = enable;
+}
+
+void PayloadPcduHandler::handleExtConvRead(const uint8_t* bufStart) {
+  for (uint8_t idx = 0; idx < 12; idx++) {
+    adcSet.channels[idx] = bufStart[idx * 2 + 1] << 8 | bufStart[idx * 2 + 2];
+  }
+}
+
+void PayloadPcduHandler::handlePrintout() {
+  using namespace plpcdu;
+  if (periodicPrintout) {
+    if (opDivider.checkAndIncrement()) {
+      sif::info << "PL PCDU ADC hex [" << std::setfill('0') << std::hex;
+      for (uint8_t idx = 0; idx < 12; idx++) {
+        sif::info << std::setw(3) << adcSet.channels[idx];
+        if (idx < 11) {
+          sif::info << ",";
+        }
+      }
+      sif::info << "] | T[C] " << std::dec << adcSet.tempC.value << std::endl;
+      sif::info << "Neg V: " << adcSet.processed[U_NEG_V_FB] << std::endl;
+      sif::info << "I HPA [mA]: " << adcSet.processed[I_HPA] << std::endl;
+      sif::info << "U HPA [V]: " << adcSet.processed[U_HPA_DIV_6] << std::endl;
+      sif::info << "I MPA [mA]: " << adcSet.processed[I_MPA] << std::endl;
+      sif::info << "U MPA [V]: " << adcSet.processed[U_MPA_DIV_6] << std::endl;
+      sif::info << "I TX [mA]: " << adcSet.processed[I_TX] << std::endl;
+      sif::info << "U TX [V]: " << adcSet.processed[U_TX_DIV_6] << std::endl;
+      sif::info << "I X8 [mA]: " << adcSet.processed[I_X8] << std::endl;
+      sif::info << "U X8 [V]: " << adcSet.processed[U_X8_DIV_6] << std::endl;
+      sif::info << "I DRO [mA]: " << adcSet.processed[I_DRO] << std::endl;
+      sif::info << "U DRO [V]: " << adcSet.processed[U_DRO_DIV_6] << std::endl;
+    }
+  }
+}
+
+void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
+  this->periodicPrintout = enable;
+  opDivider.setDivider(divider);
+}
+
+void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
+  States currentState = state;
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
+  gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
+  state = States::PCDU_OFF;
+  adcState = AdcStates::OFF;
+  setMode(MODE_OFF);
+  if (notifyFdir) {
+    triggerEvent(TRANSITION_BACK_TO_OFF, static_cast<uint32_t>(currentState));
+  }
+}
+
+void PayloadPcduHandler::checkAdcValues() {
+  using namespace plpcdu;
+  checkJsonFileInit();
+  adcSet.processed[U_BAT_DIV_6] =
+      static_cast<float>(adcSet.channels[0]) * VOLTAGE_DIV / MAX122X_BIT * MAX122X_VREF;
+  adcSet.processed[U_NEG_V_FB] =
+      V_POS - VOLTAGE_DIV_U_NEG *
+                  (V_POS - static_cast<float>(adcSet.channels[1]) / MAX122X_BIT * MAX122X_VREF);
+  adcSet.processed[I_HPA] = static_cast<float>(adcSet.channels[2]) * SCALE_CURRENT_HPA * 1000.0;
+  adcSet.processed[U_HPA_DIV_6] = static_cast<float>(adcSet.channels[3]) * SCALE_VOLTAGE;
+  adcSet.processed[I_MPA] = static_cast<float>(adcSet.channels[4]) * SCALE_CURRENT_MPA * 1000.0;
+  adcSet.processed[U_MPA_DIV_6] = static_cast<float>(adcSet.channels[5]) * SCALE_VOLTAGE;
+  adcSet.processed[I_TX] = static_cast<float>(adcSet.channels[6]) * SCALE_CURRENT_TX * 1000.0;
+  adcSet.processed[U_TX_DIV_6] = static_cast<float>(adcSet.channels[7]) * SCALE_VOLTAGE;
+  adcSet.processed[I_X8] = static_cast<float>(adcSet.channels[8]) * SCALE_CURRENT_X8 * 1000.0;
+  adcSet.processed[U_X8_DIV_6] = static_cast<float>(adcSet.channels[9]) * SCALE_VOLTAGE;
+  adcSet.processed[I_DRO] = static_cast<float>(adcSet.channels[10]) * SCALE_CURRENT_DRO * 1000.0;
+  adcSet.processed[U_DRO_DIV_6] = static_cast<float>(adcSet.channels[11]) * SCALE_VOLTAGE;
+  float lowerBound = 0.0;
+  float upperBound = 0.0;
+  bool adcTransition = false;
+  adcTransition = state == States::ON_TRANS_DRO and adcCountdown.isBusy();
+  // Now check against voltage and current limits, depending on state
+  if (state >= States::ON_TRANS_DRO and not adcTransition) {
+    if (ssrToDroInjectionRequested) {
+      handleFailureInjection("SSR to DRO", NEG_V_OUT_OF_BOUNDS);
+      ssrToDroInjectionRequested = false;
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[NEG_V_LOWER_BOUND], lowerBound);
+    params.getValue(PARAM_KEY_MAP[NEG_V_UPPER_BOUND], upperBound);
+    if (not checkVoltage(adcSet.processed[U_NEG_V_FB], lowerBound, upperBound,
