intermediate PR
This commit is contained in:
@ -15,16 +15,20 @@
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#include <bitset>
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#if defined(XIPHOS_Q7S)
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#include "busConf.h"
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#endif
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#include "devices/gpioIds.h"
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#include "mission/devices/max1227.h"
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SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF *gpioIF)
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: TestTask(objectId), gpioIF(gpioIF) {
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if (gpioIF == nullptr) {
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sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
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}
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testMode = TestModes::MGM_LIS3MDL;
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spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
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spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
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testMode = TestModes::MAX1227;
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spiTransferStruct[0].rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
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setSendBuffer();
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}
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ReturnValue_t SpiTestClass::performOneShotAction() {
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@ -44,11 +48,25 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
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performL3gTest(gyro1L3gd20ChipSelect);
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break;
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}
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case (TestModes::MAX1227): {
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performOneShotMax1227Test();
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break;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t SpiTestClass::performPeriodicAction() { return HasReturnvaluesIF::RETURN_OK; }
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ReturnValue_t SpiTestClass::performPeriodicAction() {
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switch (testMode) {
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case (TestModes::MAX1227): {
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performPeriodicMax1227Test();
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break;
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}
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default:
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break;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void SpiTestClass::performRm3100Test(uint8_t mgmId) {
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/* Configure all SPI chip selects and pull them high */
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@ -180,7 +198,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
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return;
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}
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setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
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spiTransferStruct.delay_usecs = 0;
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spiTransferStruct[0].delay_usecs = 0;
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uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
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sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
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@ -273,6 +291,352 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
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sif::info << "Z: " << angVelocZ << std::endl;
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}
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void SpiTestClass::performOneShotMax1227Test() {
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using namespace max1227;
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adcCfg.testRadSensorExtConvWithDelay = false;
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adcCfg.testRadSensorIntConv = false;
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bool setAllSusOn = false;
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bool susIntConv = false;
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bool susExtConv = false;
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if (setAllSusOn) {
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for (uint8_t idx = 0; idx < 12; idx++) {
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adcCfg.testSus[idx].doTest = true;
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}
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} else {
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for (uint8_t idx = 0; idx < 12; idx++) {
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adcCfg.testSus[idx].doTest = false;
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}
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}
