2022-05-23 16:20:38 +02:00
11 changed files with 116 additions and 176 deletions
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@ -15,6 +15,7 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
 #include "pollingsequence/pollingSequenceFactory.h"

@ -117,7 +118,7 @@ void initmission::initTasks() {

 #if OBSW_ADD_ACS_HANDLERS == 1
  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);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
@ -138,26 +139,42 @@ void initmission::initTasks() {
    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
  }
 #endif
-
 #if OBSW_ADD_SUS_BOARD_ASS == 1
  result = sysTask->addComponent(objects::SUS_BOARD_ASS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
  }
 #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
-  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+  for (const auto& rtd : rtdIds) {
+    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
+    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);
-  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 */
+#endif /* OBSW_ADD_RTD_DEVICES */

  // FS task, task interval does not matter because it runs in permanent loop, priority low
  // because it is a non-essential background task
@ -254,12 +271,9 @@ void initmission::initTasks() {
  strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */

-#if OBSW_ADD_ACS_HANDLERS == 1
  acsTask->startTask();
-#endif
-#if OBSW_ADD_RTD_DEVICES == 1
  sysTask->startTask();
-#endif
+  tcsTask->startTask();
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
  supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 4841d5d92d721383e92b521b584c7d0e62c9873d
+Subproject commit dba08fed7a00187ba204f46bc40424f7b87f3aea
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -313,7 +313,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
    rtds[idx] = typedHandler;
    typedHandler->setDeviceInfo(idx, rtdInfos[idx].second);
 #if OBSW_DEBUG_RTD == 1
-    // typedHandler->setDebugMode(true);
+    typedHandler->setDebugMode(true, 5);
 #endif
 #if OBSW_TEST_RTD == 1
    typedHandler->setInstantNormal(true);
--- a/linux/devices/Max31865RtdLowlevelHandler.cpp
+++ b/linux/devices/Max31865RtdLowlevelHandler.cpp
@ -49,16 +49,15 @@ bool Max31865RtdReader::periodicInitHandling() {
    return false;
  }

-  bool someRtdOn = false;
  for (auto& rtd : rtds) {
    if (rtd == nullptr) {
      continue;
    }
    if ((rtd->on or rtd->active) 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);
+        uint8_t cfg = (Bias::OFF << CfgBitPos::BIAS_SEL) |
+                      (Wires::FOUR_WIRE << CfgBitPos::WIRE_SEL) |
+                      (ConvMode::NORM_OFF << CfgBitPos::CONV_MODE);
        result = writeCfgReg(rtd->spiCookie, cfg);
        if (result != HasReturnvaluesIF::RETURN_OK) {
          handleSpiError(rtd, result, "writeCfgReg");
@ -84,13 +83,13 @@ bool Max31865RtdReader::periodicInitHandling() {
            handleSpiError(rtd, result, "clearFaultStatus");
          }
        }
-        someRtdOn = true;
        rtd->configured = true;
+        rtd->db.configured = true;
+        if (rtd->active) {
+          rtd->db.active = true;
        }
      }
    }
-  if (not someRtdOn) {
-    return false;
  }
  bool someRtdUsable = false;
  for (auto& rtd : rtds) {
@ -126,6 +125,10 @@ void Max31865RtdReader::periodicReadReqHandling() {
      }
      currentCfg |= (1 << CfgBitPos::ONE_SHOT);
      result = writeCfgReg(rtd->spiCookie, currentCfg);
+      if (result != RETURN_OK) {
+        handleSpiError(rtd, result, "writeCfgReg");
+        continue;
+      }
    }
  }
 }
@ -154,7 +157,7 @@ void Max31865RtdReader::periodicReadHandling() {
      if (faultBitSet) {
        rtd->db.faultBitSet = faultBitSet;
      }
-      rtd->db.rtdVal = rtdVal;
+      rtd->db.adcCode = rtdVal;
    }
  }
  for (auto& rtd : rtds) {
@ -182,6 +185,10 @@ ReturnValue_t Max31865RtdReader::initializeInterface(CookieIF* cookie) {
    throw std::invalid_argument("Invalid RTD index");
  }
  rtds[rtdCookie->idx] = rtdCookie;
+  MutexGuard mg(readerMutex);
+  if (dbLen == 0) {
+    dbLen = rtdCookie->db.getSerializedSize();
+  }
  return RETURN_OK;
 }

