diff --git a/.gitmodules b/.gitmodules
index b0016647..1f3dc6ec 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,7 +15,7 @@
url = https://github.com/rmspacefish/lwgps.git
[submodule "generators/fsfwgen"]
path = generators/fsfwgen
- url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-generators.git
+ url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen.git
[submodule "thirdparty/arcsec_star_tracker"]
path = thirdparty/arcsec_star_tracker
url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f1c6d05..f366b744 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -86,6 +86,7 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
pre_source_hw_os_config()
if(TGT_BSP)
+ message(STATUS ${TGT_BSP})
if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
OR TGT_BSP MATCHES "arm/beagleboneblack"
)
@@ -97,18 +98,18 @@ if(TGT_BSP)
endif()
endif()
- if(${TGT_BSP} MATCHES "arm/raspberrypi")
+ if(TGT_BSP MATCHES "arm/raspberrypi")
# Used by configure file
set(RASPBERRY_PI ON)
set(FSFW_HAL_ADD_RASPBERRY_PI ON)
endif()
- if(${TGT_BSP} MATCHES "arm/beagleboneblack")
+ if(TGT_BSP MATCHES "arm/beagleboneblack")
# Used by configure file
set(BEAGLEBONEBLACK ON)
endif()
- if(${TGT_BSP} MATCHES "arm/q7s")
+ if(TGT_BSP MATCHES "arm/q7s")
# Used by configure file
set(XIPHOS_Q7S ON)
endif()
@@ -122,9 +123,9 @@ if(NOT EIVE_BUILD_WATCHDOG)
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
- if(${TGT_BSP} MATCHES "arm/q7s")
+ if(TGT_BSP MATCHES "arm/q7s")
configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
- elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
+ elseif(TGT_BSP MATCHES "arm/raspberrypi")
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
endif()
endif()
@@ -135,8 +136,6 @@ set(FSFW_ADDITIONAL_INC_PATHS
"${COMMON_PATH}/config"
${CMAKE_CURRENT_BINARY_DIR}
)
-# Set for lwgps library
-set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
################################################################################
# Executable and Sources
diff --git a/README.md b/README.md
index 77263fd2..b12400e9 100644
--- a/README.md
+++ b/README.md
@@ -65,7 +65,7 @@ prerequisites.
as a [separate download](#arm-toolchain)
2. [Q7S sysroot](#q7s-sysroot) on local development machine
3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
-3. [TCF agent] running on Q7S
+3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
## Hardware Design
@@ -324,6 +324,33 @@ For Linux, you can also download a more recent version of the
[Linaro 8.3.0 cross-compiler](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads)
from [here](https://developer.arm.com/-/media/Files/downloads/gnu-a/8.3-2019.03/binrel/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz?revision=e09a1c45-0ed3-4a8e-b06b-db3978fd8d56&la=en&hash=93ED4444B8B3A812B893373B490B90BBB28FD2E3)
+### Compatibility issues with wayland on more recent Linux distributions
+
+If Vivado crashes and you find following lines in the `hs_err_pid*` files:
+
+```sh
+#
+# An unexpected error has occurred (11)
+#
+Stack:
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(+0x923da9) [0x7f666cf5eda9]
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(JVM_handle_linux_signal+0xb6) [0x7f666cf653f6]
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(+0x9209d3) [0x7f666cf5b9d3]
+/lib/x86_64-linux-gnu/libc.so.6(+0x35fc0) [0x7f66a993efc0]
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/libawt_xawt.so(+0x42028) [0x7f664e24d028]
+...
+```
+
+You can [solve this](https://forums.xilinx.com/t5/Design-Entry/Bug-Vivado-2017-4-crashing-on-rightclick-in-console-log/td-p/881811)
+by logging in with `xorg` like specified [here](https://www.maketecheasier.com/switch-xorg-wayland-ubuntu1710/).
+
+### Using `docnav` on more recent Linux versions
+
+If you want to use `docnav` for navigating Xilinx documentation, it is recommended to install
+it as a standalone version from [here](https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/documentation-nav.html).
+This is because the `docnav` installed as part of version 2018.2 requires `libpng12`, which is not part of
+more recent disitributions anymore.
+
## Installing toolchain without Vivado
You can download the toolchains for Windows and Linux
diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index 237a7ead..372fbf25 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -112,6 +112,7 @@ void ObjectFactory::produce(void* args){
if(gpioCookie == nullptr) {
gpioCookie = new GpioCookie();
}
+ // TODO: Missing pin for Gyro 2
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
"MGM_0_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
@@ -124,7 +125,7 @@ void ObjectFactory::produce(void* args){
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
"GYRO_1_L3G", gpio::Direction::OUT, 1);
- gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
+ gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_2_BCM_PIN,
"GYRO_2_L3G", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie);
diff --git a/bsp_q7s/CMakeLists.txt b/bsp_q7s/CMakeLists.txt
index 408d58c1..b2c24d5f 100644
--- a/bsp_q7s/CMakeLists.txt
+++ b/bsp_q7s/CMakeLists.txt
@@ -12,6 +12,6 @@ else()
add_subdirectory(gpio)
add_subdirectory(core)
add_subdirectory(memory)
- add_subdirectory(spiCallbacks)
+ add_subdirectory(callbacks)
add_subdirectory(devices)
endif()
diff --git a/bsp_q7s/boardconfig/busConf.h b/bsp_q7s/boardconfig/busConf.h
index b70060f5..74c91708 100644
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@@ -10,32 +10,58 @@ static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL5";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
-static constexpr char GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5";
-static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6";
+static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
+static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
-// TODO: Determine new pins, additional ADIS gyro device
-static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 1;
-static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 7;
-static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 3;
-static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 3;
+/**************************************************************/
+/** OBC1E */
+/**************************************************************/
+static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "gpiochip4";
+static const char* const GPIO_GYRO_ADIS_CHIP = GPIO_MULTIPURPOSE_1V8_OBC1D;
+static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0; // Package Pin: W20
+static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2; // AA22
-static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;
-static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;
-static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;
-static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;
+/**************************************************************/
+/** OBC1F B0 */
+/**************************************************************/
+static constexpr char GPIO_FLEX_OBC1F_B0[] = "gpiochip5";
+static const char* const GPIO_ACS_BOARD_DEFAULT_CHIP = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RW_DEFAULT_CHIP = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RAD_SENSOR_CHIP = GPIO_FLEX_OBC1F_B0;
-static constexpr char GPIO_RW_DEFAULT_CHIP[] = "gpiochip5";
-static constexpr uint32_t GPIO_RW_0_CS = 7;
+static constexpr uint32_t GPIO_RW_0_CS = 7; // B20
static constexpr uint32_t GPIO_RW_1_CS = 3;
static constexpr uint32_t GPIO_RW_2_CS = 11;
static constexpr uint32_t GPIO_RW_3_CS = 6;
-static constexpr char GPIO_RW_SPI_MUX_CHIP[] = "gpiochip11";
-static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 57;
+static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18;
+static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1;
+static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;
+static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;
-static constexpr char GPIO_HEATER_CHIP[] = "gpiochip7";
+static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;
+// Active low reset pin
+static constexpr uint32_t GPIO_RESET_GNSS_0 = 9; // C22
+static constexpr uint32_t GPIO_RESET_GNSS_1 = 12; // B21
+
+static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19; // R18
+
+/**************************************************************/
+/** OBC1F B1 */
+/**************************************************************/
+static constexpr char GPIO_FLEX_OBC1F_B1[] = "gpiochip6";
+static const char* const GPIO_MGM2_LIS3_CHIP = GPIO_FLEX_OBC1F_B1;
+static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;
+
+/**************************************************************/
+/** OBC1C */
+/**************************************************************/
+static constexpr char GPIO_3V3_OBC1C[] = "gpiochip7";
+static const char* const GPIO_HEATER_CHIP = GPIO_3V3_OBC1C;
+static const char* const GPIO_SOLAR_ARR_DEPL_CHIP = GPIO_3V3_OBC1C;
static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
@@ -45,12 +71,12 @@ static constexpr uint32_t GPIO_HEATER_5_PIN = 0;
static constexpr uint32_t GPIO_HEATER_6_PIN = 1;
static constexpr uint32_t GPIO_HEATER_7_PIN = 11;
-static constexpr char GPIO_SOLAR_ARR_DEPL_CHIP[] = "gpiochip7";
static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4;
static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2;
-static constexpr char GPIO_RAD_SENSOR_CHIP[] = "gpiochip5";
-static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;
+static constexpr char GPIO_RW_SPI_MUX_CHIP[] = "gpiochip11";
+static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 57;
+
}
#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */
diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in
index 61e924d8..0eb4f759 100644
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@@ -5,30 +5,37 @@
#cmakedefine01 Q7S_SIMPLE_MODE
-#define Q7S_SD_NONE 0
-#define Q7S_SD_COLD_REDUNDANT 1
-#define Q7S_SD_HOT_REDUNDANT 2
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code */
+/*******************************************************************/
+
+//! Timers can mess up the code when debugging
+//! All of this should be enabled for mission code!
+
+/*******************************************************************/
+/** Other flags */
+/*******************************************************************/
+
+#define Q7S_SD_NONE 0
+#define Q7S_SD_COLD_REDUNDANT 1
+#define Q7S_SD_HOT_REDUNDANT 2
// The OBSW will perform different actions to set up the SD cards depending on the flag set here
// Set to Q7S_SD_NONE: Don't do anything
// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and
// turn off the second SD card if it is on
// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them
-#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
+#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
// Probably better if this is disabled for mission code. Convenient for development
-#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
-#define Q7S_ADD_RTD_DEVICES 0
+#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
+#define Q7S_ADD_RTD_DEVICES 0
-/* Only one of those 2 should be enabled! */
-/* Add code for ACS board */
-#define OBSW_ADD_ACS_BOARD 0
+// Only one of those 2 should be enabled!