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if (susIntConv) {
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for (uint8_t idx = 0; idx < 12; idx++) {
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adcCfg.testSus[idx].intConv = true;
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}
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}
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if (susExtConv) {
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for (uint8_t idx = 0; idx < 12; idx++) {
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adcCfg.testSus[idx].extConv = true;
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}
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}
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adcCfg.plPcduAdcExtConv = true;
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adcCfg.plPcduAdcIntConv = false;
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// Is problematic, don't know why
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adcCfg.plPcduAdcExtConvAsOne = false;
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performMax1227Test();
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}
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void SpiTestClass::performPeriodicMax1227Test() {
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using namespace max1227;
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performMax1227Test();
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}
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void SpiTestClass::performMax1227Test() {
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#ifdef XIPHOS_Q7S
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std::string deviceName = q7s::SPI_DEFAULT_DEV;
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#elif defined(RASPBERRY_PI)
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std::string deviceName = "";
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#endif
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int fd = 0;
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UnixFileGuard fileHelper(deviceName, &fd, O_RDWR, "SpiComIF::initializeInterface");
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if (fileHelper.getOpenResult()) {
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sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
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<< std::endl;
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return;
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}
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uint32_t spiSpeed = 976'000;
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spi::SpiModes spiMode = spi::SpiModes::MODE_3;
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setSpiSpeedAndMode(fd, spiMode, spiSpeed);
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max1227RadSensorTest(fd);
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int idx = 0;
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bool firstTest = true;
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for (auto &susCfg : adcCfg.testSus) {
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if (susCfg.doTest) {
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if (firstTest) {
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firstTest = false;
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sif::info << "---------- SUS ADC Values -----------" << std::endl;
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}
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sif::info << "SUS " << std::setw(2) << idx << ": ";
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max1227SusTest(fd, susCfg);
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}
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idx++;
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}
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max1227PlPcduTest(fd);
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}
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void SpiTestClass::max1227RadSensorTest(int fd) {
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using namespace max1227;
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if (adcCfg.testRadSensorExtConvWithDelay) {
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sendBuffer[0] = max1227::buildResetByte(true);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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usleep(200);
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sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_WITH_WAKEUP,
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DiffSel::NONE_0);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), 7, spiTransferStruct[0].len);
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size_t tmpLen = spiTransferStruct[0].len;
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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std::memcpy(sendBuffer.data(), sendBuffer.data() + 1, tmpLen - 1);
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spiTransferStruct[0].len = tmpLen - 1;
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usleep(65);
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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arrayprinter::print(recvBuffer.data(), 13, OutputType::HEX);
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uint16_t adcRaw[8] = {};
