bsp_q7s/boardconfig/busConf.h

@@ -4,6 +4,8 @@
 namespace q7s {
 
 static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
+
 static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
 
 static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -44,8 +44,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   GpioIF* gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
-  cookie->getMutexParams(timeoutType, timeoutMs);
   MutexIF* mutex = comIf->getCsMutex();
+  cookie->getMutexParams(timeoutType, timeoutMs);
   if (mutex == nullptr or gpioIF == nullptr) {
     sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;

bsp_q7s/core/InitMission.cpp

@@ -1,5 +1,7 @@
 #include "bsp_q7s/core/InitMission.h"
 
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+
 #include <iostream>
 #include <vector>
 
@@ -13,6 +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"
 
@@ -123,7 +126,7 @@ 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);
@@ -145,19 +148,49 @@ 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
-#if OBSW_ADD_RTD_DEVICES == 1
+
-  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
+  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
+      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
+  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
-#endif /* OBSW_ADD_RTD_DEVICES == 1 */
+  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
+      "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,
+      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
+  tcsTask->addComponent(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);
+  }
+#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 +287,10 @@ 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
+  tcsPollingTask->startTask();
+  tcsTask->startTask();
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */

bsp_q7s/core/InitMission.h

@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;

bsp_q7s/core/ObjectFactory.cpp

@@ -214,6 +214,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   SpiCookie* spiCookieRadSensor =
       new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+  spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
   auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
                                               spiCookieRadSensor, gpioComIF);
   static_cast<void>(radSensor);

bsp_q7s/fmObjectFactory.cpp

@@ -38,7 +38,7 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
-  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
   createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1

common/config/devConf.h

@@ -32,6 +32,7 @@ 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 = 120;
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
@@ -43,6 +44,7 @@ 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 = 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 e758f0be2e8864c761877a4dcbdf461df52072f7
+Subproject commit f35b0ffbbd6e0e9cc1a760d0aeb69931907f1d62

linux/ObjectFactory.cpp

@@ -7,6 +7,8 @@
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <linux/callbacks/gpioCallbacks.h>
+#include <linux/devices/Max31865RtdLowlevelHandler.h>
+#include <mission/devices/Max31865EiveHandler.h>
 #include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/SusHandler.h>
 #include <mission/system/SusAssembly.h>
@@ -189,7 +191,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 }
 
 void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
-                                        PowerSwitchIF* pwrSwitcher) {
+                                        PowerSwitchIF* pwrSwitcher, SpiComIF* comIF) {
   using namespace gpio;
   GpioCookie* rtdGpioCookie = new GpioCookie;
 
@@ -245,8 +247,8 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
 
 #if OBSW_ADD_RTD_DEVICES == 1
-  static constexpr uint8_t NUMBER_RTDS = 16;
+  using namespace EiveMax31855;
-  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
+  std::array<std::pair<address_t, gpioId_t>, NUM_RTDS> cookieArgs = {{
       {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
       {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
       {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
@@ -264,48 +266,52 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
       {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
       {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
   }};
-  std::array<object_id_t, NUMBER_RTDS> rtdIds = {objects::RTD_0_IC3_PLOC_HEATSPREADER,
+  // HSPD: Heatspreader
-                                                 objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+  std::array<std::pair<object_id_t, std::string>, NUM_RTDS> rtdInfos = {{
-                                                 objects::RTD_2_IC5_4K_CAMERA,
+      {objects::RTD_0_IC3_PLOC_HEATSPREADER, "RTD_0_PLOC_HSPD"},
-                                                 objects::RTD_3_IC6_DAC_HEATSPREADER,
+      {objects::RTD_1_IC4_PLOC_MISSIONBOARD, "RTD_1_PLOC_MISSIONBRD"},
-                                                 objects::RTD_4_IC7_STARTRACKER,
+      {objects::RTD_2_IC5_4K_CAMERA, "RTD_2_4K_CAMERA"},
-                                                 objects::RTD_5_IC8_RW1_MX_MY,
+      {objects::RTD_3_IC6_DAC_HEATSPREADER, "RTD_3_DAC_HSPD"},
-                                                 objects::RTD_6_IC9_DRO,
+      {objects::RTD_4_IC7_STARTRACKER, "RTD_4_STARTRACKER"},
-                                                 objects::RTD_7_IC10_SCEX,
+      {objects::RTD_5_IC8_RW1_MX_MY, "RTD_5_RW1_MX_MY"},
-                                                 objects::RTD_8_IC11_X8,
+      {objects::RTD_6_IC9_DRO, "RTD_6_DRO"},
-                                                 objects::RTD_9_IC12_HPA,
+      {objects::RTD_7_IC10_SCEX, "RTD_7_SCEX"},
-                                                 objects::RTD_10_IC13_PL_TX,
+      {objects::RTD_8_IC11_X8, "RTD_8_X8"},
-                                                 objects::RTD_11_IC14_MPA,
+      {objects::RTD_9_IC12_HPA, "RTD_9_HPA"},
-                                                 objects::RTD_12_IC15_ACU,
+      {objects::RTD_10_IC13_PL_TX, "RTD_10_PL_TX,"},
-                                                 objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+      {objects::RTD_11_IC14_MPA, "RTD_11_MPA"},
-                                                 objects::RTD_14_IC17_TCS_BOARD,
+      {objects::RTD_12_IC15_ACU, "RTD_12_ACU"},
-                                                 objects::RTD_15_IC18_IMTQ};
+      {objects::RTD_13_IC16_PLPCDU_HEATSPREADER, "RTD_13_PLPCDU_HSPD"},
-  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
+      {objects::RTD_14_IC17_TCS_BOARD, "RTD_14_TCS_BOARD"},
-  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
+      {objects::RTD_15_IC18_IMTQ, "RTD_15_IMTQ"},
+  }};
+  std::array<SpiCookie*, NUM_RTDS> rtdCookies = {};
+  std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
   RtdFdir* rtdFdir = nullptr;
-  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
+  // Create special low level reader communication interface
-    rtdCookies[idx] =
+  new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
-        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
+  for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
-                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtdCookies[idx] = new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
-    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_MAIN_COM_IF, rtdCookies[idx]);
+                                    MAX31865::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtdCookies[idx]->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RTD_CS_TIMEOUT);
+    Max31865ReaderCookie* rtdLowLevelCookie =
+        new Max31865ReaderCookie(rtdInfos[idx].first, idx, rtdInfos[idx].second, rtdCookies[idx]);
+    rtds[idx] =
+        new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie);
+    rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second);
     rtds[idx]->setParent(objects::TCS_BOARD_ASS);
-    rtdFdir = new RtdFdir(rtdIds[idx]);
+    rtdFdir = new RtdFdir(rtdInfos[idx].first);
     rtds[idx]->setCustomFdir(rtdFdir);
-    rtds[idx]->setDeviceIdx(idx + 3);
 #if OBSW_DEBUG_RTD == 1
-    rtds[idx]->setDebugMode(true);
+    rtds[idx]->setDebugMode(true, 5);
+#endif
+#if OBSW_TEST_RTD == 1
+    rtds[idx]->setInstantNormal(true);
+    rtds[idx]->setStartUpImmediately();
 #endif
   }
 