#if OBSW_ADD_ACS_BOARD == 0
-#define Q7S_ADD_SPI_TEST 0
+#define Q7S_ADD_SPI_TEST 0
#endif
-#define Q7S_ADD_SYRLINKS_HANDLER 1
-
-#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
+#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
namespace config {
diff --git a/bsp_q7s/spiCallbacks/CMakeLists.txt b/bsp_q7s/callbacks/CMakeLists.txt
similarity index 76%
rename from bsp_q7s/spiCallbacks/CMakeLists.txt
rename to bsp_q7s/callbacks/CMakeLists.txt
index 59d507e6..8c83e26f 100644
--- a/bsp_q7s/spiCallbacks/CMakeLists.txt
+++ b/bsp_q7s/callbacks/CMakeLists.txt
@@ -1,3 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
rwSpiCallback.cpp
+ gnssCallback.cpp
)
diff --git a/bsp_q7s/callbacks/gnssCallback.cpp b/bsp_q7s/callbacks/gnssCallback.cpp
new file mode 100644
index 00000000..479f4a2b
--- /dev/null
+++ b/bsp_q7s/callbacks/gnssCallback.cpp
@@ -0,0 +1,26 @@
+#include "gnssCallback.h"
+#include "devices/gpioIds.h"
+
+#include "fsfw/tasks/TaskFactory.h"
+
+ReturnValue_t gps::triggerGpioResetPin(void *args) {
+ ResetArgs* resetArgs = reinterpret_cast(args);
+ if(args == nullptr) {
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ if (resetArgs->gpioComIF == nullptr) {
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ gpioId_t gpioId;
+ if(resetArgs->gnss1) {
+ gpioId = gpioIds::GNSS_1_NRESET;
+
+ }
+ else {
+ gpioId = gpioIds::GNSS_0_NRESET;
+ }
+ resetArgs->gpioComIF->pullLow(gpioId);
+ TaskFactory::delayTask(resetArgs->waitPeriodMs);
+ resetArgs->gpioComIF->pullHigh(gpioId);
+ return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/bsp_q7s/callbacks/gnssCallback.h b/bsp_q7s/callbacks/gnssCallback.h
new file mode 100644
index 00000000..9cbb6669
--- /dev/null
+++ b/bsp_q7s/callbacks/gnssCallback.h
@@ -0,0 +1,19 @@
+#ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
+#define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
+
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+struct ResetArgs {
+ bool gnss1 = false;
+ LinuxLibgpioIF* gpioComIF = nullptr;
+ uint32_t waitPeriodMs = 100;
+};
+
+namespace gps {
+
+ReturnValue_t triggerGpioResetPin(void* args);
+
+}
+
+#endif /* BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_ */
diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp b/bsp_q7s/callbacks/rwSpiCallback.cpp
similarity index 97%
rename from bsp_q7s/spiCallbacks/rwSpiCallback.cpp
rename to bsp_q7s/callbacks/rwSpiCallback.cpp
index dce79c42..70fa3ebe 100644
--- a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@@ -1,9 +1,10 @@
-#include
-#include
-#include
-#include
-#include
+#include "rwSpiCallback.h"
#include "devices/gpioIds.h"
+#include "mission/devices/RwHandler.h"
+
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
namespace rwSpiCallback {
diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.h b/bsp_q7s/callbacks/rwSpiCallback.h
similarity index 93%
rename from bsp_q7s/spiCallbacks/rwSpiCallback.h
rename to bsp_q7s/callbacks/rwSpiCallback.h
index e5a79e64..cc7c6cbe 100644
--- a/bsp_q7s/spiCallbacks/rwSpiCallback.h
+++ b/bsp_q7s/callbacks/rwSpiCallback.h
@@ -1,9 +1,9 @@
#ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
#define BSP_Q7S_RW_SPI_CALLBACK_H_
-#include
-#include
-#include
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
namespace rwSpiCallback {
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 9f6f6cd4..8fcbfa52 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -9,12 +9,13 @@
#include "devices/powerSwitcherList.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
+#include "bsp_q7s/callbacks/rwSpiCallback.h"
+#include "bsp_q7s/callbacks/gnssCallback.h"
#include "linux/devices/HeaterHandler.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
@@ -32,6 +33,7 @@
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/Max31865PT1000Handler.h"
+#include "mission/devices/GyroADIS16507Handler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/MGMHandlerLIS3MDL.h"
@@ -81,6 +83,9 @@
#include "linux/boardtest/LibgpiodTest.h"
#endif
+ResetArgs resetArgsGnss0;
+ResetArgs resetArgsGnss1;
+
void ObjectFactory::setStatics() {
Factory::setStaticFrameworkObjectIds();
}
@@ -169,7 +174,8 @@ void ObjectFactory::produce(void* args){
sif::info << "Created UDP server for TMTC commanding with listener port " <<
udpBridge->getUdpPort() << std::endl;
#else
- new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+ auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+ tmtcBridge->setMaxNumberOfPacketsStored(50);
auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
sif::info << "Created TCP server for TMTC commanding with listener port " <<
tcpServer->getTcpPort() << std::endl;
@@ -279,43 +285,43 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
GpioCallback* susgpio = nullptr;
susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
gpioComIF->addGpios(gpioCookieSus);
@@ -391,14 +397,13 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr;
- // TODO: Determine new Gyro GPIO pins
- gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
+ gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
"CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
"CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
- gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
+ gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
"CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
@@ -418,6 +423,18 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
"CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+ // GNSS reset pins are active low
+ gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_0,
+ "GNSS_0_NRESET", gpio::OUT, gpio::HIGH);
+ gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
+ gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_1,
+ "GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
+ gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
+
+
+
+ // GNSS enable pins must be pulled high
+
gpioComIF->addGpios(gpioCookieAcsBoard);
std::string spiDev = q7s::SPI_DEFAULT_DEV;
@@ -427,48 +444,75 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
objects::SPI_COM_IF, spiCookie);
mgmLis3Handler->setStartUpImmediately();
- spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
- MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
- auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
- objects::SPI_COM_IF, spiCookie);
- mgmLis3Handler2->setStartUpImmediately();
-
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately();
+ spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
+ MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+ auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
+ objects::SPI_COM_IF, spiCookie);
+ mgmLis3Handler2->setStartUpImmediately();
+
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately();
- //TODO: Adis Gyro (Gyro 0 Side A)
// Commented until ACS board V2 in in clean room again
- /* Gyro 1 Side A */
-// spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
-// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-// auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-// spiCookie);
-// gyroL3gHandler->setStartUpImmediately();
-//
-// /* Gyro 2 Side B */
-// spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
-// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-// gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
-// spiCookie);
-// gyroL3gHandler->setStartUpImmediately();
+ // Gyro 0 Side A
+ spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
+ ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+ spi::DEFAULT_ADIS16507_SPEED);
+ auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER,
+ objects::SPI_COM_IF, spiCookie);
+ adisHandler->setStartUpImmediately();
+ // Gyro 1 Side A
+ spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
+ L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+ auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER,
+ objects::SPI_COM_IF, spiCookie);
+ gyroL3gHandler->setStartUpImmediately();
+ // Gyro 2 Side B
+ spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
+ ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+ spi::DEFAULT_ADIS16507_SPEED);
+ adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER,
+ objects::SPI_COM_IF, spiCookie);
+ adisHandler->setStartUpImmediately();
+ // Gyro 3 Side B
+ spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
+ L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+ gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER,
+ objects::SPI_COM_IF, 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);
+ resetArgsGnss1.gnss1 = true;
+ resetArgsGnss1.gpioComIF = gpioComIF;
+ resetArgsGnss1.waitPeriodMs = 100;
+ resetArgsGnss0.gnss1 = false;
+ resetArgsGnss0.gpioComIF = gpioComIF;
+ resetArgsGnss0.waitPeriodMs = 100;
+ auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
+ UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
+ uartCookieGps0->setToFlushInput(true);
+ uartCookieGps0->setReadCycles(6);
+ auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV,
+ UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
+ uartCookieGps1->setToFlushInput(true);
+ uartCookieGps1->setReadCycles(6);
+ auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
+ uartCookieGps0, true);
+ gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+ gpsHandler0->setStartUpImmediately();
+ auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
+ uartCookieGps1, true);
+ gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
+ gpsHandler1->setStartUpImmediately();
}
void ObjectFactory::createHeaterComponents() {
@@ -532,7 +576,8 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
void ObjectFactory::createSyrlinksComponents() {
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
- std::string("/dev/ttyUL5"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE);
+ q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL, uart::SYRLINKS_BAUD,
+ SYRLINKS::MAX_REPLY_SIZE);
syrlinksUartCookie->setParityEven();
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
diff --git a/cmake/HardwareOsPreConfig.cmake b/cmake/HardwareOsPreConfig.cmake
index 535f9b9e..3ff67565 100644
--- a/cmake/HardwareOsPreConfig.cmake
+++ b/cmake/HardwareOsPreConfig.cmake
@@ -53,9 +53,9 @@ endif()
if(TGT_BSP)
- if (${TGT_BSP} MATCHES "arm/raspberrypi" OR ${TGT_BSP} MATCHES "arm/beagleboneblack")
+ if (TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
set(BSP_PATH "bsp_linux_board")
- elseif(${TGT_BSP} MATCHES "arm/q7s")
+ elseif(TGT_BSP MATCHES "arm/q7s")
set(BSP_PATH "bsp_q7s")
else()
message(WARNING "CMake not configured for this target!")
diff --git a/cmake/Q7SCrossCompileConfig.cmake b/cmake/Q7SCrossCompileConfig.cmake
index 1d23b16d..d4d05f4e 100644
--- a/cmake/Q7SCrossCompileConfig.cmake
+++ b/cmake/Q7SCrossCompileConfig.cmake
@@ -1,5 +1,8 @@
+if(DEFINED ENV{Q7S_SYSROOT})
+ set(ENV{Q7S_ROOTFS} $ENV{Q7S_SYSROOT})
+endif()
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
-if(NOT DEFINED ENV{Q7S_SYSROOT})
+if(NOT DEFINED ENV{Q7S_ROOTFS})
# Sysroot has not been cached yet and was not set in environment either
if(NOT DEFINED SYSROOT_PATH)
message(FATAL_ERROR
@@ -7,7 +10,7 @@ if(NOT DEFINED ENV{Q7S_SYSROOT})
)
endif()
else()
- set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}" CACHE PATH "Q7S root filesystem path")
+ set(SYSROOT_PATH "$ENV{Q7S_ROOTFS}" CACHE PATH "Q7S root filesystem path")
endif()
if(NOT DEFINED ENV{CROSS_COMPILE})
diff --git a/common/config/devConf.h b/common/config/devConf.h
index ce21c8b3..7f3094fa 100644
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@@ -35,6 +35,9 @@ static constexpr uint32_t RTD_SPEED = 2000000;
namespace uart {
+static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
+static constexpr uint32_t SYRLINKS_BAUD = 38400;
+static constexpr uint32_t GNSS_BAUD = 9600;
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/fsfw b/fsfw
index 882da68a..40adca5f 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 882da68a2f0c1301d433d517c449c9c31f3cb35e
+Subproject commit 40adca5f1d13ef8d6c712842ebc37e37fe449446
diff --git a/generators/.gitignore b/generators/.gitignore
new file mode 100644
index 00000000..181d655f
--- /dev/null
+++ b/generators/.gitignore
@@ -0,0 +1 @@
+.~lock*
diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp
index f3ba3279..730a1743 100644
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@@ -321,7 +321,7 @@ void SpiTestClass::acsInit() {
gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, 1);
- gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+ gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::Direction::OUT, 1);
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index a8519cff..7d1521dc 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -72,6 +72,7 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
}
-#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
+#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
+#define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV 0
#endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index 560f72b1..5db0243c 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -6,9 +6,9 @@
#ifndef FSFWCONFIG_OBSWCONFIG_H_
#define FSFWCONFIG_OBSWCONFIG_H_
-/* #undef RASPBERRY_PI */
-#define XIPHOS_Q7S
-/* #undef BEAGLEBONEBLACK */
+#cmakedefine RASPBERRY_PI
+#cmakedefine XIPHOS_Q7S
+#cmakedefine BEAGLEBONEBLACK
#ifdef RASPBERRY_PI
#include "rpiConfig.h"
@@ -32,10 +32,13 @@ debugging. */
//! Timers can mess up the code when debugging
//! All of this should be enabled for mission code!