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adcRaw[0] = (recvBuffer[0] << 8) | recvBuffer[1];
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adcRaw[1] = (recvBuffer[2] << 8) | recvBuffer[3];
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adcRaw[2] = (recvBuffer[4] << 8) | recvBuffer[5];
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adcRaw[3] = (recvBuffer[6] << 8) | recvBuffer[7];
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adcRaw[4] = (recvBuffer[8] << 8) | recvBuffer[9];
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adcRaw[5] = (recvBuffer[10] << 8) | recvBuffer[11];
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adcRaw[6] = (recvBuffer[12] << 8) | recvBuffer[13];
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adcRaw[7] = (recvBuffer[14] << 8) | recvBuffer[15];
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arrayprinter::print(recvBuffer.data(), 17, OutputType::HEX);
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for (int idx = 0; idx < 8; idx++) {
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sif::info << "ADC raw " << idx << ": " << adcRaw[idx] << std::endl;
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}
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max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data(), spiTransferStruct[0].len);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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usleep(65);
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spiTransferStruct[0].len = 24;
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std::memcpy(sendBuffer.data(), sendBuffer.data() + 1, 24);
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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int16_t tempRaw = ((recvBuffer[22] & 0x0f) << 8) | recvBuffer[23];
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float temp = max1227::getTemperature(tempRaw);
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sif::info << "Temperature: " << temp << std::endl;
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}
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if (adcCfg.testRadSensorIntConv) {
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sendBuffer[0] = max1227::buildResetByte(false);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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usleep(5);
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// Now use internal conversion
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sendBuffer[0] = max1227::buildSetupByte(ClkSel::INT_CONV_INT_TIMED_CNVST_AS_AIN,
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RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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usleep(10);
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sendBuffer[0] = buildConvByte(ScanModes::CHANNELS_0_TO_N, 7, true);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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usleep(65);
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spiTransferStruct[0].len = 18;
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// Shift out zeros
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shiftOutZeros();
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transfer(fd, gpioIds::CS_RAD_SENSOR);
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setSendBuffer();
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arrayprinter::print(recvBuffer.data(), 14);
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uint16_t adcRaw[8] = {};
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int16_t tempRaw = ((recvBuffer[0] & 0x0f) << 8) | recvBuffer[1];
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sif::info << "Temperature: " << tempRaw * 0.125 << " C" << std::endl;
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adcRaw[0] = (recvBuffer[2] << 8) | recvBuffer[3];
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adcRaw[1] = (recvBuffer[4] << 8) | recvBuffer[5];
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adcRaw[2] = (recvBuffer[6] << 8) | recvBuffer[7];
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adcRaw[3] = (recvBuffer[8] << 8) | recvBuffer[9];
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adcRaw[4] = (recvBuffer[10] << 8) | recvBuffer[11];
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adcRaw[5] = (recvBuffer[12] << 8) | recvBuffer[13];
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adcRaw[6] = (recvBuffer[14] << 8) | recvBuffer[15];
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adcRaw[7] = (recvBuffer[16] << 8) | recvBuffer[17];
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for (int idx = 0; idx < 8; idx++) {
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sif::info << "ADC raw " << idx << ": " << adcRaw[idx] << std::endl;
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}
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}
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}
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void SpiTestClass::max1227SusTest(int fd, SusTestCfg &cfg) {
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using namespace max1227;
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if (cfg.extConv) {
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sendBuffer[0] = max1227::buildResetByte(false);
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spiTransferStruct[0].len = 1;
