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update sched again

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This commit is contained in:
Robin Müller
2023-02-08 16:45:19 +01:00
parent e1e6ce5d34
commit 79a13b8b6a
6 changed files with 180 additions and 148 deletions
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290
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
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@ -1,5 +1,7 @@
#include "pollingSequenceFactory.h"
#include "eive/definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
@ -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;
}

10
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -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);