added eive specific max31865 handler

linux/ObjectFactory.cpp

@@ -286,10 +286,10 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
   RtdFdir* rtdFdir = nullptr;
   for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-    rtdCookies[idx] =
-        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
-                      MAX31865::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
-    rtds[idx] = new Max31865PT1000Handler(rtdInfos[idx].first, objects::SPI_MAIN_COM_IF, rtdCookies[idx]);
+    rtdCookies[idx] = new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
+                                    MAX31865::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtds[idx] =
+        new Max31865PT1000Handler(rtdInfos[idx].first, objects::SPI_MAIN_COM_IF, rtdCookies[idx]);
     rtds[idx]->setParent(objects::TCS_BOARD_ASS);
     rtdFdir = new RtdFdir(rtdInfos[idx].first);
     rtds[idx]->setCustomFdir(rtdFdir);

linux/devices/Max31865RtdReader.cpp

@@ -2,7 +2,7 @@
 #include <linux/devices/Max31865RtdReader.h>
 
 Max31865RtdReader::Max31865RtdReader(object_id_t objectId, SpiComIF* comIF)
-    : SystemObject(objectId), rtds(NUM_RTDS), comIF(comIF) {
+    : SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(comIF) {
   readerMutex = MutexFactory::instance()->createMutex();
 }
 
@@ -32,8 +32,8 @@ void Max31865RtdReader::rtdMainLoop() {
   periodicReadHandling();
 }
 
-bool Max31865RtdReader::rtdCanBeUsed(uint8_t idx) {
-  if (rtds[idx]->active and rtds[idx]->configured) {
+bool Max31865RtdReader::rtdIsActive(uint8_t idx) {
+  if (rtds[idx]->on and rtds[idx]->active and rtds[idx]->configured) {
     return true;
   }
   return false;
@@ -48,24 +48,26 @@ bool Max31865RtdReader::periodicInitHandling() {
     return false;
   }
 
