bsp_q7s/core/InitMission.cpp

@@ -147,13 +147,13 @@ void initmission::initTasks() {
 #endif
 
   PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
-      "TCS_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
   PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
-      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
   std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
       objects::RTD_0_IC3_PLOC_HEATSPREADER,
       objects::RTD_1_IC4_PLOC_MISSIONBOARD,
@@ -180,6 +180,7 @@ void initmission::initTasks() {
     tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
     tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
   }
+  tcsTask->addComponent(objects::TCS_BOARD_ASS);
 #endif /* OBSW_ADD_RTD_DEVICES */
 
   // FS task, task interval does not matter because it runs in permanent loop, priority low

common/config/devConf.h

@@ -31,7 +31,7 @@ static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 static const uint32_t SUS_MAX1227_SPI_FREQ = 976'000;
 static constexpr spi::SpiModes SUS_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
-static constexpr dur_millis_t RAD_SENSOR_CS_TIMEOUT = 250;
+static constexpr dur_millis_t RAD_SENSOR_CS_TIMEOUT = 120;
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
@@ -43,7 +43,7 @@ static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
-static constexpr dur_millis_t RTD_CS_TIMEOUT = 40;
+static constexpr dur_millis_t RTD_CS_TIMEOUT = 50;
 static constexpr uint32_t RTD_SPEED = 2'000'000;
 static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;
 

fsfw

@@ -1 +1 @@
-Subproject commit bcd19045cc9f19d9fd0b61f991cb334c6315832a
+Subproject commit 55ed7ab93e816ea083a961018a9383dc6c8ff33f

linux/devices/Max31865RtdLowlevelHandler.cpp

@@ -20,6 +20,7 @@ ReturnValue_t Max31865RtdReader::performOperation(uint8_t operationCode) {
 
 void Max31865RtdReader::rtdMainLoop() {
   using namespace MAX31865;
+  ReturnValue_t result = RETURN_OK;
   // Stopwatch watch;
   if (periodicInitHandling()) {
     // 10 ms delay for VBIAS startup
@@ -29,7 +30,10 @@ void Max31865RtdReader::rtdMainLoop() {
     return;
   }
 
-  periodicReadReqHandling();
+  result = periodicReadReqHandling();
+  if (result != RETURN_OK) {
+    return;
+  }
   // After requesting, 65 milliseconds delay required
   TaskFactory::delayTask(65);
 
@@ -56,48 +60,41 @@ bool Max31865RtdReader::periodicInitHandling() {
     if (rtd == nullptr) {
       continue;
     }
-    if ((rtd->on or rtd->active) and not rtd->configured) {
+    if ((rtd->on or rtd->active) and not rtd->configured and rtd->cd.hasTimedOut()) {
-      if (rtd->cd.hasTimedOut()) {
+      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
-        ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
-        if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
+        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
-          sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed"
+        break;
-                     << std::endl;
+      }
-          break;
+      uint8_t cfg = rtd->defCfg;
-        }
+      result = writeCfgReg(rtd->spiCookie, cfg);
-        uint8_t cfg =
+      if (result != HasReturnvaluesIF::RETURN_OK) {
-            (Bias::OFF << CfgBitPos::BIAS_SEL) | (Wires::FOUR_WIRE << CfgBitPos::WIRE_SEL) |
+        handleSpiError(rtd, result, "writeCfgReg");
-            (ConvMode::NORM_OFF << CfgBitPos::CONV_MODE) | (1 << CfgBitPos::FAULT_STATUS_CLEAR);
+      }
-        result = writeCfgReg(rtd->spiCookie, cfg);
+      if (rtd->writeLowThreshold) {
+        result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
         if (result != HasReturnvaluesIF::RETURN_OK) {
-          handleSpiError(rtd, result, "writeCfgReg");
+          handleSpiError(rtd, result, "writeLowThreshold");
-        }
-        bool additionalCfg = false;
-        if (rtd->writeLowThreshold) {
-          additionalCfg = true;
-          result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
-          if (result != HasReturnvaluesIF::RETURN_OK) {
-            handleSpiError(rtd, result, "writeLowThreshold");
-          }
-        }
-        if (rtd->writeHighThreshold) {
-          additionalCfg = true;
-          result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
-          if (result != HasReturnvaluesIF::RETURN_OK) {
-            handleSpiError(rtd, result, "writeHighThreshold");
-          }
-        }
-        if (additionalCfg) {
-          result = clearFaultStatus(rtd->spiCookie);
-          if (result != HasReturnvaluesIF::RETURN_OK) {
-            handleSpiError(rtd, result, "clearFaultStatus");
-          }
-        }
-        rtd->configured = true;
-        rtd->db.configured = true;
-        if (rtd->active) {
-          rtd->db.active = true;
         }
       }
+      if (rtd->writeHighThreshold) {
+        result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          handleSpiError(rtd, result, "writeHighThreshold");
+        }
+      }
+      result = clearFaultStatus(rtd->spiCookie);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        handleSpiError(rtd, result, "clearFaultStatus");
+      }
+      rtd->configured = true;
+      rtd->db.configured = true;
+      if (rtd->active) {
+        rtd->db.active = true;
+      }
+    }
+    if (rtd->active and rtd->configured and not rtd->db.active) {
+      rtd->db.active = true;
     }
   }
   bool someRtdUsable = false;
@@ -106,24 +103,19 @@ bool Max31865RtdReader::periodicInitHandling() {
       continue;
     }
     if (rtdIsActive(rtd->idx)) {
-      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
-      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
-        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
-        break;
-      }
       someRtdUsable = true;
-      result = writeBiasSel(Bias::ON, rtd->spiCookie);
+      result = writeBiasSel(Bias::ON, rtd->spiCookie, rtd->defCfg);
     }
   }
   return someRtdUsable;
 }
 