#define OBSW_ENABLE_TIMERS 1
-#define OBSW_ADD_GPS 0
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0
+#define OBSW_ADD_SUN_SENSORS 0
+#define OBSW_ADD_ACS_BOARD 0
+#define OBSW_ADD_GPS_0 0
+#define OBSW_ADD_GPS_1 0
/*******************************************************************/
/** All of the following flags should be disabled for mission code */
diff --git a/linux/fsfwconfig/devices/gpioIds.h b/linux/fsfwconfig/devices/gpioIds.h
index ae91e905..e8709f2e 100644
--- a/linux/fsfwconfig/devices/gpioIds.h
+++ b/linux/fsfwconfig/devices/gpioIds.h
@@ -25,6 +25,9 @@ enum gpioId_t {
MGM_2_LIS3_CS,
MGM_3_RM3100_CS,
+ GNSS_0_NRESET,
+ GNSS_1_NRESET,
+
TEST_ID_0,
TEST_ID_1,
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 6315d245..9eb1bd12 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);
@@ -424,75 +425,94 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+// DeviceHandlerIF::GET_READ);
+//
+// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
+// DeviceHandlerIF::GET_READ);
+//
+// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
+// DeviceHandlerIF::GET_READ);
+//
+// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
+// DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
+// DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+// DeviceHandlerIF::GET_READ);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
+// DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-
-
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-
-
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-#endif
+// thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
+// DeviceHandlerIF::GET_READ);
+#endif /* OBSW_ADD_ACS_BOARD == 1 */
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "SPI PST initialization failed" << std::endl;
@@ -519,8 +539,11 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
+ static_cast(length);
+ bool uartPstEmpty = true;
#if OBSW_ADD_PLOC_MPSOC == 1
+ uartPstEmpty = false;
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
@@ -550,60 +573,53 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
#endif
#if Q7S_ADD_SYRLINKS_HANDLER == 1
+ uartPstEmpty = false;
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
-
-#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif
+
#if OBSW_ADD_ACS_BOARD == 1
+
+#if OBSW_ADD_GPS_0 == 1
+ uartPstEmpty = false;
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
+#endif /* OBSW_ADD_GPS_0 == 1 */
+
+#if OBSW_ADD_GPS_1 == 1
+ uartPstEmpty = false;
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
-#endif
+#endif /* OBSW_ADD_GPS_1 == 1 */
+
+#endif /* OBSW_ADD_ACS_BOARD == 1 */
#if OBSW_ADD_STAR_TRACKER == 1
+ uartPstEmpty = false;
thisSequence->addSlot(objects::START_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::START_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::START_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -611,6 +627,9 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::START_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
+ if(uartPstEmpty) {
+ return HasReturnvaluesIF::RETURN_OK;
+ }
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "UART PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
diff --git a/mission/devices/GPSHyperionHandler.cpp b/mission/devices/GPSHyperionHandler.cpp
index 34fdd47d..80331c58 100644
--- a/mission/devices/GPSHyperionHandler.cpp
+++ b/mission/devices/GPSHyperionHandler.cpp
@@ -6,6 +6,11 @@
#include "lwgps/lwgps.h"
+#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
+#include
+#include
+#endif
+
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, bool debugHyperionGps):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
@@ -37,16 +42,32 @@ void GPSHyperionHandler::doShutDown() {
}
ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
- return HasReturnvaluesIF::RETURN_OK;
+ return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
- return HasReturnvaluesIF::RETURN_OK;
+ return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
+ // By default, send nothing
+ rawPacketLen = 0;
+ switch(deviceCommand) {
+ case(GpsHyperion::TRIGGER_RESET_PIN): {
+ if(resetCallback != nullptr) {
+ PoolReadGuard pg(&gpsSet);
+ // Set HK entries invalid
+ gpsSet.setValidity(false, true);
+ // The user needs to implement this. Don't touch states for now, the device should
+ // quickly reboot and send valid strings again.
+ actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand);
+ return resetCallback(resetCallbackArgs);
+ }
+ return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+ }
+ }
return HasReturnvaluesIF::RETURN_OK;
}
@@ -54,9 +75,9 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if(len > 0) {
- sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
+ sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
- // TODO: Check whether data is valid by chcking whether NMEA start string is valid
+ // TODO: Check whether data is valid by checking whether NMEA start string is valid?
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
@@ -82,7 +103,14 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
// Negative latitude -> South direction
gpsSet.latitude.value = gpsData.latitude;
// Negative longitude -> West direction
- gpsSet.longitude.value = gpsData.latitude;
+ gpsSet.longitude.value = gpsData.longitude;
+ if(gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
+ gpsSet.altitude.setValid(false);
+ }
+ else {
+ gpsSet.altitude.setValid(true);
+ gpsSet.altitude.value = gpsData.altitude;
+ }
gpsSet.fixMode.value = gpsData.fix_mode;
gpsSet.satInUse.value = gpsData.sats_in_use;
Clock::TimeOfDay_t timeStruct = {};
@@ -101,6 +129,7 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
gpsSet.hours = gpsData.hours;
gpsSet.minutes = gpsData.minutes;
gpsSet.seconds = gpsData.seconds;
+ gpsSet.unixSeconds = timeval.tv_sec;
if(debugHyperionGps) {
sif::info << "GPS Data" << std::endl;
printf("Valid status: %d\n", gpsData.is_valid);
@@ -108,8 +137,18 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
+#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
+ std::string filename = "/mnt/sd0/gps_log.txt";
+ std::ofstream gpsFile;
+ if(not std::filesystem::exists(filename)) {
+ gpsFile.open(filename, std::ofstream::out);
+ }
+ gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
+ gpsFile.write(reinterpret_cast(start), len);
+#endif
}
*foundLen = len;
+ *foundId = GpsHyperion::GPS_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
@@ -145,8 +184,19 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
void GPSHyperionHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
+ insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
}
void GPSHyperionHandler::modeChanged() {
internalState = InternalStates::NONE;
}
+
+void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
+ void *args) {
+ this->resetCallback = resetCallback;
+ resetCallbackArgs = args;
+}
+
+void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
+ uint32_t parameter) {
+}
diff --git a/mission/devices/GPSHyperionHandler.h b/mission/devices/GPSHyperionHandler.h
index 49d8f416..03c572a3 100644
--- a/mission/devices/GPSHyperionHandler.h
+++ b/mission/devices/GPSHyperionHandler.h
@@ -6,7 +6,6 @@
#include "devicedefinitions/GPSDefinitions.h"
#include "lwgps/lwgps.h"
-
/**
* @brief Device handler for the Hyperion HT-GPS200 device
* @details
@@ -15,12 +14,17 @@
*/
class GPSHyperionHandler: public DeviceHandlerBase {
public:
+ using gpioResetFunction_t = ReturnValue_t (*) (void* args);
GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, bool debugHyperionGps = false);
virtual ~GPSHyperionHandler();
+ void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
protected:
+ gpioResetFunction_t resetCallback = nullptr;
+ void* resetCallbackArgs = nullptr;
+
enum class InternalStates {
NONE,
WAIT_FIRST_MESSAGE,
@@ -49,7 +53,8 @@ protected:
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
-
+ virtual void debugInterface(uint8_t positionTracker = 0,
+ object_id_t objectId = 0, uint32_t parameter = 0) override;
private:
lwgps_t gpsData = {};
GpsPrimaryDataset gpsSet;
diff --git a/mission/devices/GomspaceDeviceHandler.cpp b/mission/devices/GomspaceDeviceHandler.cpp
index d83de9fe..c7de02bb 100644
--- a/mission/devices/GomspaceDeviceHandler.cpp
+++ b/mission/devices/GomspaceDeviceHandler.cpp
@@ -75,6 +75,10 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
}
break;
}
+ case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
+ result = printStatus(deviceCommand);
+ break;
+ }
case(GOMSPACE::REQUEST_HK_TABLE): {
result = generateRequestFullHkTableCmd(hkTableReplySize);
if(result != HasReturnvaluesIF::RETURN_OK){
@@ -95,6 +99,7 @@ void GomspaceDeviceHandler::fillCommandAndReplyMap(){
this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
+ this->insertInCommandMap(GOMSPACE::PRINT_OUT_ENB_STATUS);
}
ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,
@@ -396,3 +401,8 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
void GomspaceDeviceHandler::setModeNormal() {
mode = MODE_NORMAL;
}
+
+ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
+ sif::info << "No printHkTable implementation given.." << std::endl;
+ return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/mission/devices/GomspaceDeviceHandler.h b/mission/devices/GomspaceDeviceHandler.h
index b73f3bb7..78257b83 100644
--- a/mission/devices/GomspaceDeviceHandler.h
+++ b/mission/devices/GomspaceDeviceHandler.h
@@ -88,6 +88,13 @@ protected:
*/
virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize);
+ /**
+ * This command handles printing the HK table to the console. This is useful for debugging
+ * purposes
+ * @return
+ */
+ virtual ReturnValue_t printStatus(DeviceCommandId_t cmd);
+
/**
* @brief Because housekeeping tables are device specific the handling of the reply is
* given to the child class.
