fixed merge conflicts and added threshold configuration to Max31865Handler

bsp_q7s/ObjectFactory.cpp

@@ -454,7 +454,7 @@ void ObjectFactory::produce(){
 
     SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
             std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_3, 2000000);
     SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
             std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
@@ -490,7 +490,7 @@ void ObjectFactory::produce(){
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
             std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, 3900000);
     SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
             std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
@@ -517,10 +517,10 @@ void ObjectFactory::produce(){
     Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
     Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
     Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
-    rtdIc3->setStartUpImmediately();
+    rtdIc17->setStartUpImmediately();
 //    rtdIc4->setStartUpImmediately();
 
-//    (void) rtdIc3;
+    (void) rtdIc3;
     (void) rtdIc4;
     (void) rtdIc5;
     (void) rtdIc6;
@@ -534,7 +534,7 @@ void ObjectFactory::produce(){
     (void) rtdIc14;
     (void) rtdIc15;
     (void) rtdIc16;
-    (void) rtdIc17;
+//    (void) rtdIc17;
     (void) rtdIc18;
 
 #endif /* Q7S_ADD_RTD_DEVICES == 1 */

linux/fsfwconfig/OBSWConfig.h

@@ -41,6 +41,7 @@ debugging. */
 #define L3GD20_GYRO_DEBUG               0
 #define DEBUG_RAD_SENSOR                1
 #define DEBUG_SUS                       1
+#define DEBUG_RTD                       1
 
 // Leave at one as the BSP is linux. Used by the ADIS16507 device handler
 #define OBSW_ADIS16507_LINUX_COM_IF     1

mission/devices/Max31865PT1000Handler.cpp

@@ -8,7 +8,7 @@ Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId,
         DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
         sensorDataset(this), sensorDatasetSid(sensorDataset.getSid()) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    debugDivider = new PeriodicOperationDivider(10);
+    debugDivider = new PeriodicOperationDivider(0);
 #endif
 }
 
@@ -38,10 +38,38 @@ void Max31865PT1000Handler::doStartUp() {
 
     if(internalState == InternalState::REQUEST_CONFIG) {
         if (commandExecuted) {
+            commandExecuted = false;
+            internalState = InternalState::CONFIG_HIGH_THRESHOLD;
+        }
+    }
+
+    if(internalState == InternalState::CONFIG_HIGH_THRESHOLD) {
+        if(commandExecuted) {
+            internalState = InternalState::REQUEST_HIGH_THRESHOLD;
+            commandExecuted = false;
+        }
+    }
+
+    if(internalState == InternalState::REQUEST_HIGH_THRESHOLD) {
+        if(commandExecuted) {
+            internalState = InternalState::CONFIG_LOW_THRESHOLD;
+            commandExecuted = false;
+        }
+    }
+
+    if(internalState == InternalState::CONFIG_LOW_THRESHOLD) {
+        if(commandExecuted) {
+            internalState = InternalState::REQUEST_LOW_THRESHOLD;
+            commandExecuted = false;
+        }
+    }
+
+    if(internalState == InternalState::REQUEST_LOW_THRESHOLD) {
+        if(commandExecuted) {
             setMode(MODE_ON);
             setMode(MODE_NORMAL);
-            commandExecuted = false;
             internalState = InternalState::RUNNING;
+            commandExecuted = false;
         }
     }
 }
@@ -82,6 +110,22 @@ ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand(
         *id = Max31865Definitions::REQUEST_CONFIG;
         return buildCommandFromCommand(*id, nullptr, 0);
     }
+    case(InternalState::CONFIG_HIGH_THRESHOLD): {
+        *id = Max31865Definitions::WRITE_HIGH_THRESHOLD;
+        return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case(InternalState::REQUEST_HIGH_THRESHOLD): {
+        *id = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
+        return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case(InternalState::CONFIG_LOW_THRESHOLD): {
+        *id = Max31865Definitions::WRITE_LOW_THRESHOLD;
+        return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case(InternalState::REQUEST_LOW_THRESHOLD): {
+        *id = Max31865Definitions::REQUEST_LOW_THRESHOLD;
+        return buildCommandFromCommand(*id, nullptr, 0);
+    }
 