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transfer(fd, cfg.gpioId);
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usleep(65);
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sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP,
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DiffSel::NONE_0);
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spiTransferStruct[0].len = 1;
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transfer(fd, cfg.gpioId);
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max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), 5, spiTransferStruct[0].len);
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transfer(fd, cfg.gpioId);
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uint16_t adcRaw[6] = {};
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adcRaw[0] = (recvBuffer[1] << 8) | recvBuffer[2];
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adcRaw[1] = (recvBuffer[3] << 8) | recvBuffer[4];
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adcRaw[2] = (recvBuffer[5] << 8) | recvBuffer[6];
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adcRaw[3] = (recvBuffer[7] << 8) | recvBuffer[8];
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adcRaw[4] = (recvBuffer[9] << 8) | recvBuffer[10];
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adcRaw[5] = (recvBuffer[11] << 8) | recvBuffer[12];
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sif::info << "Ext Conv [" << std::hex << std::setw(3);
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for (int idx = 0; idx < 5; idx++) {
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sif::info << adcRaw[idx];
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if (idx < 6) {
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sif::info << ",";
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}
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}
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sif::info << std::dec << "]" << std::endl; // | Temperature: " << temp << " C" << std::endl;
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}
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if (cfg.intConv) {
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sendBuffer[0] = max1227::buildResetByte(false);
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spiTransferStruct[0].len = 1;
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transfer(fd, cfg.gpioId);
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usleep(65);
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// Now use internal conversion
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sendBuffer[0] = max1227::buildSetupByte(ClkSel::INT_CONV_INT_TIMED_CNVST_AS_AIN,
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RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0);
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spiTransferStruct[0].len = 1;
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transfer(fd, cfg.gpioId);
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usleep(10);
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sendBuffer[0] = buildConvByte(ScanModes::CHANNELS_0_TO_N, 5, true);
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spiTransferStruct[0].len = 1;
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transfer(fd, cfg.gpioId);
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usleep(65);
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spiTransferStruct[0].len = 14;
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// Shift out zeros
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shiftOutZeros();
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transfer(fd, cfg.gpioId);
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setSendBuffer();
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// arrayprinter::print(recvBuffer.data(), 14);
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float temp = static_cast<int16_t>(((recvBuffer[0] & 0x0f) << 8) | recvBuffer[1]) * 0.125;
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uint16_t adcRaw[6] = {};
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adcRaw[0] = (recvBuffer[2] << 8) | recvBuffer[3];
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adcRaw[1] = (recvBuffer[4] << 8) | recvBuffer[5];
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adcRaw[2] = (recvBuffer[6] << 8) | recvBuffer[7];
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adcRaw[3] = (recvBuffer[8] << 8) | recvBuffer[9];
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adcRaw[4] = (recvBuffer[10] << 8) | recvBuffer[11];
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adcRaw[5] = (recvBuffer[12] << 8) | recvBuffer[13];
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sif::info << "Int Conv [" << std::hex << std::setw(3);
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for (int idx = 0; idx < 6; idx++) {
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sif::info << adcRaw[idx];
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if (idx < 5) {
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sif::info << ",";
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}
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}
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sif::info << std::dec << "] | T[C] " << temp << std::endl;
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}