diff --git a/mission/devices/GyroADIS16507Handler.cpp b/mission/devices/GyroADIS16507Handler.cpp
index 2034d6a2..c744ff51 100644
--- a/mission/devices/GyroADIS16507Handler.cpp
+++ b/mission/devices/GyroADIS16507Handler.cpp
@@ -73,6 +73,7 @@ ReturnValue_t GyroADIS16507Handler::buildTransitionDeviceCommand(DeviceCommandId
break;
}
case(InternalState::STARTUP): {
+ return NOTHING_TO_SEND;
break;
}
default: {
diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp
index f6bd938a..8df972e5 100644
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@@ -1,11 +1,12 @@
+#include
#include "PDU1Handler.h"
#include
#include
PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
- PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset), pdu1HkTableDataset(
- this) {
+ PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset),
+ pdu1HkTableDataset(this) {
}
PDU1Handler::~PDU1Handler() {
@@ -55,25 +56,9 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
<< std::endl;
sif::info << "PDU1 channel 8 current: " << pdu1HkTableDataset.currentOutChannel8
<< std::endl;
- sif::info << "PDU1 TCS Board switch: "
- << static_cast(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
- sif::info << "PDU1 Syrlinks switch: "
- << static_cast(pdu1HkTableDataset.outEnabledSyrlinks.value) << std::endl;
- sif::info << "PDU1 star tracker switch: "
- << static_cast(pdu1HkTableDataset.outEnabledStarTracker.value) << std::endl;
- sif::info << "PDU1 MGT switch: "
- << static_cast(pdu1HkTableDataset.outEnabledMGT.value) << std::endl;
- sif::info << "PDU1 SUS nominal switch: "
- << static_cast(pdu1HkTableDataset.outEnabledSUSNominal.value) << std::endl;
- sif::info << "PDU1 solar cell experiment switch: "
- << static_cast(pdu1HkTableDataset.outEnabledSolarCellExp.value) << std::endl;
- sif::info << "PDU1 PLOC switch: "
- << static_cast(pdu1HkTableDataset.outEnabledPLOC.value) << std::endl;
- sif::info << "PDU1 ACS Side A switch: "
- << static_cast(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << std::endl;
- sif::info << "PDU1 channel 8 switch: "
- << static_cast(pdu1HkTableDataset.outEnabledChannel8.value) << std::endl;
- sif::info << "PDU1 battery mode: " << static_cast(pdu1HkTableDataset.battMode.value) << std::endl;
+ printOutputSwitchStates();
+ sif::info << "PDU1 battery mode: " <<
+ static_cast(pdu1HkTableDataset.battMode.value) << std::endl;
sif::info << "PDU1 VCC: " << pdu1HkTableDataset.vcc << " mV" << std::endl;
float vbat = pdu1HkTableDataset.vbat.value * 0.001;
sif::info << "PDU1 VBAT: " << vbat << "V" << std::endl;
@@ -87,9 +72,35 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
#endif
}
+void PDU1Handler::printOutputSwitchStates() {
+ sif::info << "PDU1 TCS Board switch: " <<
+ static_cast(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
+ sif::info << "PDU1 Syrlinks switch: " <<
+ static_cast(pdu1HkTableDataset.outEnabledSyrlinks.value) << std::endl;
+ sif::info << "PDU1 star tracker switch: " <<
+ static_cast(pdu1HkTableDataset.outEnabledStarTracker.value) << std::endl;
+ sif::info << "PDU1 MGT switch: " <<
+ static_cast(pdu1HkTableDataset.outEnabledMGT.value) << std::endl;
+ sif::info << "PDU1 SUS nominal switch: " <<
+ static_cast(pdu1HkTableDataset.outEnabledSUSNominal.value) << std::endl;
+ sif::info << "PDU1 solar cell experiment switch: " <<
+ static_cast(pdu1HkTableDataset.outEnabledSolarCellExp.value) << std::endl;
+ sif::info << "PDU1 PLOC switch: " <<
+ static_cast(pdu1HkTableDataset.outEnabledPLOC.value) << std::endl;
+ sif::info << "PDU1 ACS Side A switch: " <<
+ static_cast(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << std::endl;
+ sif::info << "PDU1 channel 8 switch: " <<
+ static_cast(pdu1HkTableDataset.outEnabledChannel8.value) << std::endl;
+}
+
void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
uint16_t dataOffset = 0;
- pdu1HkTableDataset.read();
+ PoolReadGuard pg(&pdu1HkTableDataset);
+ ReturnValue_t readResult = pg.getReadResult();
+ if(readResult != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+ return;
+ }
/* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
* address. */
dataOffset += 12;
@@ -249,8 +260,10 @@ void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
dataOffset += 3;
pdu1HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset);
- pdu1HkTableDataset.commit();
pdu1HkTableDataset.setChanged(true);
+ if(not pdu1HkTableDataset.isValid()) {
+ pdu1HkTableDataset.setValidity(true, true);
+ }
}
ReturnValue_t PDU1Handler::initializeLocalDataPool(
@@ -341,3 +354,20 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK;
}
+ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
+ switch(cmd) {
+ case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
+ PoolReadGuard pg(&pdu1HkTableDataset);
+ ReturnValue_t readResult = pg.getReadResult();
+ if(readResult != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ printOutputSwitchStates();
+ return HasReturnvaluesIF::RETURN_OK;
+ }
+ default: {
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ }
+}
diff --git a/mission/devices/PDU1Handler.h b/mission/devices/PDU1Handler.h
index ed22a6ef..fa73b584 100644
--- a/mission/devices/PDU1Handler.h
+++ b/mission/devices/PDU1Handler.h
@@ -32,11 +32,13 @@ protected:
*/
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+ ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
private:
/** Dataset for the housekeeping table of the PDU1 */
PDU1::PDU1HkTableDataset pdu1HkTableDataset;
+ void printOutputSwitchStates();
void parseHkTableReply(const uint8_t *packet);
};
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index 47fab6b6..8789695e 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -1,20 +1,22 @@
+#include "OBSWConfig.h"
#include "PDU2Handler.h"
+
#include
-#include
+#include
PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
- GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
- PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset), pdu2HkTableDataset(
- this) {
+ GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+ PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset),
+ pdu2HkTableDataset(this) {
}
PDU2Handler::~PDU2Handler() {
}
ReturnValue_t PDU2Handler::buildNormalDeviceCommand(
- DeviceCommandId_t * id) {
- *id = GOMSPACE::REQUEST_HK_TABLE;
- return buildCommandFromCommand(*id, NULL, 0);
+ DeviceCommandId_t * id) {
+ *id = GOMSPACE::REQUEST_HK_TABLE;
+ return buildCommandFromCommand(*id, NULL, 0);
}
void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
@@ -34,23 +36,7 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
sif::info << "PDU2 VBAT: " << vbat << std::endl;
float temperatureC = pdu2HkTableDataset.temperature.value * 0.1;
sif::info << "PDU2 Temperature: " << temperatureC << " °C" << std::endl;
- sif::info << "PDU2 Q7S enable state: " << unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl;
- sif::info << "PDU2 Payload PCDU channel 1 enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl;
- sif::info << "PDU2 reaction wheels enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl;
- sif::info << "PDU2 TCS Board 8V heater input enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl;
- sif::info << "PDU2 redundant SUS group enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl;
- sif::info << "PDU2 deployment mechanism enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl;
- sif::info << "PDU2 PCDU channel 6 enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl;
- sif::info << "PDU2 ACS board side B enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl;
- sif::info << "PDU2 payload camera enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
+ printOutputSwitchStates();
sif::info << "PDU2 uptime: " << pdu2HkTableDataset.uptime << " seconds" << std::endl;
sif::info << "PDU2 battery mode: " << unsigned(pdu2HkTableDataset.battMode.value) << std::endl;
sif::info << "PDU2 ground watchdog reboots: " << pdu2HkTableDataset.gndWdtReboots << std::endl;
@@ -323,3 +309,42 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK;
}
+
+ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
+ switch(cmd) {
+ case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
+ PoolReadGuard pg(&pdu2HkTableDataset);
+ ReturnValue_t readResult = pg.getReadResult();
+ if(readResult != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "Reading PDU2 HK table failed!" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ printOutputSwitchStates();
+ return HasReturnvaluesIF::RETURN_OK;
+ }
+ default: {
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ }
+}
+
+void PDU2Handler::printOutputSwitchStates() {
+ sif::info << "PDU2 Q7S enable state: " <<
+ unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl;
+ sif::info << "PDU2 Payload PCDU channel 1 enable state: "
+ << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl;
+ sif::info << "PDU2 reaction wheels enable state: "
+ << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl;
+ sif::info << "PDU2 TCS Board 8V heater input enable state: "
+ << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl;
+ sif::info << "PDU2 redundant SUS group enable state: "
+ << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl;
+ sif::info << "PDU2 deployment mechanism enable state: "
+ << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl;
+ sif::info << "PDU2 PCDU channel 6 enable state: "
+ << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl;
+ sif::info << "PDU2 ACS board side B enable state: "
+ << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl;
+ sif::info << "PDU2 payload camera enable state: "
+ << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
+}
diff --git a/mission/devices/PDU2Handler.h b/mission/devices/PDU2Handler.h
index ee30a12f..0aa7f0b5 100644
--- a/mission/devices/PDU2Handler.h
+++ b/mission/devices/PDU2Handler.h
@@ -20,25 +20,27 @@
*/
class PDU2Handler: public GomspaceDeviceHandler {
public:
- PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
- virtual ~PDU2Handler();
+ PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
+ virtual ~PDU2Handler();
- virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
- LocalDataPoolManager& poolManager) override;
+ virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+ LocalDataPoolManager& poolManager) override;
protected:
- /**
- * @brief As soon as the device is in MODE_NORMAL, this function is executed periodically.
- */
- virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
- virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+ /**
+ * @brief As soon as the device is in MODE_NORMAL, this function is executed periodically.
