From 4a820fba557d51274d58889d5c9c6d240e7ec738 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Mar 2023 23:17:33 +0100 Subject: [PATCH] all SPI sched in now in same PST --- common/config/eive/definitions.h | 8 +- mission/core/pollingSeqTables.cpp | 222 +++++++++++++++--------------- 2 files changed, 117 insertions(+), 113 deletions(-) diff --git a/common/config/eive/definitions.h b/common/config/eive/definitions.h index 4f2c948e..3990ac26 100644 --- a/common/config/eive/definitions.h +++ b/common/config/eive/definitions.h @@ -55,7 +55,7 @@ static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100; static constexpr uint32_t MAX_STORED_CMDS_UDP = 120; static constexpr uint32_t MAX_STORED_CMDS_TCP = 150; -namespace acs { +namespace spiSched { static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15; static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30; @@ -65,6 +65,8 @@ static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 55; static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 95; static constexpr uint32_t SCHED_BLOCK_RTD = 150; static constexpr uint32_t SCHED_BLOCK_7_RW_READ_MS = 300; +static constexpr uint32_t SCHED_BLOCK_8_PLPCDU_MS = 320; +static constexpr uint32_t SCHED_BLOCK_9_RAD_SENS_MS = 340; // 15 ms for FM static constexpr float SCHED_BLOCK_1_PERIOD = static_cast(SCHED_BLOCK_1_SUS_READ_MS) / 400.0; @@ -76,8 +78,10 @@ static constexpr float SCHED_BLOCK_4_PERIOD = static_cast(SCHED_BLOCK_4_A static constexpr float SCHED_BLOCK_5_PERIOD = static_cast(SCHED_BLOCK_5_ACTUATOR_MS) / 400.0; static constexpr float SCHED_BLOCK_6_PERIOD = static_cast(SCHED_BLOCK_6_IMTQ_BLOCK_2_MS) / 400.0; -static constexpr float SCHED_BLOCK_7_PERIOD = static_cast(SCHED_BLOCK_7_RW_READ_MS) / 400.0; static constexpr float SCHED_BLOCK_RTD_PERIOD = static_cast(SCHED_BLOCK_RTD) / 400.0; +static constexpr float SCHED_BLOCK_7_PERIOD = static_cast(SCHED_BLOCK_7_RW_READ_MS) / 400.0; +static constexpr float SCHED_BLOCK_8_PERIOD = static_cast(SCHED_BLOCK_8_PLPCDU_MS) / 400.0; +static constexpr float SCHED_BLOCK_9_PERIOD = static_cast(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0; } // namespace acs diff --git a/mission/core/pollingSeqTables.cpp b/mission/core/pollingSeqTables.cpp index dbc081de..780b0e7f 100644 --- a/mission/core/pollingSeqTables.cpp +++ b/mission/core/pollingSeqTables.cpp @@ -30,22 +30,6 @@ ReturnValue_t pst::pstSpiAndSyrlinks(FixedTimeslotTaskIF *thisSequence) { #endif static_cast(length); -#if OBSW_ADD_PL_PCDU == 1 - thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ); -#endif - -#if OBSW_ADD_RAD_SENSORS == 1 - /* Radiation sensor */ - thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ); -#endif return thisSequence->checkSequence(); } @@ -267,53 +251,53 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, - length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } if (cfg.scheduleStr) { @@ -329,185 +313,201 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg if (cfg.scheduleAcsBoard) { if (enableAside) { // A side - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); } if (enableBside) { // B side - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, - length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); } if (enableAside) { thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); } if (enableBside) { thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); + length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); + length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, - length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); + length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); } } if (cfg.scheduleImtq) { // This is the MTM measurement cycle - thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::spiSched::SCHED_BLOCK_1_PERIOD, imtq::ComStep::DHB_OP); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::spiSched::SCHED_BLOCK_1_PERIOD, imtq::ComStep::START_MEASURE_SEND); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::spiSched::SCHED_BLOCK_1_PERIOD, imtq::ComStep::START_MEASURE_GET); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, imtq::ComStep::READ_MEASURE_SEND); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD, + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, imtq::ComStep::READ_MEASURE_GET); } - thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_4_PERIOD, 0); + thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::spiSched::SCHED_BLOCK_4_PERIOD, 0); if (cfg.scheduleImtq) { // This is the torquing cycle. - thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::spiSched::SCHED_BLOCK_5_PERIOD, imtq::ComStep::START_ACTUATE_SEND); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::spiSched::SCHED_BLOCK_5_PERIOD, imtq::ComStep::START_ACTUATE_GET); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_6_PERIOD, + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::spiSched::SCHED_BLOCK_6_PERIOD, imtq::ComStep::READ_ACTUATE_SEND); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_6_PERIOD, + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::spiSched::SCHED_BLOCK_6_PERIOD, imtq::ComStep::READ_ACTUATE_GET); } if (cfg.scheduleRws) { // this is the torquing cycle - thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW1, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW2, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW3, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW4, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW1, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW2, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW3, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW4, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW1, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW2, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW3, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD, + thisSequence->addSlot(objects::RW4, length * config::spiSched::SCHED_BLOCK_5_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_7_PERIOD, + thisSequence->addSlot(objects::RW1, length * config::spiSched::SCHED_BLOCK_7_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_7_PERIOD, + thisSequence->addSlot(objects::RW2, length * config::spiSched::SCHED_BLOCK_7_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_7_PERIOD, + thisSequence->addSlot(objects::RW3, length * config::spiSched::SCHED_BLOCK_7_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_7_PERIOD, + thisSequence->addSlot(objects::RW4, length * config::spiSched::SCHED_BLOCK_7_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_7_PERIOD, + thisSequence->addSlot(objects::RW1, length * config::spiSched::SCHED_BLOCK_7_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_7_PERIOD, + thisSequence->addSlot(objects::RW2, length * config::spiSched::SCHED_BLOCK_7_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_7_PERIOD, + thisSequence->addSlot(objects::RW3, length * config::spiSched::SCHED_BLOCK_7_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_7_PERIOD, + thisSequence->addSlot(objects::RW4, length * config::spiSched::SCHED_BLOCK_7_PERIOD, DeviceHandlerIF::GET_READ); } - thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::acs::SCHED_BLOCK_RTD_PERIOD, 0); + thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::spiSched::SCHED_BLOCK_RTD_PERIOD, 0); +#if OBSW_ADD_PL_PCDU == 1 + thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_READ); +#endif + +#if OBSW_ADD_RAD_SENSORS == 1 + /* Radiation sensor */ + thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_READ); +#endif return returnvalue::OK; }