eive/eive-obsw
eive/eive-obsw
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refactoring
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This commit is contained in:
Robin Müller 2022-02-11 17:38:02 +01:00
parent 602a6cd86e
commit 66bd5f8fbf
10 changed files with 369 additions and 319 deletions
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1
bsp_q7s/CMakeLists.txt
View File

@ -9,7 +9,6 @@ if(Q7S_SIMPLE_MODE)
else() else()
add_subdirectory(boardconfig) add_subdirectory(boardconfig)
add_subdirectory(comIF) add_subdirectory(comIF)
add_subdirectory(gpio)
add_subdirectory(core) add_subdirectory(core)
add_subdirectory(memory) add_subdirectory(memory)
add_subdirectory(callbacks) add_subdirectory(callbacks)

1
bsp_q7s/callbacks/CMakeLists.txt
View File

@ -2,4 +2,5 @@ target_sources(${TARGET_NAME} PRIVATE
rwSpiCallback.cpp rwSpiCallback.cpp
gnssCallback.cpp gnssCallback.cpp
pcduSwitchCb.cpp pcduSwitchCb.cpp
gpioCallbacks.cpp
) )

69
bsp_q7s/gpio/gpioCallbacks.cpp → bsp_q7s/callbacks/gpioCallbacks.cpp
View File

@ -147,12 +147,16 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
disableDecoderTcsIc2(); disableDecoderTcsIc2();
break; break;
} }
case (gpioIds::CS_SUS_0): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_1): { case (gpioIds::CS_SUS_1): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case (gpioIds::CS_SUS_2): { case (gpioIds::CS_SUS_2): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case (gpioIds::CS_SUS_3): { case (gpioIds::CS_SUS_3): {
@ -164,7 +168,7 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
break; break;
} }
case (gpioIds::CS_SUS_5): { case (gpioIds::CS_SUS_5): {
disableDecoderInterfaceBoardIc2(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case (gpioIds::CS_SUS_6): { case (gpioIds::CS_SUS_6): {
@ -172,11 +176,11 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
break; break;
} }
case (gpioIds::CS_SUS_7): { case (gpioIds::CS_SUS_7): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case (gpioIds::CS_SUS_8): { case (gpioIds::CS_SUS_8): {
disableDecoderInterfaceBoardIc2(); disableDecoderInterfaceBoardIc1();
break; break;
} }
case (gpioIds::CS_SUS_9): { case (gpioIds::CS_SUS_9): {
@ -184,21 +188,13 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
break; break;
} }
case (gpioIds::CS_SUS_10): { case (gpioIds::CS_SUS_10): {
disableDecoderInterfaceBoardIc1(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case (gpioIds::CS_SUS_11): { case (gpioIds::CS_SUS_11): {
disableDecoderInterfaceBoardIc2(); disableDecoderInterfaceBoardIc2();
break; break;
} }
case (gpioIds::CS_SUS_12): {
disableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_13): {
disableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_RW1): { case (gpioIds::CS_RW1): {
disableRwDecoder(); disableRwDecoder();
break; break;
@ -300,71 +296,66 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
enableDecoderTcsIc2(); enableDecoderTcsIc2();
break; break;
} }
case (gpioIds::CS_SUS_1): { case (gpioIds::CS_SUS_0): {
selectY0(); selectY0();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case (gpioIds::CS_SUS_1): {
selectY1();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_2): { case (gpioIds::CS_SUS_2): {
selectY1();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_3): {
selectY0(); selectY0();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case (gpioIds::CS_SUS_4): { case (gpioIds::CS_SUS_3): {
selectY1(); selectY1();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case (gpioIds::CS_SUS_4): {
selectY2();
enableDecoderInterfaceBoardIc2();
break;
}
case (gpioIds::CS_SUS_5): { case (gpioIds::CS_SUS_5): {
selectY2(); selectY2();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case (gpioIds::CS_SUS_6): { case (gpioIds::CS_SUS_6): {
selectY2(); selectY3();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case (gpioIds::CS_SUS_7): { case (gpioIds::CS_SUS_7): {
selectY3();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_8): {
selectY3(); selectY3();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case (gpioIds::CS_SUS_9): { case (gpioIds::CS_SUS_8): {
selectY4(); selectY4();
enableDecoderInterfaceBoardIc1(); enableDecoderInterfaceBoardIc1();
break; break;
} }
case (gpioIds::CS_SUS_9): {
selectY5();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_10): { case (gpioIds::CS_SUS_10): {
selectY5();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_SUS_11): {
selectY4(); selectY4();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case (gpioIds::CS_SUS_12): { case (gpioIds::CS_SUS_11): {
selectY5(); selectY5();
enableDecoderInterfaceBoardIc2(); enableDecoderInterfaceBoardIc2();
break; break;
} }
case (gpioIds::CS_SUS_13): {
selectY6();
enableDecoderInterfaceBoardIc1();
break;
}
case (gpioIds::CS_RW1): { case (gpioIds::CS_RW1): {
selectY0(); selectY0();
enableRwDecoder(); enableRwDecoder();