-#if OBSW_TEST_RTD == 1
+  TcsBoardHelper helper(rtdInfos);
-  for (auto& rtd : rtds) {
-    if (rtd != nullptr) {
-      rtd->setStartUpImmediately();
-      rtd->setInstantNormal(true);
-    }
-  }
-#endif  // OBSW_TEST_RTD == 1
-  TcsBoardHelper helper(rtdIds);
   TcsBoardAssembly* tcsBoardAss =
       new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                            pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);

linux/ObjectFactory.h

@@ -12,7 +12,8 @@ namespace ObjectFactory {
 
 void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher,
                                std::string spiDev);
-void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
+void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher,
+                         SpiComIF* comIF);
 
 void gpioChecker(ReturnValue_t result, std::string output);
 

linux/devices/CMakeLists.txt

@@ -2,5 +2,9 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
   target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
 endif()
 
+target_sources(${OBSW_NAME} PRIVATE
+	Max31865RtdLowlevelHandler.cpp
+)
+
 add_subdirectory(ploc)
 add_subdirectory(startracker)

linux/devices/Max31865RtdLowlevelHandler.cpp

@@ -0,0 +1,465 @@
+#include "Max31865RtdLowlevelHandler.h"
+
+#include <fsfw/tasks/TaskFactory.h>
+#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();
+}
+
+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();
+}
+
+bool Max31865RtdReader::rtdIsActive(uint8_t idx) {
+  if (rtds[idx]->on and rtds[idx]->active and rtds[idx]->configured) {
+    return true;
+  }
+  return false;
+}
+
+bool Max31865RtdReader::periodicInitHandling() {
+  using namespace MAX31865;
+  MutexGuard mg(readerMutex);
+  ReturnValue_t result = RETURN_OK;
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
+    return false;
+  }
+
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if ((rtd->on or rtd->active) and not rtd->configured and rtd->cd.hasTimedOut()) {
+      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;
+      }
+      result = writeCfgReg(rtd->spiCookie, BASE_CFG);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        handleSpiError(rtd, result, "writeCfgReg");
+      }
+      if (rtd->writeLowThreshold) {
+        result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          handleSpiError(rtd, result, "writeLowThreshold");
+        }
+      }
+      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;
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if (rtdIsActive(rtd->idx)) {
+#if OBSW_RTD_AUTO_MODE == 0
+      someRtdUsable = true;
+      result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
+#endif
+    }
+  }
+  return someRtdUsable;
+}
+
+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_FAILED;
+  }
+  // Now request one shot config for all active RTDs
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if (rtdIsActive(rtd->idx)) {
+      ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
+      if (result != RETURN_OK) {
+        handleSpiError(rtd, result, "writeCfgReg");
+        // Release mutex ASAP
+        return RETURN_FAILED;
+      }
+    }
+  }
+  return RETURN_OK;
+}
+
+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_FAILED;
+  }
+  // Now read the RTD values
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if (rtdIsActive(rtd->idx)) {
+      uint16_t rtdVal = 0;
+      bool faultBitSet = false;
+      result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
+      if (result != RETURN_OK) {
+        handleSpiError(rtd, result, "readRtdVal");
+        return RETURN_FAILED;
+      }
+      if (faultBitSet) {
+        rtd->db.faultBitSet = faultBitSet;
+      }
+      rtd->db.adcCode = rtdVal;
+    }
+  }
+#if OBSW_RTD_AUTO_MODE == 0
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    // 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, BASE_CFG);
+    }
+  }
+#endif
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::initializeInterface(CookieIF* cookie) {
+  if (cookie == nullptr) {
+    throw std::invalid_argument("Invalid MAX31865 Reader Cookie");
+  }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  ReturnValue_t result = comIF->initializeInterface(rtdCookie->spiCookie);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  if (rtdCookie->idx > EiveMax31855::NUM_RTDS) {
+    throw std::invalid_argument("Invalid RTD index");
+  }
+  rtds[rtdCookie->idx] = rtdCookie;
+  MutexGuard mg(readerMutex);
+  if (dbLen == 0) {
+    dbLen = rtdCookie->db.getSerializedSize();
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                             size_t sendLen) {
+  if (cookie == nullptr) {
+    return RETURN_FAILED;
+  }
+  // Empty command.. don't fail for now
+  if (sendLen < 1) {
+    return RETURN_OK;
+  }
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
+    return RETURN_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;
+    return RETURN_FAILED;
+  }
+
+  auto thresholdHandler = [](Max31865ReaderCookie* rtdCookie, const uint8_t* sendData) {
+    rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
+    rtdCookie->highThreshold = (sendData[3] << 8) | sendData[4];
+    rtdCookie->writeLowThreshold = true;
+    rtdCookie->writeHighThreshold = true;
+  };
+
+  auto cmd = static_cast<EiveMax31855::RtdCommands>(sendData[0]);
+  switch (cmd) {
+    case (EiveMax31855::RtdCommands::ON): {
+      if (not rtdCookie->on) {
+        rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
+        rtdCookie->cd.resetTimer();
+        rtdCookie->on = true;
+        rtdCookie->active = false;
+        rtdCookie->configured = false;
+        if (sendLen == 5) {
+          thresholdHandler(rtdCookie, sendData);
+        }
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::ACTIVE): {
+      if (not rtdCookie->on) {
+        rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
+        rtdCookie->cd.resetTimer();
+        rtdCookie->on = true;
+        rtdCookie->active = true;
+        rtdCookie->configured = false;
+      } else {
+        rtdCookie->active = true;
+      }
+      if (sendLen == 5) {
+        thresholdHandler(rtdCookie, sendData);
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::OFF): {
+      rtdCookie->on = false;
+      rtdCookie->active = false;
+      rtdCookie->configured = false;
+      break;
+    }
+    case (EiveMax31855::RtdCommands::HIGH_TRESHOLD): {
+      if (sendLen == 3) {
+        rtdCookie->highThreshold = (sendData[1] << 8) | sendData[2];
+        rtdCookie->writeHighThreshold = true;
+      } else {
+        return RETURN_FAILED;
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::LOW_THRESHOLD): {
+      if (sendLen == 3) {
+        rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
+        rtdCookie->writeLowThreshold = true;
+      } else {
+        return RETURN_FAILED;
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::CFG):
+    default: {
+      // TODO: Only implement if needed
+      break;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
+
+ReturnValue_t Max31865RtdReader::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
+                                                     size_t* size) {
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    // TODO: Emit warning
+    return RETURN_FAILED;
+  }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
+  size_t serLen = 0;
+  auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
+                                        SerializeIF::Endianness::MACHINE);
+  if (result != RETURN_OK) {
+    // TODO: Emit warning
+    return RETURN_FAILED;
+  }
+  *buffer = reinterpret_cast<uint8_t*>(rtdCookie->exchangeBuf.data());
+  *size = serLen;
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::writeCfgReg(SpiCookie* cookie, uint8_t cfg) {
+  using namespace MAX31865;
+  return writeNToReg(cookie, CONFIG, 1, &cfg, nullptr);
+}
+
+ReturnValue_t Max31865RtdReader::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie,
+                                              uint8_t baseCfg) {
+  using namespace MAX31865;
+  if (bias == MAX31865::Bias::OFF) {
+    baseCfg &= ~(1 << CfgBitPos::BIAS_SEL);
+  } else {
+    baseCfg |= (1 << CfgBitPos::BIAS_SEL);
+  }
+  return writeCfgReg(cookie, baseCfg);
+}
+
+ReturnValue_t Max31865RtdReader::clearFaultStatus(SpiCookie* cookie) {
+  using namespace MAX31865;
+  // Read back the current configuration to avoid overwriting it when clearing te fault status
+  uint8_t currentCfg = 0;
+  auto result = readCfgReg(cookie, currentCfg);
+  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);
+}
+
+ReturnValue_t Max31865RtdReader::readCfgReg(SpiCookie* cookie, uint8_t& cfg) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, CONFIG, 1, &replyPtr);
+  if (result == RETURN_OK) {
+    cfg = replyPtr[0];
+  }
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::writeLowThreshold(SpiCookie* cookie, uint16_t val) {
+  using namespace MAX31865;
+  uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
+  return writeNToReg(cookie, LOW_THRESHOLD, 2, cmd, nullptr);
+}
+
+ReturnValue_t Max31865RtdReader::writeHighThreshold(SpiCookie* cookie, uint16_t val) {
+  using namespace MAX31865;
+  uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
+  return writeNToReg(cookie, HIGH_THRESHOLD, 2, cmd, nullptr);
+}
+
+ReturnValue_t Max31865RtdReader::readLowThreshold(SpiCookie* cookie, uint16_t& lowThreshold) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, LOW_THRESHOLD, 2, &replyPtr);
+  if (result == RETURN_OK) {
+    lowThreshold = (replyPtr[0] << 8) | replyPtr[1];
+  }
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::readHighThreshold(SpiCookie* cookie, uint16_t& highThreshold) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, HIGH_THRESHOLD, 2, &replyPtr);
+  if (result == RETURN_OK) {
+    highThreshold = (replyPtr[0] << 8) | replyPtr[1];
+  }
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t* cmd,
+                                             uint8_t** reply) {
+  using namespace MAX31865;
+  if (n > cmdBuf.size() - 1) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  cmdBuf[0] = reg | WRITE_BIT;
+  for (size_t idx = 0; idx < n; idx++) {
+    cmdBuf[idx + 1] = cmd[idx];
+  }
+  return comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
+}
+
+ReturnValue_t Max31865RtdReader::readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, RTD, 2, &replyPtr);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (replyPtr[1] & 0b0000'0001) {
+    faultBitSet = true;
+  }
+  // Shift 1 to the right to remove fault bit
+  val = ((replyPtr[0] << 8) | replyPtr[1]) >> 1;
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n,
+                                              uint8_t** reply) {
+  using namespace MAX31865;
+  if (n > 4) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  // Clear write bit in any case
+  reg &= ~WRITE_BIT;
+  cmdBuf[0] = reg;
+  std::memset(cmdBuf.data() + 1, 0, n);
+  ReturnValue_t result = comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
+  if (result != RETURN_OK) {
+    return RETURN_FAILED;
+  }
+
+  size_t dummyLen = 0;
+  uint8_t* replyPtr = nullptr;
+  result = comIF->readReceivedMessage(cookie, &replyPtr, &dummyLen);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (reply != nullptr) {
+    *reply = replyPtr + 1;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
+                                                const char* ctx) {
+  cookie->db.spiErrorCount.value += 1;
+  sif::warning << "Max31865RtdReader::handleSpiError: " << ctx << " | Failed with result " << result
+               << std::endl;
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::initialize() {
+  csLock = comIF->getCsMutex();
+  return SystemObject::initialize();
+}