+                         NEG_V_OUT_OF_BOUNDS)) {
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[DRO_U_LOWER_BOUND], lowerBound);
+    params.getValue(PARAM_KEY_MAP[DRO_U_UPPER_BOUND], upperBound);
+    if (not checkVoltage(adcSet.processed[U_DRO_DIV_6], lowerBound, upperBound,
+                         U_DRO_OUT_OF_BOUNDS)) {
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[DRO_I_UPPER_BOUND], upperBound);
+    if (not checkCurrent(adcSet.processed[I_DRO], upperBound, I_DRO_OUT_OF_BOUNDS)) {
+#if OBSW_VERBOSE_LEVEL >= 1
+      sif::warning << "Detected out of bounds current for DRO: " << adcSet.processed[I_DRO]
+                   << ", Raw: " << adcSet.channels[I_DRO] << std::endl;
+#endif
+      return;
+    }
+  }
+  adcTransition = state == States::ON_TRANS_X8 and adcCountdown.isBusy();
+  if (state >= States::ON_TRANS_X8 and not adcTransition) {
+    if (droToX8InjectionRequested) {
+      handleFailureInjection("X8 to TX", U_X8_OUT_OF_BOUNDS);
+      droToX8InjectionRequested = false;
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[X8_U_LOWER_BOUND], lowerBound);
+    params.getValue(PARAM_KEY_MAP[X8_U_UPPER_BOUND], upperBound);
+    if (not checkVoltage(adcSet.processed[U_X8_DIV_6], lowerBound, upperBound,
+                         U_X8_OUT_OF_BOUNDS)) {
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[X8_I_UPPER_BOUND], upperBound);
+    if (not checkCurrent(adcSet.processed[I_X8], upperBound, I_X8_OUT_OF_BOUNDS)) {
+      return;
+    }
+  }
+  adcTransition = state == States::ON_TRANS_TX and adcCountdown.isBusy();
+  if (state >= States::ON_TRANS_TX and not adcTransition) {
+    if (txToMpaInjectionRequested) {
+      handleFailureInjection("TX to MPA", U_TX_OUT_OF_BOUNDS);
+      txToMpaInjectionRequested = false;
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[TX_U_LOWER_BOUND], lowerBound);
+    params.getValue(PARAM_KEY_MAP[TX_U_UPPER_BOUND], upperBound);
+    if (not checkVoltage(adcSet.processed[U_TX_DIV_6], lowerBound, upperBound,
+                         U_TX_OUT_OF_BOUNDS)) {
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[TX_I_UPPER_BOUND], upperBound);
+    if (not checkCurrent(adcSet.processed[I_TX], upperBound, I_TX_OUT_OF_BOUNDS)) {
+      return;
+    }
+  }
+  adcTransition = state == States::ON_TRANS_MPA and adcCountdown.isBusy();
+  if (state >= States::ON_TRANS_MPA and not adcTransition) {
+    if (mpaToHpaInjectionRequested) {
+      handleFailureInjection("MPA to HPA", U_HPA_OUT_OF_BOUNDS);
+      mpaToHpaInjectionRequested = false;
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[MPA_U_LOWER_BOUND], lowerBound);
+    params.getValue(PARAM_KEY_MAP[MPA_U_UPPER_BOUND], upperBound);
+    if (not checkVoltage(adcSet.processed[U_MPA_DIV_6], lowerBound, upperBound,
+                         U_MPA_OUT_OF_BOUNDS)) {
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[MPA_I_UPPER_BOUND], upperBound);
+    if (not checkCurrent(adcSet.processed[I_MPA], upperBound, I_MPA_OUT_OF_BOUNDS)) {
+      return;
+    }
+  }
+  adcTransition = state == States::ON_TRANS_HPA and adcCountdown.isBusy();
+  if (state >= States::ON_TRANS_HPA and not adcTransition) {
+    if (allOnInjectRequested) {
+      handleFailureInjection("All On", U_HPA_OUT_OF_BOUNDS);
+      allOnInjectRequested = false;
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[HPA_U_LOWER_BOUND], lowerBound);
+    params.getValue(PARAM_KEY_MAP[HPA_U_UPPER_BOUND], upperBound);
+    if (not checkVoltage(adcSet.processed[U_HPA_DIV_6], lowerBound, upperBound,
+                         U_HPA_OUT_OF_BOUNDS)) {
+      return;
+    }
+    params.getValue(PARAM_KEY_MAP[HPA_I_UPPER_BOUND], upperBound);
+    if (not checkCurrent(adcSet.processed[I_HPA], upperBound, I_HPA_OUT_OF_BOUNDS)) {
+      return;
+    }
+  }
+  transitionOk = true;
+}
+
+void PayloadPcduHandler::checkJsonFileInit() {
+  if (not jsonFileInitComplete) {
+    sd::SdCard prefSd;
+    sdcMan->getPreferredSdCard(prefSd);
+    if (sdcMan->isSdCardMounted(prefSd)) {
+      params.initialize(sdcMan->getCurrentMountPrefix(prefSd));
