eive/eive-obsw
eive/eive-obsw
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RTD Update #251

Merged
meierj merged 36 commits from mueller/rtds-update into develop 2022-05-23 16:20:38 +02:00
Conversation 0 Commits 36 Files Changed 26 +116 -176
11 changed files with 116 additions and 176 deletions
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Showing only changes of commit 1c9f411e75 - Show all commits

48
bsp_q7s/core/InitMission.cpp
View File

@ -15,6 +15,7 @@
#include "fsfw/tasks/FixedTimeslotTaskIF.h" #include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h" #include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h" #include "fsfw/tasks/TaskFactory.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/utility/InitMission.h" #include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h" #include "pollingsequence/pollingSequenceFactory.h"
@ -117,7 +118,7 @@ void initmission::initTasks() {
#if OBSW_ADD_ACS_HANDLERS == 1 #if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsTask = factory->createPeriodicTask( PeriodicTaskIF* acsTask = factory->createPeriodicTask(
"ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsTask->addComponent(objects::GPS_CONTROLLER); result = acsTask->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER); initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
@ -138,26 +139,42 @@ void initmission::initTasks() {
initmission::printAddObjectError("RW_ASS", objects::RW_ASS); initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
} }
#endif #endif
#if OBSW_ADD_SUS_BOARD_ASS == 1 #if OBSW_ADD_SUS_BOARD_ASS == 1
result = sysTask->addComponent(objects::SUS_BOARD_ASS); result = sysTask->addComponent(objects::SUS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS); initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
} }
#endif #endif
PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
"TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
objects::RTD_0_IC3_PLOC_HEATSPREADER,
objects::RTD_1_IC4_PLOC_MISSIONBOARD,
objects::RTD_2_IC5_4K_CAMERA,
objects::RTD_3_IC6_DAC_HEATSPREADER,
objects::RTD_4_IC7_STARTRACKER,
objects::RTD_5_IC8_RW1_MX_MY,
objects::RTD_6_IC9_DRO,
objects::RTD_7_IC10_SCEX,
objects::RTD_8_IC11_X8,
objects::RTD_9_IC12_HPA,
objects::RTD_10_IC13_PL_TX,
objects::RTD_11_IC14_MPA,
objects::RTD_12_IC15_ACU,
objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
objects::RTD_14_IC17_TCS_BOARD,
objects::RTD_15_IC18_IMTQ,
};
#if OBSW_ADD_RTD_DEVICES == 1 #if OBSW_ADD_RTD_DEVICES == 1
result = sysTask->addComponent(objects::TCS_BOARD_ASS); for (const auto& rtd : rtdIds) {
if (result != HasReturnvaluesIF::RETURN_OK) { tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS); tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
} }
auto* rtdReader = ObjectManager::instance()->get<DeviceCommunicationIF>(objects::SPI_RTD_COM_IF); #endif /* OBSW_ADD_RTD_DEVICES */
if (rtdReader != nullptr) {
result = sysTask->addComponent(objects::SPI_RTD_COM_IF);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_RTD_COM_IF", objects::SPI_RTD_COM_IF);
}
}
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
// FS task, task interval does not matter because it runs in permanent loop, priority low // FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task // because it is a non-essential background task
@ -254,12 +271,9 @@ void initmission::initTasks() {
strHelperTask->startTask(); strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
acsTask->startTask(); acsTask->startTask();
#endif
#if OBSW_ADD_RTD_DEVICES == 1
sysTask->startTask(); sysTask->startTask();
#endif tcsTask->startTask();
#if OBSW_ADD_PLOC_SUPERVISOR == 1 #if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask(); supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */ #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */

2
fsfw

@ -1 +1 @@
Subproject commit 4841d5d92d721383e92b521b584c7d0e62c9873d Subproject commit dba08fed7a00187ba204f46bc40424f7b87f3aea

