From a92024a8584ce5adf4b1fd96006ff195d204adea Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Sat, 14 May 2022 17:32:33 +0200
Subject: [PATCH] now supports auto mode as well

---
 linux/devices/Max31865RtdLowlevelHandler.cpp | 31 ++++++++++++++++----
 linux/devices/Max31865RtdLowlevelHandler.h   |  5 +---
 2 files changed, 27 insertions(+), 9 deletions(-)

diff --git a/linux/devices/Max31865RtdLowlevelHandler.cpp b/linux/devices/Max31865RtdLowlevelHandler.cpp
index f1c8d0e6..9b24f268 100644
--- a/linux/devices/Max31865RtdLowlevelHandler.cpp
+++ b/linux/devices/Max31865RtdLowlevelHandler.cpp
@@ -4,6 +4,19 @@
 #include <fsfw/timemanager/Stopwatch.h>
 #include <fsfw_hal/linux/spi/ManualCsLockGuard.h>
 
+#define OBSW_RTD_AUTO_MODE 1
+
+#if OBSW_RTD_AUTO_MODE == 1
+static constexpr uint8_t BASE_CFG = (MAX31865::Bias::ON << MAX31865::CfgBitPos::BIAS_SEL) |
+                                    (MAX31865::Wires::FOUR_WIRE << MAX31865::CfgBitPos::WIRE_SEL) |
+                                    (MAX31865::ConvMode::AUTO << MAX31865::CfgBitPos::CONV_MODE);
+#else
+static constexpr uint8_t BASE_CFG =
+    (MAX31865::Bias::OFF << MAX31865::CfgBitPos::BIAS_SEL) |
+    (MAX31865::Wires::FOUR_WIRE << MAX31865::CfgBitPos::WIRE_SEL) |
+    (MAX31865::ConvMode::NORM_OFF << MAX31865::CfgBitPos::CONV_MODE);
+#endif
+
 Max31865RtdReader::Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF)
     : SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
   readerMutex = MutexFactory::instance()->createMutex();
@@ -12,21 +25,26 @@ Max31865RtdReader::Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelCom
 ReturnValue_t Max31865RtdReader::performOperation(uint8_t operationCode) {
   using namespace MAX31865;
   ReturnValue_t result = RETURN_OK;
+  static_cast<void>(result);
   // Stopwatch watch;
   if (periodicInitHandling()) {
+#if OBSW_RTD_AUTO_MODE == 0
     // 10 ms delay for VBIAS startup
     TaskFactory::delayTask(10);
+#endif
   } else {
     // No devices usable (e.g. TCS board off)
     return RETURN_OK;
   }
 
+#if OBSW_RTD_AUTO_MODE == 0
   result = periodicReadReqHandling();
   if (result != RETURN_OK) {
     return result;
   }
   // After requesting, 65 milliseconds delay required
   TaskFactory::delayTask(65);
+#endif
 
   return periodicReadHandling();
 }
@@ -57,8 +75,7 @@ bool Max31865RtdReader::periodicInitHandling() {
         sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
         break;
       }
-      uint8_t cfg = rtd->defCfg;
-      result = writeCfgReg(rtd->spiCookie, cfg);
+      result = writeCfgReg(rtd->spiCookie, BASE_CFG);
       if (result != HasReturnvaluesIF::RETURN_OK) {
         handleSpiError(rtd, result, "writeCfgReg");
       }
@@ -94,8 +111,10 @@ bool Max31865RtdReader::periodicInitHandling() {
       continue;
     }
     if (rtdIsActive(rtd->idx)) {
+#if OBSW_RTD_AUTO_MODE == 0
       someRtdUsable = true;
-      result = writeBiasSel(Bias::ON, rtd->spiCookie, rtd->defCfg);
+      result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
+#endif
     }
   }
   return someRtdUsable;
@@ -114,7 +133,7 @@ ReturnValue_t Max31865RtdReader::periodicReadReqHandling() {
       continue;
     }
     if (rtdIsActive(rtd->idx)) {
-      ReturnValue_t result = writeCfgReg(rtd->spiCookie, rtd->defCfg | (1 << CfgBitPos::ONE_SHOT));
+      ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
       if (result != RETURN_OK) {
         handleSpiError(rtd, result, "writeCfgReg");
         // Release mutex ASAP
@@ -152,6 +171,7 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
       rtd->db.adcCode = rtdVal;
     }
   }
+#if OBSW_RTD_AUTO_MODE == 0
   for (auto& rtd : rtds) {
     if (rtd == nullptr) {
       continue;
@@ -159,9 +179,10 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
     // Even if a device was made inactive, turn off the bias here. If it was turned off, not
     // necessary anymore..
     if (rtd->on) {
-      result = writeBiasSel(Bias::OFF, rtd->spiCookie, rtd->defCfg);
+      result = writeBiasSel(Bias::OFF, rtd->spiCookie, BASE_CFG);
     }
   }
+#endif
   return RETURN_OK;
 }
 
diff --git a/linux/devices/Max31865RtdLowlevelHandler.h b/linux/devices/Max31865RtdLowlevelHandler.h
index 3266bbbd..d3845bd5 100644
--- a/linux/devices/Max31865RtdLowlevelHandler.h
+++ b/linux/devices/Max31865RtdLowlevelHandler.h
@@ -21,10 +21,7 @@ struct Max31865ReaderCookie : public CookieIF {
   std::string locString = "";
   std::array<uint8_t, 12> exchangeBuf{};
   Countdown cd = Countdown(MAX31865::WARMUP_MS);
-  // I'd prefer if we could use the NORM_OFF mode, but it does not work for some reason..
-  uint8_t defCfg = (MAX31865::Bias::ON << MAX31865::CfgBitPos::BIAS_SEL) |
-                   (MAX31865::Wires::FOUR_WIRE << MAX31865::CfgBitPos::WIRE_SEL) |
-                   (MAX31865::ConvMode::AUTO << MAX31865::CfgBitPos::CONV_MODE);
+
   bool on = false;
   bool configured = false;
   bool active = false;