linux/devices/Max31865RtdLowlevelHandler.h

@@ -0,0 +1,87 @@
+#ifndef LINUX_DEVICES_MAX31865RTDREADER_H_
+#define LINUX_DEVICES_MAX31865RTDREADER_H_
+
+#include <fsfw/ipc/MutexIF.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+
+#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+
+struct Max31865ReaderCookie : public CookieIF {
+  Max31865ReaderCookie(){};
+  Max31865ReaderCookie(object_id_t handlerId_, uint8_t idx_, const std::string& locString_,
+                       SpiCookie* spiCookie_)
+      : idx(idx_), handlerId(handlerId_), locString(locString_), spiCookie(spiCookie_) {}
+
+  uint8_t idx = 0;
+  object_id_t handlerId = objects::NO_OBJECT;
+
+  std::string locString = "";
+  std::array<uint8_t, 12> exchangeBuf{};
+  Countdown cd = Countdown(MAX31865::WARMUP_MS);
+
+  bool on = false;
+  bool configured = false;
+  bool active = false;
+  bool writeLowThreshold = false;
+  bool writeHighThreshold = false;
+  uint16_t lowThreshold = 0;
+  uint16_t highThreshold = 0;
+  SpiCookie* spiCookie = nullptr;
+
+  // Exchange data buffer struct
+  EiveMax31855::ReadOutStruct db;
+};
+
+class Max31865RtdReader : public SystemObject,
+                          public ExecutableObjectIF,
+                          public DeviceCommunicationIF {
+ public:
+  Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF);
+
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+  ReturnValue_t initialize() override;
+
+ private:
+  std::vector<Max31865ReaderCookie*> rtds;
+  std::array<uint8_t, 4> cmdBuf = {};
+  size_t dbLen = 0;
+  MutexIF* readerMutex;
+
+  SpiComIF* comIF;
+  GpioIF* gpioIF;
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::BLOCKING;
+  uint32_t csTimeoutMs = 0;
+  MutexIF* csLock = nullptr;
+
+  bool periodicInitHandling();
+  ReturnValue_t periodicReadReqHandling();
+  ReturnValue_t periodicReadHandling();
+
+  bool rtdIsActive(uint8_t idx);
+  ReturnValue_t writeCfgReg(SpiCookie* cookie, uint8_t cfg);
+  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);
+  ReturnValue_t writeHighThreshold(SpiCookie* cookie, uint16_t val);
+  ReturnValue_t readLowThreshold(SpiCookie* cookie, uint16_t& val);
+  ReturnValue_t readHighThreshold(SpiCookie* cookie, uint16_t& val);
+  ReturnValue_t clearFaultStatus(SpiCookie* cookie);
+
+  ReturnValue_t readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t** reply);
+  ReturnValue_t writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t* cmd,
+                            uint8_t** reply);
+
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+
+  ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
+};
+
+#endif /* LINUX_DEVICES_MAX31865RTDREADER_H_ */

linux/fsfwconfig/objects/systemObjectList.h

@@ -50,6 +50,7 @@ enum sourceObjects : uint32_t {
   SPI_MAIN_COM_IF = 0x49020004,
   GPIO_IF = 0x49010005,
   SPI_RW_COM_IF = 0x49020005,
+  SPI_RTD_COM_IF = 0x49020006,
 