2
linux/ObjectFactory.cpp
View File

@ -313,7 +313,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
rtds[idx] = typedHandler; rtds[idx] = typedHandler;
typedHandler->setDeviceInfo(idx, rtdInfos[idx].second); typedHandler->setDeviceInfo(idx, rtdInfos[idx].second);
#if OBSW_DEBUG_RTD == 1 #if OBSW_DEBUG_RTD == 1
// typedHandler->setDebugMode(true); typedHandler->setDebugMode(true, 5);
#endif #endif
#if OBSW_TEST_RTD == 1 #if OBSW_TEST_RTD == 1
typedHandler->setInstantNormal(true); typedHandler->setInstantNormal(true);

37
linux/devices/Max31865RtdLowlevelHandler.cpp
View File

@ -49,16 +49,15 @@ bool Max31865RtdReader::periodicInitHandling() {
return false; return false;
} }
bool someRtdOn = false;
for (auto& rtd : rtds) { for (auto& rtd : rtds) {
if (rtd == nullptr) { if (rtd == nullptr) {
continue; continue;
} }
if ((rtd->on or rtd->active) and not rtd->configured) { if ((rtd->on or rtd->active) and not rtd->configured) {
if (rtd->cd.hasTimedOut()) { if (rtd->cd.hasTimedOut()) {
uint8_t cfg = uint8_t cfg = (Bias::OFF << CfgBitPos::BIAS_SEL) |
(Bias::OFF << CfgBitPos::BIAS_SEL) | (Wires::FOUR_WIRE << CfgBitPos::WIRE_SEL) | (Wires::FOUR_WIRE << CfgBitPos::WIRE_SEL) |
(ConvMode::NORM_OFF << CfgBitPos::CONV_MODE) | (1 << CfgBitPos::FAULTY_STATUS_CLEAR); (ConvMode::NORM_OFF << CfgBitPos::CONV_MODE);
result = writeCfgReg(rtd->spiCookie, cfg); result = writeCfgReg(rtd->spiCookie, cfg);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
handleSpiError(rtd, result, "writeCfgReg"); handleSpiError(rtd, result, "writeCfgReg");
@ -84,13 +83,13 @@ bool Max31865RtdReader::periodicInitHandling() {
handleSpiError(rtd, result, "clearFaultStatus"); handleSpiError(rtd, result, "clearFaultStatus");
} }
} }
someRtdOn = true;
rtd->configured = true; rtd->configured = true;
rtd->db.configured = true;
if (rtd->active) {
rtd->db.active = true;
} }
} }
} }
if (not someRtdOn) {
return false;
} }
bool someRtdUsable = false; bool someRtdUsable = false;
for (auto& rtd : rtds) { for (auto& rtd : rtds) {
@ -126,6 +125,10 @@ void Max31865RtdReader::periodicReadReqHandling() {
} }
currentCfg |= (1 << CfgBitPos::ONE_SHOT); currentCfg |= (1 << CfgBitPos::ONE_SHOT);
result = writeCfgReg(rtd->spiCookie, currentCfg); result = writeCfgReg(rtd->spiCookie, currentCfg);
if (result != RETURN_OK) {
handleSpiError(rtd, result, "writeCfgReg");
continue;
}
} }
} }
} }
@ -154,7 +157,7 @@ void Max31865RtdReader::periodicReadHandling() {
if (faultBitSet) { if (faultBitSet) {
rtd->db.faultBitSet = faultBitSet; rtd->db.faultBitSet = faultBitSet;
} }
rtd->db.rtdVal = rtdVal; rtd->db.adcCode = rtdVal;
} }
} }
for (auto& rtd : rtds) { for (auto& rtd : rtds) {