-void Max31865RtdReader::periodicReadReqHandling() {
+ReturnValue_t Max31865RtdReader::periodicReadReqHandling() {
   using namespace MAX31865;
   MutexGuard mg(readerMutex);
   if (mg.getLockResult() != RETURN_OK) {
     sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
-    return;
+    return RETURN_FAILED;
   }
   // Now request one shot config for all active RTDs
   for (auto& rtd : rtds) {
@@ -131,36 +123,24 @@ void Max31865RtdReader::periodicReadReqHandling() {
       continue;
     }
     if (rtdIsActive(rtd->idx)) {
-      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      ReturnValue_t result = writeCfgReg(rtd->spiCookie, rtd->defCfg | (1 << CfgBitPos::ONE_SHOT));
-      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
-        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
-        break;
-      }
-      uint8_t currentCfg = 0;
-      auto result = readCfgReg(rtd->spiCookie, currentCfg);
-      if (result != RETURN_OK) {
-        handleSpiError(rtd, result, "readCfgReg");
-        // Release mutex ASAP
-        break;
-      }
-      currentCfg |= (1 << CfgBitPos::ONE_SHOT);
-      result = writeCfgReg(rtd->spiCookie, currentCfg);
       if (result != RETURN_OK) {
         handleSpiError(rtd, result, "writeCfgReg");
         // Release mutex ASAP
-        break;
+        return RETURN_FAILED;
       }
     }
   }
+  return RETURN_OK;
 }
 
-void Max31865RtdReader::periodicReadHandling() {
+ReturnValue_t Max31865RtdReader::periodicReadHandling() {
   using namespace MAX31865;
   auto result = RETURN_OK;
   MutexGuard mg(readerMutex);
   if (mg.getLockResult() != RETURN_OK) {
     sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
-    return;
+    return RETURN_FAILED;
   }
   // Now read the RTD values
   for (auto& rtd : rtds) {
@@ -168,17 +148,12 @@ void Max31865RtdReader::periodicReadHandling() {
       continue;
     }
     if (rtdIsActive(rtd->idx)) {
-      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
-      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
-        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
-        break;
-      }
       uint16_t rtdVal = 0;
       bool faultBitSet = false;
       result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
       if (result != RETURN_OK) {
         handleSpiError(rtd, result, "readRtdVal");
-        continue;
+        return RETURN_FAILED;
       }
       if (faultBitSet) {
         rtd->db.faultBitSet = faultBitSet;
@@ -193,14 +168,10 @@ void 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) {
-      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      result = writeBiasSel(Bias::OFF, rtd->spiCookie, rtd->defCfg);
-      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
-        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
-        break;
-      }
-      result = writeBiasSel(Bias::OFF, rtd->spiCookie);
     }
   }
+  return RETURN_OK;
 }
 
 ReturnValue_t Max31865RtdReader::initializeInterface(CookieIF* cookie) {
@@ -346,19 +317,15 @@ ReturnValue_t Max31865RtdReader::writeCfgReg(SpiCookie* cookie, uint8_t cfg) {
   return writeNToReg(cookie, CONFIG, 1, &cfg, nullptr);
 }
 