+ */
+ virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
+ virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+ ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
private:
- /** Dataset for the housekeeping table of the PDU2 */
- PDU2::PDU2HkTableDataset pdu2HkTableDataset;
+ /** Dataset for the housekeeping table of the PDU2 */
+ PDU2::PDU2HkTableDataset pdu2HkTableDataset;
- void parseHkTableReply(const uint8_t *packet);
+ void printOutputSwitchStates();
+ void parseHkTableReply(const uint8_t *packet);
};
#endif /* MISSION_DEVICES_PDU2HANDLER_H_ */
diff --git a/mission/devices/devicedefinitions/GPSDefinitions.h b/mission/devices/devicedefinitions/GPSDefinitions.h
index 8f147651..90fdb123 100644
--- a/mission/devices/devicedefinitions/GPSDefinitions.h
+++ b/mission/devices/devicedefinitions/GPSDefinitions.h
@@ -7,6 +7,7 @@
namespace GpsHyperion {
static constexpr DeviceCommandId_t GPS_REPLY = 0;
+static constexpr DeviceCommandId_t TRIGGER_RESET_PIN = 5;
static constexpr uint32_t DATASET_ID = 0;
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 4600ecc7..f4e50466 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -15,594 +15,596 @@
#include
namespace GOMSPACE{
- static const uint16_t IGNORE_CHECKSUM = 0xbb0;
- /** The size of the header of a gomspace CSP packet. */
- static const uint8_t GS_HDR_LENGTH = 12;
- /** CSP port to ping gomspace devices. */
- static const uint8_t PING_PORT = 1;
- static const uint8_t REBOOT_PORT = 4;
- /** CSP port of gomspace devices to request or set parameters */
- static const uint8_t PARAM_PORT = 7;
- static const uint8_t P60_PORT_GNDWDT_RESET = 9;
+static const uint16_t IGNORE_CHECKSUM = 0xbb0;
+/** The size of the header of a gomspace CSP packet. */
+static const uint8_t GS_HDR_LENGTH = 12;
+/** CSP port to ping gomspace devices. */
+static const uint8_t PING_PORT = 1;
+static const uint8_t REBOOT_PORT = 4;
+/** CSP port of gomspace devices to request or set parameters */
+static const uint8_t PARAM_PORT = 7;
+static const uint8_t P60_PORT_GNDWDT_RESET = 9;
+
+/* Device commands are derived from the rparam.h of the gomspace lib */
+static const DeviceCommandId_t PING = 1; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t NONE = 2; // Set when no command is pending
+static const DeviceCommandId_t REBOOT = 4; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t GNDWDT_RESET = 9; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PARAM_GET = 0; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PARAM_SET = 255; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t REQUEST_HK_TABLE = 16; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PRINT_OUT_ENB_STATUS = 17; //!< [EXPORT] : [COMMAND]
- /* Device commands are derived from the rparam.h of the gomspace lib */
- static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t NONE = 0x2; // Set when no command is pending
- static const DeviceCommandId_t REBOOT = 0x4; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t GNDWDT_RESET = 0x9; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t PARAM_GET = 0x00; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t PARAM_SET = 0xFF; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t REQUEST_HK_TABLE = 0x10; //!< [EXPORT] : [COMMAND]
}
namespace P60System {
- enum P60SytemPoolIds: lp_id_t {
- P60DOCK_CURRENT_ACU_VCC,
- P60DOCK_CURRENT_PDU1_VCC,
- P60DOCK_CURRENT_X3_IDLE_VCC,
- P60DOCK_CURRENT_PDU2_VCC,
- P60DOCK_CURRENT_ACU_VBAT,
- P60DOCK_CURRENT_PDU1_VBAT,
- P60DOCK_CURRENT_X3_IDLE_VBAT,
- P60DOCK_CURRENT_PDU2_VBAT,
- P60DOCK_CURRENT_STACK_VBAT,
- P60DOCK_CURRENT_STACK_3V3,
- P60DOCK_CURRENT_STACK_5V,
- P60DOCK_CURRENT_GS3V3,
- P60DOCK_CURRENT_GS5V,
- P60DOCK_VOLTAGE_ACU_VCC,
- P60DOCK_VOLTAGE_PDU1_VCC,
- P60DOCK_VOLTAGE_X3_IDLE_VCC,
- P60DOCK_VOLTAGE_PDU2_VCC,
- P60DOCK_VOLTAGE_ACU_VBAT,
- P60DOCK_VOLTAGE_PDU1_VBAT,
- P60DOCK_VOLTAGE_X3_IDLE_VBAT,
- P60DOCK_VOLTAGE_PDU2_VBAT,
- P60DOCK_VOLTAGE_STACK_VBAT,
- P60DOCK_VOLTAGE_STACK_3V3,
- P60DOCK_VOLTAGE_STACK_5V,
- P60DOCK_VOLTAGE_GS3V3,
- P60DOCK_VOLTAGE_GS5V,
- P60DOCK_OUTPUTENABLE_ACU_VCC,
- P60DOCK_OUTPUTENABLE_PDU1_VCC,
- P60DOCK_OUTPUTENABLE_X3_IDLE_VCC,
- P60DOCK_OUTPUTENABLE_PDU2_VCC,
- P60DOCK_OUTPUTENABLE_ACU_VBAT,
- P60DOCK_OUTPUTENABLE_PDU1_VBAT,
- P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT,
- P60DOCK_OUTPUTENABLE_PDU2_VBAT,
- P60DOCK_OUTPUTENABLE_STACK_VBAT,
- P60DOCK_OUTPUTENABLE_STACK_3V3,
- P60DOCK_OUTPUTENABLE_STACK_5V,
- P60DOCK_OUTPUTENABLE_GS3V3,
- P60DOCK_OUTPUTENABLE_GS5V,
- P60DOCK_TEMPERATURE_1,
- P60DOCK_TEMPERATURE_2,
- P60DOCK_BOOT_CAUSE,
- P60DOCK_BOOT_CNT,
- P60DOCK_UPTIME,
- P60DOCK_RESETCAUSE,
- P60DOCK_BATT_MODE,
- P60DOCK_HEATER_ON,
- P60DOCK_CONV_5V_ENABLE_STATUS,
- P60DOCK_LATCHUP_ACU_VCC,
- P60DOCK_LATCHUP_PDU1_VCC,
- P60DOCK_LATCHUP_X3_IDLE_VCC,
- P60DOCK_LATCHUP_PDU2_VCC,
- P60DOCK_LATCHUP_ACU_VBAT,
- P60DOCK_LATCHUP_PDU1_VBAT,
- P60DOCK_LATCHUP_X3_IDLE_VBAT,
- P60DOCK_LATCHUP_PDU2_VBAT,
- P60DOCK_LATCHUP_STACK_VBAT,
- P60DOCK_LATCHUP_STACK_3V3,
- P60DOCK_LATCHUP_STACK_5V,
- P60DOCK_LATCHUP_GS3V3,
- P60DOCK_LATCHUP_GS5V,
- P60DOCK_VBAT_VALUE,
- P60DOCK_VCC_CURRENT_VALUE,
- P60DOCK_BATTERY_CURRENT,
- P60DOCK_BATTERY_VOLTAGE,
- P60DOCK_BATTERY_TEMPERATURE_1,
- P60DOCK_BATTERY_TEMPERATURE_2,
- P60DOCK_DEVICE_0,
- P60DOCK_DEVICE_1,
- P60DOCK_DEVICE_2,
- P60DOCK_DEVICE_3,
- P60DOCK_DEVICE_4,
- P60DOCK_DEVICE_5,
- P60DOCK_DEVICE_6,
- P60DOCK_DEVICE_7,
- P60DOCK_DEVICE_0_STATUS,
- P60DOCK_DEVICE_1_STATUS,
- P60DOCK_DEVICE_2_STATUS,
- P60DOCK_DEVICE_3_STATUS,
- P60DOCK_DEVICE_4_STATUS,
- P60DOCK_DEVICE_5_STATUS,
- P60DOCK_DEVICE_6_STATUS,
- P60DOCK_DEVICE_7_STATUS,
- P60DOCK_DEVICE_TYPE_GROUP,
- P60DOCK_DEVICE_STATUS_GROUP,
- P60DOCK_DEARM_STATUS,
- P60DOCK_WDT_CNT_GND,
- P60DOCK_WDT_CNT_I2C,
- P60DOCK_WDT_CNT_CAN,
- P60DOCK_WDT_CNT_CSP_1,
- P60DOCK_WDT_CNT_CSP_2,
- P60DOCK_WDT_GND_LEFT,
- P60DOCK_WDT_I2C_LEFT,
- P60DOCK_WDT_CAN_LEFT,
- P60DOCK_WDT_CSP_LEFT_1,
- P60DOCK_WDT_CSP_LEFT_2,
- P60DOCK_BATT_CHARGE_CURRENT,
- P60DOCK_BATT_DISCHARGE_CURRENT,
- P60DOCK_ANT6_DEPL,
- P60DOCK_AR6_DEPL,
+enum P60SytemPoolIds: lp_id_t {
+ P60DOCK_CURRENT_ACU_VCC,
+ P60DOCK_CURRENT_PDU1_VCC,
+ P60DOCK_CURRENT_X3_IDLE_VCC,
+ P60DOCK_CURRENT_PDU2_VCC,
+ P60DOCK_CURRENT_ACU_VBAT,
+ P60DOCK_CURRENT_PDU1_VBAT,
+ P60DOCK_CURRENT_X3_IDLE_VBAT,
+ P60DOCK_CURRENT_PDU2_VBAT,
+ P60DOCK_CURRENT_STACK_VBAT,
+ P60DOCK_CURRENT_STACK_3V3,
+ P60DOCK_CURRENT_STACK_5V,
+ P60DOCK_CURRENT_GS3V3,
+ P60DOCK_CURRENT_GS5V,
+ P60DOCK_VOLTAGE_ACU_VCC,
+ P60DOCK_VOLTAGE_PDU1_VCC,
+ P60DOCK_VOLTAGE_X3_IDLE_VCC,
+ P60DOCK_VOLTAGE_PDU2_VCC,
+ P60DOCK_VOLTAGE_ACU_VBAT,
+ P60DOCK_VOLTAGE_PDU1_VBAT,
+ P60DOCK_VOLTAGE_X3_IDLE_VBAT,
+ P60DOCK_VOLTAGE_PDU2_VBAT,
+ P60DOCK_VOLTAGE_STACK_VBAT,
+ P60DOCK_VOLTAGE_STACK_3V3,
+ P60DOCK_VOLTAGE_STACK_5V,
+ P60DOCK_VOLTAGE_GS3V3,