@ -299,14 +306,13 @@ ReturnValue_t Max31865RtdReader::readReceivedMessage(CookieIF* cookie, uint8_t**
    return RETURN_FAILED;
  }
  *buffer = reinterpret_cast<uint8_t*>(rtdCookie->exchangeBuf.data());
-  *size = rtdCookie->db.getSerializedSize();
+  *size = serLen;
  return RETURN_OK;
 }

 ReturnValue_t Max31865RtdReader::writeCfgReg(SpiCookie* cookie, uint8_t cfg) {
  using namespace MAX31865;
-  uint8_t cmd = cfg;
-  return writeNToReg(cookie, CONFIG, 1, &cmd, nullptr);
+  return writeNToReg(cookie, CONFIG, 1, &cfg, nullptr);
 }

 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++) {
    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) {
@ -416,18 +422,19 @@ ReturnValue_t Max31865RtdReader::readNFromReg(SpiCookie* cookie, uint8_t reg, si
  reg &= ~WRITE_BIT;
  cmdBuf[0] = reg;
  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) {
    return RETURN_FAILED;
  }
-  uint8_t* replyPtr = replyBuf.data();
+
  size_t dummyLen = 0;
+  uint8_t* replyPtr = nullptr;
  result = comIF->readReceivedMessage(cookie, &replyPtr, &dummyLen);
  if (result != RETURN_OK) {
    return result;
  }
  if (reply != nullptr) {
-    *reply = replyBuf.data() + 1;
+    *reply = replyPtr + 1;
  }
  return RETURN_OK;
 }
--- a/linux/devices/Max31865RtdLowlevelHandler.h
+++ b/linux/devices/Max31865RtdLowlevelHandler.h
@ -45,7 +45,7 @@ class Max31865RtdReader : public SystemObject,
 private:
  std::vector<Max31865ReaderCookie*> rtds;
  std::array<uint8_t, 4> cmdBuf = {};
-  std::array<uint8_t, 4> replyBuf = {};
+  size_t dbLen = 0;
  MutexIF* readerMutex;

  void rtdMainLoop();
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@ -5,6 +5,8 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>

+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+
 #ifndef RPI_TEST_ADIS16507
 #define RPI_TEST_ADIS16507 0
 #endif
@ -62,6 +64,7 @@ ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
 ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
  uint32_t length = thisSequence->getPeriodMs();
  static_cast<void>(length);
+  thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * 0.0, 0);
 #if OBSW_ADD_PL_PCDU == 1
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  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_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 #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
  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
 #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
  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
 #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
  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
 #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
  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
 #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
  /* Radiation sensor */
--- a/mission/devices/Max31865EiveHandler.cpp
+++ b/mission/devices/Max31865EiveHandler.cpp
@ -3,7 +3,10 @@
 Max31865EiveHandler::Max31865EiveHandler(object_id_t objectId, object_id_t comIF,
                                         CookieIF* comCookie)
    : 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() {
  if (state == InternalState::NONE or state == InternalState::INACTIVE) {
@ -86,21 +89,18 @@ void Max31865EiveHandler::setInstantNormal(bool instantNormal) {
  this->instantNormal = instantNormal;
 }

+void Max31865EiveHandler::setDebugMode(bool enable, uint32_t divider) {
+  this->debugMode = enable;
+  debugDivider.setDivider(divider);
+}
+
 void Max31865EiveHandler::simpleCommand(EiveMax31855::RtdCommands cmd) {
  cmdBuf[0] = static_cast<uint8_t>(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() {
@ -112,20 +112,42 @@ void Max31865EiveHandler::fillCommandAndReplyMap() {

 ReturnValue_t Max31865EiveHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                                DeviceCommandId_t* foundId, size_t* foundLen) {
-  if (remainingSize != exchangeStruct.getSerializedSize()) {
+  if (remainingSize != structLen) {
    sif::error << "Invalid reply from RTD reader detected, reply size " << remainingSize
-               << "not equal to exchange struct size" << exchangeStruct.getSerializedSize()
-               << std::endl;
-    return RETURN_FAILED;
+               << " not equal to exchange struct size " << structLen << std::endl;
+    return DeviceHandlerIF::INVALID_DATA;
  }
  *foundId = EiveMax31855::RtdCommands::EXCHANGE_SET_ID;
  *foundLen = remainingSize;
-  sif::info << "Max31865EiveHandler::scanForReply: Reply size " << remainingSize << std::endl;
  return RETURN_OK;
 }