-  bool someRtdActive = false;
+  bool someRtdOn = false;
   for (auto& rtd : rtds) {
     if (rtd == nullptr) {
       continue;
     }
-    if (rtd->active and not rtd->configured) {
-      someRtdActive = true;
-      uint8_t cfg = (Bias::OFF << CfgBitPos::BIAS_SEL) | (Wires::FOUR_WIRE << CfgBitPos::WIRE_SEL) |
-                    (ConvMode::NORM_OFF << CfgBitPos::CONV_MODE) |
-                    (1 << CfgBitPos::FAULTY_STATUS_CLEAR);
-      result = writeCfgReg(rtd->spiCookie, cfg);
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        // TODO: Check retval
+    if (rtd->on and not rtd->configured) {
+      if (rtd->cd.hasTimedOut()) {
+        uint8_t cfg =
+            (Bias::OFF << CfgBitPos::BIAS_SEL) | (Wires::FOUR_WIRE << CfgBitPos::WIRE_SEL) |
+            (ConvMode::NORM_OFF << CfgBitPos::CONV_MODE) | (1 << CfgBitPos::FAULTY_STATUS_CLEAR);
+        result = writeCfgReg(rtd->spiCookie, cfg);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          // TODO: Check retval
+        }
+        someRtdOn = true;
+        rtd->configured = true;
       }
-      rtd->configured = true;
     }
   }
-  if (not someRtdActive) {
+  if (not someRtdOn) {
     return false;
   }
   bool someRtdUsable = false;
@@ -73,7 +75,7 @@ bool Max31865RtdReader::periodicInitHandling() {
     if (rtd == nullptr) {
       continue;
     }
-    if (rtdCanBeUsed(rtd->idx)) {
+    if (rtdIsActive(rtd->idx)) {
       someRtdUsable = true;
       result = biasSel(Bias::ON, rtd->spiCookie);
     }
@@ -93,7 +95,7 @@ void Max31865RtdReader::periodicReadReqHandling() {
     if (rtd == nullptr) {
       continue;
     }
-    if (rtd->active) {
+    if (rtdIsActive(rtd->idx)) {
       uint8_t currentCfg = 0;
       auto result = readCfgReg(rtd->spiCookie, currentCfg);
       if (result != RETURN_OK) {
@@ -119,7 +121,7 @@ void Max31865RtdReader::periodicReadHandling() {
     if (rtd == nullptr) {
       continue;
     }
-    if (rtd->active) {
+    if (rtdIsActive(rtd->idx)) {
       uint16_t rtdVal = 0;
       bool faultBitSet = false;
       result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
@@ -137,7 +139,9 @@ void Max31865RtdReader::periodicReadHandling() {
     if (rtd == nullptr) {
       continue;
     }
-    if (rtd->active) {
+    // Even if a device was made inactive, turn off the bias here. If it was turned off, not
+    // necessary anymore..
+    if (rtd->on) {
       result = biasSel(Bias::OFF, rtd->spiCookie);
     }
   }
@@ -152,7 +156,7 @@ ReturnValue_t Max31865RtdReader::initializeInterface(CookieIF* cookie) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  if (rtdCookie->idx > NUM_RTDS) {
+  if (rtdCookie->idx > EiveMax31855::NUM_RTDS) {
     throw std::invalid_argument("Invalid RTD index");
   }
   rtds[rtdCookie->idx] = rtdCookie;
@@ -178,21 +182,40 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
     // TODO: Emit warning, invalid command
     return RETURN_OK;
   }
-  auto cmd = static_cast<RtdCommands>(sendData[0]);
+  auto cmd = static_cast<EiveMax31855::RtdCommands>(sendData[0]);
   switch (cmd) {
-    case (RtdCommands::ON): {
-      if (not rtdCookie->active) {
-        rtdCookie->active = true;
+    case (EiveMax31855::RtdCommands::ON): {
+      if (not rtdCookie->on) {
+        rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
+        rtdCookie->cd.resetTimer();
+        rtdCookie->on = true;
+        rtdCookie->active = false;
         rtdCookie->configured = false;
       }
       break;
     }
-    case (RtdCommands::OFF): {
+    case (EiveMax31855::RtdCommands::ACTIVE): {
+      if (not rtdCookie->on) {
+        rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
+        rtdCookie->cd.resetTimer();
+        rtdCookie->on = true;
+        rtdCookie->active = true;
+        rtdCookie->configured = false;
+      } else {
+        rtdCookie->active = true;
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::OFF): {
+      rtdCookie->on = false;
       rtdCookie->active = false;
       rtdCookie->configured = false;
       break;
     }
-    case (RtdCommands::CFG): {
+    case (EiveMax31855::RtdCommands::HIGH_TRESHOLD):
+    case (EiveMax31855::RtdCommands::LOW_THRESHOLD):
+    case (EiveMax31855::RtdCommands::CFG):
+    default: {
       // TODO: Only implement if needed
       break;
     }

linux/devices/Max31865RtdReader.h

@@ -9,32 +9,6 @@
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
-static constexpr uint8_t NUM_RTDS = 16;
-
-enum RtdCommands : uint8_t { ON = 0, OFF = 1, CFG = 2 };
-
-class ReadOutStruct : public SerialLinkedListAdapter<SerializeIF> {
- public:
-  ReadOutStruct() { setLinks(); }
-  ReadOutStruct(uint32_t spiErrCnt, bool faultBitSet, uint8_t faultVal, uint16_t rtdVal)
-      : spiErrorCount(spiErrCnt), faultBitSet(faultBitSet), faultValue(faultVal), rtdVal(rtdVal) {
-    setLinks();
-  }
-
-  SerializeElement<uint32_t> spiErrorCount = 0;
-  SerializeElement<bool> faultBitSet = false;
-  SerializeElement<uint8_t> faultValue = 0;
-  SerializeElement<uint16_t> rtdVal = 0;
-
- private:
-  void setLinks() {
-    setStart(&spiErrorCount);
-    spiErrorCount.setNext(&faultBitSet);
-    faultBitSet.setNext(&faultValue);
-    faultValue.setNext(&rtdVal);
-  };
-};
-
 struct Max31865ReaderCookie {
   Max31865ReaderCookie(){};
   Max31865ReaderCookie(object_id_t handlerId_, uint8_t idx_, const std::string& locString_,
@@ -46,14 +20,14 @@ struct Max31865ReaderCookie {
 