+ P60DOCK_VOLTAGE_GS5V,
+ P60DOCK_OUTPUTENABLE_ACU_VCC,
+ P60DOCK_OUTPUTENABLE_PDU1_VCC,
+ P60DOCK_OUTPUTENABLE_X3_IDLE_VCC,
+ P60DOCK_OUTPUTENABLE_PDU2_VCC,
+ P60DOCK_OUTPUTENABLE_ACU_VBAT,
+ P60DOCK_OUTPUTENABLE_PDU1_VBAT,
+ P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT,
+ P60DOCK_OUTPUTENABLE_PDU2_VBAT,
+ P60DOCK_OUTPUTENABLE_STACK_VBAT,
+ P60DOCK_OUTPUTENABLE_STACK_3V3,
+ P60DOCK_OUTPUTENABLE_STACK_5V,
+ P60DOCK_OUTPUTENABLE_GS3V3,
+ P60DOCK_OUTPUTENABLE_GS5V,
+ P60DOCK_TEMPERATURE_1,
+ P60DOCK_TEMPERATURE_2,
+ P60DOCK_BOOT_CAUSE,
+ P60DOCK_BOOT_CNT,
+ P60DOCK_UPTIME,
+ P60DOCK_RESETCAUSE,
+ P60DOCK_BATT_MODE,
+ P60DOCK_HEATER_ON,
+ P60DOCK_CONV_5V_ENABLE_STATUS,
+ P60DOCK_LATCHUP_ACU_VCC,
+ P60DOCK_LATCHUP_PDU1_VCC,
+ P60DOCK_LATCHUP_X3_IDLE_VCC,
+ P60DOCK_LATCHUP_PDU2_VCC,
+ P60DOCK_LATCHUP_ACU_VBAT,
+ P60DOCK_LATCHUP_PDU1_VBAT,
+ P60DOCK_LATCHUP_X3_IDLE_VBAT,
+ P60DOCK_LATCHUP_PDU2_VBAT,
+ P60DOCK_LATCHUP_STACK_VBAT,
+ P60DOCK_LATCHUP_STACK_3V3,
+ P60DOCK_LATCHUP_STACK_5V,
+ P60DOCK_LATCHUP_GS3V3,
+ P60DOCK_LATCHUP_GS5V,
+ P60DOCK_VBAT_VALUE,
+ P60DOCK_VCC_CURRENT_VALUE,
+ P60DOCK_BATTERY_CURRENT,
+ P60DOCK_BATTERY_VOLTAGE,
+ P60DOCK_BATTERY_TEMPERATURE_1,
+ P60DOCK_BATTERY_TEMPERATURE_2,
+ P60DOCK_DEVICE_0,
+ P60DOCK_DEVICE_1,
+ P60DOCK_DEVICE_2,
+ P60DOCK_DEVICE_3,
+ P60DOCK_DEVICE_4,
+ P60DOCK_DEVICE_5,
+ P60DOCK_DEVICE_6,
+ P60DOCK_DEVICE_7,
+ P60DOCK_DEVICE_0_STATUS,
+ P60DOCK_DEVICE_1_STATUS,
+ P60DOCK_DEVICE_2_STATUS,
+ P60DOCK_DEVICE_3_STATUS,
+ P60DOCK_DEVICE_4_STATUS,
+ P60DOCK_DEVICE_5_STATUS,
+ P60DOCK_DEVICE_6_STATUS,
+ P60DOCK_DEVICE_7_STATUS,
+ P60DOCK_DEVICE_TYPE_GROUP,
+ P60DOCK_DEVICE_STATUS_GROUP,
+ P60DOCK_DEARM_STATUS,
+ P60DOCK_WDT_CNT_GND,
+ P60DOCK_WDT_CNT_I2C,
+ P60DOCK_WDT_CNT_CAN,
+ P60DOCK_WDT_CNT_CSP_1,
+ P60DOCK_WDT_CNT_CSP_2,
+ P60DOCK_WDT_GND_LEFT,
+ P60DOCK_WDT_I2C_LEFT,
+ P60DOCK_WDT_CAN_LEFT,
+ P60DOCK_WDT_CSP_LEFT_1,
+ P60DOCK_WDT_CSP_LEFT_2,
+ P60DOCK_BATT_CHARGE_CURRENT,
+ P60DOCK_BATT_DISCHARGE_CURRENT,
+ P60DOCK_ANT6_DEPL,
+ P60DOCK_AR6_DEPL,
- PDU1_CURRENT_OUT_TCS_BOARD_3V3,
- PDU1_CURRENT_OUT_SYRLINKS,
- PDU1_CURRENT_OUT_STAR_TRACKER,
- PDU1_CURRENT_OUT_MGT,
- PDU1_CURRENT_OUT_SUS_NOMINAL,
- PDU1_CURRENT_OUT_SOLAR_CELL_EXP,
- PDU1_CURRENT_OUT_PLOC,
- PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A,
- PDU1_CURRENT_OUT_CHANNEL8,
- PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
- PDU1_VOLTAGE_OUT_SYRLINKS,
- PDU1_VOLTAGE_OUT_STAR_TRACKER,
- PDU1_VOLTAGE_OUT_MGT,
- PDU1_VOLTAGE_OUT_SUS_NOMINAL,
- PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
- PDU1_VOLTAGE_OUT_PLOC,
- PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
- PDU1_VOLTAGE_OUT_CHANNEL8,
- PDU1_VCC,
- PDU1_VBAT,
- PDU1_TEMPERATURE,
- PDU1_CONV_EN_1,
- PDU1_CONV_EN_2,
- PDU1_CONV_EN_3,
- PDU1_OUT_EN_TCS_BOARD_3V3,
- PDU1_OUT_EN_SYRLINKS,
- PDU1_OUT_EN_STAR_TRACKER,
- PDU1_OUT_EN_MGT,
- PDU1_OUT_EN_SUS_NOMINAL,
- PDU1_OUT_EN_SOLAR_CELL_EXP,
- PDU1_OUT_EN_PLOC,
- PDU1_OUT_EN_ACS_BOARD_SIDE_A,
- PDU1_OUT_EN_CHANNEL8,
- PDU1_BOOTCAUSE,
- PDU1_BOOTCNT,
- PDU1_UPTIME,
- PDU1_RESETCAUSE,
- PDU1_BATT_MODE,
- PDU1_LATCHUP_TCS_BOARD_3V3,
- PDU1_LATCHUP_SYRLINKS,
- PDU1_LATCHUP_STAR_TRACKER,
- PDU1_LATCHUP_MGT,
- PDU1_LATCHUP_SUS_NOMINAL,
- PDU1_LATCHUP_SOLAR_CELL_EXP,
- PDU1_LATCHUP_PLOC,
- PDU1_LATCHUP_ACS_BOARD_SIDE_A,
- PDU1_LATCHUP_CHANNEL8,
- PDU1_DEVICE_0,
- PDU1_DEVICE_1,
- PDU1_DEVICE_2,
- PDU1_DEVICE_3,
- PDU1_DEVICE_4,
- PDU1_DEVICE_5,
- PDU1_DEVICE_6,
- PDU1_DEVICE_7,
- PDU1_DEVICE_0_STATUS,
- PDU1_DEVICE_1_STATUS,
- PDU1_DEVICE_2_STATUS,
- PDU1_DEVICE_3_STATUS,
- PDU1_DEVICE_4_STATUS,
- PDU1_DEVICE_5_STATUS,
- PDU1_DEVICE_6_STATUS,
- PDU1_DEVICE_7_STATUS,
- PDU1_WDT_CNT_GND,
- PDU1_WDT_CNT_I2C,
- PDU1_WDT_CNT_CAN,
- PDU1_WDT_CNT_CSP1,
- PDU1_WDT_CNT_CSP2,
- PDU1_WDT_GND_LEFT,
- PDU1_WDT_I2C_LEFT,
- PDU1_WDT_CAN_LEFT,
- PDU1_WDT_CSP_LEFT1,
- PDU1_WDT_CSP_LEFT2,
+ PDU1_CURRENT_OUT_TCS_BOARD_3V3,
+ PDU1_CURRENT_OUT_SYRLINKS,
+ PDU1_CURRENT_OUT_STAR_TRACKER,
+ PDU1_CURRENT_OUT_MGT,
+ PDU1_CURRENT_OUT_SUS_NOMINAL,
+ PDU1_CURRENT_OUT_SOLAR_CELL_EXP,
+ PDU1_CURRENT_OUT_PLOC,
+ PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A,
+ PDU1_CURRENT_OUT_CHANNEL8,
+ PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
+ PDU1_VOLTAGE_OUT_SYRLINKS,
+ PDU1_VOLTAGE_OUT_STAR_TRACKER,
+ PDU1_VOLTAGE_OUT_MGT,
+ PDU1_VOLTAGE_OUT_SUS_NOMINAL,
+ PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
+ PDU1_VOLTAGE_OUT_PLOC,
+ PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
+ PDU1_VOLTAGE_OUT_CHANNEL8,
+ PDU1_VCC,
+ PDU1_VBAT,
+ PDU1_TEMPERATURE,
+ PDU1_CONV_EN_1,
+ PDU1_CONV_EN_2,
+ PDU1_CONV_EN_3,
+ PDU1_OUT_EN_TCS_BOARD_3V3,
+ PDU1_OUT_EN_SYRLINKS,
+ PDU1_OUT_EN_STAR_TRACKER,
+ PDU1_OUT_EN_MGT,
+ PDU1_OUT_EN_SUS_NOMINAL,
+ PDU1_OUT_EN_SOLAR_CELL_EXP,
+ PDU1_OUT_EN_PLOC,
+ PDU1_OUT_EN_ACS_BOARD_SIDE_A,
+ PDU1_OUT_EN_CHANNEL8,
+ PDU1_BOOTCAUSE,
+ PDU1_BOOTCNT,
+ PDU1_UPTIME,
+ PDU1_RESETCAUSE,
+ PDU1_BATT_MODE,
+ PDU1_LATCHUP_TCS_BOARD_3V3,
+ PDU1_LATCHUP_SYRLINKS,
+ PDU1_LATCHUP_STAR_TRACKER,
+ PDU1_LATCHUP_MGT,
+ PDU1_LATCHUP_SUS_NOMINAL,
+ PDU1_LATCHUP_SOLAR_CELL_EXP,
+ PDU1_LATCHUP_PLOC,
+ PDU1_LATCHUP_ACS_BOARD_SIDE_A,
+ PDU1_LATCHUP_CHANNEL8,
+ PDU1_DEVICE_0,
+ PDU1_DEVICE_1,
+ PDU1_DEVICE_2,
+ PDU1_DEVICE_3,
+ PDU1_DEVICE_4,
+ PDU1_DEVICE_5,
+ PDU1_DEVICE_6,
+ PDU1_DEVICE_7,
+ PDU1_DEVICE_0_STATUS,
+ PDU1_DEVICE_1_STATUS,
+ PDU1_DEVICE_2_STATUS,
+ PDU1_DEVICE_3_STATUS,
+ PDU1_DEVICE_4_STATUS,
+ PDU1_DEVICE_5_STATUS,
+ PDU1_DEVICE_6_STATUS,
+ PDU1_DEVICE_7_STATUS,
+ PDU1_WDT_CNT_GND,
+ PDU1_WDT_CNT_I2C,
+ PDU1_WDT_CNT_CAN,
+ PDU1_WDT_CNT_CSP1,
+ PDU1_WDT_CNT_CSP2,
+ PDU1_WDT_GND_LEFT,
+ PDU1_WDT_I2C_LEFT,
+ PDU1_WDT_CAN_LEFT,
+ PDU1_WDT_CSP_LEFT1,
+ PDU1_WDT_CSP_LEFT2,
- /** PDU2 Ids */
- PDU2_CURRENT_OUT_Q7S,
- PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1,
- PDU2_CURRENT_OUT_RW,
- PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN,
- PDU2_CURRENT_OUT_SUS_REDUNDANT,
- PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM,
- PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6,
- PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B,
- PDU2_CURRENT_OUT_PAYLOAD_CAMERA,
- PDU2_VOLTAGE_OUT_Q7S,
- PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1,
- PDU2_VOLTAGE_OUT_RW,
- PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN,
- PDU2_VOLTAGE_OUT_SUS_REDUNDANT,
- PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM,
- PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6,
- PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B,
- PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA,
- PDU2_VCC,
- PDU2_VBAT,
- PDU2_TEMPERATURE,
- PDU2_CONV_EN_1,
- PDU2_CONV_EN_2,
- PDU2_CONV_EN_3,
- PDU2_OUT_EN_Q7S,
- PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
- PDU2_OUT_EN_RW,
- PDU2_OUT_EN_TCS_BOARD_HEATER_IN,
