490 lines
18 KiB
C++
490 lines
18 KiB
C++
#include "Max31865PT1000Handler.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include <bitset>
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#include <cmath>
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Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId,
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object_id_t comIF, CookieIF *comCookie, uint8_t switchId):
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DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
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sensorDataset(this), sensorDatasetSid(sensorDataset.getSid()) {
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#if OBSW_VERBOSE_LEVEL >= 1
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debugDivider = new PeriodicOperationDivider(0);
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#endif
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}
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Max31865PT1000Handler::~Max31865PT1000Handler() {
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}
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void Max31865PT1000Handler::doStartUp() {
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if(internalState == InternalState::NONE) {
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internalState = InternalState::WARMUP;
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Clock::getUptime(&startTime);
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}
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if(internalState == InternalState::WARMUP) {
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dur_millis_t timeNow = 0;
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Clock::getUptime(&timeNow);
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if(timeNow - startTime >= 100) {
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internalState = InternalState::CONFIGURE;
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}
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}
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if(internalState == InternalState::CONFIGURE) {
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if(commandExecuted) {
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internalState = InternalState::REQUEST_CONFIG;
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commandExecuted = false;
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}
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}
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if(internalState == InternalState::REQUEST_CONFIG) {
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if (commandExecuted) {
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commandExecuted = false;
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internalState = InternalState::CONFIG_HIGH_THRESHOLD;
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}
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}
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if(internalState == InternalState::CONFIG_HIGH_THRESHOLD) {
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if(commandExecuted) {
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internalState = InternalState::REQUEST_HIGH_THRESHOLD;
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commandExecuted = false;
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}
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}
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if(internalState == InternalState::REQUEST_HIGH_THRESHOLD) {
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if(commandExecuted) {
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internalState = InternalState::CONFIG_LOW_THRESHOLD;
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commandExecuted = false;
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}
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}
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if(internalState == InternalState::CONFIG_LOW_THRESHOLD) {
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if(commandExecuted) {
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internalState = InternalState::REQUEST_LOW_THRESHOLD;
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commandExecuted = false;
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}
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}
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if(internalState == InternalState::REQUEST_LOW_THRESHOLD) {
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if(commandExecuted) {
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setMode(MODE_ON);
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setMode(MODE_NORMAL);
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internalState = InternalState::RUNNING;
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commandExecuted = false;
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}
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}
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}
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void Max31865PT1000Handler::doShutDown() {
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commandExecuted = false;
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t Max31865PT1000Handler::buildNormalDeviceCommand(
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DeviceCommandId_t *id) {
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if(internalState == InternalState::RUNNING) {
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*id = Max31865Definitions::REQUEST_RTD;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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else if(internalState == InternalState::REQUEST_FAULT_BYTE) {
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*id = Max31865Definitions::REQUEST_FAULT_BYTE;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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else {
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return DeviceHandlerBase::NOTHING_TO_SEND;
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}
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}
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ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand(
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DeviceCommandId_t *id) {
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switch(internalState) {
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case(InternalState::NONE):
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case(InternalState::WARMUP):
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case(InternalState::RUNNING):
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return DeviceHandlerBase::NOTHING_TO_SEND;
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case(InternalState::CONFIGURE): {
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*id = Max31865Definitions::CONFIG_CMD;
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uint8_t config[1] = {DEFAULT_CONFIG};
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return buildCommandFromCommand(*id, config, 1);
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}
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case(InternalState::REQUEST_CONFIG): {
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*id = Max31865Definitions::REQUEST_CONFIG;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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case(InternalState::CONFIG_HIGH_THRESHOLD): {
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*id = Max31865Definitions::WRITE_HIGH_THRESHOLD;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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case(InternalState::REQUEST_HIGH_THRESHOLD): {
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*id = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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case(InternalState::CONFIG_LOW_THRESHOLD): {
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*id = Max31865Definitions::WRITE_LOW_THRESHOLD;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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case(InternalState::REQUEST_LOW_THRESHOLD): {