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}
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void SpiTestClass::max1227PlPcduTest(int fd) {
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using namespace max1227;
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if ((adcCfg.plPcduAdcExtConv or adcCfg.plPcduAdcIntConv or adcCfg.plPcduAdcExtConvAsOne) and
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adcCfg.vbatSwitch) {
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// This enables the ADC
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ReturnValue_t result = gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return;
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}
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result = gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return;
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}
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adcCfg.vbatSwitch = false;
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// Takes a bit of time until the ADC is usable
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TaskFactory::delayTask(50);
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sendBuffer[0] = max1227::buildResetByte(false);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::PLPCDU_ADC_CS);
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}
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if (adcCfg.plPcduAdcExtConv) {
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sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP,
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DiffSel::NONE_0);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::PLPCDU_ADC_CS);
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uint8_t n = 11;
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max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), n, spiTransferStruct[0].len);
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size_t dummy = 0;
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max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data() + spiTransferStruct[0].len,
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dummy);
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// + 1 to account for temp conversion byte
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spiTransferStruct[0].len += 1;
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transfer(fd, gpioIds::PLPCDU_ADC_CS);
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uint16_t adcRaw[n + 1] = {};
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for (uint8_t idx = 0; idx < n + 1; idx++) {
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adcRaw[idx] = (recvBuffer[idx * 2 + 1] << 8) | recvBuffer[idx * 2 + 2];
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}
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spiTransferStruct[0].len = 24;
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// Shift out zeros
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shiftOutZeros();
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transfer(fd, gpioIds::PLPCDU_ADC_CS);
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setSendBuffer();
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int16_t tempRaw = ((recvBuffer[22] & 0x0f) << 8) | recvBuffer[23];
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sif::info << "PL PCDU ADC ext conv [" << std::hex << std::setfill('0');
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for (int idx = 0; idx < n + 1; idx++) {
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sif::info << std::setw(3) << adcRaw[idx];
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if (idx < n) {
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sif::info << ",";
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}
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}
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sif::info << "]" << std::endl;
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sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl;
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}
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if (adcCfg.plPcduAdcExtConvAsOne) {
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sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP,
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DiffSel::NONE_0);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::PLPCDU_ADC_CS);
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uint8_t n = 11;
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max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), n, spiTransferStruct[0].len);
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max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data() + spiTransferStruct[0].len,
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spiTransferStruct[0].len);
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transfer(fd, gpioIds::PLPCDU_ADC_CS);
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uint16_t adcRaw[n + 1] = {};
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for (uint8_t idx = 0; idx < n + 1; idx++) {
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adcRaw[idx] = (recvBuffer[idx * 2 + 1] << 8) | recvBuffer[idx * 2 + 2];
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}
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int16_t tempRaw = ((recvBuffer[spiTransferStruct[0].len - 2] & 0x0f) << 8) |