   std::string locString = "";
   std::array<uint8_t, 12> exchangeBuf{};
-  bool active = false;
-
+  Countdown cd = Countdown(MAX31865::WARMUP_MS);
+  bool on = false;
   bool configured = false;
-
+  bool active = false;
   SpiCookie* spiCookie = nullptr;
 
   // Exchange data buffer struct
-  ReadOutStruct db;
+  EiveMax31855::ReadOutStruct db;
 };
 
 class Max31865RtdReader : public SystemObject,
@@ -74,7 +48,7 @@ class Max31865RtdReader : public SystemObject,
   void periodicReadReqHandling();
   void periodicReadHandling();
 
-  bool rtdCanBeUsed(uint8_t idx);
+  bool rtdIsActive(uint8_t idx);
   ReturnValue_t writeCfgReg(SpiCookie* cookie, uint8_t cfg);
   ReturnValue_t biasSel(MAX31865::Bias bias, SpiCookie* cookie);
   ReturnValue_t readCfgReg(SpiCookie* cookie, uint8_t& cfg);

mission/devices/CMakeLists.txt

@@ -8,6 +8,7 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     PDU2Handler.cpp
     ACUHandler.cpp
     SyrlinksHkHandler.cpp
+    Max31865EiveHandler.cpp
     Max31865PT1000Handler.cpp
     IMTQHandler.cpp
     HeaterHandler.cpp