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*id = Max31865Definitions::REQUEST_LOW_THRESHOLD;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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default:
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Max31865PT1000Handler: Invalid internal state" << std::endl;
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#else
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sif::printError("Max31865PT1000Handler: Invalid internal state\n");
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(Max31865Definitions::CONFIG_CMD) : {
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commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::CONFIG_CMD);
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if(commandDataLen == 1) {
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commandBuffer[1] = commandData[0];
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DeviceHandlerBase::rawPacketLen = 2;
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DeviceHandlerBase::rawPacket = commandBuffer.data();
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return HasReturnvaluesIF::RETURN_OK;
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}
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else {
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return DeviceHandlerIF::NO_COMMAND_DATA;
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}
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}
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case(Max31865Definitions::REQUEST_CONFIG): {
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commandBuffer[0] = static_cast<uint8_t>(
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Max31865Definitions::REQUEST_CONFIG);
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commandBuffer[1] = 0x00; // dummy byte
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DeviceHandlerBase::rawPacketLen = 2;
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DeviceHandlerBase::rawPacket = commandBuffer.data();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(Max31865Definitions::WRITE_HIGH_THRESHOLD): {
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commandBuffer[0] = static_cast<uint8_t>(
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Max31865Definitions::WRITE_HIGH_THRESHOLD);
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commandBuffer[1] = static_cast<uint8_t>(HIGH_THRESHOLD >> 8);
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commandBuffer[2] = static_cast<uint8_t>(HIGH_THRESHOLD & 0xFF);
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DeviceHandlerBase::rawPacketLen = 3;
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DeviceHandlerBase::rawPacket = commandBuffer.data();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
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commandBuffer[0] = static_cast<uint8_t>(
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Max31865Definitions::REQUEST_HIGH_THRESHOLD);
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commandBuffer[1] = 0x00; //dummy byte
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commandBuffer[2] = 0x00; //dummy byte
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DeviceHandlerBase::rawPacketLen = 3;
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DeviceHandlerBase::rawPacket = commandBuffer.data();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(Max31865Definitions::WRITE_LOW_THRESHOLD): {
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commandBuffer[0] = static_cast<uint8_t>(
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Max31865Definitions::WRITE_LOW_THRESHOLD);
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commandBuffer[1] = static_cast<uint8_t>(LOW_THRESHOLD >> 8);
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commandBuffer[2] = static_cast<uint8_t>(LOW_THRESHOLD & 0xFF);
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DeviceHandlerBase::rawPacketLen = 3;
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DeviceHandlerBase::rawPacket = commandBuffer.data();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(Max31865Definitions::REQUEST_LOW_THRESHOLD): {
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commandBuffer[0] = static_cast<uint8_t>(
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Max31865Definitions::REQUEST_LOW_THRESHOLD);
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commandBuffer[1] = 0x00; //dummy byte
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commandBuffer[2] = 0x00; //dummy byte
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DeviceHandlerBase::rawPacketLen = 3;
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DeviceHandlerBase::rawPacket = commandBuffer.data();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(Max31865Definitions::REQUEST_RTD): {
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commandBuffer[0] = static_cast<uint8_t>(
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Max31865Definitions::REQUEST_RTD);
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// two dummy bytes
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commandBuffer[1] = 0x00;
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commandBuffer[2] = 0x00;
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DeviceHandlerBase::rawPacketLen = 3;
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DeviceHandlerBase::rawPacket = commandBuffer.data();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case(Max31865Definitions::REQUEST_FAULT_BYTE): {
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commandBuffer[0] = static_cast<uint8_t>(
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Max31865Definitions::REQUEST_FAULT_BYTE);
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commandBuffer[1] = 0x00;
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DeviceHandlerBase::rawPacketLen = 2;
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DeviceHandlerBase::rawPacket = commandBuffer.data();
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return HasReturnvaluesIF::RETURN_OK;
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}
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default:
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//Unknown DeviceCommand
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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}
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void Max31865PT1000Handler::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(Max31865Definitions::CONFIG_CMD, 3);
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insertInCommandAndReplyMap(Max31865Definitions::REQUEST_CONFIG, 3);
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insertInCommandAndReplyMap(Max31865Definitions::WRITE_LOW_THRESHOLD, 3);
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insertInCommandAndReplyMap(Max31865Definitions::REQUEST_LOW_THRESHOLD, 3);
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insertInCommandAndReplyMap(Max31865Definitions::WRITE_HIGH_THRESHOLD, 3);
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insertInCommandAndReplyMap(Max31865Definitions::REQUEST_HIGH_THRESHOLD, 3);
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insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3,
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&sensorDataset);
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insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3);
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}
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ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
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size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
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size_t rtdReplySize = 3;
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size_t configReplySize = 2;
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if(remainingSize == rtdReplySize and
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internalState == InternalState::RUNNING) {
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*foundId = Max31865Definitions::REQUEST_RTD;
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*foundLen = rtdReplySize;
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return RETURN_OK;
