From 33c229d08a11e3e985d4b921a51ff0e6a32893d1 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Thu, 13 May 2021 13:17:12 +0200 Subject: [PATCH] all sus initialized --- bsp_q7s/ObjectFactory.cpp | 61 +--- fsfw_hal | 2 +- fsfwconfig/OBSWConfig.h | 2 +- .../pollingSequenceFactory.cpp | 316 +++++++++++++----- 4 files changed, 256 insertions(+), 125 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index c34f847a..4d1a413e 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -163,10 +163,7 @@ void ObjectFactory::produce(){ SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); - RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, - objects::SPI_COM_IF, spiCookieRadSensor); - (void) radSensor; - + new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor); GpioCookie* gpioCookieSus = new GpioCookie(); GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1, @@ -251,49 +248,19 @@ void ObjectFactory::produce(){ std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); - SusHandler* sus1 = new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, - gpioIds::CS_SUS_1); - (void) sus1; - - SusHandler* sus2 = new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, - gpioIds::CS_SUS_2); - sus2->setStartUpImmediately(); - - SusHandler* sus3 = new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, - gpioIds::CS_SUS_3); - (void) sus3; - - new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, - gpioIds::CS_SUS_4); - new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, - gpioIds::CS_SUS_5); - new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, - gpioIds::CS_SUS_6); - new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, - gpioIds::CS_SUS_7); - SusHandler* sus8 = new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, - gpioIds::CS_SUS_8); - (void) sus8; - - SusHandler* sus9 = new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, - gpioIds::CS_SUS_9); - (void) sus9; - - SusHandler* sus10 = new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF, - gpioIds::CS_SUS_10); - (void) sus10; - - SusHandler* sus11 = new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, - gpioComIF, gpioIds::CS_SUS_11); - (void) sus11; - - SusHandler* sus12 = new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF, - gpioIds::CS_SUS_12); - (void) sus12; - - SusHandler* sus13 = new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF, - gpioIds::CS_SUS_13); - (void) sus13; + new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1); + new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2); + new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3); + new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4); + new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5); + new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6); + new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7); + new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8); + new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9); + new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF, gpioIds::CS_SUS_10); + new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF, gpioIds::CS_SUS_11); + new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF, gpioIds::CS_SUS_12); + new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF, gpioIds::CS_SUS_13); #if OBSW_ADD_ACS_BOARD == 1 GpioCookie* gpioCookieAcsBoard = new GpioCookie(); diff --git a/fsfw_hal b/fsfw_hal index 425cfd2a..e5da8b19 160000 --- a/fsfw_hal +++ b/fsfw_hal @@ -1 +1 @@ -Subproject commit 425cfd2ababe3639355c6681ce3f9b606b893430 +Subproject commit e5da8b194d61aed01fee7b8d6f6b7fe8b01dc547 diff --git a/fsfwconfig/OBSWConfig.h b/fsfwconfig/OBSWConfig.h index bfe528c6..9426d01b 100644 --- a/fsfwconfig/OBSWConfig.h +++ b/fsfwconfig/OBSWConfig.h @@ -24,7 +24,7 @@ debugging. */ #define TEST_SUS_HANDLER 1 #define TEST_PLOC_HANDLER 0 -#define TE0720 1 +#define TE0720 0 #define TE0720_HEATER_TEST 0 #define P60DOCK_DEBUG 0 diff --git a/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 77c5e8ff..1199ae2c 100644 --- a/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -166,45 +166,251 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) */ /* Write setup */ - thisSequence->addSlot(objects::SUS_8, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0.902, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.903, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.904, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.905, DeviceHandlerIF::GET_READ); - - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_8, length * 0.906, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0.907, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.908, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.909, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.91, DeviceHandlerIF::GET_READ); - - /* Read ADC conversions from inernal FIFO */ - thisSequence->addSlot(objects::SUS_8, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0.912, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.913, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.914, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.915, DeviceHandlerIF::GET_READ); + 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_12, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_12, length * 0.917, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.918, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.919, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_12, length * 0.920, 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::FIRST_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::FIRST_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_3, length * 0.906, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3, length * 0.906, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.906, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.906, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3, length * 0.906, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_3, length * 0.907, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3, length * 0.907, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.907, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.907, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3, length * 0.907, DeviceHandlerIF::GET_READ); + /* Write setup */ + thisSequence->addSlot(objects::SUS_3, length * 0.908, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3, length * 0.908, SusHandler::FIRST_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.908, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.908, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3, length * 0.908, 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_12, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_12, length * 0.922, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.923, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.924, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_12, length * 0.925, DeviceHandlerIF::GET_READ); + 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); - thisSequence->addSlot(objects::SUS_12, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_12, length * 0.927, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.928, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.929, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_12, length * 0.93, 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); if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { return HasReturnvaluesIF::RETURN_OK; @@ -344,48 +550,6 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){ return HasReturnvaluesIF::RETURN_OK; } -ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) { - uint32_t length = thisSequence->getPeriodMs(); - - 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::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); - if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "Initialization of ACS Board PST failed" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; - } - return HasReturnvaluesIF::RETURN_OK; -} - ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) { uint32_t length = thisSequence->getPeriodMs();