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -110,13 +154,49 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(
         }
     }
     case(Max31865Definitions::REQUEST_CONFIG): {
-        commandBuffer[0] = 0x00; // dummy byte
+        commandBuffer[0] = static_cast<uint8_t>(
-        commandBuffer[1] = static_cast<uint8_t>(
                 Max31865Definitions::REQUEST_CONFIG);
+        commandBuffer[1] = 0x00; // dummy byte
         DeviceHandlerBase::rawPacketLen = 2;
         DeviceHandlerBase::rawPacket = commandBuffer.data();
         return HasReturnvaluesIF::RETURN_OK;
     }
+    case(Max31865Definitions::WRITE_HIGH_THRESHOLD): {
+        commandBuffer[0] = static_cast<uint8_t>(
+                Max31865Definitions::WRITE_HIGH_THRESHOLD);
+        commandBuffer[1] = static_cast<uint8_t>(HIGH_THRESHOLD >> 8);
+        commandBuffer[2] = static_cast<uint8_t>(HIGH_THRESHOLD & 0xFF);
+        DeviceHandlerBase::rawPacketLen = 3;
+        DeviceHandlerBase::rawPacket = commandBuffer.data();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
+        commandBuffer[0] = static_cast<uint8_t>(
+                Max31865Definitions::REQUEST_HIGH_THRESHOLD);
+        commandBuffer[1] = 0x00; //dummy byte
+        commandBuffer[2] = 0x00; //dummy byte
+        DeviceHandlerBase::rawPacketLen = 3;
+        DeviceHandlerBase::rawPacket = commandBuffer.data();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(Max31865Definitions::WRITE_LOW_THRESHOLD): {
+        commandBuffer[0] = static_cast<uint8_t>(
+                Max31865Definitions::WRITE_LOW_THRESHOLD);
+        commandBuffer[1] = static_cast<uint8_t>(LOW_THRESHOLD >> 8);
+        commandBuffer[2] = static_cast<uint8_t>(LOW_THRESHOLD & 0xFF);
+        DeviceHandlerBase::rawPacketLen = 3;
+        DeviceHandlerBase::rawPacket = commandBuffer.data();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(Max31865Definitions::REQUEST_LOW_THRESHOLD): {
+        commandBuffer[0] = static_cast<uint8_t>(
+                Max31865Definitions::REQUEST_LOW_THRESHOLD);
+        commandBuffer[1] = 0x00; //dummy byte
+        commandBuffer[2] = 0x00; //dummy byte
+        DeviceHandlerBase::rawPacketLen = 3;
+        DeviceHandlerBase::rawPacket = commandBuffer.data();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
     case(Max31865Definitions::REQUEST_RTD): {
         commandBuffer[0] = static_cast<uint8_t>(
                 Max31865Definitions::REQUEST_RTD);
@@ -144,6 +224,10 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(
 void Max31865PT1000Handler::fillCommandAndReplyMap() {
     insertInCommandAndReplyMap(Max31865Definitions::CONFIG_CMD, 3);
     insertInCommandAndReplyMap(Max31865Definitions::REQUEST_CONFIG, 3);
+    insertInCommandAndReplyMap(Max31865Definitions::WRITE_LOW_THRESHOLD, 3);
+    insertInCommandAndReplyMap(Max31865Definitions::REQUEST_LOW_THRESHOLD, 3);
+    insertInCommandAndReplyMap(Max31865Definitions::WRITE_HIGH_THRESHOLD, 3);
+    insertInCommandAndReplyMap(Max31865Definitions::REQUEST_HIGH_THRESHOLD, 3);
     insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3,
             &sensorDataset);
     insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3);
@@ -158,6 +242,39 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
             internalState == InternalState::RUNNING) {
         *foundId = Max31865Definitions::REQUEST_RTD;
         *foundLen = rtdReplySize;
+        return RETURN_OK;
+    }
+
+    if(remainingSize == 3) {
+        switch(internalState) {
+        case(InternalState::CONFIG_HIGH_THRESHOLD): {
+            *foundLen = 3;
+            *foundId = Max31865Definitions::WRITE_HIGH_THRESHOLD;
+            commandExecuted = true;
+            return RETURN_OK;
+        }
+        case(InternalState::REQUEST_HIGH_THRESHOLD): {
+            *foundLen = 3;
+            *foundId = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
+            return RETURN_OK;
+        }
+        case(InternalState::CONFIG_LOW_THRESHOLD): {
+            *foundLen = 3;
+            *foundId = Max31865Definitions::WRITE_LOW_THRESHOLD;
+            commandExecuted = true;
+            return RETURN_OK;
+        }
+        case(InternalState::REQUEST_LOW_THRESHOLD): {
+            *foundLen = 3;
+            *foundId = Max31865Definitions::REQUEST_LOW_THRESHOLD;
+            return RETURN_OK;
+        }
+        default: {
+            sif::debug << "Max31865PT1000Handler::scanForReply: Unknown internal state"
+                    << std::endl;
+            return RETURN_OK;
+        }
+        }
     }
 