   /* 0x54 ('T') for test handlers */
   TEST_TASK = 0x54694269,

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
@@ -64,157 +66,34 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   static_cast<void>(length);
 #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);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 #endif
 #if OBSW_ADD_TMP_DEVICES == 1
   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_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, 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_1, length * 0.2, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, 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_1, length * 0.2, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, 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 */
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
 #if OBSW_ADD_SUN_SENSORS == 1
@@ -482,6 +361,15 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   }
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 
+#if OBSW_ADD_RAD_SENSORS == 1
+  /* Radiation sensor */
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
+
 #if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
   bool enableAside = true;
   bool enableBside = true;

mission/devices/CMakeLists.txt

@@ -10,6 +10,7 @@ target_sources(
           ACUHandler.cpp
           SyrlinksHkHandler.cpp
           Max31865PT1000Handler.cpp
+          Max31865EiveHandler.cpp
           IMTQHandler.cpp
           HeaterHandler.cpp
           RadiationSensorHandler.cpp

mission/devices/GyroADIS1650XHandler.cpp

@@ -424,8 +424,8 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
       GpioIF *gpioIF = comIf->getGpioInterface();
       MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
       uint32_t timeoutMs = 0;
-      cookie->getMutexParams(timeoutType, timeoutMs);
       MutexIF *mutex = comIf->getCsMutex();
+      cookie->getMutexParams(timeoutType, timeoutMs);
       if (mutex == nullptr or gpioIF == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
         sif::warning << "GyroADIS16507Handler::spiSendCallback: "

mission/devices/Max31865EiveHandler.cpp

@@ -0,0 +1,180 @@
+#include "Max31865EiveHandler.h"
+
+Max31865EiveHandler::Max31865EiveHandler(object_id_t objectId, object_id_t comIF,
+                                         CookieIF* comCookie)
+    : DeviceHandlerBase(objectId, comIF, comCookie, nullptr),
+      sensorDataset(this, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
+      debugDivider(5) {
+  structLen = exchangeStruct.getSerializedSize();
+}
+
+void Max31865EiveHandler::doStartUp() {
+  updatePeriodicReply(true, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);
+  if (state == InternalState::NONE or state == InternalState::INACTIVE) {
+    if (instantNormal) {
+      state = InternalState::ACTIVE;
+    } else {
+      state = InternalState::ON;
+    }
+    transitionOk = false;
+  }
+  if ((state == InternalState::ON or state == InternalState::ACTIVE) and transitionOk) {
+    if (instantNormal) {
+      setMode(MODE_NORMAL);
+    } else {
+      setMode(MODE_ON);
+    }
+  }
+}
+
+void Max31865EiveHandler::doShutDown() {
+  updatePeriodicReply(false, EiveMax31855::RtdCommands::EXCHANGE_SET_ID);
+  if (state == InternalState::NONE or state == InternalState::ACTIVE or
+      state == InternalState::ON) {
+    state = InternalState::INACTIVE;
+    transitionOk = false;
+  } else {
+    transitionOk = true;
+  }
+  if (state == InternalState::INACTIVE and transitionOk) {
+    setMode(_MODE_POWER_DOWN);
+  }
+}
+
+ReturnValue_t Max31865EiveHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  //*id = EiveMax31855::RtdCommands::EXCHANGE_SET_ID;
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t Max31865EiveHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  ReturnValue_t result = NOTHING_TO_SEND;
+  if (state == InternalState::ON) {
+    *id = EiveMax31855::RtdCommands::ON;
+    result = buildCommandFromCommand(*id, nullptr, 0);
+  }
+  if (state == InternalState::ACTIVE) {
+    *id = EiveMax31855::RtdCommands::ACTIVE;
+    result = buildCommandFromCommand(*id, nullptr, 0);
+  }
+  if (state == InternalState::INACTIVE) {
+    *id = EiveMax31855::RtdCommands::OFF;
+    result = buildCommandFromCommand(*id, nullptr, 0);
+  }
+  return result;
+}
+
+ReturnValue_t Max31865EiveHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                           const uint8_t* commandData,
+                                                           size_t commandDataLen) {
+  auto cmdTyped = static_cast<EiveMax31855::RtdCommands>(deviceCommand);
+  switch (cmdTyped) {
+    case (EiveMax31855::RtdCommands::ON):
+    case (EiveMax31855::RtdCommands::ACTIVE):
+    case (EiveMax31855::RtdCommands::OFF): {
+      simpleCommand(cmdTyped);
+      break;
+    }
+    case (EiveMax31855::RtdCommands::LOW_THRESHOLD):
+    case (EiveMax31855::RtdCommands::HIGH_TRESHOLD): {
+      break;
+    }
+    case (EiveMax31855::RtdCommands::CFG): {
+      break;
+    }
+    default:
+      return NOTHING_TO_SEND;
+  }
+  return RETURN_OK;
+}
+
+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) {
+    if (state != InternalState::ACTIVE) {
+      state = InternalState::ACTIVE;
+      transitionOk = false;
+    } else if (transitionOk) {
+      setMode(MODE_NORMAL);
+    }
+  } else {
+    DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+  }
+}
+
+void Max31865EiveHandler::fillCommandAndReplyMap() {
+  insertInCommandMap(EiveMax31855::RtdCommands::ON);
+  insertInCommandMap(EiveMax31855::RtdCommands::ACTIVE);
+  insertInCommandMap(EiveMax31855::RtdCommands::OFF);
+  insertInReplyMap(EiveMax31855::RtdCommands::EXCHANGE_SET_ID, 200, &sensorDataset, 0, true);
+}
+
+ReturnValue_t Max31865EiveHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+                                                DeviceCommandId_t* foundId, size_t* foundLen) {
+  if (remainingSize != structLen) {
+    sif::error << "Invalid reply from RTD reader detected, reply size " << remainingSize
+               << " not equal to exchange struct size " << structLen << std::endl;
+    return DeviceHandlerIF::INVALID_DATA;
+  }
+  *foundId = EiveMax31855::RtdCommands::EXCHANGE_SET_ID;
+  *foundLen = remainingSize;
+  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_TO_NORMAL and exchangeStruct.active and state == InternalState::ACTIVE) {
+    transitionOk = true;
+  }
+  if (mode == _MODE_START_UP and 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;
+}
+
+uint32_t Max31865EiveHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2000; }
+
+ReturnValue_t Max31865EiveHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                           LocalDataPoolManager& poolManager) {
+  using namespace MAX31865;
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
+  poolManager.subscribeForPeriodicPacket(sensorDataset.getSid(), false, 30.0, false);
+  return RETURN_OK;
+}
+
+void Max31865EiveHandler::setDeviceInfo(uint8_t idx_, std::string location_) {
+  idx = idx_;
+  locString = std::move(location_);
+}
+
+ReturnValue_t Max31865EiveHandler::initialize() { return DeviceHandlerBase::initialize(); }

mission/devices/Max31865EiveHandler.h

@@ -0,0 +1,47 @@
+#ifndef MISSION_DEVICES_MAX31865EIVEHANDLER_H_
+#define MISSION_DEVICES_MAX31865EIVEHANDLER_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+
+#include "devicedefinitions/Max31865Definitions.h"
+
+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:
+  void doStartUp() override;
+  void doShutDown() override;
+  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
+  void fillCommandAndReplyMap() override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
+                             size_t* foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  ReturnValue_t initialize() override;
+
+  void simpleCommand(EiveMax31855::RtdCommands cmd);
+  std::array<uint8_t, 12> cmdBuf = {};
+  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;
+};
+
+#endif /* MISSION_DEVICES_MAX31865EIVEHANDLER_H_ */

mission/devices/Max31865PT1000Handler.cpp

@@ -8,7 +8,7 @@
 Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId, object_id_t comIF,
                                              CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comIF, comCookie),
-      sensorDataset(this),
+      sensorDataset(this, MAX31865::REQUEST_RTD),
       sensorDatasetSid(sensorDataset.getSid()) {
 #if OBSW_VERBOSE_LEVEL >= 1
   debugDivider = new PeriodicOperationDivider(10);
@@ -93,13 +93,13 @@ void Max31865PT1000Handler::doShutDown() {
 