@ -182,6 +185,10 @@ ReturnValue_t Max31865RtdReader::initializeInterface(CookieIF* cookie) {
throw std::invalid_argument("Invalid RTD index"); throw std::invalid_argument("Invalid RTD index");
} }
rtds[rtdCookie->idx] = rtdCookie; rtds[rtdCookie->idx] = rtdCookie;
MutexGuard mg(readerMutex);
if (dbLen == 0) {
dbLen = rtdCookie->db.getSerializedSize();
}
return RETURN_OK; return RETURN_OK;
} }
@ -299,14 +306,13 @@ ReturnValue_t Max31865RtdReader::readReceivedMessage(CookieIF* cookie, uint8_t**
return RETURN_FAILED; return RETURN_FAILED;
} }
*buffer = reinterpret_cast<uint8_t*>(rtdCookie->exchangeBuf.data()); *buffer = reinterpret_cast<uint8_t*>(rtdCookie->exchangeBuf.data());
*size = rtdCookie->db.getSerializedSize(); *size = serLen;
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t Max31865RtdReader::writeCfgReg(SpiCookie* cookie, uint8_t cfg) { ReturnValue_t Max31865RtdReader::writeCfgReg(SpiCookie* cookie, uint8_t cfg) {
using namespace MAX31865; using namespace MAX31865;
uint8_t cmd = cfg; return writeNToReg(cookie, CONFIG, 1, &cfg, nullptr);
return writeNToReg(cookie, CONFIG, 1, &cmd, nullptr);
} }
ReturnValue_t Max31865RtdReader::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie) { ReturnValue_t Max31865RtdReader::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie) {
@ -388,7 +394,7 @@ ReturnValue_t Max31865RtdReader::writeNToReg(SpiCookie* cookie, uint8_t reg, siz
for (size_t idx = 0; idx < n; idx++) { for (size_t idx = 0; idx < n; idx++) {
cmdBuf[idx + 1] = cmd[idx]; cmdBuf[idx + 1] = cmd[idx];
} }
return comIF->sendMessage(cookie, cmd, 2); return comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
} }
ReturnValue_t Max31865RtdReader::readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet) { ReturnValue_t Max31865RtdReader::readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet) {
@ -416,18 +422,19 @@ ReturnValue_t Max31865RtdReader::readNFromReg(SpiCookie* cookie, uint8_t reg, si
reg &= ~WRITE_BIT; reg &= ~WRITE_BIT;
cmdBuf[0] = reg; cmdBuf[0] = reg;
std::memset(cmdBuf.data() + 1, 0, n); std::memset(cmdBuf.data() + 1, 0, n);
ReturnValue_t result = comIF->sendMessage(cookie, cmdBuf.data(), n); ReturnValue_t result = comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return RETURN_FAILED; return RETURN_FAILED;
} }
uint8_t* replyPtr = replyBuf.data();
size_t dummyLen = 0; size_t dummyLen = 0;
uint8_t* replyPtr = nullptr;
result = comIF->readReceivedMessage(cookie, &replyPtr, &dummyLen); result = comIF->readReceivedMessage(cookie, &replyPtr, &dummyLen);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
if (reply != nullptr) { if (reply != nullptr) {
*reply = replyBuf.data() + 1; *reply = replyPtr + 1;
} }
return RETURN_OK; return RETURN_OK;
} }