0
bsp_q7s/gpio/gpioCallbacks.h → bsp_q7s/callbacks/gpioCallbacks.h
View File

88
bsp_q7s/core/ObjectFactory.cpp
View File

@ -8,6 +8,7 @@
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h" #include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h" #include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/gpioCallbacks.h"
#include "bsp_q7s/callbacks/pcduSwitchCb.h" #include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h" #include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h" #include "bsp_q7s/core/CoreController.h"
@ -17,7 +18,6 @@
#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h" #include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
#include "bsp_q7s/devices/startracker/StarTrackerHandler.h" #include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
#include "bsp_q7s/devices/startracker/StrHelper.h" #include "bsp_q7s/devices/startracker/StrHelper.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/memory/FileSystemHandler.h" #include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h" #include "busConf.h"
#include "ccsdsConfig.h" #include "ccsdsConfig.h"
@ -307,6 +307,9 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
GpioCookie* gpioCookieSus = new GpioCookie(); GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr; GpioCallback* susgpio = nullptr;
susgpio = new GpioCallback("Chip select SUS 0", gpio::DIR_OUT, gpio::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
susgpio = new GpioCallback("Chip select SUS 1", gpio::DIR_OUT, gpio::HIGH, susgpio = new GpioCallback("Chip select SUS 1", gpio::DIR_OUT, gpio::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF); &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio); gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
@ -340,65 +343,70 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
susgpio = new GpioCallback("Chip select SUS 11", gpio::DIR_OUT, gpio::HIGH, susgpio = new GpioCallback("Chip select SUS 11", gpio::DIR_OUT, gpio::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF); &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio); gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
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::DIR_OUT, gpio::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
gpioComIF->addGpios(gpioCookieSus); gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookie = SpiCookie* spiCookie =
new SpiCookie(addresses::SUS_0, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler0 = SusHandler* susHandler0 =
new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_1); new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_0);
spiCookie = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler1 = SusHandler* susHandler1 =
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_2); new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_1);
spiCookie = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler2 = SusHandler* susHandler2 =
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_3); new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_2);
spiCookie = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler3 = SusHandler* susHandler3 =
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_4); new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_3);
spiCookie = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler4 = SusHandler* susHandler4 =
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_5); new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_4);
spiCookie = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler5 = SusHandler* susHandler5 =
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_6); new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_5);
spiCookie = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler6 = SusHandler* susHandler6 =
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_7); new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_6);
spiCookie = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler7 = SusHandler* susHandler7 =
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_8); new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_7);
spiCookie = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler8 = SusHandler* susHandler8 =
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_9); new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_8);
spiCookie = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler9 = SusHandler* susHandler9 =
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_10); new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookie, gpioComIF, gpioIds::CS_SUS_9);
spiCookie = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_10, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler10 = new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookie, SusHandler* susHandler10 = new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookie,
gpioComIF, gpioIds::CS_SUS_11); gpioComIF, gpioIds::CS_SUS_10);
spiCookie = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); spiCookie =
new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SusHandler* susHandler11 = new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookie, SusHandler* susHandler11 = new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookie,
gpioComIF, gpioIds::CS_SUS_12); gpioComIF, gpioIds::CS_SUS_11);
static_cast<void>(susHandler0); static_cast<void>(susHandler0);
static_cast<void>(susHandler1); static_cast<void>(susHandler1);
static_cast<void>(susHandler2); static_cast<void>(susHandler2);
@ -424,6 +432,18 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
susHandler9->setStartUpImmediately(); susHandler9->setStartUpImmediately();
susHandler10->setStartUpImmediately(); susHandler10->setStartUpImmediately();
susHandler11->setStartUpImmediately(); susHandler11->setStartUpImmediately();
susHandler0->setToGoToNormalMode(true);
susHandler1->setToGoToNormalMode(true);
susHandler2->setToGoToNormalMode(true);
susHandler3->setToGoToNormalMode(true);
susHandler4->setToGoToNormalMode(true);
susHandler5->setToGoToNormalMode(true);
susHandler6->setToGoToNormalMode(true);
susHandler7->setToGoToNormalMode(true);
susHandler8->setToGoToNormalMode(true);
susHandler9->setToGoToNormalMode(true);
susHandler10->setToGoToNormalMode(true);
susHandler11->setToGoToNormalMode(true);
#endif #endif
} }
@ -1078,14 +1098,14 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieSus = new GpioCookie; GpioCookie* gpioCookieSus = new GpioCookie;
GpiodRegular* chipSelectSus = new GpiodRegular( GpiodRegular* chipSelectSus = new GpiodRegular(
std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1); std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus); gpioCookieSus->addGpio(gpioIds::CS_SUS_0, chipSelectSus);
gpioComIF->addGpios(gpioCookieSus); gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus = SpiCookie* spiCookieSus =
new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_1); new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
#endif #endif
#if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1 #if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1