 ReturnValue_t Max31865PT1000Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   if (internalState == InternalState::RUNNING) {
-    *id = Max31865Definitions::REQUEST_RTD;
+    *id = MAX31865::REQUEST_RTD;
     return buildCommandFromCommand(*id, nullptr, 0);
   } else if (internalState == InternalState::REQUEST_FAULT_BYTE) {
-    *id = Max31865Definitions::REQUEST_FAULT_BYTE;
+    *id = MAX31865::REQUEST_FAULT_BYTE;
     return buildCommandFromCommand(*id, nullptr, 0);
   } else if (internalState == InternalState::CLEAR_FAULT_BYTE) {
-    *id = Max31865Definitions::CLEAR_FAULT_BYTE;
+    *id = MAX31865::CLEAR_FAULT_BYTE;
     return buildCommandFromCommand(*id, nullptr, 0);
   } else {
     return DeviceHandlerBase::NOTHING_TO_SEND;
@@ -113,32 +113,32 @@ ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand(DeviceCommandI
     case (InternalState::RUNNING):
       return DeviceHandlerBase::NOTHING_TO_SEND;
     case (InternalState::CONFIGURE): {
-      *id = Max31865Definitions::CONFIG_CMD;
+      *id = MAX31865::CONFIG_CMD;
       uint8_t config[1] = {DEFAULT_CONFIG};
       return buildCommandFromCommand(*id, config, 1);
     }
     case (InternalState::REQUEST_CONFIG): {
-      *id = Max31865Definitions::REQUEST_CONFIG;
+      *id = MAX31865::REQUEST_CONFIG;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::CONFIG_HIGH_THRESHOLD): {
-      *id = Max31865Definitions::WRITE_HIGH_THRESHOLD;
+      *id = MAX31865::WRITE_HIGH_THRESHOLD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::REQUEST_HIGH_THRESHOLD): {
-      *id = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
+      *id = MAX31865::REQUEST_HIGH_THRESHOLD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::CONFIG_LOW_THRESHOLD): {
-      *id = Max31865Definitions::WRITE_LOW_THRESHOLD;
+      *id = MAX31865::WRITE_LOW_THRESHOLD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::REQUEST_LOW_THRESHOLD): {
-      *id = Max31865Definitions::REQUEST_LOW_THRESHOLD;
+      *id = MAX31865::REQUEST_LOW_THRESHOLD;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (InternalState::CLEAR_FAULT_BYTE): {
-      *id = Max31865Definitions::CLEAR_FAULT_BYTE;
+      *id = MAX31865::CLEAR_FAULT_BYTE;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
 
@@ -156,10 +156,11 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(DeviceCommandId_t d
                                                              const uint8_t *commandData,
                                                              size_t commandDataLen) {
   switch (deviceCommand) {
-    case (Max31865Definitions::CONFIG_CMD): {
+    case (MAX31865::CONFIG_CMD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::CONFIG_CMD);
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::CONFIG_CMD);
       if (commandDataLen == 1) {
         commandBuffer[1] = commandData[0];
+        currentCfg = commandData[0];
         DeviceHandlerBase::rawPacketLen = 2;
         DeviceHandlerBase::rawPacket = commandBuffer.data();
         return HasReturnvaluesIF::RETURN_OK;
@@ -167,54 +168,54 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(DeviceCommandId_t d
         return DeviceHandlerIF::NO_COMMAND_DATA;
       }
     }
-    case (Max31865Definitions::CLEAR_FAULT_BYTE): {
+    case (MAX31865::CLEAR_FAULT_BYTE): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::CONFIG_CMD);
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::CONFIG_CMD);
-      commandBuffer[1] = Max31865Definitions::CLEAR_FAULT_BIT_VAL;
+      commandBuffer[1] = currentCfg | MAX31865::CLEAR_FAULT_BIT_VAL;
       DeviceHandlerBase::rawPacketLen = 2;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_CONFIG): {
+    case (MAX31865::REQUEST_CONFIG): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_CONFIG);
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_CONFIG);
       commandBuffer[1] = 0x00;  // dummy byte
       DeviceHandlerBase::rawPacketLen = 2;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::WRITE_HIGH_THRESHOLD): {
+    case (MAX31865::WRITE_HIGH_THRESHOLD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::WRITE_HIGH_THRESHOLD);
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::WRITE_HIGH_THRESHOLD);
       commandBuffer[1] = static_cast<uint8_t>(HIGH_THRESHOLD >> 8);
       commandBuffer[2] = static_cast<uint8_t>(HIGH_THRESHOLD & 0xFF);
       DeviceHandlerBase::rawPacketLen = 3;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
+    case (MAX31865::REQUEST_HIGH_THRESHOLD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_HIGH_THRESHOLD);
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_HIGH_THRESHOLD);
       commandBuffer[1] = 0x00;  // dummy byte
       commandBuffer[2] = 0x00;  // dummy byte
       DeviceHandlerBase::rawPacketLen = 3;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::WRITE_LOW_THRESHOLD): {
+    case (MAX31865::WRITE_LOW_THRESHOLD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::WRITE_LOW_THRESHOLD);
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::WRITE_LOW_THRESHOLD);
       commandBuffer[1] = static_cast<uint8_t>(LOW_THRESHOLD >> 8);
       commandBuffer[2] = static_cast<uint8_t>(LOW_THRESHOLD & 0xFF);
       DeviceHandlerBase::rawPacketLen = 3;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_LOW_THRESHOLD): {
+    case (MAX31865::REQUEST_LOW_THRESHOLD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_LOW_THRESHOLD);
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_LOW_THRESHOLD);
       commandBuffer[1] = 0x00;  // dummy byte
       commandBuffer[2] = 0x00;  // dummy byte
       DeviceHandlerBase::rawPacketLen = 3;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_RTD): {
+    case (MAX31865::REQUEST_RTD): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_RTD);
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_RTD);
       // two dummy bytes
       commandBuffer[1] = 0x00;
       commandBuffer[2] = 0x00;
@@ -222,8 +223,8 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(DeviceCommandId_t d
       DeviceHandlerBase::rawPacket = commandBuffer.data();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Max31865Definitions::REQUEST_FAULT_BYTE): {
+    case (MAX31865::REQUEST_FAULT_BYTE): {
-      commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::REQUEST_FAULT_BYTE);
+      commandBuffer[0] = static_cast<uint8_t>(MAX31865::REQUEST_FAULT_BYTE);
       commandBuffer[1] = 0x00;
       DeviceHandlerBase::rawPacketLen = 2;
       DeviceHandlerBase::rawPacket = commandBuffer.data();
@@ -236,15 +237,15 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(DeviceCommandId_t d
 }
 
 void Max31865PT1000Handler::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(Max31865Definitions::CONFIG_CMD, 3);
+  insertInCommandAndReplyMap(MAX31865::CONFIG_CMD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_CONFIG, 3);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_CONFIG, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::WRITE_LOW_THRESHOLD, 3);
+  insertInCommandAndReplyMap(MAX31865::WRITE_LOW_THRESHOLD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_LOW_THRESHOLD, 3);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_LOW_THRESHOLD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::WRITE_HIGH_THRESHOLD, 3);
+  insertInCommandAndReplyMap(MAX31865::WRITE_HIGH_THRESHOLD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_HIGH_THRESHOLD, 3);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_HIGH_THRESHOLD, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3, &sensorDataset);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_RTD, 3, &sensorDataset);
-  insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3);
+  insertInCommandAndReplyMap(MAX31865::REQUEST_FAULT_BYTE, 3);
-  insertInCommandAndReplyMap(Max31865Definitions::CLEAR_FAULT_BYTE, 3);
+  insertInCommandAndReplyMap(MAX31865::CLEAR_FAULT_BYTE, 3);
 }
 
 ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t remainingSize,
@@ -253,7 +254,7 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
   size_t configReplySize = 2;
 
   if (remainingSize == rtdReplySize and internalState == InternalState::RUNNING) {
-    *foundId = Max31865Definitions::REQUEST_RTD;
+    *foundId = MAX31865::REQUEST_RTD;
     *foundLen = rtdReplySize;
     return RETURN_OK;
   }
@@ -262,24 +263,24 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
     switch (internalState) {
       case (InternalState::CONFIG_HIGH_THRESHOLD): {
         *foundLen = 3;
-        *foundId = Max31865Definitions::WRITE_HIGH_THRESHOLD;
+        *foundId = MAX31865::WRITE_HIGH_THRESHOLD;
         commandExecuted = true;
         return RETURN_OK;
       }
       case (InternalState::REQUEST_HIGH_THRESHOLD): {
         *foundLen = 3;
-        *foundId = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
+        *foundId = MAX31865::REQUEST_HIGH_THRESHOLD;
         return RETURN_OK;
       }
       case (InternalState::CONFIG_LOW_THRESHOLD): {
         *foundLen = 3;
-        *foundId = Max31865Definitions::WRITE_LOW_THRESHOLD;
+        *foundId = MAX31865::WRITE_LOW_THRESHOLD;
         commandExecuted = true;
         return RETURN_OK;
       }
       case (InternalState::REQUEST_LOW_THRESHOLD): {
         *foundLen = 3;
-        *foundId = Max31865Definitions::REQUEST_LOW_THRESHOLD;
+        *foundId = MAX31865::REQUEST_LOW_THRESHOLD;
         return RETURN_OK;
       }
       default: {
@@ -293,13 +294,13 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
     if (internalState == InternalState::CONFIGURE) {
       commandExecuted = true;
       *foundLen = configReplySize;
-      *foundId = Max31865Definitions::CONFIG_CMD;
+      *foundId = MAX31865::CONFIG_CMD;
     } else if (internalState == InternalState::REQUEST_FAULT_BYTE) {
-      *foundId = Max31865Definitions::REQUEST_FAULT_BYTE;
+      *foundId = MAX31865::REQUEST_FAULT_BYTE;
       *foundLen = 2;
       internalState = InternalState::RUNNING;
     } else if (internalState == InternalState::CLEAR_FAULT_BYTE) {
-      *foundId = Max31865Definitions::CLEAR_FAULT_BYTE;
+      *foundId = MAX31865::CLEAR_FAULT_BYTE;
       *foundLen = 2;
       if (mode == _MODE_START_UP) {
         commandExecuted = true;
@@ -307,7 +308,7 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
         internalState = InternalState::RUNNING;
       }
     } else {
-      *foundId = Max31865Definitions::REQUEST_CONFIG;
+      *foundId = MAX31865::REQUEST_CONFIG;
       *foundLen = configReplySize;
     }
   }
@@ -318,7 +319,7 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start, size_t r
 ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
                                                           const uint8_t *packet) {
   switch (id) {
-    case (Max31865Definitions::REQUEST_CONFIG): {
+    case (MAX31865::REQUEST_CONFIG): {
       if (packet[1] != DEFAULT_CONFIG) {
         if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -342,7 +343,7 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       }
       break;
     }
-    case (Max31865Definitions::REQUEST_LOW_THRESHOLD): {
+    case (MAX31865::REQUEST_LOW_THRESHOLD): {
       uint16_t readLowThreshold = packet[1] << 8 | packet[2];
       if (readLowThreshold != LOW_THRESHOLD) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -360,8 +361,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       commandExecuted = true;
       break;
     }
-    case (Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
+    case (MAX31865::REQUEST_HIGH_THRESHOLD): {
-      uint16_t readHighThreshold = packet[1] << 8 | packet[2];
+      uint16_t readHighThreshold = (packet[1] << 8) | packet[2];
       if (readHighThreshold != HIGH_THRESHOLD) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -378,13 +379,13 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       commandExecuted = true;
       break;
     }
-    case (Max31865Definitions::REQUEST_RTD): {
+    case (MAX31865::REQUEST_RTD): {
       // first bit of LSB reply byte is the fault bit
-      uint8_t faultBit = packet[2] & 0b0000'0001;
+      bool faultBit = packet[2] & 0b0000'0001;
       if (resetFaultBit) {
         internalState = InternalState::CLEAR_FAULT_BYTE;
         resetFaultBit = false;
-      } else if (faultBit == 1) {
+      } else if (shouldFaultStatusBeRequested(faultBit)) {
         // Maybe we should attempt to restart it?
         internalState = InternalState::REQUEST_FAULT_BYTE;
         resetFaultBit = true;
@@ -393,9 +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
+      // Calculate resistance
-      // dataset.
+      float rtdValue = adcCode * EiveMax31855::RTD_RREF_PT1000 / INT16_MAX;
-      float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX;
       // calculate approximation
       float approxTemp = adcCode / 32.0 - 256.0;
 
@@ -403,9 +403,9 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
 #if OBSW_VERBOSE_LEVEL >= 1
         if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "Max31865: ObjID " << std::hex << this->getObjectId() << " | RTD "
+          sif::info << "Max31865: " << std::setw(24) << std::left << locString << std::right
-                    << std::dec << static_cast<int>(deviceIdx) << ": R[Ohm] " << rtdValue
+                    << " | R[Ohm] " << rtdValue << " Ohms | Approx T[C]: " << approxTemp
-                    << " Ohms | Approx T[C]: " << approxTemp << std::endl;
+                    << std::endl;
 #else
           sif::printInfo("Max31685: Measured resistance is %f Ohms\n", rtdValue);
           sif::printInfo("Approximated temperature is %f C\n", approxTemp);
@@ -438,58 +438,57 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
       sensorDataset.temperatureCelcius = approxTemp;
       break;
     }
-    case (Max31865Definitions::REQUEST_FAULT_BYTE): {
+    case (MAX31865::REQUEST_FAULT_BYTE): {
-      faultByte = packet[1];
+      currentFaultStatus = packet[1];
+      bool faultStatusChanged = (currentFaultStatus != lastFaultStatus);
+      // Spam protection
+      if (faultStatusChanged or
+          ((currentFaultStatus == lastFaultStatus) and (sameFaultStatusCounter < 3))) {
+        // TODO: Think about triggering an event here
 #if OBSW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
+        sif::warning << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
-                   << this->getObjectId()
+                     << this->getObjectId() << ": Fault byte is: 0b"
-                   << ": Fault byte"
+                     << std::bitset<8>(currentFaultStatus) << std::endl;
-                      " is: 0b"
-                   << std::bitset<8>(faultByte) << std::endl;
 #else
-      sif::printWarning(
+        sif::printWarning(
-          "Max31865PT1000Handler::interpretDeviceReply: Fault byte"
+            "Max31865PT1000Handler::interpretDeviceReply: Fault byte"
-          " is: 0b" BYTE_TO_BINARY_PATTERN "\n",
+            " is: 0b" BYTE_TO_BINARY_PATTERN "\n",
-          BYTE_TO_BINARY(faultByte));
+            BYTE_TO_BINARY(faultByte));
 #endif
 #endif
-      ReturnValue_t result = sensorDataset.read();
+        if (faultStatusChanged) {
+          sameFaultStatusCounter = 0;
+        } else {
+          sameFaultStatusCounter++;
+        }
+      }
+      if (faultStatusChanged) {
+        lastFaultStatus = currentFaultStatus;
+      }
+
+      PoolReadGuard pg(&sensorDataset);
+      auto result = pg.getReadResult();
       if (result != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
+        sif::warning << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
-                   << this->getObjectId()
+                     << this->getObjectId() << ": Error reading dataset" << std::endl;
-                   << ":"
-                      "Error reading dataset!"
-                   << std::endl;
 #else
-        sif::printDebug(
+        sif::printWarning("Max31865PT1000Handler::interpretDeviceReply: Error reading dataset\n");
-            "Max31865PT1000Handler::interpretDeviceReply: "
-            "Error reading dataset!\n");
 #endif
         return result;
       }
+      if (faultStatusChanged) {
+        sensorDataset.lastErrorByte.setValid(true);
+        sensorDataset.lastErrorByte = lastFaultStatus;
+      }
       sensorDataset.errorByte.setValid(true);
-      sensorDataset.errorByte = faultByte;
+      sensorDataset.errorByte = currentFaultStatus;
-      if (faultByte != 0) {
+
+      if (currentFaultStatus != 0) {
         sensorDataset.temperatureCelcius.setValid(false);
       }
-
-      result = sensorDataset.commit();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
-        // Configuration error
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Object ID: " << std::hex
-                   << this->getObjectId() << ": Error commiting dataset!" << std::endl;
-#else
-        sif::printDebug(
-            "Max31865PT1000Handler::interpretDeviceReply: "
-            "Error commiting dataset!\n");
-#endif
-        return result;
-      }
-
       break;
     }
     default:
@@ -498,11 +497,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(DeviceCommandId_t id,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void Max31865PT1000Handler::debugInterface(uint8_t positionTracker, object_id_t objectId,
-                                           uint32_t parameter) {}
-
 uint32_t Max31865PT1000Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
-  return 25000;
+  return 5000;
 }
 
