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meier/ImtqHandler #44

Merged
muellerr merged 25 commits from meier/ImtqHandler into develop 2021-06-21 17:47:22 +02:00
Conversation 0 Commits 25 Files Changed 21 +177 -16
5 changed files with 177 additions and 16 deletions
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10
bsp_q7s/ObjectFactory.cpp
View File

@ -454,7 +454,7 @@ void ObjectFactory::produce(){
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
spi::SpiModes::MODE_3, 2000000);
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
@ -490,7 +490,7 @@ void ObjectFactory::produce(){
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
spi::SpiModes::MODE_1, 3900000);
SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
@ -517,10 +517,10 @@ void ObjectFactory::produce(){
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
rtdIc3->setStartUpImmediately();
rtdIc17->setStartUpImmediately();
// rtdIc4->setStartUpImmediately();
// (void) rtdIc3;
(void) rtdIc3;
(void) rtdIc4;
(void) rtdIc5;
(void) rtdIc6;
@ -534,7 +534,7 @@ void ObjectFactory::produce(){
(void) rtdIc14;
(void) rtdIc15;
(void) rtdIc16;
(void) rtdIc17;
// (void) rtdIc17;
(void) rtdIc18;
#endif /* Q7S_ADD_RTD_DEVICES == 1 */

1
linux/fsfwconfig/OBSWConfig.h
View File

@ -41,6 +41,7 @@ debugging. */
#define L3GD20_GYRO_DEBUG 0
#define DEBUG_RAD_SENSOR 1
#define DEBUG_SUS 1
#define DEBUG_RTD 1
// Leave at one as the BSP is linux. Used by the ADIS16507 device handler
#define OBSW_ADIS16507_LINUX_COM_IF 1

157
mission/devices/Max31865PT1000Handler.cpp
View File

@ -8,7 +8,7 @@ Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId,
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
sensorDataset(this), sensorDatasetSid(sensorDataset.getSid()) {
#if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(10);
debugDivider = new PeriodicOperationDivider(0);
#endif
}
@ -38,10 +38,38 @@ void Max31865PT1000Handler::doStartUp() {
if(internalState == InternalState::REQUEST_CONFIG) {
if (commandExecuted) {
commandExecuted = false;
internalState = InternalState::CONFIG_HIGH_THRESHOLD;
}
}
if(internalState == InternalState::CONFIG_HIGH_THRESHOLD) {
if(commandExecuted) {
internalState = InternalState::REQUEST_HIGH_THRESHOLD;
commandExecuted = false;
}
}
if(internalState == InternalState::REQUEST_HIGH_THRESHOLD) {
if(commandExecuted) {
internalState = InternalState::CONFIG_LOW_THRESHOLD;
commandExecuted = false;
}
}
if(internalState == InternalState::CONFIG_LOW_THRESHOLD) {
if(commandExecuted) {
internalState = InternalState::REQUEST_LOW_THRESHOLD;
commandExecuted = false;
}
}
if(internalState == InternalState::REQUEST_LOW_THRESHOLD) {
if(commandExecuted) {
setMode(MODE_ON);
setMode(MODE_NORMAL);
commandExecuted = false;
internalState = InternalState::RUNNING;
commandExecuted = false;
}
}
}
@ -82,6 +110,22 @@ ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand(
*id = Max31865Definitions::REQUEST_CONFIG;
return buildCommandFromCommand(*id, nullptr, 0);
}
case(InternalState::CONFIG_HIGH_THRESHOLD): {
*id = Max31865Definitions::WRITE_HIGH_THRESHOLD;
return buildCommandFromCommand(*id, nullptr, 0);
}
case(InternalState::REQUEST_HIGH_THRESHOLD): {
*id = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
return buildCommandFromCommand(*id, nullptr, 0);
}
case(InternalState::CONFIG_LOW_THRESHOLD): {
*id = Max31865Definitions::WRITE_LOW_THRESHOLD;
return buildCommandFromCommand(*id, nullptr, 0);
}
case(InternalState::REQUEST_LOW_THRESHOLD): {
*id = Max31865Definitions::REQUEST_LOW_THRESHOLD;
return buildCommandFromCommand(*id, nullptr, 0);
}
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -110,13 +154,49 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(
}
}
case(Max31865Definitions::REQUEST_CONFIG): {
commandBuffer[0] = 0x00; // dummy byte
commandBuffer[1] = static_cast<uint8_t>(
commandBuffer[0] = static_cast<uint8_t>(
Max31865Definitions::REQUEST_CONFIG);
commandBuffer[1] = 0x00; // dummy byte
DeviceHandlerBase::rawPacketLen = 2;
DeviceHandlerBase::rawPacket = commandBuffer.data();
return HasReturnvaluesIF::RETURN_OK;
}
case(Max31865Definitions::WRITE_HIGH_THRESHOLD): {
commandBuffer[0] = static_cast<uint8_t>(
Max31865Definitions::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): {
commandBuffer[0] = static_cast<uint8_t>(
Max31865Definitions::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): {
commandBuffer[0] = static_cast<uint8_t>(
Max31865Definitions::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): {
commandBuffer[0] = static_cast<uint8_t>(
Max31865Definitions::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): {
commandBuffer[0] = static_cast<uint8_t>(
Max31865Definitions::REQUEST_RTD);
@ -144,6 +224,10 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(
void Max31865PT1000Handler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(Max31865Definitions::CONFIG_CMD, 3);
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_CONFIG, 3);
insertInCommandAndReplyMap(Max31865Definitions::WRITE_LOW_THRESHOLD, 3);
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_LOW_THRESHOLD, 3);
insertInCommandAndReplyMap(Max31865Definitions::WRITE_HIGH_THRESHOLD, 3);
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_HIGH_THRESHOLD, 3);
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3,
&sensorDataset);
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3);
@ -158,6 +242,39 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
internalState == InternalState::RUNNING) {
*foundId = Max31865Definitions::REQUEST_RTD;
*foundLen = rtdReplySize;
return RETURN_OK;
}
if(remainingSize == 3) {
switch(internalState) {
case(InternalState::CONFIG_HIGH_THRESHOLD): {
*foundLen = 3;
*foundId = Max31865Definitions::WRITE_HIGH_THRESHOLD;
commandExecuted = true;
return RETURN_OK;
}
case(InternalState::REQUEST_HIGH_THRESHOLD): {
*foundLen = 3;
*foundId = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
return RETURN_OK;
}
case(InternalState::CONFIG_LOW_THRESHOLD): {
*foundLen = 3;
*foundId = Max31865Definitions::WRITE_LOW_THRESHOLD;
commandExecuted = true;
return RETURN_OK;
}
case(InternalState::REQUEST_LOW_THRESHOLD): {
*foundLen = 3;
*foundId = Max31865Definitions::REQUEST_LOW_THRESHOLD;
return RETURN_OK;
}
default: {
sif::debug << "Max31865PT1000Handler::scanForReply: Unknown internal state"
<< std::endl;
return RETURN_OK;
}
}
}
if(remainingSize == configReplySize) {
@ -203,14 +320,38 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
}
break;
}
case(Max31865Definitions::REQUEST_LOW_THRESHOLD): {
uint16_t readLowThreshold = packet[0] << 8 | packet[1];
if(readLowThreshold != LOW_THRESHOLD) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 && DEBUG_RTD == 1
sif::error
<< "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written "
<< "and readback value of low threshold register"
<< std::endl;
#endif
}
commandExecuted = true;
break;
}
case(Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
uint16_t readHighThreshold = packet[0] << 8 | packet[1];
if(readHighThreshold != HIGH_THRESHOLD) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 && DEBUG_RTD == 1
sif::error
<< "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written "
<< "and readback value of high threshold register"
<< std::endl;
#endif
}
commandExecuted = true;
break;
}
case(Max31865Definitions::REQUEST_RTD): {
// first bit of LSB reply byte is the fault bit
uint8_t faultBit = packet[2] & 0b0000'0001;
if(faultBit == 1) {
// Maybe we should attempt to restart it?
if(faultByte == 0) {
internalState = InternalState::REQUEST_FAULT_BYTE;
}
internalState = InternalState::REQUEST_FAULT_BYTE;
}
// RTD value consists of last seven bits of the LSB reply byte and
@ -329,7 +470,7 @@ void Max31865PT1000Handler::debugInterface(uint8_t positionTracker,
uint32_t Max31865PT1000Handler::getTransitionDelayMs(
Mode_t modeFrom, Mode_t modeTo) {
return 10000;
return 20000;
}
ReturnValue_t Max31865PT1000Handler::getSwitches(

