From 9a165448360afb0e8fab299f6924e3233ab8b001 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 22 Sep 2021 14:04:39 +0200 Subject: [PATCH] cleaning up RPi code --- bsp_linux_board/InitMission.cpp | 89 +++++++++---- bsp_linux_board/InitMission.h | 13 ++ bsp_linux_board/ObjectFactory.cpp | 120 +++++++++++------- bsp_linux_board/ObjectFactory.h | 2 + .../pollingSequenceFactory.cpp | 111 +++------------- 5 files changed, 174 insertions(+), 161 deletions(-) diff --git a/bsp_linux_board/InitMission.cpp b/bsp_linux_board/InitMission.cpp index 48e91013..1adc8a2b 100644 --- a/bsp_linux_board/InitMission.cpp +++ b/bsp_linux_board/InitMission.cpp @@ -36,6 +36,7 @@ void initmission::initMission() { void initmission::initTasks() { TaskFactory* factory = TaskFactory::instance(); + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; if(factory == nullptr) { /* Should never happen ! */ return; @@ -46,11 +47,11 @@ void initmission::initTasks() { void (*missedDeadlineFunc) (void) = nullptr; #endif + /* TMTC Distribution */ PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); - ReturnValue_t result = tmTcDistributor->addComponent( - objects::CCSDS_PACKET_DISTRIBUTOR); + result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR); if(result != HasReturnvaluesIF::RETURN_OK){ sif::error << "Object add component failed" << std::endl; } @@ -146,9 +147,68 @@ void initmission::initTasks() { } #endif /* RPI_TEST_ACS_BOARD == 1 */ + std::vector pstTasks; + createPstTasks(*factory, missedDeadlineFunc, pstTasks); +#if OBSW_ADD_TEST_CODE == 1 + std::vector testTasks; + createTestTasks(*factory, missedDeadlineFunc, pstTasks); +#endif /* OBSW_ADD_TEST_CODE == 1 */ + + auto taskStarter = [](std::vector& taskVector, std::string name) { + for(const auto& task: taskVector) { + if(task != nullptr) { + task->startTask(); + } + else { + sif::error << "Task in vector " << name << " is invalid!" << std::endl; + } + } + }; + + sif::info << "Starting tasks.." << std::endl; + tmTcDistributor->startTask(); + udpBridgeTask->startTask(); + udpPollingTask->startTask(); + + pusVerification->startTask(); + pusEvents->startTask(); + pusHighPrio->startTask(); + pusMedPrio->startTask(); + pusLowPrio->startTask(); #if OBSW_ADD_TEST_CODE == 1 - PeriodicTaskIF* testTask = factory->createPeriodicTask( + taskStarter(testTasks, "Test Tasks"); +#endif /* OBSW_ADD_TEST_CODE == 1 */ + taskStarter(pstTasks, "PST Tasks"); + +#if OBSW_ADD_TEST_PST == 1 + if(startTestPst) { + pstTestTask->startTask(); + } +#endif /* RPI_TEST_ACS_BOARD == 1 */ + sif::info << "Tasks started.." << std::endl; +} + +void initmission::createPstTasks(TaskFactory& factory, + TaskDeadlineMissedFunction missedDeadlineFunc, std::vector &taskVec) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; +#if OBSW_ADD_SPI_TEST_CODE == 0 + FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask( + "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, + missedDeadlineFunc); + result = pst::pstSpi(spiPst); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; + } + taskVec.push_back(spiPst); +#endif +} + +void initmission::createTestTasks(TaskFactory& factory, + TaskDeadlineMissedFunction missedDeadlineFunc, + std::vector &taskVec) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + PeriodicTaskIF* testTask = factory.createPeriodicTask( "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); result = testTask->addComponent(objects::TEST_TASK); if(result != HasReturnvaluesIF::RETURN_OK) { @@ -172,27 +232,4 @@ void initmission::initTasks() { initmission::printAddObjectError("UART_TEST", objects::UART_TEST); } #endif /* RPI_ADD_GPIO_TEST == 1 */ -#endif /* OBSW_ADD_TEST_CODE == 1 */ - - sif::info << "Starting tasks.." << std::endl; - tmTcDistributor->startTask(); - udpBridgeTask->startTask(); - udpPollingTask->startTask(); - - pusVerification->startTask(); - pusEvents->startTask(); - pusHighPrio->startTask(); - pusMedPrio->startTask(); - pusLowPrio->startTask(); - -#if OBSW_ADD_TEST_CODE == 1 - testTask->startTask(); -#endif /* OBSW_ADD_TEST_CODE == 1 */ - -#if OBSW_ADD_TEST_PST == 1 - if(startTestPst) { - pstTestTask->startTask(); - } -#endif /* RPI_TEST_ACS_BOARD == 1 */ - sif::info << "Tasks started.." << std::endl; } diff --git a/bsp_linux_board/InitMission.h b/bsp_linux_board/InitMission.h index 01c72008..aaeea8c1 100644 --- a/bsp_linux_board/InitMission.h +++ b/bsp_linux_board/InitMission.h @@ -1,9 +1,22 @@ #ifndef BSP_LINUX_INITMISSION_H_ #define BSP_LINUX_INITMISSION_H_ +#include "fsfw/tasks/Typedef.h" +#include + +class PeriodicTaskIF; +class TaskFactory; + namespace initmission { void initMission(); void initTasks(); + +void createPstTasks(TaskFactory& factory, + TaskDeadlineMissedFunction missedDeadlineFunc, + std::vector &taskVec); +void createTestTasks(TaskFactory& factory, + TaskDeadlineMissedFunction missedDeadlineFunc, + std::vector &taskVec); }; #endif /* BSP_LINUX_INITMISSION_H_ */ diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp index 5597242c..5c6b5f47 100644 --- a/bsp_linux_board/ObjectFactory.cpp +++ b/bsp_linux_board/ObjectFactory.cpp @@ -81,7 +81,82 @@ void ObjectFactory::produce(void* args){ SpiCookie* spiCookie = nullptr; static_cast(spiCookie); +#if OBSW_ADD_ACS_BOARD == 1 + if(gpioCookie == nullptr) { + gpioCookie = new GpioCookie(); + } + // TODO: Missing pin for Gyro 2 + gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, + "MGM_0_LIS3", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN, + "MGM_1_RM3100", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, + "MGM_2_LIS3", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN, + "MGM_3_RM3100", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN, + "GYRO_0_ADIS", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, + "GYRO_1_L3G", gpio::Direction::OUT, 1); + gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_2_BCM_PIN, + "GYRO_2_L3G", gpio::Direction::OUT, 1); + gpioIF->addGpios(gpioCookie); + + spiDev = "/dev/spidev0.1"; + spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, + MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); + auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, + objects::SPI_COM_IF, spiCookie, 0); + mgmLis3Handler->setStartUpImmediately(); + + spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, + RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); + auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, + objects::SPI_COM_IF, spiCookie, 0); + mgmRm3100Handler->setStartUpImmediately(); + + spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev, + MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); + mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, + objects::SPI_COM_IF, spiCookie, 0); + mgmLis3Handler->setStartUpImmediately(); + + spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev, + RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); + mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, + objects::SPI_COM_IF, spiCookie, 0); + mgmRm3100Handler->setStartUpImmediately(); + + spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev, + L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); + auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, + spiCookie); + adisHandler->setStartUpImmediately(); + spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, + L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); + auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, + spiCookie, 0); + gyroL3gHandler->setStartUpImmediately(); + spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev, + L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); + gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, + spiCookie, 0); + gyroL3gHandler->setStartUpImmediately(); + spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, + L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); + adisHandler = new GyroADIS16507Handler(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, + spiCookie); + gyroL3gHandler->setStartUpImmediately(); + +#endif /* RPI_TEST_ACS_BOARD == 1 */ + #if OBSW_ADD_TEST_CODE == 1 + createTestTasks(); +#endif /* OBSW_ADD_TEST_CODE == 1 */ +} + +void ObjectFactory::createTestTasks() { + new TestTask(objects::TEST_TASK); #if RPI_ADD_SPI_TEST == 1 @@ -108,48 +183,6 @@ void ObjectFactory::produce(void* args){ new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback); #endif /* RPI_LOOPBACK_TEST_GPIO == 1 */ -#if RPI_TEST_ACS_BOARD == 1 - if(gpioCookie == nullptr) { - gpioCookie = new GpioCookie(); - } - // TODO: Missing pin for Gyro 2 - gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, - "MGM_0_LIS3", gpio::Direction::OUT, 1); - gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN, - "MGM_1_RM3100", gpio::Direction::OUT, 1); - gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, - "MGM_2_LIS3", gpio::Direction::OUT, 1); - gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN, - "MGM_3_RM3100", gpio::Direction::OUT, 1); - gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN, - "GYRO_0_ADIS", gpio::Direction::OUT, 1); - gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, - "GYRO_1_L3G", gpio::Direction::OUT, 1); - gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_2_BCM_PIN, - "GYRO_2_L3G", gpio::Direction::OUT, 1); - gpioIF->addGpios(gpioCookie); - - spiDev = "/dev/spidev0.0"; - spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, - MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); - auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, - objects::SPI_COM_IF, spiCookie, 0); - mgmLis3Handler->setStartUpImmediately(); - - spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, - RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); - auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, - objects::SPI_COM_IF, spiCookie, 0); - mgmRm3100Handler->setStartUpImmediately(); - - spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, - L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); - auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, - spiCookie, 0); - gyroL3gHandler->setStartUpImmediately(); - -#endif /* RPI_TEST_ACS_BOARD == 1 */ - #if RPI_TEST_ADIS16507 == 1 if(gpioCookie == nullptr) { gpioCookie = new GpioCookie(); @@ -158,7 +191,7 @@ void ObjectFactory::produce(void* args){ "GYRO_0_ADIS", gpio::Direction::OUT, 1); gpioIF->addGpios(gpioCookie); - spiDev = "/dev/spidev0.0"; + spiDev = "/dev/spidev0.1"; spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev, ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr); @@ -176,5 +209,4 @@ void ObjectFactory::produce(void* args){ gpsHandler->setStartUpImmediately(); #endif -#endif /* OBSW_ADD_TEST_CODE == 1 */ } diff --git a/bsp_linux_board/ObjectFactory.h b/bsp_linux_board/ObjectFactory.h index feaba70e..3b9aca49 100644 --- a/bsp_linux_board/ObjectFactory.h +++ b/bsp_linux_board/ObjectFactory.h @@ -5,6 +5,8 @@ namespace ObjectFactory { void setStatics(); void produce(void* args); + + void createTestTasks(); }; #endif /* BSP_LINUX_OBJECTFACTORY_H_ */ diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 3219b984..47851b0d 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -443,27 +443,27 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { bool enableBside = false; if(enableAside) { // A side -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, -// DeviceHandlerIF::PERFORM_OPERATION); -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, -// DeviceHandlerIF::SEND_WRITE); -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, -// DeviceHandlerIF::GET_WRITE); -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, -// DeviceHandlerIF::SEND_READ); -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, -// DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, + DeviceHandlerIF::GET_READ); -// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, -// DeviceHandlerIF::PERFORM_OPERATION); -// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25, -// DeviceHandlerIF::SEND_WRITE); -// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, -// DeviceHandlerIF::GET_WRITE); -// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75, -// DeviceHandlerIF::SEND_READ); -// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, -// DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, + DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, // DeviceHandlerIF::PERFORM_OPERATION); @@ -722,77 +722,6 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) { /* Length of a communication cycle */ uint32_t length = thisSequence->getPeriodMs(); bool notEmpty = false; -#if OBSW_ADD_ACS_BOARD == 1 - notEmpty = true; - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8, - DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8, - DeviceHandlerIF::GET_READ); - - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8, - DeviceHandlerIF::GET_READ); - - - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8, - DeviceHandlerIF::GET_READ); - - - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8, - DeviceHandlerIF::GET_READ); - - - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8, - DeviceHandlerIF::GET_READ); -#endif #if RPI_TEST_ADIS16507 == 1 notEmpty = true;