 ReturnValue_t Max31865PT1000Handler::getSwitches(const uint8_t **switches,
@@ -512,10 +508,12 @@ ReturnValue_t Max31865PT1000Handler::getSwitches(const uint8_t **switches,
 
 ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                              LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(Max31865Definitions::PoolIds::RTD_VALUE, new PoolEntry<float>({0}));
+  using namespace MAX31865;
-  localDataPoolMap.emplace(Max31865Definitions::PoolIds::TEMPERATURE_C,
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::RTD_VALUE), new PoolEntry<float>({0}));
-                           new PoolEntry<float>({0}, 1, true));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(Max31865Definitions::PoolIds::FAULT_BYTE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE),
+                           new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(static_cast<lp_id_t>(PoolIds::FAULT_BYTE), new PoolEntry<uint8_t>({0}));
   poolManager.subscribeForPeriodicPacket(sensorDataset.getSid(), false, 30.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -526,10 +524,23 @@ void Max31865PT1000Handler::setInstantNormal(bool instantNormal) {
 
 void Max31865PT1000Handler::modeChanged() {
   if (mode == MODE_OFF) {
+    lastFaultStatus = 0;
+    currentFaultStatus = 0;
+    sameFaultStatusCounter = 0;
     internalState = InternalState::NONE;
   }
 }
 
-void Max31865PT1000Handler::setDeviceIdx(uint8_t idx) { deviceIdx = idx; }
+void Max31865PT1000Handler::setDeviceInfo(uint8_t idx, std::string locString_) {
+  deviceIdx = idx;
+  locString = std::move(locString_);
+}
 
 void Max31865PT1000Handler::setDebugMode(bool enable) { this->debugMode = enable; }
+
+bool Max31865PT1000Handler::shouldFaultStatusBeRequested(bool faultBit) {
+  if ((sameFaultStatusCounter < 3) and faultBit) {
+    return true;
+  }
+  return false;
+}

mission/devices/Max31865PT1000Handler.h

@@ -48,7 +48,7 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   static constexpr uint8_t DEFAULT_CONFIG = 0b11000001;
 
   void setInstantNormal(bool instantNormal);
-  void setDeviceIdx(uint8_t idx);
+  void setDeviceInfo(uint8_t idx, std::string locString);
 
   /**
    * Expected temperature range is -100 C and 100 C.
@@ -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
@@ -77,12 +76,10 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) override;
-
-  void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
-                      uint32_t parameter = 0) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
   void modeChanged() override;
+  bool shouldFaultStatusBeRequested(bool faultBit);
 
  private:
   uint8_t switchId = 0;
@@ -109,11 +106,15 @@ class Max31865PT1000Handler : public DeviceHandlerBase {
 
   bool resetFaultBit = false;
   dur_millis_t startTime = 0;
-  uint8_t faultByte = 0;
+  uint8_t currentCfg = 0;
+  uint8_t currentFaultStatus = 0;
+  uint8_t lastFaultStatus = 0;
+  uint16_t sameFaultStatusCounter = 0;
+  std::string locString;
   uint8_t deviceIdx = 0;
   std::array<uint8_t, 3> commandBuffer{0};
 
-  Max31865Definitions::Max31865Set sensorDataset;
+  MAX31865::Max31865Set sensorDataset;
   sid_t sensorDatasetSid;
 
 #if OBSW_VERBOSE_LEVEL >= 1

mission/devices/PayloadPcduHandler.cpp

@@ -716,7 +716,6 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   GpioIF* gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
-  cookie->getMutexParams(timeoutType, timeoutMs);
   MutexIF* mutex = comIf->getCsMutex();
   if (mutex == nullptr or gpioIF == nullptr) {
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -728,6 +727,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   }
 
   if (gpioId != gpio::NO_GPIO) {
+    cookie->getMutexParams(timeoutType, timeoutMs);
     result = mutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

mission/devices/devicedefinitions/Max31865Definitions.h

@@ -7,20 +7,48 @@
 
 #include "objects/systemObjectList.h"
 
-namespace Max31865Definitions {
+namespace MAX31865 {
 
-enum PoolIds : lp_id_t { RTD_VALUE, TEMPERATURE_C, FAULT_BYTE };
+enum class PoolIds : lp_id_t { RTD_VALUE, TEMPERATURE_C, LAST_FAULT_BYTE, FAULT_BYTE };
+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 { OFF = 0, ON = 1 };
+
+enum FilterSel : unsigned int { FIFTY_HERTZ = 1, SIXTY_HERTZ = 0 };
+
+enum CfgBitPos {
+  FILTER_SEL = 0,
+  FAULT_STATUS_CLEAR = 1,
+  FDCC = 2,
+  WIRE_SEL = 4,
+  ONE_SHOT = 5,
+  CONV_MODE = 6,
+  BIAS_SEL = 7
+};
+
+static constexpr uint32_t WARMUP_MS = 100;
+
+static constexpr uint8_t WRITE_BIT = 0b10000000;
+
+enum Regs : uint8_t {
+  CONFIG = 0x00,
+  RTD = 0x01,
+  HIGH_THRESHOLD = 0x03,
+  LOW_THRESHOLD = 0x05,
+  FAULT_BYTE = 0x07
+};
 
 static constexpr DeviceCommandId_t CONFIG_CMD = 0x80;
 static constexpr DeviceCommandId_t WRITE_HIGH_THRESHOLD = 0x83;
 static constexpr DeviceCommandId_t WRITE_LOW_THRESHOLD = 0x85;
 