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}
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if(remainingSize == 3) {
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switch(internalState) {
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case(InternalState::CONFIG_HIGH_THRESHOLD): {
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*foundLen = 3;
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*foundId = Max31865Definitions::WRITE_HIGH_THRESHOLD;
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commandExecuted = true;
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return RETURN_OK;
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}
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case(InternalState::REQUEST_HIGH_THRESHOLD): {
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*foundLen = 3;
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*foundId = Max31865Definitions::REQUEST_HIGH_THRESHOLD;
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return RETURN_OK;
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}
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case(InternalState::CONFIG_LOW_THRESHOLD): {
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*foundLen = 3;
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*foundId = Max31865Definitions::WRITE_LOW_THRESHOLD;
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commandExecuted = true;
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return RETURN_OK;
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}
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case(InternalState::REQUEST_LOW_THRESHOLD): {
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*foundLen = 3;
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*foundId = Max31865Definitions::REQUEST_LOW_THRESHOLD;
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return RETURN_OK;
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}
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default: {
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sif::debug << "Max31865PT1000Handler::scanForReply: Unknown internal state"
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<< std::endl;
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return RETURN_OK;
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}
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}
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}
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if(remainingSize == configReplySize) {
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if(internalState == InternalState::CONFIGURE) {
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commandExecuted = true;
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*foundLen = configReplySize;
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*foundId = Max31865Definitions::CONFIG_CMD;
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}
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else if(internalState == InternalState::REQUEST_FAULT_BYTE) {
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*foundId = Max31865Definitions::REQUEST_FAULT_BYTE;
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*foundLen = 2;
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internalState = InternalState::RUNNING;
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}
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else {
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*foundId = Max31865Definitions::REQUEST_CONFIG;
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*foundLen = configReplySize;
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}
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}
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return RETURN_OK;
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}
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ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
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DeviceCommandId_t id, const uint8_t *packet) {
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switch(id) {
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case(Max31865Definitions::REQUEST_CONFIG): {
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if(packet[1] != DEFAULT_CONFIG) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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// it propably would be better if we at least try one restart..
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sif::error << "Max31865PT1000Handler: Invalid configuration reply!" << std::endl;
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#else
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sif::printError("Max31865PT1000Handler: Invalid configuration reply!\n");
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#endif
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return HasReturnvaluesIF::RETURN_OK;
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}
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// set to true for invalid configs too for now.
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if(internalState == InternalState::REQUEST_CONFIG) {
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commandExecuted = true;
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}
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else if(internalState == InternalState::RUNNING) {
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// we should propably generate a telemetry with the config byte
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// as payload here.
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}
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break;
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}
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case(Max31865Definitions::REQUEST_LOW_THRESHOLD): {
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uint16_t readLowThreshold = packet[0] << 8 | packet[1];
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if(readLowThreshold != LOW_THRESHOLD) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1 && OBSW_DEBUG_RTD == 1
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sif::error
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<< "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written "
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<< "and readback value of low threshold register"
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<< std::endl;
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#endif
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}
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commandExecuted = true;
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break;
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}
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case(Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
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uint16_t readHighThreshold = packet[0] << 8 | packet[1];
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if(readHighThreshold != HIGH_THRESHOLD) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1 && OBSW_DEBUG_RTD == 1
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sif::error
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<< "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written "
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<< "and readback value of high threshold register"
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<< std::endl;
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#endif
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}
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commandExecuted = true;
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break;
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}
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case(Max31865Definitions::REQUEST_RTD): {
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// first bit of LSB reply byte is the fault bit
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uint8_t faultBit = packet[2] & 0b0000'0001;
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if(faultBit == 1) {
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// Maybe we should attempt to restart it?