mission/devices/Max31865EiveHandler.cpp

@@ -0,0 +1,132 @@
+#include "Max31865EiveHandler.h"
+
+Max31865EiveHandler::Max31865EiveHandler(object_id_t objectId, object_id_t comIF,
+                                         CookieIF* comCookie)
+    : DeviceHandlerBase(objectId, comIF, comCookie, nullptr),
+      sensorDataset(this, EiveMax31855::RtdCommands::EXCHANGE_SET_ID) {}
+
+void Max31865EiveHandler::doStartUp() {
+  if (state == InternalState::NONE or state == InternalState::INACTIVE) {
+    if (instantNormal) {
+      state = InternalState::ACTIVE;
+    } else {
+      state = InternalState::ON;
+    }
+    transitionOk = false;
+  }
+  if ((state == InternalState::ON or state == InternalState::ACTIVE) and transitionOk) {
+    if (instantNormal) {
+      setMode(_MODE_TO_NORMAL);
+    } else {
+      setMode(MODE_ON);
+    }
+  }
+}
+
+void Max31865EiveHandler::doShutDown() {
+  if (state == InternalState::NONE or state == InternalState::ACTIVE or
+      state == InternalState::ON) {
+    state = InternalState::INACTIVE;
+    transitionOk = false;
+  } else {
+    transitionOk = true;
+  }
+  if (state == InternalState::INACTIVE and transitionOk) {
+    setMode(_MODE_POWER_DOWN);
+  }
+}
+
+ReturnValue_t Max31865EiveHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  *id = EiveMax31855::RtdCommands::EXCHANGE_SET_ID;
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865EiveHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (state == InternalState::ON) {
+    *id = EiveMax31855::RtdCommands::ON;
+    buildCommandFromCommand(*id, nullptr, 0);
+  }
+  if (state == InternalState::ACTIVE) {
+    *id = EiveMax31855::RtdCommands::ACTIVE;
+    buildCommandFromCommand(*id, nullptr, 0);
+  }
+  if (state == InternalState::INACTIVE) {
+    *id = EiveMax31855::RtdCommands::OFF;
+    buildCommandFromCommand(*id, nullptr, 0);
+  }
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t Max31865EiveHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                           const uint8_t* commandData,
+                                                           size_t commandDataLen) {
+  auto cmdTyped = static_cast<EiveMax31855::RtdCommands>(deviceCommand);
+  switch (cmdTyped) {
+    case (EiveMax31855::RtdCommands::ON):
+    case (EiveMax31855::RtdCommands::ACTIVE):
+    case (EiveMax31855::RtdCommands::OFF): {
+      simpleCommand(cmdTyped);
+      break;
+    }
+    case (EiveMax31855::RtdCommands::LOW_THRESHOLD):
+    case (EiveMax31855::RtdCommands::HIGH_TRESHOLD): {
+      break;
+    }
+    case (EiveMax31855::RtdCommands::CFG): {
+      break;
+    }
+    default:
+      return NOTHING_TO_SEND;
+  }
+  return RETURN_OK;
+}
+
+void Max31865EiveHandler::simpleCommand(EiveMax31855::RtdCommands cmd) {
+  cmdBuf[0] = cmd;
+  rawPacket = cmdBuf.data();
+  rawPacketLen = 1;
+}
+void Max31865EiveHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  if (mode == _MODE_TO_NORMAL) {
+    state = InternalState::ACTIVE;
+    transitionOk = false;
+    if (transitionOk) {
+      setMode(MODE_NORMAL);
+    }
+  } else {
+    DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+  }
+}
+
+void Max31865EiveHandler::fillCommandAndReplyMap() {
+  insertInReplyMap(EiveMax31855::RtdCommands::EXCHANGE_SET_ID, 2, &sensorDataset);
+}
+
+ReturnValue_t Max31865EiveHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+                                                DeviceCommandId_t* foundId, size_t* foundLen) {
+  if (remainingSize != exchangeStruct.getSerializedSize()) {
+    sif::error << "Invalid reply from RTD reader detected, reply size " << remainingSize
+               << "not equal to exchange struct size" << exchangeStruct.getSerializedSize()
+               << std::endl;
+    return RETURN_FAILED;
+  }
+  *foundId = EiveMax31855::RtdCommands::EXCHANGE_SET_ID;
+  *foundLen = remainingSize;
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865EiveHandler::interpretDeviceReply(DeviceCommandId_t id,
+                                                        const uint8_t* packet) {
+  return RETURN_OK;
+}
+
+uint32_t Max31865EiveHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2000; }
+
+ReturnValue_t Max31865EiveHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                           LocalDataPoolManager& poolManager) {
+  localDataPoolMap.emplace(MAX31865::PoolIds::RTD_VALUE, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(MAX31865::PoolIds::TEMPERATURE_C, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(MAX31865::PoolIds::FAULT_BYTE, new PoolEntry<uint8_t>({0}));
+  poolManager.subscribeForPeriodicPacket(sensorDataset.getSid(), false, 30.0, false);
+  return RETURN_OK;
+}

mission/devices/Max31865EiveHandler.h

@@ -0,0 +1,37 @@
+#ifndef MISSION_DEVICES_MAX31865EIVEHANDLER_H_
+#define MISSION_DEVICES_MAX31865EIVEHANDLER_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+#include "devicedefinitions/Max31865Definitions.h"
+
+class Max31865EiveHandler : public DeviceHandlerBase {
+ public:
+  Max31865EiveHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+
+ private:
+  void doStartUp() override;
+  void doShutDown() override;
+  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+  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;
+
+  void simpleCommand(EiveMax31855::RtdCommands cmd);
+  std::array<uint8_t, 12> cmdBuf = {};
+  EiveMax31855::ReadOutStruct exchangeStruct;
+  bool instantNormal = false;
+  MAX31865::Max31865Set sensorDataset;
+  enum class InternalState { NONE, ON, ACTIVE, INACTIVE } state = InternalState::NONE;
+  bool transitionOk = false;
+};
+
+#endif /* MISSION_DEVICES_MAX31865EIVEHANDLER_H_ */