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recvBuffer[spiTransferStruct[0].len - 1];
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sif::info << "PL PCDU ADC ext conv [" << std::hex << std::setfill('0');
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for (int idx = 0; idx < n + 1; idx++) {
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sif::info << std::setw(3) << adcRaw[idx];
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if (idx < n) {
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sif::info << ",";
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}
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}
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sif::info << "]" << std::endl;
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sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl;
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}
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if (adcCfg.plPcduAdcIntConv) {
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sendBuffer[0] = max1227::buildResetByte(true);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::PLPCDU_ADC_CS);
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// Now use internal conversion
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sendBuffer[0] = max1227::buildSetupByte(ClkSel::INT_CONV_INT_TIMED_CNVST_AS_AIN,
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RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0);
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spiTransferStruct[0].len = 1;
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transfer(fd, gpioIds::PLPCDU_ADC_CS);
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usleep(10);
|
||||
uint8_t n = 11;
|
||||
sendBuffer[0] = buildConvByte(ScanModes::CHANNELS_0_TO_N, n, true);
|
||||
spiTransferStruct[0].len = 1;
|
||||
transfer(fd, gpioIds::PLPCDU_ADC_CS);
|
||||
|
||||
usleep(65);
|
||||
spiTransferStruct[0].len = 26;
|
||||
// Shift out zeros
|
||||
shiftOutZeros();
|
||||
transfer(fd, gpioIds::PLPCDU_ADC_CS);
|
||||
setSendBuffer();
|
||||
uint16_t adcRaw[n + 1] = {};
|
||||
int16_t tempRaw = ((recvBuffer[0] & 0x0f) << 8) | recvBuffer[1];
|
||||
sif::info << "PL PCDU ADC int conv [" << std::hex << std::setfill('0');
|
||||
for (int idx = 0; idx < n + 1; idx++) {
|
||||
adcRaw[idx] = (recvBuffer[idx * 2 + 2] << 8) | recvBuffer[idx * 2 + 3];
|
||||
sif::info << std::setw(3) << adcRaw[idx];
|
||||
if (idx < n) {
|
||||
sif::info << ",";
|
||||
}
|
||||
}
|
||||
sif::info << "]" << std::endl;
|
||||
sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
void SpiTestClass::acsInit() {
|
||||
GpioCookie *gpioCookie = new GpioCookie();
|
||||
|
||||
@ -348,8 +712,27 @@ void SpiTestClass::acsInit() {
|
||||
}
|
||||
|
||||
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
|
||||
int mode_test = SPI_MODE_3;
|
||||
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test); // reinterpret_cast<uint8_t*>(&mode));
|
||||
int modeUnix = 0;
|
||||
switch (mode) {
|
||||
case (spi::SpiModes::MODE_0): {
|
||||
modeUnix = SPI_MODE_0;
|
||||
break;
|
||||
}
|
||||
case (spi::SpiModes::MODE_1): {
|
||||
modeUnix = SPI_MODE_1;
|
||||
break;
|
||||
}
|
||||
case (spi::SpiModes::MODE_2): {
|
||||
modeUnix = SPI_MODE_2;
|
||||
break;
|
||||
}
|
||||
case (spi::SpiModes::MODE_3): {
|
||||
modeUnix = SPI_MODE_3;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &modeUnix); // reinterpret_cast<uint8_t*>(&mode));
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
|
||||
}
|
||||
@ -361,7 +744,7 @@ void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t sp
|
||||
}
|
||||
|
||||
void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) {
|
||||
spiTransferStruct.len = 2;
|
||||
spiTransferStruct[0].len = 2;
|
||||
sendBuffer[0] = reg;
|
||||
sendBuffer[1] = value;
|
||||
|
||||
@ -405,7 +788,7 @@ void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t r
|
||||
|
||||
sendBuffer[0] = reg;
|
||||
std::memcpy(sendBuffer.data() + 1, values, len);
|
||||
spiTransferStruct.len = len + 1;
|
||||
spiTransferStruct[0].len = len + 1;
|
||||
|
||||
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullLow(chipSelect);
|
||||
@ -429,13 +812,19 @@ void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t
|
||||
readMultipleRegisters(fd, chipSelect, reg, reply, len);
|
||||
}
|
||||
|
||||
void SpiTestClass::shiftOutZeros() { spiTransferStruct[0].tx_buf = 0; }
|
||||
|
||||
void SpiTestClass::setSendBuffer() {
|
||||
spiTransferStruct[0].tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
|
||||
}
|
||||
|
||||
void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
|
||||
size_t len) {
|
||||
if (reply == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
spiTransferStruct.len = len + 1;
|
||||
spiTransferStruct[0].len = len + 1;
|
||||
sendBuffer[0] = reg | STM_READ_MASK;
|
||||
|
||||
for (uint8_t idx = 0; idx < len; idx++) {
|
||||
@ -465,7 +854,7 @@ uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
|
||||
}
|
||||
|
||||
uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
|
||||
spiTransferStruct.len = 2;
|
||||
spiTransferStruct[0].len = 2;
|
||||
sendBuffer[0] = reg;
|
||||
sendBuffer[1] = 0;
|
||||
|
||||
@ -481,3 +870,28 @@ uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
|
||||
}
|
||||
return recvBuffer[1];
|
||||
}
|
||||
|
||||
ReturnValue_t SpiTestClass::transfer(int fd, gpioId_t chipSelect = gpio::NO_GPIO) {
|
||||
