From 54e5fef8fd5235ffdaa812f8c770f8bff082082d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 9 Dec 2021 13:43:28 +0100 Subject: [PATCH] update to updated fsfw --- bsp_q7s/core/ObjectFactory.cpp | 148 +++++++++--------- bsp_q7s/gpio/gpioCallbacks.cpp | 19 ++- fsfw | 2 +- linux/boardtest/SpiTestClass.cpp | 34 ++-- linux/devices/StarTrackerHandler.h | 2 +- .../pollingSequenceFactory.cpp | 42 ++--- 6 files changed, 127 insertions(+), 120 deletions(-) diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index bf8a2fba..bc428f05 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -20,11 +20,14 @@ #include "bsp_q7s/callbacks/gnssCallback.h" #include "linux/devices/HeaterHandler.h" +#include "linux/devices/StarTrackerHandler.h" #include "linux/devices/SolarArrayDeploymentHandler.h" #include "linux/devices/devicedefinitions/SusDefinitions.h" #include "linux/devices/SusHandler.h" #include "linux/csp/CspCookie.h" #include "linux/csp/CspComIF.h" +#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" + #include "mission/core/GenericFactory.h" #include "mission/devices/PDU1Handler.h" #include "mission/devices/PDU2Handler.h" @@ -39,14 +42,13 @@ #include "mission/devices/PlocMPSoCHandler.h" #include "mission/devices/RadiationSensorHandler.h" #include "mission/devices/RwHandler.h" -#include "mission/devices/StarTrackerHandler.h" #include "mission/devices/devicedefinitions/GomspaceDefinitions.h" #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h" #include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h" #include "mission/devices/devicedefinitions/RadSensorDefinitions.h" #include "mission/devices/devicedefinitions/Max31865Definitions.h" #include "mission/devices/devicedefinitions/RwDefinitions.h" -#include "mission/devices/devicedefinitions/StarTrackerDefinitions.h" + #include "mission/devices/GPSHyperionHandler.h" #include "mission/tmtc/CCSDSHandler.h" #include "mission/tmtc/VirtualChannel.h" @@ -264,7 +266,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) { std::stringstream consumer; consumer << "0x" << std::hex << objects::RAD_SENSOR; GpiodRegularByLineName* gpio = new GpiodRegularByLineName( - q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::OUT, gpio::HIGH); + q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio); gpioComIF->addGpios(gpioCookieRadSensor); @@ -278,43 +280,43 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI GpioCookie* gpioCookieSus = new GpioCookie(); GpioCallback* susgpio = nullptr; - susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 1", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio); - susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 2", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio); - susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 3", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio); - susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 4", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio); - susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 5", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio); - susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 6", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio); - susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 7", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio); - susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 8", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio); - susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 9", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio); - susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 10", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio); - susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 11", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio); - susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 12", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio); - susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, gpio::HIGH, + susgpio = new GpioCallback("Chip select SUS 13", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio); @@ -395,61 +397,61 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI GpiodRegularByLineName* gpio = nullptr; consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER; gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), - gpio::OUT, gpio::HIGH); + gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER; - gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER; - gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER; - gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER; - gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER; - gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER; gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), - gpio::OUT, gpio::HIGH); + gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER; - gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::GPS0_HANDLER; // GNSS reset pins are active low - gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::GPS1_HANDLER; - gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio); @@ -457,12 +459,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER; // Enable pins must be pulled low for regular operations gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), - gpio::OUT, gpio::LOW); + gpio::DIR_OUT, gpio::LOW); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER; - gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), gpio::DIR_OUT, gpio::LOW); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio); @@ -576,37 +578,37 @@ void ObjectFactory::createHeaterComponents() { std::stringstream consumer; consumer << "0x" << std::hex << objects::HEATER_HANDLER; /* Pin H2-11 on stack connector */ - gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), gpio::DIR_OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio); /* Pin H2-12 on stack connector */ - gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), gpio::DIR_OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio); /* Pin H2-13 on stack connector */ - gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), gpio::DIR_OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio); gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), - gpio::OUT, gpio::LOW); + gpio::DIR_OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio); gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), - gpio::OUT, gpio::LOW); + gpio::DIR_OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio); gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), - gpio::OUT, gpio::LOW); + gpio::DIR_OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio); gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), - gpio::OUT, gpio::LOW); + gpio::DIR_OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio); gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), - gpio::OUT, gpio::LOW); + gpio::DIR_OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio); new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, @@ -620,9 +622,9 @@ void ObjectFactory::createSolarArrayDeploymentComponents() { std::stringstream consumer; consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER; gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, - consumer.str(), gpio::OUT, gpio::LOW); + consumer.str(), gpio::DIR_OUT, gpio::LOW); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio); - gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::DIR_OUT, gpio::LOW); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio); @@ -644,52 +646,52 @@ void ObjectFactory::createSyrlinksComponents() { void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) { GpioCookie* rtdGpioCookie = new GpioCookie; - GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0); - GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1); - GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2); - GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3); - GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4); - GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5); - GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6); - GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7); - GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8); - GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9); - GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10); - GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11); - GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12); - GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13); - GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14); - GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::OUT, gpio::HIGH, + GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15); @@ -794,38 +796,38 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) { void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { GpioCookie* gpioCookieRw = new GpioCookie; - GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, gpio::HIGH, + GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1); - GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH, + GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2); - GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH, + GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3); - GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH, + GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4); std::stringstream consumer; GpiodRegularByLineName* gpio = nullptr; consumer << "0x" << std::hex << objects::RW1; - gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::RW2; - gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::RW3; - gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio); consumer.str(""); consumer << "0x" << std::hex << objects::RW4; - gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio); @@ -835,7 +837,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { * Per default the PS SPI is selected (EMIO = 0). */ gpio = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_SELECT, - "SPI Reaction Wheel Callback ", gpio::OUT, gpio::LOW); + "SPI Reaction Wheel Callback ", gpio::DIR_OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::SPI_MUX, gpio); gpioComIF->addGpios(gpioCookieRw); @@ -943,7 +945,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) { consumer.str(""); consumer << "ptme rate setter"; // Init to low -> default bit rate is low bit rate (200 kbps in downlink with syrlinks) - gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::DIR_OUT, gpio::LOW); gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio); gpioComIF->addGpios(gpioCookieRateSetter); @@ -968,7 +970,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) { consumer.str(""); consumer << "0x" << std::hex << objects::PDEC_HANDLER; // GPIO also low after linux boot (specified by device-tree) - gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), gpio::DIR_OUT, gpio::LOW); gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio); @@ -981,18 +983,18 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) { #if BOARD_TE0720 == 0 GpioCookie* gpioRS485Chip = new GpioCookie; gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver", - gpio::Direction::OUT, gpio::LOW); + gpio::Direction::DIR_OUT, gpio::LOW); gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio); gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver", - gpio::Direction::OUT, gpio::LOW); + gpio::Direction::DIR_OUT, gpio::LOW); gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio); // Default configuration enables RX channels (RXEN = LOW) gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver", - gpio::Direction::OUT, gpio::LOW); + gpio::Direction::DIR_OUT, gpio::LOW); gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio); gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver", - gpio::Direction::OUT, gpio::LOW); + gpio::Direction::DIR_OUT, gpio::LOW); gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio); gpioComIF->addGpios(gpioRS485Chip); @@ -1008,10 +1010,10 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) { #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1 /* Configure MIO0 as input */ - GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::OUT, 0, "/amba_pl/gpio@41200000", 0); + GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::DIR_OUT, 0, "/amba_pl/gpio@41200000", 0); #elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME GpiodRegularByLineName* testGpio = new GpiodRegularByLineName("test-name", "gpio-test", - gpio::OUT, 0); + gpio::DIR_OUT, 0); #else /* Configure MIO0 as input */ GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0); @@ -1024,7 +1026,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) { #if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1 GpioCookie* gpioCookieSus = new GpioCookie; GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9, - std::string("Chip Select Sus Sensor"), gpio::OUT, 1); + std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1); gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus); gpioComIF->addGpios(gpioCookieSus); @@ -1052,7 +1054,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) { #if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1 GpioCookie* gpioCookieRadSensor = new GpioCookie; GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0, - std::string("Chip select radiation sensor"), gpio::OUT, 1); + std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1); gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor); gpioComIF->addGpios(gpioCookieRadSensor); diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp index 38c5b46e..2cbf3320 100644 --- a/bsp_q7s/gpio/gpioCallbacks.cpp +++ b/bsp_q7s/gpio/gpioCallbacks.cpp @@ -27,13 +27,15 @@ void initSpiCsDecoder(GpioIF* gpioComIF) { GpiodRegularByLineName* spiMuxBit = nullptr; /** Setting mux bit 1 to low will disable IC21 on the interface board */ spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1", - gpio::OUT, gpio::HIGH); + gpio::DIR_OUT, gpio::HIGH); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit); /** Setting mux bit 2 to low disables IC1 on the TCS board */ - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", gpio::OUT, gpio::HIGH); + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", + gpio::DIR_OUT, gpio::HIGH); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit); /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */ - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3", gpio::OUT, gpio::LOW); + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3", + gpio::DIR_OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit); // spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1", @@ -47,14 +49,17 @@ void initSpiCsDecoder(GpioIF* gpioComIF) { // spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit); /** The following gpios can take arbitrary initial values */ - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4", gpio::OUT, gpio::LOW); + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4", + gpio::DIR_OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit); - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5", gpio::OUT, gpio::LOW); + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5", + gpio::DIR_OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit); - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6", gpio::OUT, gpio::LOW); + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6", + gpio::DIR_OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit); GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS, - "EN_RW_CS", gpio::OUT, gpio::HIGH); + "EN_RW_CS", gpio::DIR_OUT, gpio::HIGH); spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder); result = gpioComInterface->addGpios(spiMuxGpios); diff --git a/fsfw b/fsfw index e4999fe0..bda02b46 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit e4999fe01c0446f9820ceede55be3970aa22bbad +Subproject commit bda02b464a2ad00b1a8e373d4c6b80b0a7c8de95 diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp index 5168ba95..b043b55d 100644 --- a/linux/boardtest/SpiTestClass.cpp +++ b/linux/boardtest/SpiTestClass.cpp @@ -297,65 +297,65 @@ void SpiTestClass::acsInit() { GpiodRegularByChip* gpio = nullptr; std::string rpiGpioName = "gpiochip0"; gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", - gpio::Direction::OUT, 1); + gpio::DIR_OUT, 1); gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100", - gpio::Direction::OUT, 1); + gpio::DIR_OUT, 1); gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS", - gpio::Direction::OUT, 1); + gpio::DIR_OUT, 1); gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G", - gpio::Direction::OUT, 1); + gpio::DIR_OUT, 1); gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G", - gpio::Direction::OUT, 1); + gpio::DIR_OUT, 1); gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3", - gpio::Direction::OUT, 1); + gpio::DIR_OUT, 1); gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100", - gpio::Direction::OUT, 1); + gpio::DIR_OUT, 1); gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); #elif defined(XIPHOS_Q7S) GpiodRegularByLineName* gpio = nullptr; - gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::Direction::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::DIR_OUT, gpio::HIGH); gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); - gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::Direction::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::DIR_OUT, gpio::HIGH); gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); - gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::Direction::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::DIR_OUT, gpio::HIGH); gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); - gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::Direction::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::DIR_OUT, gpio::HIGH); gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS", - gpio::Direction::OUT, gpio::HIGH); + gpio::DIR_OUT, gpio::HIGH); gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); - gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::Direction::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::DIR_OUT, gpio::HIGH); gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS", - gpio::Direction::OUT, gpio::HIGH); + gpio::DIR_OUT, gpio::HIGH); gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio); - gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::Direction::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::DIR_OUT, gpio::HIGH); gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); // Enable pins must be pulled low for regular operations - gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::DIR_OUT, gpio::LOW); gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio); - gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::OUT, + gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::DIR_OUT, gpio::LOW); gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio); #endif diff --git a/linux/devices/StarTrackerHandler.h b/linux/devices/StarTrackerHandler.h index ee96e544..d659b9a8 100644 --- a/linux/devices/StarTrackerHandler.h +++ b/linux/devices/StarTrackerHandler.h @@ -2,7 +2,7 @@ #define MISSION_DEVICES_STARTRACKERHANDLER_H_ #include -#include +#include #include /** diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 69982156..02f37438 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -440,7 +440,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { #if OBSW_ADD_ACS_BOARD == 1 bool enableAside = true; - bool enableBside = false; + bool enableBside = true; if(enableAside) { // A side thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, @@ -465,16 +465,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); -// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, -// DeviceHandlerIF::PERFORM_OPERATION); -// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3, -// DeviceHandlerIF::SEND_WRITE); -// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, -// DeviceHandlerIF::GET_WRITE); -// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75, -// DeviceHandlerIF::SEND_READ); -// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, -// DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, + DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); @@ -512,16 +512,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); -// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, -// DeviceHandlerIF::PERFORM_OPERATION); -// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3, -// DeviceHandlerIF::SEND_WRITE); -// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, -// DeviceHandlerIF::GET_WRITE); -// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75, -// DeviceHandlerIF::SEND_READ); -// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, -// DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, + DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);