2
linux/devices/Max31865RtdLowlevelHandler.h
View File

@ -45,7 +45,7 @@ class Max31865RtdReader : public SystemObject,
private: private:
std::vector<Max31865ReaderCookie*> rtds; std::vector<Max31865ReaderCookie*> rtds;
std::array<uint8_t, 4> cmdBuf = {}; std::array<uint8_t, 4> cmdBuf = {};
std::array<uint8_t, 4> replyBuf = {}; size_t dbLen = 0;
MutexIF* readerMutex; MutexIF* readerMutex;
void rtdMainLoop(); void rtdMainLoop();

117
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -5,6 +5,8 @@
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#ifndef RPI_TEST_ADIS16507 #ifndef RPI_TEST_ADIS16507
#define RPI_TEST_ADIS16507 0 #define RPI_TEST_ADIS16507 0
#endif #endif
@ -62,6 +64,7 @@ ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length); static_cast<void>(length);
thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * 0.0, 0);
#if OBSW_ADD_PL_PCDU == 1 #if OBSW_ADD_PL_PCDU == 1
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@ -73,140 +76,26 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
#endif #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
#endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TMP_DEVICES == 1 #if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TMP_DEVICES == 1 #if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
#endif #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.4, DeviceHandlerIF::GET_WRITE);
#endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TMP_DEVICES == 1 #if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
#endif #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.6, DeviceHandlerIF::SEND_READ);
#endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TMP_DEVICES == 1 #if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
#endif #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.8, DeviceHandlerIF::GET_READ);
#endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_RAD_SENSORS == 1 #if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */ /* Radiation sensor */

52
mission/devices/Max31865EiveHandler.cpp
View File

@ -3,7 +3,10 @@
Max31865EiveHandler::Max31865EiveHandler(object_id_t objectId, object_id_t comIF, Max31865EiveHandler::Max31865EiveHandler(object_id_t objectId, object_id_t comIF,
CookieIF* comCookie) CookieIF* comCookie)
: DeviceHandlerBase(objectId, comIF, comCookie, nullptr), : DeviceHandlerBase(objectId, comIF, comCookie, nullptr),
sensorDataset(this, EiveMax31855::RtdCommands::EXCHANGE_SET_ID) {} sensorDataset(this, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
debugDivider(5) {
structLen = exchangeStruct.getSerializedSize();
}
void Max31865EiveHandler::doStartUp() { void Max31865EiveHandler::doStartUp() {
if (state == InternalState::NONE or state == InternalState::INACTIVE) { if (state == InternalState::NONE or state == InternalState::INACTIVE) {
@ -86,21 +89,18 @@ void Max31865EiveHandler::setInstantNormal(bool instantNormal) {
this->instantNormal = instantNormal; this->instantNormal = instantNormal;
} }
void Max31865EiveHandler::setDebugMode(bool enable, uint32_t divider) {
this->debugMode = enable;
debugDivider.setDivider(divider);
}
void Max31865EiveHandler::simpleCommand(EiveMax31855::RtdCommands cmd) { void Max31865EiveHandler::simpleCommand(EiveMax31855::RtdCommands cmd) {
cmdBuf[0] = static_cast<uint8_t>(cmd); cmdBuf[0] = static_cast<uint8_t>(cmd);
rawPacket = cmdBuf.data(); rawPacket = cmdBuf.data();
rawPacketLen = 1; rawPacketLen = 1;
} }
void Max31865EiveHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { 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); DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
} }
void Max31865EiveHandler::fillCommandAndReplyMap() { void Max31865EiveHandler::fillCommandAndReplyMap() {
@ -112,20 +112,42 @@ void Max31865EiveHandler::fillCommandAndReplyMap() {
ReturnValue_t Max31865EiveHandler::scanForReply(const uint8_t* start, size_t remainingSize, ReturnValue_t Max31865EiveHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) { DeviceCommandId_t* foundId, size_t* foundLen) {
if (remainingSize != exchangeStruct.getSerializedSize()) { if (remainingSize != structLen) {
sif::error << "Invalid reply from RTD reader detected, reply size " << remainingSize sif::error << "Invalid reply from RTD reader detected, reply size " << remainingSize
<< "not equal to exchange struct size" << exchangeStruct.getSerializedSize() << " not equal to exchange struct size " << structLen << std::endl;
<< std::endl; return DeviceHandlerIF::INVALID_DATA;
return RETURN_FAILED;
} }
*foundId = EiveMax31855::RtdCommands::EXCHANGE_SET_ID; *foundId = EiveMax31855::RtdCommands::EXCHANGE_SET_ID;
*foundLen = remainingSize; *foundLen = remainingSize;
sif::info << "Max31865EiveHandler::scanForReply: Reply size " << remainingSize << std::endl;
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t Max31865EiveHandler::interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t Max31865EiveHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) { const uint8_t* packet) {
size_t deserTmp = structLen;
auto result = exchangeStruct.deSerialize(&packet, &deserTmp, SerializeIF::Endianness::MACHINE);
if (result != RETURN_OK) {
return result;
}
if (mode == _MODE_START_UP) {
if (exchangeStruct.active and state == InternalState::ACTIVE) {
transitionOk = true;
}
if (exchangeStruct.configured and state == InternalState::ON) {
transitionOk = true;
}
}
// Calculate resistance
float rtdValue = exchangeStruct.adcCode * EiveMax31855::RTD_RREF_PT1000 / INT16_MAX;
// calculate approximation
float approxTemp = exchangeStruct.adcCode / 32.0 - 256.0;
if (debugMode) {
if (debugDivider.checkAndIncrement()) {
sif::info << "Max31865: " << std::setw(20) << std::left << locString << std::right
<< " | R[Ohm] " << rtdValue << " Ohms | Approx T[C]: " << approxTemp << std::endl;
}
}
return RETURN_OK; return RETURN_OK;
} }
@ -148,7 +170,7 @@ void Max31865EiveHandler::setDeviceInfo(uint8_t idx_, std::string location_) {
ReturnValue_t Max31865EiveHandler::initialize() { ReturnValue_t Max31865EiveHandler::initialize() {
auto result = DeviceHandlerBase::initialize(); auto result = DeviceHandlerBase::initialize();
if(result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
return updatePeriodicReply(true, EiveMax31855::RtdCommands::EXCHANGE_SET_ID); return updatePeriodicReply(true, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);