+      jsonFileInitComplete = true;
+    }
+  }
+}
+
+bool PayloadPcduHandler::checkVoltage(float val, float lowerBound, float upperBound, Event event) {
+  bool tooLarge = false;
+  if (val < lowerBound or val > upperBound) {
+    if (val > upperBound) {
+      tooLarge = true;
+    } else {
+      tooLarge = false;
+    }
+    uint32_t p2 = 0;
+    serializeFloat(p2, val);
+    triggerEvent(event, tooLarge, p2);
+    transitionOk = false;
+    transitionBackToOff(true);
+    return false;
+  }
+  return true;
+}
+
+bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event) {
+  if (val > upperBound) {
+    uint32_t p2 = 0;
+    serializeFloat(p2, val);
+    triggerEvent(event, true, p2);
+    transitionOk = false;
+    transitionBackToOff(true);
+    return false;
+  }
+  return true;
+}
+
+ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_NORMAL and submode <= 1) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+  return DeviceHandlerBase::isModeCombinationValid(mode, submode);
+}
+
+ReturnValue_t PayloadPcduHandler::serializeFloat(uint32_t& param, float val) {
+  size_t dummy = 0;
+  return SerializeAdapter::serialize(&val, reinterpret_cast<uint8_t*>(&param), &dummy, 4,
+                                     SerializeIF::Endianness::NETWORK);
+}
+
+ReturnValue_t PayloadPcduHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
+                                               ParameterWrapper* parameterWrapper,
+                                               const ParameterWrapper* newValues,
+                                               uint16_t startAtIndex) {
+  using namespace plpcdu;
+  switch (uniqueId) {
+    case (PlPcduParamIds::NEG_V_LOWER_BOUND):
+    case (PlPcduParamIds::NEG_V_UPPER_BOUND):
+    case (PlPcduParamIds::DRO_U_LOWER_BOUND):
+    case (PlPcduParamIds::DRO_U_UPPER_BOUND):
+    case (PlPcduParamIds::DRO_I_UPPER_BOUND):
+    case (PlPcduParamIds::X8_U_LOWER_BOUND):
+    case (PlPcduParamIds::X8_U_UPPER_BOUND):
+    case (PlPcduParamIds::X8_I_UPPER_BOUND):
+    case (PlPcduParamIds::TX_U_LOWER_BOUND):
+    case (PlPcduParamIds::TX_U_UPPER_BOUND):
+    case (PlPcduParamIds::TX_I_UPPER_BOUND):
+    case (PlPcduParamIds::MPA_U_LOWER_BOUND):
+    case (PlPcduParamIds::MPA_U_UPPER_BOUND):
+    case (PlPcduParamIds::MPA_I_UPPER_BOUND):
+    case (PlPcduParamIds::HPA_U_LOWER_BOUND):
+    case (PlPcduParamIds::HPA_U_UPPER_BOUND):
+    case (PlPcduParamIds::HPA_I_UPPER_BOUND):
+    case (PlPcduParamIds::SSR_TO_DRO_WAIT_TIME):
+    case (PlPcduParamIds::DRO_TO_X8_WAIT_TIME):
+    case (PlPcduParamIds::X8_TO_TX_WAIT_TIME):
+    case (PlPcduParamIds::TX_TO_MPA_WAIT_TIME):
+    case (PlPcduParamIds::MPA_TO_HPA_WAIT_TIME): {
+      handleDoubleParamUpdate(PARAM_KEY_MAP[static_cast<PlPcduParamIds>(uniqueId)],
+                              parameterWrapper, newValues);
+      break;
+    }
+    case (PlPcduParamIds::INJECT_SSR_TO_DRO_FAILURE): {
+      ssrToDroInjectionRequested = true;
+      break;
+    }
+    case (PlPcduParamIds::INJECT_DRO_TO_X8_FAILURE): {
+      droToX8InjectionRequested = true;
+      break;
+    }
+    case (PlPcduParamIds::INJECT_X8_TO_TX_FAILURE): {
+      x8ToTxInjectionRequested = true;
+      break;
+    }
+    case (PlPcduParamIds::INJECT_TX_TO_MPA_FAILURE): {
+      txToMpaInjectionRequested = true;
+      break;
+    }
+    case (PlPcduParamIds::INJECT_MPA_TO_HPA_FAILURE): {
+      mpaToHpaInjectionRequested = true;
+      break;
+    }
+    case (PlPcduParamIds::INJECT_ALL_ON_FAILURE): {
+      allOnInjectRequested = true;
+      break;
+    }
+    default: {
+      return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
+                                             startAtIndex);
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PayloadPcduHandler::handleFailureInjection(std::string output, Event event) {
+  sif::info << "PayloadPcduHandler::checkAdcValues: " << output
+            << " failure injection. "
+               "Transitioning back to off"
+            << std::endl;
+  triggerEvent(event, 0, 0);
+  transitionOk = false;