- PDU2_OUT_EN_SUS_REDUNDANT,
- PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
- PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
- PDU2_OUT_EN_ACS_BOARD_SIDE_B,
- PDU2_OUT_EN_PAYLOAD_CAMERA,
- PDU2_BOOTCAUSE,
- PDU2_BOOTCNT,
- PDU2_UPTIME,
- PDU2_RESETCAUSE,
- PDU2_BATT_MODE,
- PDU2_LATCHUP_Q7S,
- PDU2_LATCHUP_PAYLOAD_PCDU_CH1,
- PDU2_LATCHUP_RW,
- PDU2_LATCHUP_TCS_BOARD_HEATER_IN,
- PDU2_LATCHUP_SUS_REDUNDANT,
- PDU2_LATCHUP_DEPLOYMENT_MECHANISM,
- PDU2_LATCHUP_PAYLOAD_PCDU_CH6,
- PDU2_LATCHUP_ACS_BOARD_SIDE_B,
- PDU2_LATCHUP_PAYLOAD_CAMERA,
- PDU2_DEVICE_0,
- PDU2_DEVICE_1,
- PDU2_DEVICE_2,
- PDU2_DEVICE_3,
- PDU2_DEVICE_4,
- PDU2_DEVICE_5,
- PDU2_DEVICE_6,
- PDU2_DEVICE_7,
- PDU2_DEVICE_0_STATUS,
- PDU2_DEVICE_1_STATUS,
- PDU2_DEVICE_2_STATUS,
- PDU2_DEVICE_3_STATUS,
- PDU2_DEVICE_4_STATUS,
- PDU2_DEVICE_5_STATUS,
- PDU2_DEVICE_6_STATUS,
- PDU2_DEVICE_7_STATUS,
- PDU2_WDT_CNT_GND,
- PDU2_WDT_CNT_I2C,
- PDU2_WDT_CNT_CAN,
- PDU2_WDT_CNT_CSP1,
- PDU2_WDT_CNT_CSP2,
- PDU2_WDT_GND_LEFT,
- PDU2_WDT_I2C_LEFT,
- PDU2_WDT_CAN_LEFT,
- PDU2_WDT_CSP_LEFT1,
- PDU2_WDT_CSP_LEFT2,
+ /** PDU2 Ids */
+ PDU2_CURRENT_OUT_Q7S,
+ PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1,
+ PDU2_CURRENT_OUT_RW,
+ PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN,
+ PDU2_CURRENT_OUT_SUS_REDUNDANT,
+ PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM,
+ PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6,
+ PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B,
+ PDU2_CURRENT_OUT_PAYLOAD_CAMERA,
+ PDU2_VOLTAGE_OUT_Q7S,
+ PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1,
+ PDU2_VOLTAGE_OUT_RW,
+ PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN,
+ PDU2_VOLTAGE_OUT_SUS_REDUNDANT,
+ PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM,
+ PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6,
+ PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B,
+ PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA,
+ PDU2_VCC,
+ PDU2_VBAT,
+ PDU2_TEMPERATURE,
+ PDU2_CONV_EN_1,
+ PDU2_CONV_EN_2,
+ PDU2_CONV_EN_3,
+ PDU2_OUT_EN_Q7S,
+ PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
+ PDU2_OUT_EN_RW,
+ PDU2_OUT_EN_TCS_BOARD_HEATER_IN,
+ PDU2_OUT_EN_SUS_REDUNDANT,
+ PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
+ PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
+ PDU2_OUT_EN_ACS_BOARD_SIDE_B,
+ PDU2_OUT_EN_PAYLOAD_CAMERA,
+ PDU2_BOOTCAUSE,
+ PDU2_BOOTCNT,
+ PDU2_UPTIME,
+ PDU2_RESETCAUSE,
+ PDU2_BATT_MODE,
+ PDU2_LATCHUP_Q7S,
+ PDU2_LATCHUP_PAYLOAD_PCDU_CH1,
+ PDU2_LATCHUP_RW,
+ PDU2_LATCHUP_TCS_BOARD_HEATER_IN,
+ PDU2_LATCHUP_SUS_REDUNDANT,
+ PDU2_LATCHUP_DEPLOYMENT_MECHANISM,
+ PDU2_LATCHUP_PAYLOAD_PCDU_CH6,
+ PDU2_LATCHUP_ACS_BOARD_SIDE_B,
+ PDU2_LATCHUP_PAYLOAD_CAMERA,
+ PDU2_DEVICE_0,
+ PDU2_DEVICE_1,
+ PDU2_DEVICE_2,
+ PDU2_DEVICE_3,
+ PDU2_DEVICE_4,
+ PDU2_DEVICE_5,
+ PDU2_DEVICE_6,
+ PDU2_DEVICE_7,
+ PDU2_DEVICE_0_STATUS,
+ PDU2_DEVICE_1_STATUS,
+ PDU2_DEVICE_2_STATUS,
+ PDU2_DEVICE_3_STATUS,
+ PDU2_DEVICE_4_STATUS,
+ PDU2_DEVICE_5_STATUS,
+ PDU2_DEVICE_6_STATUS,
+ PDU2_DEVICE_7_STATUS,
+ PDU2_WDT_CNT_GND,
+ PDU2_WDT_CNT_I2C,
+ PDU2_WDT_CNT_CAN,
+ PDU2_WDT_CNT_CSP1,
+ PDU2_WDT_CNT_CSP2,
+ PDU2_WDT_GND_LEFT,
+ PDU2_WDT_I2C_LEFT,
+ PDU2_WDT_CAN_LEFT,
+ PDU2_WDT_CSP_LEFT1,
+ PDU2_WDT_CSP_LEFT2,
- /** ACU Ids */
- ACU_CURRENT_IN_CHANNEL0,
- ACU_CURRENT_IN_CHANNEL1,
- ACU_CURRENT_IN_CHANNEL2,
- ACU_CURRENT_IN_CHANNEL3,
- ACU_CURRENT_IN_CHANNEL4,
- ACU_CURRENT_IN_CHANNEL5,
- ACU_VOLTAGE_IN_CHANNEL0,
- ACU_VOLTAGE_IN_CHANNEL1,
- ACU_VOLTAGE_IN_CHANNEL2,
- ACU_VOLTAGE_IN_CHANNEL3,
- ACU_VOLTAGE_IN_CHANNEL4,
- ACU_VOLTAGE_IN_CHANNEL5,
- ACU_VCC,
- ACU_VBAT,
- ACU_TEMPERATURE_1,
- ACU_TEMPERATURE_2,
- ACU_TEMPERATURE_3,
- ACU_MPPT_MODE,
- ACU_VBOOST_CHANNEL0,
- ACU_VBOOST_CHANNEL1,
- ACU_VBOOST_CHANNEL2,
- ACU_VBOOST_CHANNEL3,
- ACU_VBOOST_CHANNEL4,
- ACU_VBOOST_CHANNEL5,
- ACU_POWER_CHANNEL0,
- ACU_POWER_CHANNEL1,
- ACU_POWER_CHANNEL2,
- ACU_POWER_CHANNEL3,
- ACU_POWER_CHANNEL4,
- ACU_POWER_CHANNEL5,
- ACU_DAC_EN_0,
- ACU_DAC_EN_1,
- ACU_DAC_EN_2,
- ACU_DAC_RAW_0,
- ACU_DAC_RAW_1,
- ACU_DAC_RAW_2,
- ACU_DAC_RAW_3,
- ACU_DAC_RAW_4,
- ACU_DAC_RAW_5,
- ACU_BOOTCAUSE,
- ACU_BOOTCNT,
- ACU_UPTIME,
- ACU_RESET_CAUSE,
- ACU_MPPT_TIME,
- ACU_MPPT_PERIOD,
- ACU_DEVICE_0,
- ACU_DEVICE_1,
- ACU_DEVICE_2,
- ACU_DEVICE_3,
- ACU_DEVICE_4,
- ACU_DEVICE_5,
- ACU_DEVICE_6,
- ACU_DEVICE_7,
- ACU_DEVICE_0_STATUS,
- ACU_DEVICE_1_STATUS,
- ACU_DEVICE_2_STATUS,
- ACU_DEVICE_3_STATUS,
- ACU_DEVICE_4_STATUS,
- ACU_DEVICE_5_STATUS,
- ACU_DEVICE_6_STATUS,
- ACU_DEVICE_7_STATUS,
- ACU_WDT_CNT_GND,
- ACU_WDT_GND_LEFT
- };
+ /** ACU Ids */
+ ACU_CURRENT_IN_CHANNEL0,
+ ACU_CURRENT_IN_CHANNEL1,
+ ACU_CURRENT_IN_CHANNEL2,
+ ACU_CURRENT_IN_CHANNEL3,
+ ACU_CURRENT_IN_CHANNEL4,
+ ACU_CURRENT_IN_CHANNEL5,
+ ACU_VOLTAGE_IN_CHANNEL0,
+ ACU_VOLTAGE_IN_CHANNEL1,
+ ACU_VOLTAGE_IN_CHANNEL2,
+ ACU_VOLTAGE_IN_CHANNEL3,
+ ACU_VOLTAGE_IN_CHANNEL4,
+ ACU_VOLTAGE_IN_CHANNEL5,
+ ACU_VCC,
+ ACU_VBAT,
+ ACU_TEMPERATURE_1,
+ ACU_TEMPERATURE_2,
+ ACU_TEMPERATURE_3,
+ ACU_MPPT_MODE,
+ ACU_VBOOST_CHANNEL0,
+ ACU_VBOOST_CHANNEL1,
+ ACU_VBOOST_CHANNEL2,
+ ACU_VBOOST_CHANNEL3,
+ ACU_VBOOST_CHANNEL4,
+ ACU_VBOOST_CHANNEL5,
+ ACU_POWER_CHANNEL0,
+ ACU_POWER_CHANNEL1,
+ ACU_POWER_CHANNEL2,
+ ACU_POWER_CHANNEL3,
+ ACU_POWER_CHANNEL4,
+ ACU_POWER_CHANNEL5,
+ ACU_DAC_EN_0,
+ ACU_DAC_EN_1,
+ ACU_DAC_EN_2,
+ ACU_DAC_RAW_0,
+ ACU_DAC_RAW_1,
+ ACU_DAC_RAW_2,
+ ACU_DAC_RAW_3,
+ ACU_DAC_RAW_4,
+ ACU_DAC_RAW_5,
+ ACU_BOOTCAUSE,
+ ACU_BOOTCNT,
+ ACU_UPTIME,
+ ACU_RESET_CAUSE,
+ ACU_MPPT_TIME,
+ ACU_MPPT_PERIOD,
+ ACU_DEVICE_0,
+ ACU_DEVICE_1,
+ ACU_DEVICE_2,
+ ACU_DEVICE_3,
+ ACU_DEVICE_4,
+ ACU_DEVICE_5,
+ ACU_DEVICE_6,
+ ACU_DEVICE_7,
+ ACU_DEVICE_0_STATUS,
+ ACU_DEVICE_1_STATUS,
+ ACU_DEVICE_2_STATUS,
+ ACU_DEVICE_3_STATUS,
+ ACU_DEVICE_4_STATUS,
+ ACU_DEVICE_5_STATUS,
+ ACU_DEVICE_6_STATUS,
+ ACU_DEVICE_7_STATUS,
+ ACU_WDT_CNT_GND,
+ ACU_WDT_GND_LEFT
+};
}
namespace P60Dock {
- /** Max reply size reached when requesting full hk table */
- static const uint16_t MAX_REPLY_LENGTH = 407;
+/** Max reply size reached when requesting full hk table */
+static const uint16_t MAX_REPLY_LENGTH = 407;
- static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408;
- static const uint16_t MAX_HKTABLE_ADDRESS = 187;
- static const uint16_t HK_TABLE_SIZE = 188;
+static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408;
+static const uint16_t MAX_HKTABLE_ADDRESS = 187;
+static const uint16_t HK_TABLE_SIZE = 188;
- static const uint8_t HK_TABLE_DATA_SET_ID = 0x3;
- static const uint8_t HK_TABLE_ENTRIES = 100;
+static const uint8_t HK_TABLE_DATA_SET_ID = 0x3;
+static const uint8_t HK_TABLE_ENTRIES = 100;
- /**
- * Requesting the full housekeeping table from the P60 dock will generate a reply comprising
- * 402 bytes of data.
