afmt and changelog
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@ -17,6 +17,11 @@ change warranting a new major release:
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# [unreleased]
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# [unreleased]
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## Changed
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- ACS Controller scheduling is now configurable via the `eive/definitions.h` file. Also ensured
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that scheduling is done in big blocks to reduce risk of missed deadlines.
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# [v1.26.1] 2023-02-08
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# [v1.26.1] 2023-02-08
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- Initialize parameter helper in ACS controller.
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- Initialize parameter helper in ACS controller.
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@ -2,6 +2,7 @@
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#define BSP_Q7S_INITMISSION_H_
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#define BSP_Q7S_INITMISSION_H_
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#include <pollingsequence/pollingSequenceFactory.h>
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#include <pollingsequence/pollingSequenceFactory.h>
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#include <vector>
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#include <vector>
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#include "fsfw/tasks/definitions.h"
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#include "fsfw/tasks/definitions.h"
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@ -66,7 +66,7 @@ static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_S
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static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
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static constexpr float SCHED_BLOCK_2_PERIOD = static_cast<float>(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0;
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static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
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static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0;
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}
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} // namespace acs
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} // namespace config
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} // namespace config
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@ -1,12 +1,11 @@
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#include "pollingSequenceFactory.h"
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#include "pollingSequenceFactory.h"
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#include "eive/definitions.h"
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include "eive/definitions.h"
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#include "mission/devices/devicedefinitions/Max31865Definitions.h"
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#include "mission/devices/devicedefinitions/Max31865Definitions.h"
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#ifndef RPI_TEST_ADIS16507
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#ifndef RPI_TEST_ADIS16507
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@ -190,87 +189,108 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
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uint32_t length = thisSequence->getPeriodMs();
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uint32_t length = thisSequence->getPeriodMs();
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bool enableAside = true;
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bool enableAside = true;
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bool enableBside = true;
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bool enableBside = true;
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if(cfg.scheduleAcsBoard) {
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if (cfg.scheduleAcsBoard) {
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if (enableAside) {
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// A side
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_READ);
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if (enableAside) {
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
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// A side
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
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DeviceHandlerIF::PERFORM_OPERATION);
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
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DeviceHandlerIF::SEND_READ);
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
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DeviceHandlerIF::GET_READ);
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_READ);
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}
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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if (enableBside) {
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DeviceHandlerIF::PERFORM_OPERATION);
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// B side
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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}
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_READ);
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if (enableBside) {
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
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// B side
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
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DeviceHandlerIF::PERFORM_OPERATION);
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
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DeviceHandlerIF::SEND_READ);
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
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DeviceHandlerIF::GET_READ);
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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}
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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}
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}
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}
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// SUS: 16 ms
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// SUS: 16 ms
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@ -287,321 +307,382 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
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bool addSus10 = true;
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bool addSus10 = true;
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bool addSus11 = true;
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bool addSus11 = true;
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if(cfg.scheduleSus) {
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if (cfg.scheduleSus) {
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if (addSus0) {
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if (addSus0) {
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/* Write setup */
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/* Write setup */
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
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length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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}
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if (addSus1) {
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
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DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
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length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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||||||
|
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
if (addSus2) {
|
||||||
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
if (addSus3) {
|
||||||
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
if (addSus4) {
|
||||||
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
if (addSus5) {
|
||||||
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (addSus6) {
|
||||||
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (addSus7) {
|
||||||
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (addSus8) {
|
||||||
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (addSus9) {
|
||||||
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (addSus10) {
|
||||||
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (addSus11) {
|
||||||
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
|
||||||
|
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (cfg.scheduleStr) {
|
||||||
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (cfg.scheduleImtq) {
|
||||||
|
// This is the MTM measurement cycle
|
||||||
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::GET_WRITE);
|
DeviceHandlerIF::GET_WRITE);
|
||||||
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::SEND_READ);
|
DeviceHandlerIF::SEND_READ);
|
||||||
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
DeviceHandlerIF::GET_READ);
|
||||||
}
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
if (addSus1) {
|
|
||||||
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::GET_WRITE);
|
DeviceHandlerIF::GET_WRITE);
|
||||||
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::SEND_READ);
|
DeviceHandlerIF::SEND_READ);
|
||||||
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
DeviceHandlerIF::GET_READ);
|
||||||
}
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
if (addSus2) {
|
|
||||||
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::GET_WRITE);
|
DeviceHandlerIF::GET_WRITE);
|
||||||
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
DeviceHandlerIF::SEND_READ);
|
DeviceHandlerIF::SEND_READ);
|
||||||
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
DeviceHandlerIF::GET_READ);
|
||||||
}
|
}
|
||||||
if (addSus3) {
|
|
||||||
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
|
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
if (addSus4) {
|
|
||||||
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
|
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
if (addSus5) {
|
|
||||||
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
|
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (addSus6) {
|
|
||||||
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
|
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (addSus7) {
|
|
||||||
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
|
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (addSus8) {
|
|
||||||
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
|
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (addSus9) {
|
|
||||||
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (addSus10) {
|
|
||||||
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (addSus11) {
|
|
||||||
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
|
||||||
DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
|
|
||||||
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
||||||
DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if(cfg.scheduleStr) {
|
|
||||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
|
|
||||||
if(cfg.scheduleImtq) {
|
|
||||||
// This is the MTM measurement cycle
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
|
||||||
|
|
||||||
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
|
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
|
||||||
|
|
||||||
if(cfg.scheduleImtq) {
|
if (cfg.scheduleImtq) {
|
||||||
// This is the torquing cycle.
|
// This is the torquing cycle.
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::GET_READ);
|
||||||
}
|
}
|
||||||
|
|
||||||
if(cfg.scheduleRws) {
|
if (cfg.scheduleRws) {
|
||||||
|
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
|
||||||
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_WRITE);
|
||||||
|
|
||||||
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
DeviceHandlerIF::GET_WRITE);
|
||||||
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::GET_WRITE);
|
||||||
|
|
||||||
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
DeviceHandlerIF::SEND_READ);
|
||||||
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
|
DeviceHandlerIF::SEND_READ);
|
||||||
|
|
||||||
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
DeviceHandlerIF::GET_READ);
|
||||||
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
DeviceHandlerIF::GET_READ);
|
||||||
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
DeviceHandlerIF::GET_READ);
|
||||||
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
|
||||||
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
DeviceHandlerIF::GET_READ);
|
||||||
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
|
||||||
}
|
}
|
||||||
return returnvalue::OK;
|
return returnvalue::OK;
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user