359 lines
12 KiB
C++
359 lines
12 KiB
C++
#include "Max31865PT1000Handler.h"
|
||
|
||
#include <bitset>
|
||
#include <cmath>
|
||
|
||
Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId,
|
||
object_id_t comIF, CookieIF *comCookie, uint8_t switchId):
|
||
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
|
||
sensorDataset(this), sensorDatasetSid(sensorDataset.getSid()) {
|
||
#if OBSW_VERBOSE_LEVEL >= 1
|
||
debugDivider = new PeriodicOperationDivider(10);
|
||
#endif
|
||
}
|
||
|
||
Max31865PT1000Handler::~Max31865PT1000Handler() {
|
||
}
|
||
|
||
void Max31865PT1000Handler::doStartUp() {
|
||
if(internalState == InternalState::NONE) {
|
||
internalState = InternalState::WARMUP;
|
||
Clock::getUptime(&startTime);
|
||
}
|
||
|
||
if(internalState == InternalState::WARMUP) {
|
||
dur_millis_t timeNow = 0;
|
||
Clock::getUptime(&timeNow);
|
||
if(timeNow - startTime >= 100) {
|
||
internalState = InternalState::CONFIGURE;
|
||
}
|
||
}
|
||
|
||
if(internalState == InternalState::CONFIGURE) {
|
||
if(commandExecuted) {
|
||
internalState = InternalState::REQUEST_CONFIG;
|
||
commandExecuted = false;
|
||
}
|
||
}
|
||
|
||
if(internalState == InternalState::REQUEST_CONFIG) {
|
||
if (commandExecuted) {
|
||
setMode(MODE_ON);
|
||
setMode(MODE_NORMAL);
|
||
commandExecuted = false;
|
||
internalState = InternalState::RUNNING;
|
||
}
|
||
}
|
||
}
|
||
|
||
void Max31865PT1000Handler::doShutDown() {
|
||
commandExecuted = false;
|
||
setMode(MODE_OFF);
|
||
}
|
||
|
||
ReturnValue_t Max31865PT1000Handler::buildNormalDeviceCommand(
|
||
DeviceCommandId_t *id) {
|
||
if(internalState == InternalState::RUNNING) {
|
||
*id = Max31865Definitions::REQUEST_RTD;
|
||
return buildCommandFromCommand(*id, nullptr, 0);
|
||
}
|
||
else if(internalState == InternalState::REQUEST_FAULT_BYTE) {
|
||
*id = Max31865Definitions::REQUEST_FAULT_BYTE;
|
||
return buildCommandFromCommand(*id, nullptr, 0);
|
||
}
|
||
else {
|
||
return DeviceHandlerBase::NOTHING_TO_SEND;
|
||
}
|
||
}
|
||
|
||
ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand(
|
||
DeviceCommandId_t *id) {
|
||
switch(internalState) {
|
||
case(InternalState::NONE):
|
||
case(InternalState::WARMUP):
|
||
case(InternalState::RUNNING):
|
||
return DeviceHandlerBase::NOTHING_TO_SEND;
|
||
case(InternalState::CONFIGURE): {
|
||
*id = Max31865Definitions::CONFIG_CMD;
|
||
uint8_t config[1] = {DEFAULT_CONFIG};
|
||
return buildCommandFromCommand(*id, config, 1);
|
||
}
|
||
case(InternalState::REQUEST_CONFIG): {
|
||
*id = Max31865Definitions::REQUEST_CONFIG;
|
||
return buildCommandFromCommand(*id, nullptr, 0);
|
||
}
|
||
|
||
default:
|
||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
sif::error << "Max31865PT1000Handler: Invalid internal state" << std::endl;
|
||
#else
|
||
sif::printError("Max31865PT1000Handler: Invalid internal state\n");
|
||
#endif
|
||
return HasReturnvaluesIF::RETURN_FAILED;
|
||
}
|
||
}
|
||
|
||
ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(
|
||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||
size_t commandDataLen) {
|
||
switch(deviceCommand) {
|
||
case(Max31865Definitions::CONFIG_CMD) : {
|
||
commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::CONFIG_CMD);
|
||
if(commandDataLen == 1) {
|
||
commandBuffer[1] = commandData[0];
|
||
DeviceHandlerBase::rawPacketLen = 2;
|
||
DeviceHandlerBase::rawPacket = commandBuffer.data();
|
||