3
bsp_q7s/gpio/CMakeLists.txt
View File

@ -1,3 +0,0 @@
target_sources(${TARGET_NAME} PRIVATE
gpioCallbacks.cpp
)

38
linux/devices/SusHandler.cpp
View File

@ -8,6 +8,7 @@
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie, SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
LinuxLibgpioIF *gpioComIF, gpioId_t chipSelectId) LinuxLibgpioIF *gpioComIF, gpioId_t chipSelectId)
: DeviceHandlerBase(objectId, comIF, comCookie), : DeviceHandlerBase(objectId, comIF, comCookie),
divider(5),
gpioComIF(gpioComIF), gpioComIF(gpioComIF),
chipSelectId(chipSelectId), chipSelectId(chipSelectId),
dataset(this) { dataset(this) {
@ -115,7 +116,10 @@ ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceComman
return ERROR_LOCK_MUTEX; return ERROR_LOCK_MUTEX;
} }
gpioComIF->pullLow(chipSelectId); result = gpioComIF->pullLow(chipSelectId);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
cmdBuffer[0] = SUS::SETUP; cmdBuffer[0] = SUS::SETUP;
rawPacket = cmdBuffer; rawPacket = cmdBuffer;
rawPacketLen = 1; rawPacketLen = 1;
@ -165,20 +169,22 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8
dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11)); dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11));
dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13)); dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13));
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SUS == 1 #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SUS == 1
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() if (divider.checkAndIncrement()) {
<< ", Temperature: " << dataset.temperatureCelcius << " C" << std::endl; sif::info << "SUS object id 0x" << std::hex << this->getObjectId()
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: " << std::dec << ", Temperature: " << dataset.temperatureCelcius << " C" << std::endl;
<< dataset.ain0 << std::endl; sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: " << std::dec
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN1: " << std::dec << dataset.ain0 << std::endl;
<< dataset.ain1 << std::endl; sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN1: " << std::dec
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN2: " << std::dec << dataset.ain1 << std::endl;
<< dataset.ain2 << std::endl; sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN2: " << std::dec
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN3: " << std::dec << dataset.ain2 << std::endl;
<< dataset.ain3 << std::endl; sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN3: " << std::dec
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN4: " << std::dec << dataset.ain3 << std::endl;
<< dataset.ain4 << std::endl; sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN4: " << std::dec
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: " << std::dec << dataset.ain4 << std::endl;
<< dataset.ain5 << std::endl; sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: " << std::dec
<< dataset.ain5 << std::endl;
}
#endif #endif
/** SUS can now be shutdown and thus the SPI bus released again */ /** SUS can now be shutdown and thus the SPI bus released again */
gpioComIF->pullHigh(chipSelectId); gpioComIF->pullHigh(chipSelectId);
@ -212,3 +218,5 @@ ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localData
localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>({0})); localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>({0}));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void SusHandler::setToGoToNormalMode(bool enable) { this->goToNormalModeImmediately = enable; }

5
linux/devices/SusHandler.h
View File

@ -5,6 +5,7 @@
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h> #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "devicedefinitions/SusDefinitions.h" #include "devicedefinitions/SusDefinitions.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
/** /**
* @brief This is the device handler class for the SUS sensor. The sensor is * @brief This is the device handler class for the SUS sensor. The sensor is
@ -30,6 +31,7 @@ class SusHandler : public DeviceHandlerBase {
virtual ReturnValue_t performOperation(uint8_t counter) override; virtual ReturnValue_t performOperation(uint8_t counter) override;
virtual ReturnValue_t initialize() override; virtual ReturnValue_t initialize() override;
void setToGoToNormalMode(bool enable);
protected: protected:
void doStartUp() override; void doStartUp() override;
@ -55,8 +57,9 @@ class SusHandler : public DeviceHandlerBase {
enum class CommunicationStep { IDLE, WRITE_SETUP, START_CONVERSIONS, READ_CONVERSIONS }; enum class CommunicationStep { IDLE, WRITE_SETUP, START_CONVERSIONS, READ_CONVERSIONS };
PeriodicOperationDivider divider;
LinuxLibgpioIF* gpioComIF = nullptr; LinuxLibgpioIF* gpioComIF = nullptr;
bool goToNormalModeImmediately = false;
gpioId_t chipSelectId = gpio::NO_GPIO; gpioId_t chipSelectId = gpio::NO_GPIO;
SUS::SusDataset dataset; SUS::SusDataset dataset;