     if(remainingSize == configReplySize) {
@@ -203,14 +320,38 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
         }
         break;
     }
+    case(Max31865Definitions::REQUEST_LOW_THRESHOLD): {
+        uint16_t readLowThreshold = packet[0] << 8 | packet[1];
+        if(readLowThreshold != LOW_THRESHOLD) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && DEBUG_RTD == 1
+            sif::error
+                    << "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written "
+                    << "and readback value of low threshold register"
+                    << std::endl;
+#endif
+        }
+        commandExecuted = true;
+        break;
+    }
+    case(Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
+        uint16_t readHighThreshold = packet[0] << 8 | packet[1];
+        if(readHighThreshold != HIGH_THRESHOLD) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && DEBUG_RTD == 1
+            sif::error
+                    << "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written "
+                    << "and readback value of high threshold register"
+                    << std::endl;
+#endif
+        }
+        commandExecuted = true;
+        break;
+    }
     case(Max31865Definitions::REQUEST_RTD): {
         // first bit of LSB reply byte is the fault bit
         uint8_t faultBit = packet[2] & 0b0000'0001;
         if(faultBit == 1) {
             // Maybe we should attempt to restart it?
-            if(faultByte == 0) {
+            internalState = InternalState::REQUEST_FAULT_BYTE;
-                internalState = InternalState::REQUEST_FAULT_BYTE;
-            }
         }
 
         // RTD value consists of last seven bits of the LSB reply byte and
@@ -329,7 +470,7 @@ void Max31865PT1000Handler::debugInterface(uint8_t positionTracker,
 
 uint32_t Max31865PT1000Handler::getTransitionDelayMs(
         Mode_t modeFrom, Mode_t modeTo) {
-    return 10000;
+    return 20000;
 }
 
 ReturnValue_t Max31865PT1000Handler::getSwitches(

mission/devices/Max31865PT1000Handler.h

@@ -37,16 +37,27 @@ public:
 	// Configuration in 8 digit code:
 	// 1. 1 for V_BIAS enabled, 0 for disabled
 	// 2. 1 for Auto-conversion, 0 for off
-	// 3. 1 for 1-shot enabled, 0 for disabled
+	// 3. 1 for 1-shot enabled, 0 for disabled (self-clearing bit)
 	// 4. 1 for 3-wire disabled, 0 for disabled
 	// 5./6. Fault detection:  00 for no action, 01 for automatic delay, 1
 	// 	  0 for run fault detection with manual delay,
 	// 	  11 for finish fault detection with manual delay
-	// 7. Fault status:  1 for auto-clear, 0 for auto-clear off
+	// 7. Fault status:  Write 1 to reset fault status register (Bit is self cleared afterwards)
 	// 8. 1 for 50 Hz filter, 0 for 60 Hz filter (noise rejection filter)
 	static constexpr uint8_t DEFAULT_CONFIG = 0b11000001;
 
-	static constexpr float RTD_RREF_PT1000 = 4000.0; //!< Ohm
+	/**
+	 * Expected temperature range is -100°C and 100°C.
+	 * If there are temperatures beyond this range there must be a fault.
+	 * The threshold variables cause the MAX1385 to signal an error in case the measured resistance
+	 * indicates a temperature higher than 100°C or lower than -100°C.
+	 * Default settings of MAX13865 are 0xFFFF for the high threshold register and 0x0 for the
+	 * low threshold register.
+	 */
+	static constexpr uint16_t HIGH_THRESHOLD = 11298; // = 100°C
+	static constexpr uint16_t LOW_THRESHOLD = 4902; // = -100°C
+
+	static constexpr float RTD_RREF_PT1000 = 4020.0; //!< Ohm
 	static constexpr float RTD_RESISTANCE0_PT1000 = 1000.0; //!< Ohm
 protected:
 	/* DeviceHandlerBase abstract function implementation */
@@ -80,6 +91,10 @@ private:
 		NONE,
 		WARMUP,
 		CONFIGURE,
+		CONFIG_HIGH_THRESHOLD,
+		REQUEST_HIGH_THRESHOLD,
+		CONFIG_LOW_THRESHOLD,
+		REQUEST_LOW_THRESHOLD,
 		REQUEST_CONFIG,
 		RUNNING,
 		REQUEST_FAULT_BYTE

mission/devices/devicedefinitions/Max31865Definitions.h

@@ -14,8 +14,12 @@ enum PoolIds: lp_id_t {
 };
 
 static constexpr DeviceCommandId_t CONFIG_CMD = 0x80;
+static constexpr DeviceCommandId_t WRITE_HIGH_THRESHOLD = 0x83;
+static constexpr DeviceCommandId_t WRITE_LOW_THRESHOLD = 0x85;
 static constexpr DeviceCommandId_t REQUEST_CONFIG = 0x00;
 static constexpr DeviceCommandId_t REQUEST_RTD = 0x01;
+static constexpr DeviceCommandId_t REQUEST_HIGH_THRESHOLD = 0x03;
+static constexpr DeviceCommandId_t REQUEST_LOW_THRESHOLD = 0x05;
 static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = 0x07;
 
 static constexpr uint32_t MAX31865_SET_ID = REQUEST_RTD;