21
mission/devices/Max31865PT1000Handler.h
View File

@ -37,16 +37,27 @@ public:
// Configuration in 8 digit code:
// 1. 1 for V_BIAS enabled, 0 for disabled
// 2. 1 for Auto-conversion, 0 for off
// 3. 1 for 1-shot enabled, 0 for disabled
// 3. 1 for 1-shot enabled, 0 for disabled (self-clearing bit)
// 4. 1 for 3-wire disabled, 0 for disabled
// 5./6. Fault detection: 00 for no action, 01 for automatic delay, 1
// 0 for run fault detection with manual delay,
// 11 for finish fault detection with manual delay
// 7. Fault status: 1 for auto-clear, 0 for auto-clear off
// 7. Fault status: Write 1 to reset fault status register (Bit is self cleared afterwards)
// 8. 1 for 50 Hz filter, 0 for 60 Hz filter (noise rejection filter)
static constexpr uint8_t DEFAULT_CONFIG = 0b11000001;
static constexpr float RTD_RREF_PT1000 = 4000.0; //!< Ohm
/**
* Expected temperature range is -100°C and 100°C.
* If there are temperatures beyond this range there must be a fault.
* The threshold variables cause the MAX1385 to signal an error in case the measured resistance
* indicates a temperature higher than 100°C or lower than -100°C.
* Default settings of MAX13865 are 0xFFFF for the high threshold register and 0x0 for the
* low threshold register.
*/
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 */
@ -80,6 +91,10 @@ private:
NONE,
WARMUP,
CONFIGURE,
CONFIG_HIGH_THRESHOLD,
REQUEST_HIGH_THRESHOLD,
CONFIG_LOW_THRESHOLD,
REQUEST_LOW_THRESHOLD,
REQUEST_CONFIG,
RUNNING,
REQUEST_FAULT_BYTE

4
mission/devices/devicedefinitions/Max31865Definitions.h
View File

@ -14,8 +14,12 @@ enum PoolIds: lp_id_t {
};
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_RTD = 0x01;
static constexpr DeviceCommandId_t REQUEST_HIGH_THRESHOLD = 0x03;
static constexpr DeviceCommandId_t REQUEST_LOW_THRESHOLD = 0x05;
static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = 0x07;
static constexpr uint32_t MAX31865_SET_ID = REQUEST_RTD;