rework lock handling in rtd handler

2023-03-03 11:43:47 +01:00 · 2023-03-03 11:43:47 +01:00 · fcba76b7f1
commit fcba76b7f1
parent 245b5dfcc6
4 changed files with 54 additions and 44 deletions
--- a/linux/devices/Max31865RtdPolling.cpp
+++ b/linux/devices/Max31865RtdPolling.cpp
@ -56,19 +56,28 @@ bool Max31865RtdPolling::rtdIsActive(uint8_t idx) {
  return false;
 }

-bool Max31865RtdPolling::periodicInitHandling() {
+ReturnValue_t Max31865RtdPolling::periodicInitHandling() {
  using namespace MAX31865;
  ReturnValue_t result = returnvalue::OK;
  for (auto& rtd : rtds) {
    if (rtd == nullptr) {
      continue;
    }
+    bool mustPerformInitHandling = false;
+    bool doWriteLowThreshold = false;
+    bool doWriteHighThreshold = false;
+    {
      MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
      if (mg.getLockResult() != returnvalue::OK) {
        sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
-      return false;
+        continue;
      }
-    if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) {
+      mustPerformInitHandling =
+          (rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut();
+      doWriteHighThreshold = rtd->writeHighThreshold;
+      doWriteLowThreshold = rtd->writeLowThreshold;
+    }
+    if (mustPerformInitHandling) {
      // Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
      // or hardware specific issue where the CS needs to be pulled high and then low again
      // between transfers
@ -77,13 +86,13 @@ bool Max31865RtdPolling::periodicInitHandling() {
        handleSpiError(rtd, result, "writeCfgReg");
        continue;
      }
-      if (rtd->writeLowThreshold) {
+      if (doWriteLowThreshold) {
        result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
        if (result != returnvalue::OK) {
          handleSpiError(rtd, result, "writeLowThreshold");
        }
      }
-      if (rtd->writeHighThreshold) {
+      if (doWriteHighThreshold) {
        result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
        if (result != returnvalue::OK) {
          handleSpiError(rtd, result, "writeHighThreshold");
@ -93,23 +102,12 @@ bool Max31865RtdPolling::periodicInitHandling() {
      if (result != returnvalue::OK) {
        handleSpiError(rtd, result, "clearFaultStatus");
      }
+      MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
      rtd->db.configured = true;
      rtd->db.active = true;
    }
  }
-  bool someRtdUsable = false;
-  for (auto& rtd : rtds) {
-    if (rtd == nullptr) {
-      continue;
-    }
-    if (rtdIsActive(rtd->idx)) {
-#if OBSW_RTD_AUTO_MODE == 0
-      result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
-#endif
-      someRtdUsable = true;
-    }
-  }
-  return someRtdUsable;
+  return returnvalue::OK;
 }

 ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
@ -119,12 +117,8 @@ ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
    if (rtd == nullptr) {
      continue;
    }
-    MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-    if (mg.getLockResult() != returnvalue::OK) {
-      sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
-      return returnvalue::FAILED;
-    }
-    if (rtdIsActive(rtd->idx)) {
+    updateActiveRtdsArray();
+    if (activeRtdsArray[rtd->idx]) {
      ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
      if (result != returnvalue::OK) {
        handleSpiError(rtd, result, "writeCfgReg");
@ -144,12 +138,8 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
    if (rtd == nullptr) {
      continue;
    }
-    MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-    if (mg.getLockResult() != returnvalue::OK) {
-      sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
-      return returnvalue::FAILED;
-    }
-    if (rtdIsActive(rtd->idx)) {
+    updateActiveRtdsArray();
+    if (activeRtdsArray[rtd->idx]) {
      // Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
      // or hardware specific issue where the CS needs to be pulled high and then low again
      // between transfers
@ -166,6 +156,7 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
        handleSpiError(rtd, result, "readRtdVal");
        continue;
      }
+      MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
      if (faultBitSet) {
        rtd->db.faultBitSet = faultBitSet;
      }
@ -212,6 +203,10 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
  if (cookie == nullptr) {
    return returnvalue::FAILED;
  }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  if (rtdCookie == nullptr) {
+    return returnvalue::FAILED;
+  }
  // Empty command.. don't fail for now
  if (sendLen < 1) {
    return returnvalue::OK;
@ -221,7 +216,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
    sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
    return returnvalue::FAILED;
  }
-  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
  uint8_t cmdRaw = sendData[0];
  if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
    sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
@ -312,15 +306,15 @@ ReturnValue_t Max31865RtdPolling::requestReceiveMessage(CookieIF* cookie, size_t

 ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
                                                      size_t* size) {
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  if (rtdCookie == nullptr) {
+    return returnvalue::FAILED;
+  }
  MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
  if (mg.getLockResult() != returnvalue::OK) {
    // TODO: Emit warning
    return returnvalue::FAILED;
  }
-  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
-  if (rtdCookie == nullptr) {
-    return returnvalue::FAILED;
-  }
  uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
  size_t serLen = 0;
  auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
@ -461,6 +455,18 @@ ReturnValue_t Max31865RtdPolling::readNFromReg(SpiCookie* cookie, uint8_t reg, s
  return returnvalue::OK;
 }

+ReturnValue_t Max31865RtdPolling::updateActiveRtdsArray() {
+  MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  if (mg.getLockResult() != returnvalue::OK) {
+    sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  for (const auto& rtd : rtds) {
+    activeRtdsArray[rtd->idx] = rtdIsActive(rtd->idx);
+  }
+  return returnvalue::OK;
+}
+
 ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
                                                 const char* ctx) {
  cookie->db.spiErrorCount.value += 1;
--- a/linux/devices/Max31865RtdPolling.h
+++ b/linux/devices/Max31865RtdPolling.h
@ -47,6 +47,7 @@ class Max31865RtdPolling : public SystemObject,
 private:
  std::vector<Max31865ReaderCookie*> rtds;
  std::array<uint8_t, 4> cmdBuf = {};
+  std::array<bool, 12> activeRtdsArray{};
  size_t dbLen = 0;
  MutexIF* readerLock;
  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
@ -59,7 +60,7 @@ class Max31865RtdPolling : public SystemObject,
  uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
  MutexIF* csLock = nullptr;

-  bool periodicInitHandling();
+  ReturnValue_t periodicInitHandling();
  ReturnValue_t periodicReadReqHandling();
  ReturnValue_t periodicReadHandling();

@ -84,6 +85,8 @@ class Max31865RtdPolling : public SystemObject,
  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;

+  ReturnValue_t updateActiveRtdsArray();
+
  ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
 };

--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@ -84,10 +84,11 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
 }

 // Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
-ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
-                          bool sunRateBValid, double *magFieldB, bool magFieldBValid,
-                          double *magRateB, bool magRateBValid, double *sunDirRef,
-                          double *satRateRef, double *outputAngle, double *outputMagMomB) {
+ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid,
+                                   double *sunRateB, bool sunRateBValid, double *magFieldB,
+                                   bool magFieldBValid, double *magRateB, bool magRateBValid,
+                                   double *sunDirRef, double *satRateRef, double *outputAngle,
+                                   double *outputMagMomB) {
  // Check for invalid Inputs
  if (!susDirBValid || !magFieldBValid || !magRateBValid) {
    return returnvalue::FAILED;
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 77fbcede10d44fd15dc7d5d1b3965f06c6a8e7fc
+Subproject commit 74e6d6fe5f10121e8444662a79fa10fada3d978c