mission/devices/Max31865PT1000Handler.cpp

@@ -8,7 +8,7 @@
 Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId, object_id_t comIF,
                                              CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comIF, comCookie),
-      sensorDataset(this),
+      sensorDataset(this, MAX31865::REQUEST_RTD),
       sensorDatasetSid(sensorDataset.getSid()) {
 #if OBSW_VERBOSE_LEVEL >= 1
   debugDivider = new PeriodicOperationDivider(10);

mission/devices/devicedefinitions/Max31865Definitions.h

@@ -28,6 +28,8 @@ enum CfgBitPos {
   BIAS_SEL = 7
 };
 
+static constexpr uint32_t WARMUP_MS = 100;
+
 static constexpr DeviceCommandId_t CONFIG_CMD = 0x80;
 static constexpr DeviceCommandId_t WRITE_HIGH_THRESHOLD = 0x83;
 static constexpr DeviceCommandId_t WRITE_LOW_THRESHOLD = 0x85;
@@ -50,20 +52,20 @@ static constexpr uint8_t REG_RTD = 0x01;
 
 static constexpr size_t MAX_REPLY_SIZE = 5;
 
-class Max31865Set : public StaticLocalDataSet<sizeof(float) + sizeof(uint8_t)> {
+class Max31865Set : public StaticLocalDataSet<3> {
  public:
   /**
    * Constructor used by owner and data creators like device handlers.
    * @param owner
    * @param setId
    */
-  Max31865Set(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, MAX31865_SET_ID) {}
+  Max31865Set(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}
 
   /**
    * Constructor used by data users like controllers.
    * @param sid
    */
-  Max31865Set(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, MAX31865_SET_ID)) {}
+  Max31865Set(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
 
   lp_var_t<float> rtdValue = lp_var_t<float>(sid.objectId, PoolIds::RTD_VALUE, this);
   lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, PoolIds::TEMPERATURE_C, this);
@@ -72,4 +74,50 @@ class Max31865Set : public StaticLocalDataSet<sizeof(float) + sizeof(uint8_t)> {
 
 }  // namespace MAX31865
 
+namespace EiveMax31855 {
+
+static constexpr uint8_t NUM_RTDS = 16;
+
+enum RtdCommands : DeviceCommandId_t {
+  ON = 0,
+  EXCHANGE_SET_ID = MAX31865::REQUEST_RTD,
+  ACTIVE = 2,
+  LOW_THRESHOLD = 3,
+  HIGH_TRESHOLD = 4,
+  OFF = 5,
+  CFG = 6,
+
+};
+
+class ReadOutStruct : public SerialLinkedListAdapter<SerializeIF> {
+ public:
+  ReadOutStruct() { setLinks(); }
+  ReadOutStruct(bool active, uint32_t spiErrCnt, bool faultBitSet, uint8_t faultVal,
+                uint16_t rtdVal)
+      : active(active),
+        rtdVal(rtdVal),
+        faultBitSet(faultBitSet),
+        faultValue(faultVal),
+        spiErrorCount(spiErrCnt) {
+    setLinks();
+  }
+
+  SerializeElement<bool> active = false;
+  SerializeElement<uint16_t> rtdVal = 0;
+  SerializeElement<bool> faultBitSet = false;
+  SerializeElement<uint8_t> faultValue = 0;
+  SerializeElement<uint32_t> spiErrorCount = 0;
+
+ private:
+  void setLinks() {
+    setStart(&active);
+    active.setNext(&rtdVal);
+    rtdVal.setNext(&faultBitSet);
+    faultBitSet.setNext(&faultValue);
+    faultValue.setNext(&spiErrorCount);
+  };
+};
+
+};  // namespace EiveMax31855
+
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MAX13865DEFINITIONS_H_ */

mission/devices/devicedefinitions/Max31865DeviceDefinitions.cpp

@@ -1 +0,0 @@
-#include "Max31865Definitions.h"