+  transitionBackToOff();
+  droToX8InjectionRequested = false;
+}
+
+ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
+                                                          ParameterWrapper* parameterWrapper,
+                                                          const ParameterWrapper* newValues) {
+  double newValue = 0.0;
+  ReturnValue_t result = newValues->getElement<double>(&newValue, 0, 0);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  params.setValue(key, newValue);
+  // Do this so the dumping and loading with the framework works as well
+  doubleDummy = newValue;
+  parameterWrapper->set(doubleDummy);
+  return params.writeJsonFile();
+}
+
+#ifdef FSFW_OSAL_LINUX
+ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
+                                                       const uint8_t* sendData, size_t sendLen,
+                                                       void* args) {
+  auto handler = reinterpret_cast<PayloadPcduHandler*>(args);
+  if (handler == nullptr) {
+    sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
+               << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  DeviceCommandId_t currentCommand = handler->getPendingCommand();
+  switch (currentCommand) {
+    case (plpcdu::READ_WITH_TEMP_EXT): {
+      return transferAsTwo(comIf, cookie, sendData, sendLen, false);
+    }
+    case (plpcdu::READ_TEMP_EXT): {
+      return transferAsTwo(comIf, cookie, sendData, sendLen, true);
+    }
+    default: {
+      return comIf->performRegularSendOperation(cookie, sendData, sendLen);
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cookie,
+                                                const uint8_t* sendData, size_t sendLen,
+                                                bool tempOnly) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int retval = 0;
+  // Prepare transfer
+  int fileDescriptor = 0;
+  std::string device = cookie->getSpiDevice();
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return SpiComIF::OPENING_FILE_FAILED;
+  }
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+  cookie->assignWriteBuffer(sendData);
+  size_t transferLen = plpcdu::TEMP_REPLY_SIZE;
+  if (not tempOnly) {
+    transferLen += plpcdu::ADC_REPLY_SIZE;
+  }
+  cookie->setTransferSize(transferLen);
+
+  gpioId_t gpioId = cookie->getChipSelectPin();
+  GpioIF* gpioIF = comIf->getGpioInterface();
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 0;
+  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  if (mutex == nullptr or gpioIF == nullptr) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::warning << "GyroADIS16507Handler::spiSendCallback: "
+                    "Mutex or GPIO interface invalid"
+                 << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+  }
+
+  if (gpioId != gpio::NO_GPIO) {
+    result = mutex->lockMutex(timeoutType, timeoutMs);
+    if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+#endif
+      return result;
+    }
+  }
+  spi_ioc_transfer* transferStruct = cookie->getTransferStructHandle();
+  uint64_t origTx = transferStruct->tx_buf;
+  uint64_t origRx = transferStruct->rx_buf;
+  if (tempOnly) {
+    transferLen = 1;
+  } else {
+    transferLen = plpcdu::ADC_REPLY_SIZE + 1;
+  }
+  transferStruct->len = transferLen;
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO) {
+    gpioIF->pullLow(gpioId);
+  }
+
+  // Execute transfer
+  // Initiate a full duplex SPI transfer.
+  retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
+  if (retval < 0) {
+    utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+  }
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+  comIf->performSpiWiretapping(cookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+
+  if (gpioId != gpio::NO_GPIO) {
+    gpioIF->pullHigh(gpioId);
+  }
+
+  transferStruct->tx_buf += transferLen;
+  transferStruct->rx_buf += transferLen;
+  transferStruct->len = plpcdu::TEMP_REPLY_SIZE - 1;
+  if (gpioId != gpio::NO_GPIO) {
+    gpioIF->pullLow(gpioId);
+  }
+
+  // Execute transfer
+  // Initiate a full duplex SPI transfer.