5
mission/devices/Max31865EiveHandler.h
View File

@ -2,6 +2,7 @@
#define MISSION_DEVICES_MAX31865EIVEHANDLER_H_ #define MISSION_DEVICES_MAX31865EIVEHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/Max31865Definitions.h" #include "devicedefinitions/Max31865Definitions.h"
@ -9,6 +10,7 @@ class Max31865EiveHandler : public DeviceHandlerBase {
public: public:
Max31865EiveHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie); Max31865EiveHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
void setInstantNormal(bool instantNormal); void setInstantNormal(bool instantNormal);
void setDebugMode(bool enable, uint32_t divider);
void setDeviceInfo(uint8_t idx, std::string location); void setDeviceInfo(uint8_t idx, std::string location);
private: private:
@ -33,8 +35,11 @@ class Max31865EiveHandler : public DeviceHandlerBase {
uint8_t idx = 0; uint8_t idx = 0;
std::string locString = "Unknown"; std::string locString = "Unknown";
EiveMax31855::ReadOutStruct exchangeStruct; EiveMax31855::ReadOutStruct exchangeStruct;
bool debugMode = false;
size_t structLen = 0;
bool instantNormal = false; bool instantNormal = false;
MAX31865::Max31865Set sensorDataset; MAX31865::Max31865Set sensorDataset;
PeriodicOperationDivider debugDivider;
enum class InternalState { NONE, ON, ACTIVE, INACTIVE } state = InternalState::NONE; enum class InternalState { NONE, ON, ACTIVE, INACTIVE } state = InternalState::NONE;
bool transitionOk = false; bool transitionOk = false;
}; };

5
mission/devices/Max31865PT1000Handler.cpp
View File

@ -394,9 +394,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
// RTD value consists of last seven bits of the LSB reply byte and // RTD value consists of last seven bits of the LSB reply byte and
// the MSB reply byte // the MSB reply byte
uint16_t adcCode = ((packet[1] << 8) | packet[2]) >> 1; uint16_t adcCode = ((packet[1] << 8) | packet[2]) >> 1;
// do something with rtd value, will propably be stored in // Calculate resistance
// dataset. float rtdValue = adcCode * EiveMax31855::RTD_RREF_PT1000 / INT16_MAX;
float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX;
// calculate approximation // calculate approximation
float approxTemp = adcCode / 32.0 - 256.0; float approxTemp = adcCode / 32.0 - 256.0;