return HasReturnvaluesIF::RETURN_OK;
|
||
}
|
||
else {
|
||
return DeviceHandlerIF::NO_COMMAND_DATA;
|
||
}
|
||
}
|
||
case(Max31865Definitions::REQUEST_CONFIG): {
|
||
commandBuffer[0] = 0x00; // dummy byte
|
||
commandBuffer[1] = static_cast<uint8_t>(
|
||
Max31865Definitions::REQUEST_CONFIG);
|
||
DeviceHandlerBase::rawPacketLen = 2;
|
||
DeviceHandlerBase::rawPacket = commandBuffer.data();
|
||
return HasReturnvaluesIF::RETURN_OK;
|
||
}
|
||
case(Max31865Definitions::REQUEST_RTD): {
|
||
commandBuffer[0] = static_cast<uint8_t>(
|
||
Max31865Definitions::REQUEST_RTD);
|
||
// two dummy bytes
|
||
commandBuffer[1] = 0x00;
|
||
commandBuffer[2] = 0x00;
|
||
DeviceHandlerBase::rawPacketLen = 3;
|
||
DeviceHandlerBase::rawPacket = commandBuffer.data();
|
||
return HasReturnvaluesIF::RETURN_OK;
|
||
}
|
||
case(Max31865Definitions::REQUEST_FAULT_BYTE): {
|
||
commandBuffer[0] = static_cast<uint8_t>(
|
||
Max31865Definitions::REQUEST_FAULT_BYTE);
|
||
commandBuffer[1] = 0x00;
|
||
DeviceHandlerBase::rawPacketLen = 2;
|
||
DeviceHandlerBase::rawPacket = commandBuffer.data();
|
||
return HasReturnvaluesIF::RETURN_OK;
|
||
}
|
||
default:
|
||
//Unknown DeviceCommand
|
||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||
}
|
||
}
|
||
|
||
void Max31865PT1000Handler::fillCommandAndReplyMap() {
|
||
insertInCommandAndReplyMap(Max31865Definitions::CONFIG_CMD, 3);
|
||
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_CONFIG, 3);
|
||
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3,
|
||
&sensorDataset);
|
||
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3);
|
||
}
|
||
|
||
ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
|
||
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
|
||
size_t rtdReplySize = 3;
|
||
size_t configReplySize = 2;
|
||
|
||
if(remainingSize == rtdReplySize and
|
||
internalState == InternalState::RUNNING) {
|
||
*foundId = Max31865Definitions::REQUEST_RTD;
|
||
*foundLen = rtdReplySize;
|
||
}
|
||
|
||
if(remainingSize == configReplySize) {
|
||
if(internalState == InternalState::CONFIGURE) {
|
||
commandExecuted = true;
|
||
*foundLen = configReplySize;
|
||
*foundId = Max31865Definitions::CONFIG_CMD;
|
||
}
|
||
else if(internalState == InternalState::REQUEST_FAULT_BYTE) {
|
||
*foundId = Max31865Definitions::REQUEST_FAULT_BYTE;
|
||
*foundLen = 2;
|
||
internalState = InternalState::RUNNING;
|
||
}
|
||
else {
|
||
*foundId = Max31865Definitions::REQUEST_CONFIG;
|
||
*foundLen = configReplySize;
|
||
}
|
||
}
|
||
|
||
return RETURN_OK;
|
||
}
|
||
|
||
ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
|
||
DeviceCommandId_t id, const uint8_t *packet) {
|
||
switch(id) {
|
||
case(Max31865Definitions::REQUEST_CONFIG): {
|
||
if(packet[1] != DEFAULT_CONFIG) {
|
||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
// it propably would be better if we at least try one restart..
|
||
sif::error << "Max31865PT1000Handler: Invalid configuration reply!" << std::endl;
|
||
#else
|
||
sif::printError("Max31865PT1000Handler: Invalid configuration reply!\n");
|
||
#endif
|
||
return HasReturnvaluesIF::RETURN_OK;
|
||
}
|
||
// set to true for invalid configs too for now.
|
||
if(internalState == InternalState::REQUEST_CONFIG) {
|
||
commandExecuted = true;
|
||
}
|
||
else if(internalState == InternalState::RUNNING) {
|
||
// we should propably generate a telemetry with the config byte
|
||
// as payload here.
