From 23782dc2fadd37abe062ffb03c0ba33de4716a77 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 20 Aug 2021 14:08:11 +0200 Subject: [PATCH] Device update 1. Sun sensors added but can be disabled with preprocessor defines 2. GPS Handler --- bsp_q7s/boardconfig/busConf.h | 3 + bsp_q7s/core/ObjectFactory.cpp | 15 +- common/config/devConf.h | 1 + .../pollingSequenceFactory.cpp | 483 +++++++++--------- 4 files changed, 254 insertions(+), 248 deletions(-) diff --git a/bsp_q7s/boardconfig/busConf.h b/bsp_q7s/boardconfig/busConf.h index b70060f5..b314316e 100644 --- a/bsp_q7s/boardconfig/busConf.h +++ b/bsp_q7s/boardconfig/busConf.h @@ -12,6 +12,9 @@ static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3"; static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4"; static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8"; +static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0"; +static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2"; + static constexpr char GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5"; static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6"; diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index 0faa6562..3f05bc2b 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -456,13 +456,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI // spiCookie); // gyroL3gHandler->setStartUpImmediately(); - // TODO: Add GPS device handlers -// auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate, -// maxReplyLen); -// auto uartCookieGps1 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate, -// maxReplyLen); -// new GPSHyperionHandler(objects::GPS0_HANDLER, uartComIF); -// new GPSHyperionHandler(objects::GPS1_HANDLER, uartComIF); + auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV, + UartModes::CANONICAL, 9600, uart::HYPERION_GPS_REPLY_MAX_BUFFER); + auto uartCookieGps1 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_1_DEV, + UartModes::CANONICAL, 9600, uart::HYPERION_GPS_REPLY_MAX_BUFFER); + uartCookieGps1->setToFlushInput(true); + uartCookieGps1->setReadCycles(6); + new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookieGps0); + new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF, uartCookieGps1); } void ObjectFactory::createHeaterComponents() { diff --git a/common/config/devConf.h b/common/config/devConf.h index ce21c8b3..dc04d5b4 100644 --- a/common/config/devConf.h +++ b/common/config/devConf.h @@ -35,6 +35,7 @@ static constexpr uint32_t RTD_SPEED = 2000000; namespace uart { +static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024; static constexpr uint32_t PLOC_MPSOC_BAUD = 115200; static constexpr uint32_t PLOC_SUPERVISOR_BAUD = 115200; static constexpr uint32_t STAR_TRACKER_BAUD = 115200; diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 819f40a9..6d76e62b 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -143,6 +143,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ); +#if OBSW_ADD_SUN_SENSORS == 1 /** * The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all * requests to a sun sensor must be performed consecutively. Another reason for calling multiple @@ -151,253 +152,253 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { * One sun sensor communication sequence also blocks the SPI bus. So other devices can not be * inserted between the device handler cycles of one SUS. */ + /* Write setup */ + thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ); /* Write setup */ - // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ); /* Write setup */ - // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ); /* Write setup */ - // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ); - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ); - // /* Start ADC conversions */ - // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ); - // /* Read ADC conversions from inernal FIFO */ - // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ); - // /* Start ADC conversions */ - // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ); - // /* Read ADC conversions from inernal FIFO */ - // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ); - // /* Start ADC conversions */ - // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ); - // /* Read ADC conversions from inernal FIFO */ - // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ); - // /* Start ADC conversions */ - // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ); - // /* Read ADC conversions */ - // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ); - // /* Start ADC conversions */ - // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ); - // /* Read ADC conversions */ - // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ); - // /* Start ADC conversions */ - // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ); - // /* Read ADC conversions */ - // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ); - // /* Start ADC conversions */ - // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ); - // /* Read ADC conversions */ - // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ); - // - // /* Write setup */ - // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE); - // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ); - // /* Start ADC conversions */ - // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ); - // /* Read ADC conversions */ - // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ); + + /* Write setup */ + thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ); + + /* Write setup */ + thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ); + /* Start ADC conversions */ + thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ); + /* Read ADC conversions from inernal FIFO */ + thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ); + + /* Write setup */ + thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ); + /* Start ADC conversions */ + thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ); + /* Read ADC conversions from inernal FIFO */ + thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ); + + /* Write setup */ + thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ); + /* Start ADC conversions */ + thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ); + /* Read ADC conversions from inernal FIFO */ + thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ); + + /* Write setup */ + thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ); + /* Start ADC conversions */ + thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ); + /* Read ADC conversions */ + thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ); + + /* Write setup */ + thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ); + /* Start ADC conversions */ + thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ); + /* Read ADC conversions */ + thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ); + + /* Write setup */ + thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ); + /* Start ADC conversions */ + thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ); + /* Read ADC conversions */ + thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ); + + /* Write setup */ + thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ); + /* Start ADC conversions */ + thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ); + /* Read ADC conversions */ + thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ); + + /* Write setup */ + thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ); + /* Start ADC conversions */ + thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ); + /* Read ADC conversions */ + thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ); +#endif thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);