int retval = 0;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
if (chipSelect != gpio::NO_GPIO) {
|
||||
result = gpioIF->pullLow(chipSelect);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
|
||||
if (retval < 0) {
|
||||
utility::handleIoctlError("SpiTestClass::transfer: ioctl failed");
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
if (chipSelect != gpio::NO_GPIO) {
|
||||
result = gpioIF->pullHigh(chipSelect);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -6,21 +6,40 @@
|
||||
#if defined(XIPHOS_Q7S)
|
||||
#include "busConf.h"
|
||||
#endif
|
||||
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
#include <fsfw_hal/linux/spi/SpiCookie.h>
|
||||
#include <test/testtasks/TestTask.h>
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include "devices/gpioIds.h"
|
||||
|
||||
struct SusTestCfg {
|
||||
SusTestCfg(bool doTest, gpioId_t gpioId) : gpioId(gpioId) {}
|
||||
bool doTest = false;
|
||||
const gpioId_t gpioId;
|
||||
bool intConv = true;
|
||||
bool extConv = false;
|
||||
};
|
||||
|
||||
struct Max1227TestCfg {
|
||||
bool testRadSensorExtConvWithDelay = false;
|
||||
bool testRadSensorIntConv = false;
|
||||
bool plPcduAdcExtConv = false;
|
||||
bool plPcduAdcExtConvAsOne = false;
|
||||
bool plPcduAdcIntConv = false;
|
||||
bool vbatSwitch = true;
|
||||
|
||||
SusTestCfg testSus[12] = {
|
||||
{false, gpioIds::CS_SUS_0}, {false, gpioIds::CS_SUS_1}, {false, gpioIds::CS_SUS_2},
|
||||
{false, gpioIds::CS_SUS_3}, {false, gpioIds::CS_SUS_4}, {false, gpioIds::CS_SUS_5},
|
||||
{false, gpioIds::CS_SUS_6}, {false, gpioIds::CS_SUS_7}, {false, gpioIds::CS_SUS_8},
|
||||
{false, gpioIds::CS_SUS_9}, {false, gpioIds::CS_SUS_10}, {false, gpioIds::CS_SUS_11},
|
||||
};
|
||||
};
|
||||
class SpiTestClass : public TestTask {
|
||||
public:
|
||||
enum TestModes {
|
||||
NONE,
|
||||
MGM_LIS3MDL,
|
||||
MGM_RM3100,
|
||||
GYRO_L3GD20H,
|
||||
};
|
||||
enum TestModes { NONE, MGM_LIS3MDL, MGM_RM3100, GYRO_L3GD20H, MAX1227 };
|
||||
|
||||
TestModes testMode;
|
||||
|
||||
@ -31,14 +50,18 @@ class SpiTestClass : public TestTask {
|
||||
|
||||
private:
|
||||
GpioIF* gpioIF;
|
||||
Max1227TestCfg adcCfg = {};
|
||||
|
||||
std::array<uint8_t, 128> recvBuffer;
|
||||
std::array<uint8_t, 128> sendBuffer;
|
||||
struct spi_ioc_transfer spiTransferStruct = {};
|
||||
struct spi_ioc_transfer spiTransferStruct[6] = {};
|
||||
|
||||
void performRm3100Test(uint8_t mgmId);
|
||||
void performLis3MdlTest(uint8_t lis3Id);
|
||||
void performL3gTest(uint8_t l3gId);
|
||||
void performOneShotMax1227Test();
|
||||
void performPeriodicMax1227Test();
|
||||
void performMax1227Test();
|
||||
|
||||
/* ACS board specific code which pulls all GPIOs high */
|
||||
void acsInit();
|
||||
@ -55,6 +78,7 @@ class SpiTestClass : public TestTask {
|
||||
uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
|
||||
uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
|
||||
#else
|
||||
|
||||
uint8_t mgm0Lis3mdlChipSelect = 0;
|
||||
uint8_t mgm1Rm3100ChipSelect = 0;
|
||||
uint8_t gyro0AdisResetLine = 0;
|
||||
@ -69,6 +93,13 @@ class SpiTestClass : public TestTask {
|
||||
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
|
||||
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
|
||||
|
||||
void shiftOutZeros();
|
||||
void setSendBuffer();
|
||||
|
||||
void max1227RadSensorTest(int fd);
|
||||
void max1227SusTest(int fd, SusTestCfg& cfg);
|
||||
void max1227PlPcduTest(int fd);
|
||||
|
||||
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
|
||||
|
||||
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
|
||||
@ -78,6 +109,7 @@ class SpiTestClass : public TestTask {
|
||||
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
|
||||
size_t len);
|
||||
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
|
||||
ReturnValue_t transfer(int fd, gpioId_t chipSelect);
|
||||
|
||||
uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
|
||||
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
|
||||
|
||||
@ -35,9 +35,9 @@ debugging. */
|
||||
|
||||
#define OBSW_USE_CCSDS_IP_CORE 1
|
||||
// Set to 1 if all telemetry should be sent to the PTME IP Core
|
||||
#define OBSW_TM_TO_PTME 1
|
||||
#define OBSW_TM_TO_PTME 0
|
||||
// Set to 1 if telecommands are received via the PDEC IP Core
|
||||
#define OBSW_TC_FROM_PDEC 1
|
||||
#define OBSW_TC_FROM_PDEC 0
|
||||
|
||||
#define OBSW_ENABLE_TIMERS 1
|
||||
#define OBSW_ADD_MGT 1
|
||||
@ -52,6 +52,7 @@ debugging. */
|
||||
#define OBSW_ADD_RTD_DEVICES 0
|
||||
#define OBSW_ADD_TMP_DEVICES 0
|
||||
#define OBSW_ADD_RAD_SENSORS 0
|
||||
#define OBSW_ADD_PL_PCDU 0
|
||||
#define OBSW_ADD_SYRLINKS 0
|
||||
#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0
|
||||
#define OBSW_ENABLE_PERIODIC_HK 0
|
||||
@ -62,7 +63,7 @@ debugging. */
|
||||
/** All of the following flags should be disabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
||||
//! /* Can be used to switch device to NORMAL mode immediately */
|
||||
// Can be used to switch device to NORMAL mode immediately
|
||||
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
|
||||
#define OBSW_PRINT_MISSED_DEADLINES 1
|
||||
|
||||
@ -76,9 +77,17 @@ debugging. */
|
||||
#define OBSW_ADD_I2C_TEST_CODE 0
|
||||
#define OBSW_ADD_UART_TEST_CODE 0
|
||||
|
||||
#define OBSW_TEST_ACS 0
|
||||
#define OBSW_DEBUG_ACS 0
|
||||
#define OBSW_TEST_SUS 0
|
||||
#define OBSW_DEBUG_SUS 0
|
||||
#define OBSW_TEST_RTD 0
|
||||
#define OBSW_DEBUG_RTD 0
|
||||
#define OBSW_TEST_RAD_SENSOR 0
