From 79a13b8b6a7317a187aea466660c231dbc9d307d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 8 Feb 2023 16:45:19 +0100 Subject: [PATCH] update sched again --- bsp_q7s/core/scheduling.cpp | 7 +- bsp_q7s/core/scheduling.h | 5 +- bsp_q7s/em/emObjectFactory.cpp | 3 + common/config/eive/definitions.h | 13 + .../pollingSequenceFactory.cpp | 290 +++++++++--------- .../pollingsequence/pollingSequenceFactory.h | 10 +- 6 files changed, 180 insertions(+), 148 deletions(-) diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index 79390b92..0279243f 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -313,7 +313,8 @@ void scheduling::initTasks() { std::vector pusTasks; createPusTasks(*factory, missedDeadlineFunc, pusTasks); std::vector pstTasks; - createPstTasks(*factory, missedDeadlineFunc, pstTasks); + AcsPstCfg cfg; + createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg); #if OBSW_ADD_TEST_CODE == 1 #if OBSW_TEST_CCSDS_BRIDGE == 1 @@ -403,7 +404,7 @@ void scheduling::initTasks() { } void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, - std::vector& taskVec) { + std::vector& taskVec, AcsPstCfg cfg) { ReturnValue_t result = returnvalue::OK; #ifdef RELEASE_BUILD @@ -413,7 +414,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction #endif FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask( "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc); - result = pst::pstAcs(acsPst); + result = pst::pstAcs(acsPst, cfg); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl; diff --git a/bsp_q7s/core/scheduling.h b/bsp_q7s/core/scheduling.h index d43575dc..15b3abc2 100644 --- a/bsp_q7s/core/scheduling.h +++ b/bsp_q7s/core/scheduling.h @@ -1,10 +1,13 @@ #ifndef BSP_Q7S_INITMISSION_H_ #define BSP_Q7S_INITMISSION_H_ +#include #include #include "fsfw/tasks/definitions.h" +using pst::AcsPstCfg; + class PeriodicTaskIF; class TaskFactory; @@ -13,7 +16,7 @@ void initMission(); void initTasks(); void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, - std::vector& taskVec); + std::vector& taskVec, AcsPstCfg cfg); void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, std::vector& taskVec); void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp index 375ddb0f..832d082c 100644 --- a/bsp_q7s/em/emObjectFactory.cpp +++ b/bsp_q7s/em/emObjectFactory.cpp @@ -43,6 +43,9 @@ void ObjectFactory::produce(void* args) { #if OBSW_ADD_GOMSPACE_PCDU == 1 dummyCfg.addPowerDummies = false; #endif +#if OBSW_ADD_ACS_BOARD == 1 + dummyCfg.addAcsBoardDummies = false; +#endif PowerSwitchIF* pwrSwitcher = nullptr; #if OBSW_ADD_GOMSPACE_PCDU == 0 diff --git a/common/config/eive/definitions.h b/common/config/eive/definitions.h index 02896e1c..0e7ecea6 100644 --- a/common/config/eive/definitions.h +++ b/common/config/eive/definitions.h @@ -55,6 +55,19 @@ static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100; static constexpr uint32_t MAX_STORED_CMDS_UDP = 120; static constexpr uint32_t MAX_STORED_CMDS_TCP = 120; +namespace acs { + +static constexpr uint32_t SCHED_BLOCK_1_SENSORS_MS = 15; +static constexpr uint32_t SCHED_BLOCK_2_ACS_CTRL_MS = 40; +static constexpr uint32_t SCHED_BLOCK_3_ACTUATOR_MS = 45; + +// 15 ms for FM +static constexpr float SCHED_BLOCK_1_PERIOD = static_cast(SCHED_BLOCK_1_SENSORS_MS) / 400.0; +static constexpr float SCHED_BLOCK_2_PERIOD = static_cast(SCHED_BLOCK_2_ACS_CTRL_MS) / 400.0; +static constexpr float SCHED_BLOCK_3_PERIOD = static_cast(SCHED_BLOCK_3_ACTUATOR_MS) / 400.0; + +} + } // namespace config #endif /* COMMON_CONFIG_DEFINITIONS_H_ */ diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index efbb9578..6cfedf72 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -1,5 +1,7 @@ #include "pollingSequenceFactory.h" +#include "eive/definitions.h" + #include #include #include @@ -183,94 +185,94 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) { return returnvalue::OK; } -ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { +ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) { /* Length of a communication cycle */ uint32_t length = thisSequence->getPeriodMs(); -#if OBSW_ADD_ACS_BOARD == 1 bool enableAside = true; bool enableBside = true; + if(cfg.scheduleAcsBoard) { + if (enableAside) { // A side - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } if (enableBside) { // B side - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + } } -#endif /* OBSW_ADD_ACS_BOARD == 1 */ // SUS: 16 ms -#if OBSW_ADD_SUN_SENSORS == 1 bool addSus0 = true; bool addSus1 = true; @@ -285,6 +287,7 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { bool addSus10 = true; bool addSus11 = true; + if(cfg.scheduleSus) { if (addSus0) { /* Write setup */ thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, @@ -297,13 +300,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325, + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325, + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325, + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325, + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } if (addSus1) { @@ -317,13 +320,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325, + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } if (addSus2) { @@ -337,13 +340,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325, + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325, + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325, + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325, + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } if (addSus3) { @@ -357,13 +360,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325, + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325, + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325, + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325, + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } if (addSus4) { @@ -377,13 +380,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325, + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325, + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325, + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325, + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } if (addSus5) { @@ -397,13 +400,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325, + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325, + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325, + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325, + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } @@ -418,13 +421,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325, + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325, + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325, + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325, + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } @@ -439,13 +442,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325, + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325, + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325, + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325, + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } @@ -460,13 +463,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325, + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325, + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325, + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325, + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } @@ -480,13 +483,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325, + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325, + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325, + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325, + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } @@ -502,13 +505,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325, + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325, + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325, + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325, + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } @@ -524,80 +527,81 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325, + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325, + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325, + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325, + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); } -#endif /* OBSW_ADD_SUN_SENSORS == 1 */ + } -#if OBSW_ADD_STAR_TRACKER == 1 + if(cfg.scheduleStr) { thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ); -#endif + } -#if OBSW_ADD_MGT == 1 - // This is the MTM measurement cycle - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ); -#endif + if(cfg.scheduleImtq) { + // This is the MTM measurement cycle + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); + } - thisSequence->addSlot(objects::ACS_CONTROLLER, length * 0.1, 0); + thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0); -#if OBSW_ADD_MGT == 1 + if(cfg.scheduleImtq) { // This is the torquing cycle. - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_READ); -#endif + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ); + } -#if OBSW_ADD_RW == 1 - thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION); + if(cfg.scheduleRws) { - thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_READ); -#endif + thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ); + + thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ); + } return returnvalue::OK; } diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h index 1dcfc30a..3e5ead52 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h @@ -31,6 +31,14 @@ class FixedTimeslotTaskIF; */ namespace pst { +struct AcsPstCfg { + bool scheduleAcsBoard = true; + bool scheduleImtq = true; + bool scheduleRws = true; + bool scheduleSus = true; + bool scheduleStr = true; +}; + /** * @brief This function creates the PST for all gomspace devices. * @details @@ -41,7 +49,7 @@ ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence); ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence); -ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence); +ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg); ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);