|
||
}
|
||
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;
|
||
}
|
||
}
|
||
|
||
// RTD value consists of last seven bits of the LSB reply byte and
|
||
// the MSB reply byte
|
||
uint16_t adcCode = ((packet[1] << 8) | packet[2]) >> 1;
|
||
// do something with rtd value, will propably be stored in
|
||
// dataset.
|
||
float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX;
|
||
|
||
// calculate approximation
|
||
float approxTemp = adcCode / 32.0 - 256.0;
|
||
|
||
#if OBSW_VERBOSE_LEVEL >= 1
|
||
if(debugDivider->checkAndIncrement()) {
|
||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
sif::info << "Max31865PT1000Handler::interpretDeviceReply: Measured "
|
||
<< "resistance is " << rtdValue << " Ohms." << std::endl;
|
||
sif::info << "Approximated temperature is " << approxTemp << " <20>C"
|
||
<< std::endl;
|
||
#else
|
||
sif::printInfo("Max31865PT1000Handler::interpretDeviceReply: Measured resistance is %f"
|
||
" Ohms.\n", rtdValue);
|
||
sif::printInfo("Approximated temperature is %f C\n", approxTemp);
|
||
#endif
|
||
sensorDataset.setChanged(true);
|
||
}
|
||
#endif
|
||
|
||
ReturnValue_t result = sensorDataset.read();
|
||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
// Configuration error
|
||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!"
|
||
<< std::endl;
|
||
#else
|
||
sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!\n");
|
||
#endif
|
||
return result;
|
||
}
|
||
|
||
if(not sensorDataset.isValid()) {
|
||
sensorDataset.temperatureCelcius.setValid(true);
|
||
}
|
||
|
||
sensorDataset.temperatureCelcius = approxTemp;
|
||
|
||
result = sensorDataset.commit();
|
||
|
||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
// Configuration error
|
||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
sif::debug << "Max31865PT1000Handler::interpretDeviceReply: "
|
||
"Error commiting dataset!" << std::endl;
|
||
#else
|
||
sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: "
|
||
"Error commiting dataset!\n");
|
||
#endif
|
||
return result;
|
||
}
|
||
|
||
break;
|
||
}
|
||
case(Max31865Definitions::REQUEST_FAULT_BYTE): {
|
||
faultByte = packet[1];
|
||
#if OBSW_VERBOSE_LEVEL >= 1
|
||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
sif::info << "Max31865PT1000Handler::interpretDeviceReply: Fault byte"
|
||
" is: 0b" << std::bitset<8>(faultByte) << std::endl;
|
||
#else
|
||
sif::printInfo("Max31865PT1000Handler::interpretDeviceReply: Fault byte"
|
||
" is: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(faultByte));
|
||
#endif
|
||
#endif
|
||
ReturnValue_t result = sensorDataset.read();
|
||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
// Configuration error
|
||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
sif::debug << "Max31865PT1000Handler::interpretDeviceReply: "
|
||
"Error reading dataset!" << std::endl;
|
||
#else
|
||
sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: "
|
||
"Error reading dataset!\n");
|
||
#endif
|
||
return result;
|
||
}
|
||
sensorDataset.errorByte.setValid(true);
|
||
sensorDataset.errorByte = faultByte;
|
||
if(faultByte != 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: "
|
||
"Error commiting dataset!" << std::endl;
|
||
#else
|
||
sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: "
|
||
"Error commiting dataset!\n");
|
||
#endif
|
||
return result;
|
||
}
|
||
|
||
break;
|
||
}
|
||
default:
|
||
break;
|
||
}
|
||
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 5000;
|
||
}
|
||
|
||
ReturnValue_t Max31865PT1000Handler::getSwitches(
|
||
const uint8_t **switches, uint8_t *numberOfSwitches) {
|
||
return DeviceHandlerBase::NO_SWITCH;
|
||
}
|
||
|
||
void Max31865PT1000Handler::doTransition(Mode_t modeFrom,
|
||
Submode_t subModeFrom) {
|
||
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
|
||
}
|
||
|
||
ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||
LocalDataPoolManager& poolManager) {
|
||
localDataPoolMap.emplace(Max31865Definitions::PoolIds::TEMPERATURE_C,
|
||
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;
|
||
}
|