1
mission/devices/Max31865PT1000Handler.h
View File

@ -61,7 +61,6 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
static constexpr uint16_t HIGH_THRESHOLD = 11298; // = 100 C static constexpr uint16_t HIGH_THRESHOLD = 11298; // = 100 C
static constexpr uint16_t LOW_THRESHOLD = 4902; // = -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 static constexpr float RTD_RESISTANCE0_PT1000 = 1000.0; //!< Ohm
protected: protected:
// DeviceHandlerBase abstract function implementation // DeviceHandlerBase abstract function implementation

17
mission/devices/devicedefinitions/Max31865Definitions.h
View File

@ -14,7 +14,7 @@ enum Wires : unsigned int { TWO_WIRE = 0, THREE_WIRE = 1, FOUR_WIRE = 0 };
enum ConvMode : unsigned int { NORM_OFF = 0, AUTO = 1 }; enum ConvMode : unsigned int { NORM_OFF = 0, AUTO = 1 };
enum Bias : unsigned int { ON = 0, OFF = 1 }; enum Bias : unsigned int { OFF = 0, ON = 1 };
enum FilterSel : unsigned int { FIFTY_HERTZ = 1, SIXTY_HERTZ = 0 }; enum FilterSel : unsigned int { FIFTY_HERTZ = 1, SIXTY_HERTZ = 0 };
@ -85,6 +85,7 @@ class Max31865Set : public StaticLocalDataSet<4> {
namespace EiveMax31855 { namespace EiveMax31855 {
static constexpr float RTD_RREF_PT1000 = 4020.0; //!< Ohm
static constexpr uint8_t NUM_RTDS = 16; static constexpr uint8_t NUM_RTDS = 16;
enum RtdCommands : DeviceCommandId_t { enum RtdCommands : DeviceCommandId_t {
@ -104,24 +105,28 @@ class ReadOutStruct : public SerialLinkedListAdapter<SerializeIF> {
ReadOutStruct(bool active, uint32_t spiErrCnt, bool faultBitSet, uint8_t faultVal, ReadOutStruct(bool active, uint32_t spiErrCnt, bool faultBitSet, uint8_t faultVal,
uint16_t rtdVal) uint16_t rtdVal)
: active(active), : active(active),
rtdVal(rtdVal), adcCode(rtdVal),
faultBitSet(faultBitSet), faultBitSet(faultBitSet),
faultValue(faultVal), faultValue(faultVal),
spiErrorCount(spiErrCnt) { spiErrorCount(spiErrCnt) {
setLinks(); setLinks();
} }
//! RTD was set on and is configured, but is not periodically polled
SerializeElement<bool> configured = false;
//! RTD is active and polled periodically
SerializeElement<bool> active = false; SerializeElement<bool> active = false;
SerializeElement<uint16_t> rtdVal = 0; SerializeElement<uint16_t> adcCode = 0;
SerializeElement<bool> faultBitSet = false; SerializeElement<bool> faultBitSet = false;
SerializeElement<uint8_t> faultValue = 0; SerializeElement<uint8_t> faultValue = 0;
SerializeElement<uint32_t> spiErrorCount = 0; SerializeElement<uint32_t> spiErrorCount = 0;
private: private:
void setLinks() { void setLinks() {
setStart(&active); setStart(&configured);
active.setNext(&rtdVal); configured.setNext(&active);
rtdVal.setNext(&faultBitSet); active.setNext(&adcCode);
adcCode.setNext(&faultBitSet);
faultBitSet.setNext(&faultValue); faultBitSet.setNext(&faultValue);
faultValue.setNext(&spiErrorCount); faultValue.setNext(&spiErrorCount);
}; };