3
linux/fsfwconfig/devices/gpioIds.h
View File

@ -54,6 +54,7 @@ enum gpioId_t {
RTD_IC_17, RTD_IC_17,
RTD_IC_18, RTD_IC_18,
CS_SUS_0,
CS_SUS_1, CS_SUS_1,
CS_SUS_2, CS_SUS_2,
CS_SUS_3, CS_SUS_3,
@ -65,8 +66,6 @@ enum gpioId_t {
CS_SUS_9, CS_SUS_9,
CS_SUS_10, CS_SUS_10,
CS_SUS_11, CS_SUS_11,
CS_SUS_12,
CS_SUS_13,
SPI_MUX_BIT_1, SPI_MUX_BIT_1,
SPI_MUX_BIT_2, SPI_MUX_BIT_2,

480
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -154,6 +154,18 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
#if OBSW_ADD_SUN_SENSORS == 1 #if OBSW_ADD_SUN_SENSORS == 1
bool addSus0 = false;
bool addSus1 = false;
bool addSus2 = false;
bool addSus3 = false;
bool addSus4 = false;
bool addSus5 = false;
bool addSus6 = false;
bool addSus7 = false;
bool addSus8 = true;
bool addSus9 = false;
bool addSus10 = false;
bool addSus11 = false;
/** /**
* The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all * 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 * requests to a sun sensor must be performed consecutively. Another reason for calling multiple
@ -162,233 +174,253 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
* One sun sensor communication sequence also blocks the SPI bus. So other devices can not be * 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. * inserted between the device handler cycles of one SUS.
*/ */
// /* Write setup */ if (addSus0) {
// thisSequence->addSlot(objects::SUS_0, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION); /* Write setup */
// thisSequence->addSlot(objects::SUS_0, length * 0.933, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_0, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_0, length * 0.933, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_0, length * 0.933, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_0, length * 0.933, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_0, length * 0.933, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_0, length * 0.933, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_0, length * 0.933, DeviceHandlerIF::SEND_READ);
// /* Start ADC conversions */ thisSequence->addSlot(objects::SUS_0, length * 0.933, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION); /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::SEND_READ);
// /* Read ADC conversions */ thisSequence->addSlot(objects::SUS_0, length * 0.934, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_0, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION); /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_0, length * 0.935, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_0, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_0, length * 0.935, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_0, length * 0.935, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_0, length * 0.935, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_0, length * 0.935, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_0, length * 0.935, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_0, length * 0.935, DeviceHandlerIF::SEND_READ);
// /* Write setup */ thisSequence->addSlot(objects::SUS_0, length * 0.935, 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); if (addSus1) {
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE); /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
// /* Write setup */ thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE); /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
// /* Write setup */ thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE); /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
// /* Write setup */ thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE); }
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE); if (addSus2) {
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ); /* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
// /* Write setup */ thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE); thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ); /* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
// /* Write setup */ thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE); thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ); /* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
// /* Write setup */ thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE); }
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ); if (addSus3) {
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ); /* Write setup */
// /* Write setup */ thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE); thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ); /* Write setup */
// /* Write setup */ thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE); thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ); /* Write setup */
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
// /* Write setup */ thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ); }
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ); if (addSus4) {
// /* Write setup */ /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
// /* Write setup */ /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
// /* Write setup */
// /* Write setup */ thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ); }
// /* Write setup */ if (addSus5) {
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION); /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
// /* Write setup */ thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION); /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
// /* Write setup */ /* Write setup */
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_5, length * 0.914, 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 */ if (addSus6) {
thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION); /* Write setup */
thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
/* Start ADC conversions */ thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION); /* Start ADC conversions */
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
/* Read ADC conversions from inernal FIFO */ thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION); /* Read ADC conversions from inernal FIFO */
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
}
/* Write setup */ if (addSus7) {
thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION); /* Write setup */
thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
/* Start ADC conversions */ thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION); /* Start ADC conversions */
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
/* Read ADC conversions */ thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION); /* Read ADC conversions from inernal FIFO */
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
}
// /* Write setup */ if (addSus8) {
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION); /* Write setup */
// thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE); thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
// /* Start ADC conversions */ thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION); /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE); // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
// /* Read ADC conversions */ thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION); /* Read ADC conversions from internal FIFO */
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE); // thisSequence->addSlot(objects::SUS_8, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_8, length * 0.925, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_8, length * 0.925, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_8, length * 0.925, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.925, 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); if (addSus9) {
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE); /* Write setup */
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
// /* Start ADC conversions */ thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE); /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
// /* Read ADC conversions */ thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE); /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
#endif 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);
}
if (addSus10) {
/* 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);
}
if (addSus11) {
/* 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);
}
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
#if OBSW_ADD_RW == 1 #if OBSW_ADD_RW == 1
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);