+  retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
+  if (retval < 0) {
+    utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+  }
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+  comIf->performSpiWiretapping(cookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+
+  if (gpioId != gpio::NO_GPIO) {
+    gpioIF->pullHigh(gpioId);
+  }
+
+  transferStruct->tx_buf = origTx;
+  transferStruct->rx_buf = origRx;
+  if (gpioId != gpio::NO_GPIO) {
+    mutex->unlockMutex();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+#endif

mission/devices/PayloadPcduHandler.h

@@ -0,0 +1,170 @@
+#ifndef LINUX_DEVICES_PLPCDUHANDLER_H_
+#define LINUX_DEVICES_PLPCDUHANDLER_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+#include <fsfw/timemanager/Countdown.h>
+
+#include "events/subsystemIdRanges.h"
+#include "fsfw/FSFW.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
+#include "mission/memory/SdCardMountedIF.h"
+
+#ifdef FSFW_OSAL_LINUX
+class SpiComIF;
+class SpiCookie;
+#endif
+
+/**
+ * @brief Device handler for the EIVE Payload PCDU
+ * @details
+ * Documentation:
+ * https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/412_PayloaPCDUDocumentation/release/EIVE-D-421-001_PLPCDU_Documentation.pdf
+ *
+ * Important components:
+ *  - SSR - Solid State Relay: Decouples voltages from battery
+ *  - DRO - Dielectric Resonsant Oscillator: Generates modulation signal
+ *  - X8: Frequency X8 Multiplicator
+ *  - TX: Transmitter/Sender module. Modulates data onto carrier signal
+ *  - MPA - Medium Power Amplifier
+ *  - HPA - High Power Amplifier
+ */
+class PayloadPcduHandler : public DeviceHandlerBase {
+ public:
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PL_PCDU_HANDLER;
+  //! [EXPORT] : [COMMENT] Could not transition properly and went back to ALL OFF
+  static constexpr Event TRANSITION_BACK_TO_OFF =
+      event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event NEG_V_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event U_DRO_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event I_DRO_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event U_X8_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 4, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event I_X8_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 5, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event U_TX_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 6, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event I_TX_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event U_MPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 8, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event I_MPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 9, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  static constexpr Event U_HPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] P1: 0 -> too low, 1 -> too high P2: Float value
+  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, bool periodicPrintout);
+
+  void setToGoToNormalModeImmediately(bool enable);
+  void enablePeriodicPrintout(bool enable, uint8_t divider);
+
+  static ReturnValue_t extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
+                                            const uint8_t* sendData, size_t sendLen, void* args);
+
+#ifdef FSFW_OSAL_LINUX
+  static ReturnValue_t transferAsTwo(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
+                                     size_t sendLen, bool tempOnly);
+#endif
+
+ private:
+  enum class States : uint8_t {
+    PCDU_OFF,
+    // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
+    // the ADC
+    ON_TRANS_SSR,
+    ON_TRANS_ADC_CLOSE_ZERO,
+    // Enable Dielectric Resonant Oscillator and start monitoring voltages as
+    // soon as DRO voltage reaches 6V
+    ON_TRANS_DRO,
+    // Switch on X8 compoennt and monitor voltages for 5 seconds
+    ON_TRANS_X8,
+    // Switch on TX component and monitor voltages for 5 seconds
+    ON_TRANS_TX,
+    // Switch on MPA component and monitor voltages for 5 seconds
+    ON_TRANS_MPA,
+    // Switch on HPA component and monitor voltages for 5 seconds
+    ON_TRANS_HPA,
+    // All components of the experiment are on
+    PCDU_ON,
+  } state = States::PCDU_OFF;
+
+  enum class AdcMode { EXT_CONV, INT_CONV } adcMode = AdcMode::INT_CONV;
+
+  enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;
