rework lock handling

common/config/eive/definitions.h

@@ -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_9_PERIOD = static_cast<float>(SCHED_BLOCK_9_RAD_SENS_MS) / 400.0;
 
-}  // namespace acs
+}  // namespace spiSched
 
 }  // namespace config
 

mission/core/pollingSeqTables.cpp

@@ -251,53 +251,77 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                           DeviceHandlerIF::GET_WRITE);
 
     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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          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,
-                          length * config::spiSched::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
+                          length * config::spiSched::SCHED_BLOCK_1_PERIOD,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (cfg.scheduleStr) {
@@ -313,15 +337,20 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   if (cfg.scheduleAcsBoard) {
     if (enableAside) {
       // 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);
-      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);
-      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);
-      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);
-      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);
 
       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,
                             DeviceHandlerIF::SEND_WRITE);
       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,
-                            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,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::GET_READ);
     }
     if (enableBside) {
       // 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);
-      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);
-      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);
-      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);
-      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);
 
       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,
                             DeviceHandlerIF::SEND_WRITE);
       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,
-                            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,
-                            length * config::spiSched::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
+                            length * config::spiSched::SCHED_BLOCK_3_PERIOD,
+                            DeviceHandlerIF::GET_READ);
     }
     if (enableAside) {
       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,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
-      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,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             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);
-      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);
     }
     if (enableBside) {
@@ -396,21 +444,29 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                             length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             DeviceHandlerIF::SEND_WRITE);
       thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
-                            length * config::spiSched::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
-      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,
+                            length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                             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);
-      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);
     }
   }
@@ -429,7 +485,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                           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) {
     // This is the torquing cycle.
@@ -491,23 +548,34 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                           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
-  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, DeviceHandlerIF::SEND_WRITE);
-  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);
+  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,
+                        DeviceHandlerIF::SEND_WRITE);
+  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
 
 #if OBSW_ADD_RAD_SENSORS == 1
   /* 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, DeviceHandlerIF::SEND_WRITE);
-  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);
+  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,
+                        DeviceHandlerIF::SEND_WRITE);
+  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
   return returnvalue::OK;
 }

mission/devices/PcduHandler.cpp

@@ -41,7 +41,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
     if (pg.getReadResult() == returnvalue::OK) {
       if (switcherSet.p60Dock5VStack.value != switchState) {
         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;
       }
       switcherSet.p60Dock5VStack.setValid(true);

mission/devices/SusHandler.h

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