-static constexpr DeviceCommandId_t REQUEST_CONFIG = 0x00;
+static constexpr DeviceCommandId_t REQUEST_CONFIG = CONFIG;
-static constexpr DeviceCommandId_t REQUEST_RTD = 0x01;
+static constexpr DeviceCommandId_t REQUEST_RTD = RTD;
-static constexpr DeviceCommandId_t REQUEST_HIGH_THRESHOLD = 0x03;
+static constexpr DeviceCommandId_t REQUEST_HIGH_THRESHOLD = HIGH_THRESHOLD;
-static constexpr DeviceCommandId_t REQUEST_LOW_THRESHOLD = 0x05;
+static constexpr DeviceCommandId_t REQUEST_LOW_THRESHOLD = LOW_THRESHOLD;
-static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = 0x07;
+static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = FAULT_BYTE;
-
 static constexpr DeviceCommandId_t CLEAR_FAULT_BYTE = 0x08;
 
 static constexpr uint32_t MAX31865_SET_ID = REQUEST_RTD;
@@ -28,26 +56,82 @@ static constexpr uint8_t CLEAR_FAULT_BIT_VAL = 0b0000'0010;
 
 static constexpr size_t MAX_REPLY_SIZE = 5;
 
-class Max31865Set : public StaticLocalDataSet<sizeof(float) + sizeof(uint8_t)> {
+class Max31865Set : public StaticLocalDataSet<4> {
  public:
   /**
    * Constructor used by owner and data creators like device handlers.
    * @param owner
    * @param setId
    */
-  Max31865Set(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, MAX31865_SET_ID) {}
+  Max31865Set(HasLocalDataPoolIF* owner, uint32_t setId) : StaticLocalDataSet(owner, setId) {}
 
   /**
    * Constructor used by data users like controllers.
    * @param sid
    */
-  Max31865Set(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, MAX31865_SET_ID)) {}
+  Max31865Set(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
 
-  lp_var_t<float> rtdValue = lp_var_t<float>(sid.objectId, PoolIds::RTD_VALUE, this);
+  lp_var_t<float> rtdValue =
-  lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, PoolIds::TEMPERATURE_C, this);
+      lp_var_t<float>(sid.objectId, static_cast<lp_id_t>(PoolIds::RTD_VALUE), this);
-  lp_var_t<uint8_t> errorByte = lp_var_t<uint8_t>(sid.objectId, PoolIds::FAULT_BYTE, this);
+  lp_var_t<float> temperatureCelcius =
+      lp_var_t<float>(sid.objectId, static_cast<lp_id_t>(PoolIds::TEMPERATURE_C), this);
+  lp_var_t<uint8_t> lastErrorByte =
+      lp_var_t<uint8_t>(sid.objectId, static_cast<lp_id_t>(PoolIds::LAST_FAULT_BYTE), this);
+  lp_var_t<uint8_t> errorByte =
+      lp_var_t<uint8_t>(sid.objectId, static_cast<lp_id_t>(PoolIds::FAULT_BYTE), this);
 };
 
-}  // namespace Max31865Definitions
+}  // namespace MAX31865
+
+namespace EiveMax31855 {
+
+static constexpr float RTD_RREF_PT1000 = 4020.0;  //!< Ohm
+static constexpr uint8_t NUM_RTDS = 16;
+
+enum RtdCommands : DeviceCommandId_t {
+  ON = 0,
+  EXCHANGE_SET_ID = MAX31865::REQUEST_RTD,
+  ACTIVE = 2,
+  LOW_THRESHOLD = 3,
+  HIGH_TRESHOLD = 4,
+  OFF = 5,
+  CFG = 6,
+  NUM_CMDS
+};
+
+class ReadOutStruct : public SerialLinkedListAdapter<SerializeIF> {
+ public:
+  ReadOutStruct() { setLinks(); }
+  ReadOutStruct(bool active, uint32_t spiErrCnt, bool faultBitSet, uint8_t faultVal,
+                uint16_t rtdVal)
+      : active(active),
+        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> adcCode = 0;
+  SerializeElement<bool> faultBitSet = false;
+  SerializeElement<uint8_t> faultValue = 0;
+  SerializeElement<uint32_t> spiErrorCount = 0;
+
+ private:
+  void setLinks() {
+    setStart(&configured);
+    configured.setNext(&active);
+    active.setNext(&adcCode);
+    adcCode.setNext(&faultBitSet);
+    faultBitSet.setNext(&faultValue);
+    faultValue.setNext(&spiErrorCount);
+  };
+};
+
+};  // namespace EiveMax31855
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MAX13865DEFINITIONS_H_ */

mission/system/TcsBoardAssembly.cpp

@@ -10,7 +10,7 @@ TcsBoardAssembly::TcsBoardAssembly(object_id_t objectId, object_id_t parentId,
   eventQueue = QueueFactory::instance()->createMessageQueue(24);
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-    entry.setObject(helper.rtdIds[idx]);
+    entry.setObject(helper.rtdInfos[idx].first);
     entry.setMode(MODE_OFF);
     entry.setSubmode(SUBMODE_NONE);
     entry.setInheritSubmode(false);
@@ -56,7 +56,7 @@ ReturnValue_t TcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
   int devsInWrongMode = 0;
   try {
     for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-      if (childrenMap.at(helper.rtdIds[idx]).mode != wantedMode) {
+      if (childrenMap.at(helper.rtdInfos[idx].first).mode != wantedMode) {
         devsInWrongMode++;
       }
     }
@@ -92,8 +92,8 @@ ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
 
 ReturnValue_t TcsBoardAssembly::initialize() {
   ReturnValue_t result = RETURN_OK;
-  for (const auto& obj : helper.rtdIds) {
+  for (const auto& obj : helper.rtdInfos) {
-    result = registerChild(obj);
+    result = registerChild(obj.first);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
@@ -125,8 +125,8 @@ ReturnValue_t TcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   object_id_t objId = 0;
   try {
     for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-      devMode = childrenMap.at(helper.rtdIds[idx]).mode;
+      devMode = childrenMap.at(helper.rtdInfos[idx].first).mode;
-      objId = helper.rtdIds[idx];
+      objId = helper.rtdInfos[idx].first;
       if (mode == devMode) {
         modeTable[idx].setMode(mode);
       } else if (mode == DeviceHandlerIF::MODE_NORMAL) {

mission/system/TcsBoardAssembly.h

@@ -6,9 +6,10 @@
 #include <fsfw/power/PowerSwitcher.h>
 
 struct TcsBoardHelper {
-  TcsBoardHelper(std::array<object_id_t, 16> rtdIds) : rtdIds(rtdIds) {}
+  TcsBoardHelper(std::array<std::pair<object_id_t, std::string>, 16> rtdInfos)
+      : rtdInfos(std::move(rtdInfos)) {}
 
-  std::array<object_id_t, 16> rtdIds = {};
+  std::array<std::pair<object_id_t, std::string>, 16> rtdInfos = {};
 };
 
 class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {

tmtc

@@ -1 +1 @@
-Subproject commit 480e0f07e03edeb55a3d6e3d629e7601b6bf90a2
+Subproject commit 648e0b781483119e17799e34d669f554559692f0