eive/eive-obsw
eive/eive-obsw
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rework lock handling
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Robin Müller 2023-03-02 15:22:21 +01:00
parent 4b37a19644
commit 7b539e2fa5
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GPG Key ID: 11D4952C8CCEF814
7 changed files with 157 additions and 88 deletions
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2
common/config/eive/definitions.h
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@ -83,7 +83,7 @@ static constexpr float SCHED_BLOCK_7_PERIOD = static_cast<float>(SCHED_BLOCK_7_R
static constexpr float SCHED_BLOCK_8_PERIOD = static_cast<float>(SCHED_BLOCK_8_PLPCDU_MS) / 400.0; static constexpr float SCHED_BLOCK_8_PERIOD = static_cast<float>(SCHED_BLOCK_8_PLPCDU_MS) / 400.0;
static constexpr float SCHED_BLOCK_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0; static constexpr float SCHED_BLOCK_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0;
} // namespace acs } // namespace spiSched
} // namespace config } // namespace config

224
mission/core/pollingSeqTables.cpp
View File

@ -251,53 +251,77 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::GET_READ);
} }
if (cfg.scheduleStr) { if (cfg.scheduleStr) {
@ -313,15 +337,20 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
if (cfg.scheduleAcsBoard) { if (cfg.scheduleAcsBoard) {
if (enableAside) { if (enableAside) {
// A side // A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
@ -331,23 +360,31 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
length * config::spiSched::SCHED_BLOCK_2_PERIOD, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
} }
if (enableBside) { if (enableBside) {
// B side // B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
@ -357,11 +394,14 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
length * config::spiSched::SCHED_BLOCK_2_PERIOD, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ); length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ); length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
} }
if (enableAside) { if (enableAside) {
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
@ -371,21 +411,29 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
length * config::spiSched::SCHED_BLOCK_2_PERIOD, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); length * config::spiSched::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
} }
if (enableBside) { if (enableBside) {
@ -396,21 +444,29 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
length * config::spiSched::SCHED_BLOCK_2_PERIOD, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE); length * config::spiSched::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER,
length * config::spiSched::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
} }
} }
@ -429,7 +485,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
imtq::ComStep::READ_MEASURE_GET); imtq::ComStep::READ_MEASURE_GET);
} }
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::spiSched::SCHED_BLOCK_4_PERIOD, 0); thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::spiSched::SCHED_BLOCK_4_PERIOD,
0);
if (cfg.scheduleImtq) { if (cfg.scheduleImtq) {
// This is the torquing cycle. // This is the torquing cycle.
@ -491,23 +548,34 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
} }
thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::spiSched::SCHED_BLOCK_RTD_PERIOD, 0); thisSequence->addSlot(objects::SPI_RTD_COM_IF, length * config::spiSched::SCHED_BLOCK_RTD_PERIOD,
0);
#if OBSW_ADD_PL_PCDU == 1 #if OBSW_ADD_PL_PCDU == 1
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * config::spiSched::SCHED_BLOCK_8_PERIOD,
DeviceHandlerIF::GET_READ);
#endif #endif
#if OBSW_ADD_RAD_SENSORS == 1 #if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */ /* Radiation sensor */
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * config::spiSched::SCHED_BLOCK_9_PERIOD,
DeviceHandlerIF::GET_READ);
#endif #endif
return returnvalue::OK; return returnvalue::OK;
} }

2
mission/devices/PcduHandler.cpp
View File

@ -41,7 +41,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
if (switcherSet.p60Dock5VStack.value != switchState) { if (switcherSet.p60Dock5VStack.value != switchState) {
triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK); triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
MutexGuard mg(pwrLock); MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
switchStates[pcdu::P60_DOCK_5V_STACK] = switchState; switchStates[pcdu::P60_DOCK_5V_STACK] = switchState;
} }
switcherSet.p60Dock5VStack.setValid(true); switcherSet.p60Dock5VStack.setValid(true);

1
mission/devices/SusHandler.h
View File

@ -3,6 +3,7 @@
#include <eive/eventSubsystemIds.h> #include <eive/eventSubsystemIds.h>
#include <eive/resultClassIds.h> #include <eive/resultClassIds.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h" #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/devicedefinitions/acsPolling.h" #include "mission/devices/devicedefinitions/acsPolling.h"