+
+  enum class AdcStates { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcStates::OFF;
+
+  bool goToNormalMode = false;
+  plpcdu::PlPcduAdcSet adcSet;
+  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.
+  bool transitionOk = false;
+  bool commandExecuted = false;
+  bool adcCmdExecuted = false;
+  bool periodicPrintout = false;
+  bool jsonFileInitComplete = false;
+  double doubleDummy = 0.0;
+
+  bool ssrToDroInjectionRequested = false;
+  bool droToX8InjectionRequested = false;
+  bool x8ToTxInjectionRequested = false;
+  bool txToMpaInjectionRequested = false;
+  bool mpaToHpaInjectionRequested = false;
+  bool allOnInjectRequested = false;
+
+  PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
+  uint8_t tempReadDivisor = 1;
+  Countdown countdown = Countdown(5000);
+  Countdown adcCountdown = Countdown(50);
+  GpioIF* gpioIF;
+  SdCardMountedIF* sdcMan;
+  plpcdu::PlPcduParameter params;
+
+  PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
+  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});
+
+  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+  void doStartUp() override;
+  void doShutDown() override;
+  // Main FDIR function which goes from any PL PCDU state back to all off
+  void transitionBackToOff(bool notifyFdir);
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
+  void fillCommandAndReplyMap() override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
+                             size_t* foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
+
+  void handleExtConvRead(const uint8_t* bufStart);
+  void handlePrintout();
+  void checkAdcValues();
+  void handleOutOfBoundsPrintout();
+  void checkJsonFileInit();
+  void stateMachineToNormal();
+  bool checkVoltage(float val, float lowerBound, float upperBound, Event event);
+  bool checkCurrent(float val, float upperBound, Event event);
+  void handleFailureInjection(std::string output, Event event);
+  ReturnValue_t serializeFloat(uint32_t& param, float val);
+  ReturnValue_t handleDoubleParamUpdate(std::string key, ParameterWrapper* parameterWrapper,
+                                        const ParameterWrapper* newValues);
+};
+
+#endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */

mission/devices/devicedefinitions/payloadPcduDefinitions.h

@@ -0,0 +1,231 @@
+#ifndef LINUX_DEVICES_DEVICEDEFINITIONS_PAYLOADPCDUDEFINITIONS_H_
+#define LINUX_DEVICES_DEVICEDEFINITIONS_PAYLOADPCDUDEFINITIONS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+
+#include <cstddef>
+#include <filesystem>
+#include <nlohmann/json.hpp>
+
+#include "OBSWConfig.h"
+#include "mission/devices/max1227.h"
+#include "mission/memory/NVMParameterBase.h"
+
+namespace plpcdu {
+
+using namespace max1227;
+
+enum PlPcduAdcChannels : uint8_t {
+  U_BAT_DIV_6 = 0,
+  // According to schematic, will be 2.2158V for Vneg = +0V and 0.2446V for Vneg = -6V
+  // Full Forumula: V_neg = V_post - (R1 + R2) / R1 * (V_pos - V_out) with R1 being 27.4k
+  // and R2 being 49.9k. FB = Feedback
+  U_NEG_V_FB = 1,
+  I_HPA = 2,
+  U_HPA_DIV_6 = 3,
+  I_MPA = 4,
+  U_MPA_DIV_6 = 5,
+  I_TX = 6,
+  U_TX_DIV_6 = 7,
+  I_X8 = 8,
+  U_X8_DIV_6 = 9,
+  I_DRO = 10,
+  U_DRO_DIV_6 = 11,
+  NUM_CHANNELS = 12
+};
+
+enum PlPcduParamIds : uint8_t {
+  NEG_V_LOWER_BOUND = 0,
+  NEG_V_UPPER_BOUND = 1,
+  DRO_U_LOWER_BOUND = 2,
+  DRO_U_UPPER_BOUND = 3,
+  DRO_I_UPPER_BOUND = 4,
+  X8_U_LOWER_BOUND = 5,
+  X8_U_UPPER_BOUND = 6,
+  X8_I_UPPER_BOUND = 7,
+  TX_U_LOWER_BOUND = 8,
+  TX_U_UPPER_BOUND = 9,
+  TX_I_UPPER_BOUND = 10,
+  MPA_U_LOWER_BOUND = 11,
+  MPA_U_UPPER_BOUND = 12,
+  MPA_I_UPPER_BOUND = 13,
+  HPA_U_LOWER_BOUND = 14,
+  HPA_U_UPPER_BOUND = 15,
+  HPA_I_UPPER_BOUND = 16,
+
+  SSR_TO_DRO_WAIT_TIME = 17,
+  DRO_TO_X8_WAIT_TIME = 18,
+  X8_TO_TX_WAIT_TIME = 19,
+  TX_TO_MPA_WAIT_TIME = 20,
+  MPA_TO_HPA_WAIT_TIME = 21,
+
+  INJECT_SSR_TO_DRO_FAILURE = 30,
+  INJECT_DRO_TO_X8_FAILURE = 31,
+  INJECT_X8_TO_TX_FAILURE = 32,
+  INJECT_TX_TO_MPA_FAILURE = 33,
+  INJECT_MPA_TO_HPA_FAILURE = 34,
+  INJECT_ALL_ON_FAILURE = 35
+};
+
+static std::map<PlPcduParamIds, std::string> PARAM_KEY_MAP = {
+    {NEG_V_LOWER_BOUND, "negVoltLowerBound"}, {NEG_V_UPPER_BOUND, "negVoltUpperBound"},
+    {DRO_U_LOWER_BOUND, "droVoltLowerBound"}, {DRO_U_UPPER_BOUND, "droVoltUpperBound"},