- */
- static const uint16_t HK_TABLE_REPLY_SIZE = 407;
+/**
+ * Requesting the full housekeeping table from the P60 dock will generate a reply comprising
+ * 402 bytes of data.
+ */
+static const uint16_t HK_TABLE_REPLY_SIZE = 407;
- /**
- * @brief This class defines a dataset for the hk table of the P60 Dock.
- */
- class HkTableDataset:
- public StaticLocalDataSet {
- public:
+/**
+ * @brief This class defines a dataset for the hk table of the P60 Dock.
+ */
+class HkTableDataset:
+ public StaticLocalDataSet {
+ public:
- HkTableDataset(HasLocalDataPoolIF* owner):
- StaticLocalDataSet(owner, HK_TABLE_DATA_SET_ID) {
- }
+ HkTableDataset(HasLocalDataPoolIF* owner):
+ StaticLocalDataSet(owner, HK_TABLE_DATA_SET_ID) {
+ }
- HkTableDataset(object_id_t objectId):
- StaticLocalDataSet(sid_t(objectId, HK_TABLE_DATA_SET_ID)) {
- }
+ HkTableDataset(object_id_t objectId):
+ StaticLocalDataSet(sid_t(objectId, HK_TABLE_DATA_SET_ID)) {
+ }
- /** Measured output currents */
- lp_var_t currentAcuVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_ACU_VCC, this);
- lp_var_t currentPdu1Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_PDU1_VCC, this);
- lp_var_t currentX3IdleVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_X3_IDLE_VCC, this);
- lp_var_t currentPdu2Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_PDU2_VCC, this);
- lp_var_t currentAcuVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_ACU_VBAT, this);
- lp_var_t currentPdu1Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_PDU1_VBAT, this);
- lp_var_t currentX3IdleVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_X3_IDLE_VBAT, this);
- lp_var_t currentPdu2Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_PDU2_VBAT, this);
- lp_var_t currentStackVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_STACK_VBAT, this);
- lp_var_t currentStack3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_STACK_3V3, this);
- lp_var_t currentStack5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_STACK_5V, this);
- lp_var_t currentGS3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_GS3V3, this);
- lp_var_t currentGS5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_GS5V, this);
+ /** Measured output currents */
+ lp_var_t currentAcuVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_ACU_VCC, this);
+ lp_var_t currentPdu1Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_PDU1_VCC, this);
+ lp_var_t currentX3IdleVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_X3_IDLE_VCC, this);
+ lp_var_t currentPdu2Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_PDU2_VCC, this);
+ lp_var_t currentAcuVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_ACU_VBAT, this);
+ lp_var_t currentPdu1Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_PDU1_VBAT, this);
+ lp_var_t currentX3IdleVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_X3_IDLE_VBAT, this);
+ lp_var_t currentPdu2Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_PDU2_VBAT, this);
+ lp_var_t currentStackVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_STACK_VBAT, this);
+ lp_var_t currentStack3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_STACK_3V3, this);
+ lp_var_t currentStack5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_STACK_5V, this);
+ lp_var_t currentGS3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_GS3V3, this);
+ lp_var_t currentGS5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_GS5V, this);
- /** Measured output voltages */
- lp_var_t voltageAcuVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_ACU_VCC, this);
- lp_var_t voltagePdu1Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_PDU1_VCC, this);
- lp_var_t voltageX3IdleVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_X3_IDLE_VCC, this);
- lp_var_t voltagePdu2Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_PDU2_VCC, this);
- lp_var_t voltageAcuVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_ACU_VBAT, this);
- lp_var_t voltagePdu1Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_PDU1_VBAT, this);
- lp_var_t voltageX3IdleVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_X3_IDLE_VBAT, this);
- lp_var_t voltagePdu2Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_PDU2_VBAT, this);
- lp_var_t voltageStackVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_STACK_VBAT, this);
- lp_var_t voltageStack3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_STACK_3V3, this);
- lp_var_t voltageStack5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_STACK_5V, this);
- lp_var_t voltageGS3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_GS3V3, this);
- lp_var_t voltageGS5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_GS5V, this);
+ /** Measured output voltages */
+ lp_var_t voltageAcuVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_ACU_VCC, this);
+ lp_var_t voltagePdu1Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_PDU1_VCC, this);
+ lp_var_t voltageX3IdleVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_X3_IDLE_VCC, this);
+ lp_var_t voltagePdu2Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_PDU2_VCC, this);
+ lp_var_t voltageAcuVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_ACU_VBAT, this);
+ lp_var_t voltagePdu1Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_PDU1_VBAT, this);
+ lp_var_t voltageX3IdleVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_X3_IDLE_VBAT, this);
+ lp_var_t voltagePdu2Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_PDU2_VBAT, this);
+ lp_var_t voltageStackVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_STACK_VBAT, this);
+ lp_var_t voltageStack3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_STACK_3V3, this);
+ lp_var_t voltageStack5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_STACK_5V, this);
+ lp_var_t voltageGS3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_GS3V3, this);
+ lp_var_t voltageGS5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_GS5V, this);
- /** Output enable states */
- lp_var_t outputEnableStateAcuVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_ACU_VCC, this);
- lp_var_t outputEnableStatePdu1Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_PDU1_VCC, this);
- lp_var_t outputEnableStateX3IdleVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VCC, this);
- lp_var_t outputEnableStatePdu2Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_PDU2_VCC, this);
- lp_var_t outputEnableStateAcuVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_ACU_VBAT, this);
- lp_var_t outputEnableStatePdu1Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_PDU1_VBAT, this);
- lp_var_t outputEnableStateX3IdleVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT, this);
- lp_var_t outputEnableStatePdu2Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_PDU2_VBAT, this);
- lp_var_t outputEnableStateStackVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_STACK_VBAT, this);
- lp_var_t outputEnableStateStack3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_STACK_3V3, this);
- lp_var_t outputEnableStateStack5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_STACK_5V, this);
- lp_var_t outputEnableStateGS3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_GS3V3, this);
- lp_var_t outputEnableStateGS5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_GS5V, this);
+ /** Output enable states */
+ lp_var_t outputEnableStateAcuVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_ACU_VCC, this);
+ lp_var_t outputEnableStatePdu1Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_PDU1_VCC, this);
+ lp_var_t outputEnableStateX3IdleVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VCC, this);
+ lp_var_t outputEnableStatePdu2Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_PDU2_VCC, this);
+ lp_var_t outputEnableStateAcuVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_ACU_VBAT, this);
+ lp_var_t outputEnableStatePdu1Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_PDU1_VBAT, this);
+ lp_var_t outputEnableStateX3IdleVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT, this);
+ lp_var_t outputEnableStatePdu2Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_PDU2_VBAT, this);
+ lp_var_t outputEnableStateStackVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_STACK_VBAT, this);
+ lp_var_t outputEnableStateStack3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_STACK_3V3, this);
+ lp_var_t outputEnableStateStack5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_STACK_5V, this);
+ lp_var_t outputEnableStateGS3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_GS3V3, this);
+ lp_var_t outputEnableStateGS5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_GS5V, this);
- lp_var_t temperature1 = lp_var_t(sid.objectId,
- P60System::P60DOCK_TEMPERATURE_1, this);
- lp_var_t temperature2 = lp_var_t(sid.objectId,
- P60System::P60DOCK_TEMPERATURE_2, this);
+ lp_var_t temperature1 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_TEMPERATURE_1, this);
+ lp_var_t temperature2 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_TEMPERATURE_2, this);
- lp_var_t bootcause = lp_var_t(sid.objectId,
- P60System::P60DOCK_BOOT_CAUSE, this);
- lp_var_t bootCount = lp_var_t(sid.objectId,
- P60System::P60DOCK_BOOT_CNT, this);
- lp_var_t uptime = lp_var_t(sid.objectId,
- P60System::P60DOCK_UPTIME, this);
- lp_var_t resetcause = lp_var_t(sid.objectId,
- P60System::P60DOCK_RESETCAUSE, this);
- lp_var_t battMode = lp_var_t(sid.objectId,
- P60System::P60DOCK_BATT_MODE, this);
- /** Battery heater control only possible on BP4 packs */
- lp_var_t heaterOn = lp_var_t(sid.objectId,
- P60System::P60DOCK_HEATER_ON, this);
- lp_var_t converter5VStatus = lp_var_t(sid.objectId,
- P60System::P60DOCK_CONV_5V_ENABLE_STATUS, this);
+ lp_var_t bootcause = lp_var_t(sid.objectId,
+ P60System::P60DOCK_BOOT_CAUSE, this);
+ lp_var_t bootCount = lp_var_t(sid.objectId,
+ P60System::P60DOCK_BOOT_CNT, this);
+ lp_var_t uptime = lp_var_t(sid.objectId,
+ P60System::P60DOCK_UPTIME, this);
+ lp_var_t resetcause = lp_var_t(sid.objectId,
+ P60System::P60DOCK_RESETCAUSE, this);
+ lp_var_t battMode = lp_var_t(sid.objectId,
+ P60System::P60DOCK_BATT_MODE, this);
+ /** Battery heater control only possible on BP4 packs */
+ lp_var_t heaterOn = lp_var_t(sid.objectId,
+ P60System::P60DOCK_HEATER_ON, this);
+ lp_var_t converter5VStatus = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CONV_5V_ENABLE_STATUS, this);
- /** Number of detected latchups on each output channel */
- lp_var_t latchupsAcuVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_LATCHUP_ACU_VCC, this);
- lp_var_t latchupsPdu1Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_LATCHUP_PDU1_VCC, this);
- lp_var_t latchupsX3IdleVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_LATCHUP_X3_IDLE_VCC, this);
- lp_var_t latchupsPdu2Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_LATCHUP_PDU2_VCC, this);
- lp_var_t latchupsAcuVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_LATCHUP_ACU_VBAT, this);
- lp_var_t latchupsPdu1Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_LATCHUP_PDU1_VBAT, this);
- lp_var_t latchupsX3IdleVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_LATCHUP_X3_IDLE_VBAT, this);
- lp_var_t latchupsPdu2Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_LATCHUP_PDU2_VBAT, this);
- lp_var_t latchupsStackVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_LATCHUP_STACK_VBAT, this);
- lp_var_t latchupsStack3V3 = lp_var_t