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internalState = InternalState::REQUEST_FAULT_BYTE;
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}
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// RTD value consists of last seven bits of the LSB reply byte and
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// the MSB reply byte
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uint16_t adcCode = ((packet[1] << 8) | packet[2]) >> 1;
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// do something with rtd value, will propably be stored in
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// dataset.
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float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX;
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// calculate approximation
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float approxTemp = adcCode / 32.0 - 256.0;
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#if OBSW_VERBOSE_LEVEL >= 1
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if(debugDivider->checkAndIncrement()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Max31865PT1000Handler::interpretDeviceReply: Measured "
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<< "resistance is " << rtdValue << " Ohms." << std::endl;
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sif::info << "Approximated temperature is " << approxTemp << " C"
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<< std::endl;
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#else
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sif::printInfo("Max31865PT1000Handler::interpretDeviceReply: Measured resistance is %f"
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" Ohms.\n", rtdValue);
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sif::printInfo("Approximated temperature is %f C\n", approxTemp);
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#endif
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sensorDataset.setChanged(true);
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}
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#endif
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PoolReadGuard pg(&sensorDataset);
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if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
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// Configuration error
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!"
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<< std::endl;
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#else
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sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!\n");
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#endif
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return pg.getReadResult();
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}
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if(not sensorDataset.isValid()) {
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sensorDataset.setValidity(true, false);
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sensorDataset.rtdValue.setValid(true);
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sensorDataset.temperatureCelcius.setValid(true);
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}
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sensorDataset.rtdValue = rtdValue;
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sensorDataset.temperatureCelcius = approxTemp;
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break;
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}
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case(Max31865Definitions::REQUEST_FAULT_BYTE): {
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faultByte = packet[1];
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#if OBSW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Max31865PT1000Handler::interpretDeviceReply: Fault byte"
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" is: 0b" << std::bitset<8>(faultByte) << std::endl;
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#else
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sif::printInfo("Max31865PT1000Handler::interpretDeviceReply: Fault byte"
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" is: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(faultByte));
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#endif
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#endif
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ReturnValue_t result = sensorDataset.read();
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if(result != HasReturnvaluesIF::RETURN_OK) {
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// Configuration error
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "Max31865PT1000Handler::interpretDeviceReply: "
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"Error reading dataset!" << std::endl;
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#else
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sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: "
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"Error reading dataset!\n");
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#endif
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return result;
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}
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sensorDataset.errorByte.setValid(true);
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sensorDataset.errorByte = faultByte;
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if(faultByte != 0) {
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sensorDataset.temperatureCelcius.setValid(false);
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}
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result = sensorDataset.commit();
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if(result != HasReturnvaluesIF::RETURN_OK) {
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// Configuration error
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "Max31865PT1000Handler::interpretDeviceReply: "
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"Error commiting dataset!" << std::endl;
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#else
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sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: "
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"Error commiting dataset!\n");
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#endif
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return result;
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}
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break;
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}
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default:
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break;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void Max31865PT1000Handler::debugInterface(uint8_t positionTracker,
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object_id_t objectId, uint32_t parameter) {
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}
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uint32_t Max31865PT1000Handler::getTransitionDelayMs(
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Mode_t modeFrom, Mode_t modeTo) {
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return 20000;
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}
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ReturnValue_t Max31865PT1000Handler::getSwitches(
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const uint8_t **switches, uint8_t *numberOfSwitches) {
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return DeviceHandlerBase::NO_SWITCH;
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}
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void Max31865PT1000Handler::doTransition(Mode_t modeFrom,
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Submode_t subModeFrom) {
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DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
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}
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ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(Max31865Definitions::PoolIds::RTD_VALUE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(Max31865Definitions::PoolIds::TEMPERATURE_C,
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new PoolEntry<float>({0}, 1, true));
|
|
localDataPoolMap.emplace(Max31865Definitions::PoolIds::FAULT_BYTE,
|
|
new PoolEntry<uint8_t>({0}));
|
|
// poolManager.subscribeForPeriodicPacket(sensorDatasetSid,
|
|
// false, 4.0, false);
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
void Max31865PT1000Handler::modeChanged() {
|
|
internalState = InternalState::NONE;
|
|
}
|