+    {DRO_I_UPPER_BOUND, "droCurrUpperBound"}, {X8_U_LOWER_BOUND, "x8VoltLowerBound"},
+    {X8_U_UPPER_BOUND, "x8VoltUpperBound"},   {X8_I_UPPER_BOUND, "x8CurrUpperBound"},
+    {TX_U_LOWER_BOUND, "txVoltLowerBound"},   {TX_U_UPPER_BOUND, "txVoltUpperBound"},
+    {TX_I_UPPER_BOUND, "txCurrUpperBound"},   {MPA_U_LOWER_BOUND, "mpaVoltLowerBound"},
+    {MPA_U_UPPER_BOUND, "mpaVoltUpperBound"}, {MPA_I_UPPER_BOUND, "mpaCurrUpperBound"},
+    {HPA_U_LOWER_BOUND, "hpaVoltLowerBound"}, {HPA_U_UPPER_BOUND, "hpaVoltUpperBound"},
+    {HPA_I_UPPER_BOUND, "hpaCurrUpperBound"}, {SSR_TO_DRO_WAIT_TIME, "ssrToDroWait"},
+    {DRO_TO_X8_WAIT_TIME, "droToX8Wait"},     {X8_TO_TX_WAIT_TIME, "x8ToTxWait"},
+    {TX_TO_MPA_WAIT_TIME, "txToMpaWait"},     {MPA_TO_HPA_WAIT_TIME, "mpaToHpaWait"},
+};
+
+enum PlPcduPoolIds : uint32_t { CHANNEL_VEC = 0, PROCESSED_VEC = 1, TEMP = 2 };
+
+static constexpr size_t MAX_ADC_REPLY_SIZE = 64;
+
+static constexpr DeviceCommandId_t READ_CMD = 0;
+static constexpr DeviceCommandId_t SETUP_CMD = 1;
+static constexpr DeviceCommandId_t READ_TEMP_EXT = 2;
+static constexpr DeviceCommandId_t READ_WITH_TEMP_EXT = 3;
+
+static constexpr Submode_t NORMAL_ADC_ONLY = 0;
+static constexpr Submode_t NORMAL_ALL_ON = 1;
+
+// 12 ADC values * 2 + trailing zero
+static constexpr size_t ADC_REPLY_SIZE = 25;
+// Conversion byte + 24 * zero
+static constexpr size_t TEMP_REPLY_SIZE = 25;
+
+static constexpr uint8_t SETUP_BYTE =
+    max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0);
+
+static constexpr uint32_t ADC_SET_ID = READ_CMD;
+static constexpr uint8_t CHANNELS_NUM = 12;
+static constexpr uint8_t CHANNEL_N = CHANNELS_NUM - 1;
+// Store temperature as well
+static constexpr size_t DATASET_ENTRIES = CHANNELS_NUM + 1;
+
+static constexpr uint8_t VOLTAGE_DIV = 6;
+// 12-bit ADC: 2 to the power of 12 minus 1
+static constexpr uint16_t MAX122X_BIT = 4095;
+static constexpr float MAX122X_VREF = 2.5;
+static constexpr float GAIN_INA169 = 100.0;
+static constexpr float R_SHUNT_HPA = 0.008;
+static constexpr float R_SHUNT_MPA = 0.015;
+static constexpr float R_SHUNT_TX = 0.05;
+static constexpr float R_SHUNT_X8 = 0.015;
+static constexpr float R_SHUNT_DRO = 0.22;
+static constexpr float V_POS = 3.3;
+static constexpr float VOLTAGE_DIV_U_NEG = (49.9 + 27.4) / 27.4;
+static constexpr float MAX122X_SCALE = MAX122X_VREF / MAX122X_BIT;
+static constexpr float SCALE_VOLTAGE = MAX122X_SCALE * VOLTAGE_DIV;
+static constexpr float SCALE_CURRENT_HPA = MAX122X_SCALE / (GAIN_INA169 * R_SHUNT_HPA);
+static constexpr float SCALE_CURRENT_MPA = MAX122X_SCALE / (GAIN_INA169 * R_SHUNT_MPA);
+static constexpr float SCALE_CURRENT_TX = MAX122X_SCALE / (GAIN_INA169 * R_SHUNT_TX);
+static constexpr float SCALE_CURRENT_X8 = MAX122X_SCALE / (GAIN_INA169 * R_SHUNT_X8);
+static constexpr float SCALE_CURRENT_DRO = MAX122X_SCALE / (GAIN_INA169 * R_SHUNT_DRO);
+
+// TODO: Make these configurable parameters using a JSON file
+// Upper bound of currents in milliamperes [mA]
+static constexpr double DFT_NEG_V_LOWER_BOUND = -6.5;
+static constexpr double DFT_NEG_V_UPPER_BOUND = -2.7;
+
+static constexpr double DRO_U_LOWER_BOUND = 5.0;
+static constexpr double DRO_U_UPPER_BOUND = 7.0;
+// Max Current DRO + Max Current Neg V | 40 + 15
+static constexpr double DRO_I_UPPER_BOUND = 55.0;
+
+static constexpr double DFT_X8_U_LOWER_BOUND = 2.6;
+static constexpr double DFT_X8_U_UPPER_BOUND = 4.0;
+static constexpr double DFT_X8_I_UPPER_BOUND = 100.0;
+
+static constexpr double DFT_TX_U_LOWER_BOUND = 2.6;
+static constexpr double DFT_TX_U_UPPER_BOUND = 4.0;
+static constexpr double DFT_TX_I_UPPER_BOUND = 250.0;
+
+static constexpr double DFT_MPA_U_LOWER_BOUND = 2.6;
+static constexpr double DFT_MPA_U_UPPER_BOUND = 4.0;
+static constexpr double DFT_MPA_I_UPPER_BOUND = 650.0;
+
+static constexpr double DFT_HPA_U_LOWER_BOUND = 9.4;
+static constexpr double DFT_HPA_U_UPPER_BOUND = 11.0;
+static constexpr double DFT_HPA_I_UPPER_BOUND = 3000.0;
+
+// Wait time in floating point seconds
+static constexpr double DFT_SSR_TO_DRO_WAIT_TIME = 5.0;
+static constexpr double DFT_DRO_TO_X8_WAIT_TIME = 905.0;
+static constexpr double DFT_X8_TO_TX_WAIT_TIME = 5.0;
+static constexpr double DFT_TX_TO_MPA_WAIT_TIME = 5.0;
+static constexpr double DFT_MPA_TO_HPA_WAIT_TIME = 5.0;
+
+/**
+ * The current of the processed values is calculated and stored as a milliamperes [mA].