-ReturnValue_t Max31865RtdReader::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie) {
+ReturnValue_t Max31865RtdReader::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie,
+                                              uint8_t baseCfg) {
   using namespace MAX31865;
-  uint8_t currentCfg = 0;
-  auto result = readCfgReg(cookie, currentCfg);
-  if (result != RETURN_OK) {
-    return result;
-  }
   if (bias == MAX31865::Bias::OFF) {
-    currentCfg &= ~(1 << CfgBitPos::BIAS_SEL);
+    baseCfg &= ~(1 << CfgBitPos::BIAS_SEL);
   } else {
-    currentCfg |= (1 << CfgBitPos::BIAS_SEL);
+    baseCfg |= (1 << CfgBitPos::BIAS_SEL);
   }
-  return writeCfgReg(cookie, currentCfg);
+  return writeCfgReg(cookie, baseCfg);
 }
 
 ReturnValue_t Max31865RtdReader::clearFaultStatus(SpiCookie* cookie) {
@@ -369,6 +336,8 @@ ReturnValue_t Max31865RtdReader::clearFaultStatus(SpiCookie* cookie) {
   if (result != RETURN_OK) {
     return result;
   }
+  // Clear bytes 5, 3 and 2 which need to be 0
+  currentCfg &= ~0x2C;
   currentCfg |= (1 << CfgBitPos::FAULT_STATUS_CLEAR);
   return writeCfgReg(cookie, currentCfg);
 }

linux/devices/Max31865RtdLowlevelHandler.h

@@ -21,6 +21,10 @@ 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;
@@ -57,12 +61,12 @@ class Max31865RtdReader : public SystemObject,
 
   void rtdMainLoop();
   bool periodicInitHandling();
-  void periodicReadReqHandling();
+  ReturnValue_t periodicReadReqHandling();
-  void periodicReadHandling();
+  ReturnValue_t periodicReadHandling();
 
   bool rtdIsActive(uint8_t idx);
   ReturnValue_t writeCfgReg(SpiCookie* cookie, uint8_t cfg);
-  ReturnValue_t writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie);
+  ReturnValue_t writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie, uint8_t baseCfg);
   ReturnValue_t readCfgReg(SpiCookie* cookie, uint8_t& cfg);
   ReturnValue_t readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet);
   ReturnValue_t writeLowThreshold(SpiCookie* cookie, uint16_t val);

mission/devices/Max31865EiveHandler.cpp

@@ -20,7 +20,7 @@ void Max31865EiveHandler::doStartUp() {
   }
   if ((state == InternalState::ON or state == InternalState::ACTIVE) and transitionOk) {
     if (instantNormal) {
-      setMode(_MODE_TO_NORMAL);
+      setMode(MODE_NORMAL);
     } else {
       setMode(MODE_ON);
     }
@@ -102,7 +102,16 @@ void Max31865EiveHandler::simpleCommand(EiveMax31855::RtdCommands cmd) {
   rawPacketLen = 1;
 }
 void Max31865EiveHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+  if (mode == _MODE_TO_NORMAL) {
+    if (state != InternalState::ACTIVE) {
+      state = InternalState::ACTIVE;
+      transitionOk = false;
+    } else if (transitionOk) {
+      setMode(MODE_NORMAL);
+    }
+  } else {
+    DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+  }
 }
 
 void Max31865EiveHandler::fillCommandAndReplyMap() {
@@ -131,13 +140,11 @@ ReturnValue_t Max31865EiveHandler::interpretDeviceReply(DeviceCommandId_t id,
   if (result != RETURN_OK) {
     return result;
   }
-  if (mode == _MODE_START_UP) {
+  if (mode == _MODE_TO_NORMAL and exchangeStruct.active and state == InternalState::ACTIVE) {
-    if (exchangeStruct.active and state == InternalState::ACTIVE) {
+    transitionOk = true;
-      transitionOk = true;
+  }
-    }
+  if (mode == _MODE_START_UP and exchangeStruct.configured and state == InternalState::ON) {
-    if (exchangeStruct.configured and state == InternalState::ON) {
+    transitionOk = true;
-      transitionOk = true;
-    }
   }
   // Calculate resistance
   float rtdValue = exchangeStruct.adcCode * EiveMax31855::RTD_RREF_PT1000 / INT16_MAX;