 ReturnValue_t Max31865EiveHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                        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;
 }

@ -148,7 +170,7 @@ void Max31865EiveHandler::setDeviceInfo(uint8_t idx_, std::string location_) {

 ReturnValue_t Max31865EiveHandler::initialize() {
  auto result = DeviceHandlerBase::initialize();
-  if(result != RETURN_OK) {
+  if (result != RETURN_OK) {
    return result;
  }
  return updatePeriodicReply(true, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);
--- a/mission/devices/Max31865EiveHandler.h
+++ b/mission/devices/Max31865EiveHandler.h
@ -2,6 +2,7 @@
 #define MISSION_DEVICES_MAX31865EIVEHANDLER_H_

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>

 #include "devicedefinitions/Max31865Definitions.h"

@ -9,6 +10,7 @@ class Max31865EiveHandler : public DeviceHandlerBase {
 public:
  Max31865EiveHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
  void setInstantNormal(bool instantNormal);
+  void setDebugMode(bool enable, uint32_t divider);
  void setDeviceInfo(uint8_t idx, std::string location);

 private:
@ -33,8 +35,11 @@ class Max31865EiveHandler : public DeviceHandlerBase {
  uint8_t idx = 0;
  std::string locString = "Unknown";
  EiveMax31855::ReadOutStruct exchangeStruct;
+  bool debugMode = false;
+  size_t structLen = 0;
  bool instantNormal = false;
  MAX31865::Max31865Set sensorDataset;
+  PeriodicOperationDivider debugDivider;
  enum class InternalState { NONE, ON, ACTIVE, INACTIVE } state = InternalState::NONE;
  bool transitionOk = false;
 };
--- a/mission/devices/Max31865PT1000Handler.cpp
+++ b/mission/devices/Max31865PT1000Handler.cpp
@ -394,9 +394,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
      // RTD value consists of last seven bits of the LSB reply byte and
      // the MSB reply byte
      uint16_t adcCode = ((packet[1] << 8) | packet[2]) >> 1;
-      // do something with rtd value, will propably be stored in
-      // dataset.
-      float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX;
+      // Calculate resistance
+      float rtdValue = adcCode * EiveMax31855::RTD_RREF_PT1000 / INT16_MAX;
      // calculate approximation
      float approxTemp = adcCode / 32.0 - 256.0;

--- a/mission/devices/Max31865PT1000Handler.h
+++ b/mission/devices/Max31865PT1000Handler.h
@ -61,7 +61,6 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
  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
--- a/mission/devices/devicedefinitions/Max31865Definitions.h
+++ b/mission/devices/devicedefinitions/Max31865Definitions.h
@ -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 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 };

@ -85,6 +85,7 @@ class Max31865Set : public StaticLocalDataSet<4> {

 namespace EiveMax31855 {

+static constexpr float RTD_RREF_PT1000 = 4020.0;  //!< Ohm
 static constexpr uint8_t NUM_RTDS = 16;

 enum RtdCommands : DeviceCommandId_t {
@ -104,24 +105,28 @@ class ReadOutStruct : public SerialLinkedListAdapter<SerializeIF> {
  ReadOutStruct(bool active, uint32_t spiErrCnt, bool faultBitSet, uint8_t faultVal,
                uint16_t rtdVal)
      : active(active),
-        rtdVal(rtdVal),
+        adcCode(rtdVal),
        faultBitSet(faultBitSet),
        faultValue(faultVal),
        spiErrorCount(spiErrCnt) {
    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<uint16_t> rtdVal = 0;
+  SerializeElement<uint16_t> adcCode = 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);
+    setStart(&configured);
+    configured.setNext(&active);
+    active.setNext(&adcCode);
+    adcCode.setNext(&faultBitSet);
    faultBitSet.setNext(&faultValue);
    faultValue.setNext(&spiErrorCount);
  };