+ * The voltages are stored as Volt values.
+ */
+class PlPcduAdcSet : public StaticLocalDataSet<DATASET_ENTRIES> {
+ public:
+  PlPcduAdcSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, ADC_SET_ID) {}
+
+  PlPcduAdcSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, ADC_SET_ID)) {}
+
+  lp_vec_t<uint16_t, 12> channels = lp_vec_t<uint16_t, 12>(sid.objectId, CHANNEL_VEC, this);
+  lp_vec_t<float, 12> processed = lp_vec_t<float, 12>(sid.objectId, PROCESSED_VEC, this);
+  lp_var_t<float> tempC = lp_var_t<float>(sid.objectId, TEMP, this);
+};
+
+class PlPcduParameter : public NVMParameterBase {
+ public:
+  PlPcduParameter() : NVMParameterBase(""), mountPrefix("") {
+    using namespace plpcdu;
+    // Initialize with default values
+    resetValues();
+  }
+
+  ReturnValue_t initialize(std::string mountPrefix) {
+    setFullName(mountPrefix + "/conf/plpcdu.json");
+    ReturnValue_t result = readJsonFile();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      // File does not exist or reading JSON failed for various reason. Rewrite the JSON file
+#if OBSW_VERBOSE_LEVEL >= 1
+      sif::info << "Creating PL PCDU JSON file at " << getFullName() << std::endl;
+#endif
+      resetValues();
+      writeJsonFile();
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+  void resetValues() {
+    insertValue(PARAM_KEY_MAP[SSR_TO_DRO_WAIT_TIME], DFT_SSR_TO_DRO_WAIT_TIME);
+    insertValue(PARAM_KEY_MAP[DRO_TO_X8_WAIT_TIME], DFT_DRO_TO_X8_WAIT_TIME);
+    insertValue(PARAM_KEY_MAP[X8_TO_TX_WAIT_TIME], DFT_X8_TO_TX_WAIT_TIME);
+    insertValue(PARAM_KEY_MAP[TX_TO_MPA_WAIT_TIME], DFT_TX_TO_MPA_WAIT_TIME);
+    insertValue(PARAM_KEY_MAP[MPA_TO_HPA_WAIT_TIME], DFT_MPA_TO_HPA_WAIT_TIME);
+    insertValue(PARAM_KEY_MAP[NEG_V_LOWER_BOUND], DFT_NEG_V_LOWER_BOUND);
+    insertValue(PARAM_KEY_MAP[NEG_V_UPPER_BOUND], DFT_NEG_V_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[DRO_U_LOWER_BOUND], DFT_DRO_U_LOWER_BOUND);
+    insertValue(PARAM_KEY_MAP[DRO_U_UPPER_BOUND], DFT_DRO_U_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[DRO_I_UPPER_BOUND], DFT_DRO_I_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[X8_U_LOWER_BOUND], DFT_X8_U_LOWER_BOUND);
+    insertValue(PARAM_KEY_MAP[X8_U_UPPER_BOUND], DFT_X8_U_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[X8_I_UPPER_BOUND], DFT_X8_I_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[TX_U_LOWER_BOUND], DFT_TX_U_LOWER_BOUND);
+    insertValue(PARAM_KEY_MAP[TX_U_UPPER_BOUND], DFT_TX_U_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[TX_I_UPPER_BOUND], DFT_TX_I_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[MPA_U_LOWER_BOUND], DFT_MPA_U_LOWER_BOUND);
+    insertValue(PARAM_KEY_MAP[MPA_U_UPPER_BOUND], DFT_MPA_U_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[MPA_I_UPPER_BOUND], DFT_MPA_I_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[HPA_U_LOWER_BOUND], DFT_HPA_U_LOWER_BOUND);
+    insertValue(PARAM_KEY_MAP[HPA_U_UPPER_BOUND], DFT_HPA_U_UPPER_BOUND);
+    insertValue(PARAM_KEY_MAP[HPA_I_UPPER_BOUND], DFT_HPA_I_UPPER_BOUND);
+  }
+
+ private:
+  std::string mountPrefix;
+};
+
+}  // namespace plpcdu
+
+#endif /* LINUX_DEVICES_DEVICEDEFINITIONS_PAYLOADPCDUDEFINITIONS_H_ */