Thermistor Auto Shutoff is now configurable (#672)

* Make changes to firmware side for thermistor auto shutoff temperature config rule

* Refactor embedded firmware changes

* Unsure why feed_watchdog was saved into a float instead of a uint32_t since HALGetTick returns uint32_t

* Add custom changes for ROS end

* Allow code to build

---------

Co-authored-by: wilsonchen02 <[email protected]>

config/esw.yaml

@@ -598,3 +598,6 @@ default_network_iface: "enp0s31f6"
 auton_led_driver:
   port: "/dev/ttyACM0"
   baud: 115200
+
+science:
+  shutoff_temp: 50.0f

src/esw/fw/science/Core/Inc/heater.hpp

@@ -11,6 +11,8 @@
 
 namespace mrover {
 
+	constexpr static float DEFAULT_MAX_HEATER_TEMP = 50.0f;
+
     class Heater {
     public:
     	Heater() = default;
@@ -27,6 +29,7 @@ namespace mrover {
 
         void turn_off_if_watchdog_not_fed();
 
+        void change_shutoff_temp(float shutoff_temp);
 
         void set_auto_shutoff(bool enable);
 
@@ -37,7 +40,8 @@ namespace mrover {
         Pin m_heater_pin;
         bool m_state {};
         bool m_auto_shutoff_enabled {};
-        float m_last_time_received_message {};
+        uint32_t m_last_time_received_message {};
+        float m_max_heater_temp {DEFAULT_MAX_HEATER_TEMP};
     };
 
 } // namespace mrover

src/esw/fw/science/Core/Inc/science.hpp

@@ -76,6 +76,12 @@ namespace mrover {
         	}
         }
 
+		void feed(ConfigThermistorAutoShutOffCommand const& message) {
+			for (int i = 0; i < 6; ++i) {
+				m_heaters.at(i).change_shutoff_temp(message.shutoff_temp);
+			}
+		}
+
     public:
         Science() = default;
 

src/esw/fw/science/Core/Src/heater.cpp

@@ -5,9 +5,11 @@
 
 #include "heater.hpp"
 
+
+
+
 namespace mrover {
 
-    constexpr static float MAX_HEATER_TEMP = 50.0f;
     constexpr static int MAX_HEATER_WATCHDOG_TICK = 1000;
 
     Heater::Heater(DiagTempSensor const& diag_temp_sensor, Pin const& heater_pin)
@@ -27,7 +29,7 @@ namespace mrover {
     }
 
     void Heater::enable_if_possible(bool enable) {
-    	if (enable && m_auto_shutoff_enabled && get_temp() >= MAX_HEATER_TEMP) {
+    	if (enable && m_auto_shutoff_enabled && get_temp() >= m_max_heater_temp) {
     		// The only time you don't service the request is if auto_shutoff is enabled
     		// and they want to turn it on when past the heater temp
 			m_state = false;
@@ -43,7 +45,7 @@ namespace mrover {
 
     void Heater::update_temp_and_auto_shutoff_if_applicable() {
     	m_diag_temp_sensor.update_science_temp();
-    	if (m_state && m_auto_shutoff_enabled && (get_temp() >= MAX_HEATER_TEMP)) {
+    	if (m_state && m_auto_shutoff_enabled && (get_temp() >= m_max_heater_temp)) {
 			m_state = false;
 			m_heater_pin.write(GPIO_PIN_RESET);
 		}
@@ -59,6 +61,10 @@ namespace mrover {
     	}
     }
 
+    void Heater::change_shutoff_temp(float shutoff_temp) {
+    	m_max_heater_temp = shutoff_temp;
+    }
+
     void Heater::feed_watchdog() {
     	m_last_time_received_message = HAL_GetTick();
     }

src/esw/science_bridge/main.cpp

@@ -8,6 +8,7 @@
 #include <mrover/Spectral.h>
 #include <ros/ros.h>
 #include <unordered_map>
+#include "params_utils.hpp"
 
 std::unique_ptr<mrover::CanDevice> scienceCanDevice;
 
@@ -93,6 +94,15 @@ auto main(int argc, char** argv) -> int {
     };
 
     scienceCanDevice = std::make_unique<mrover::CanDevice>(nh, "jetson", "science");
+
+
+    float shutoff_temp = 50.0f;  // DEFAULT 
+    if (nh.hasParam("science/shutoff_temp")) {
+        nh.getParam("science/shutoff_temp", shutoff_temp);
+    }
+
+    scienceCanDevice->publish_message(mrover::InBoundScienceMessage{mrover::ConfigThermistorAutoShutOffCommand{.shutoff_temp = shutoff_temp}});
+
     std::vector<ros::ServiceServer> services;
     services.reserve(scienceDeviceByName.size() + 1);
 

src/util/messaging.hpp

@@ -158,6 +158,10 @@ namespace mrover {
         bool enable_auto_shutoff{};
     };
 
+    struct ConfigThermistorAutoShutOffCommand : BaseCommand {
+        float shutoff_temp{};
+    };
+
     struct HeaterStateInfo {
         [[maybe_unused]] std::uint8_t _ignore : 2 {};
         std::uint8_t on : 6 {};
@@ -183,7 +187,7 @@ namespace mrover {
     };
 
     using InBoundScienceMessage = std::variant<
-            EnableScienceDeviceCommand, HeaterAutoShutOffCommand>;
+            EnableScienceDeviceCommand, HeaterAutoShutOffCommand, ConfigThermistorAutoShutOffCommand>;
 
     using OutBoundScienceMessage = std::variant<
             HeaterStateData, SpectralData, ThermistorData>;