|
||||
#define OBSW_DEBUG_RAD_SENSOR 0
|
||||
#define OBSW_TEST_PL_PCDU 0
|
||||
#define OBSW_DEBUG_PL_PCDU 0
|
||||
#define OBSW_TEST_LIBGPIOD 0
|
||||
#define OBSW_TEST_RADIATION_SENSOR_HANDLER 0
|
||||
#define OBSW_TEST_SUS_HANDLER 0
|
||||
#define OBSW_TEST_PLOC_HANDLER 0
|
||||
#define OBSW_TEST_BPX_BATT 0
|
||||
#define OBSW_TEST_CCSDS_BRIDGE 0
|
||||
@ -86,7 +95,6 @@ debugging. */
|
||||
#define OBSW_TEST_TE7020_HEATER 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0
|
||||
|
||||
#define OBSW_DEBUG_P60DOCK 0
|
||||
#define OBSW_DEBUG_BPX_BATT 0
|
||||
#define OBSW_DEBUG_PDU1 0
|
||||
@ -95,9 +103,6 @@ debugging. */
|
||||
#define OBSW_DEBUG_ACU 0
|
||||
#define OBSW_DEBUG_SYRLINKS 0
|
||||
#define OBSW_DEBUG_IMTQ 0
|
||||
#define OBSW_DEBUG_RAD_SENSOR 0
|
||||
#define OBSW_DEBUG_SUS 0
|
||||
#define OBSW_DEBUG_RTD 0
|
||||
#define OBSW_DEBUG_RW 0
|
||||
#define OBSW_DEBUG_STARTRACKER 0
|
||||
#define OBSW_DEBUG_PLOC_MPSOC 0
|
||||
|
||||
@ -1,7 +1 @@
|
||||
/**
|
||||
* \file logicalAddresses.cpp
|
||||
*
|
||||
* \date 06.11.2019
|
||||
*/
|
||||
|
||||
#include "addresses.h"
|
||||
|
||||
@ -24,6 +24,7 @@ enum logicalAddresses : address_t {
|
||||
|
||||
RAD_SENSOR = objects::RAD_SENSOR,
|
||||
|
||||
SUS_0 = objects::SUS_0,
|
||||
SUS_1 = objects::SUS_1,
|
||||
SUS_2 = objects::SUS_2,
|
||||
SUS_3 = objects::SUS_3,
|
||||
@ -35,8 +36,6 @@ enum logicalAddresses : address_t {
|
||||
SUS_9 = objects::SUS_9,
|
||||
SUS_10 = objects::SUS_10,
|
||||
SUS_11 = objects::SUS_11,
|
||||
SUS_12 = objects::SUS_12,
|
||||
SUS_13 = objects::SUS_13,
|
||||
|
||||
/* Dummy and Test Addresses */
|
||||
DUMMY_ECHO = 129,
|
||||
@ -71,7 +70,8 @@ enum spiAddresses : address_t {
|
||||
RW1,
|
||||
RW2,
|
||||
RW3,
|
||||
RW4
|
||||
RW4,
|
||||
PLPCDU_ADC
|
||||
};
|
||||
|
||||
/* Addresses of devices supporting the CSP protocol */
|
||||
|
||||
@ -54,6 +54,7 @@ enum gpioId_t {
|
||||
RTD_IC_17,
|
||||
RTD_IC_18,
|
||||
|
||||
CS_SUS_0,
|
||||
CS_SUS_1,
|
||||
CS_SUS_2,
|
||||
CS_SUS_3,
|
||||
@ -65,17 +66,16 @@ enum gpioId_t {
|
||||
CS_SUS_9,
|
||||
CS_SUS_10,
|
||||
CS_SUS_11,
|
||||
CS_SUS_12,
|
||||
CS_SUS_13,
|
||||
|
||||
SPI_MUX_BIT_0,
|
||||
SPI_MUX_BIT_1,
|
||||
SPI_MUX_BIT_2,
|
||||
SPI_MUX_BIT_3,
|
||||
SPI_MUX_BIT_4,
|
||||
SPI_MUX_BIT_5,
|
||||
SPI_MUX_BIT_6,
|
||||
|
||||
CS_RAD_SENSOR,
|
||||
ENABLE_RADFET,
|
||||
|
||||
PAPB_BUSY_N,
|
||||
PAPB_EMPTY,
|
||||
@ -110,7 +110,16 @@ enum gpioId_t {
|
||||
RS485_EN_RX_DATA,
|
||||
RS485_EN_RX_CLOCK,
|
||||
|
||||
BIT_RATE_SEL
|
||||
BIT_RATE_SEL,
|
||||
|
||||
PLPCDU_ENB_VBAT0,
|
||||
PLPCDU_ENB_VBAT1,
|
||||
PLPCDU_ENB_DRO,
|
||||
PLPCDU_ENB_X8,
|
||||
PLPCDU_ENB_TX,
|
||||
PLPCDU_ENB_HPA,
|
||||
PLPCDU_ENB_MPA,
|
||||
PLPCDU_ADC_CS
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
/**
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 110 translations.
|
||||
* Generated on: 2022-02-03 12:01:36
|
||||
* Contains 111 translations.
|
||||
* Generated on: 2022-02-21 17:31:37
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
@ -12,6 +12,7 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
|
||||
const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
|
||||
const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
|
||||
const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
|
||||
const char *SUS_0_STRING = "SUS_0";
|
||||
const char *SUS_1_STRING = "SUS_1";
|
||||
const char *SUS_2_STRING = "SUS_2";
|
||||
const char *SUS_3_STRING = "SUS_3";
|
||||
@ -23,8 +24,6 @@ const char *SUS_8_STRING = "SUS_8";
|
||||
const char *SUS_9_STRING = "SUS_9";
|
||||
const char *SUS_10_STRING = "SUS_10";
|
||||
const char *SUS_11_STRING = "SUS_11";
|
||||
const char *SUS_12_STRING = "SUS_12";
|
||||
const char *SUS_13_STRING = "SUS_13";
|
||||
const char *RW1_STRING = "RW1";
|
||||
const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
|
||||
const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
|
||||
@ -44,6 +43,7 @@ const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
|
||||
const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
|
||||
const char *ACU_HANDLER_STRING = "ACU_HANDLER";
|
||||
const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER";
|
||||
const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER";
|
||||
const char *RAD_SENSOR_STRING = "RAD_SENSOR";
|
||||
const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
|
||||
const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
|
||||
@ -109,6 +109,7 @@ const char *TIME_STAMPER_STRING = "TIME_STAMPER";
|
||||
const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
|
||||
const char *SPI_TEST_STRING = "SPI_TEST";
|
||||
const char *UART_TEST_STRING = "UART_TEST";
|
||||
const char *I2C_TEST_STRING = "I2C_TEST";
|
||||
const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
|
||||
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
|
||||
const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
|
||||
@ -132,31 +133,29 @@ const char *translateObject(object_id_t object) {
|
||||
case 0x44120010:
|
||||
return GYRO_0_ADIS_HANDLER_STRING;
|
||||
case 0x44120032:
|
||||
return SUS_1_STRING;
|
||||
return SUS_0_STRING;
|
||||
case 0x44120033:
|
||||
return SUS_2_STRING;
|
||||
return SUS_1_STRING;
|
||||
case 0x44120034:
|
||||
return SUS_3_STRING;
|
||||
return SUS_2_STRING;
|
||||
case 0x44120035:
|
||||
return SUS_4_STRING;
|
||||
return SUS_3_STRING;
|
||||
case 0x44120036:
|
||||
return SUS_5_STRING;
|
||||
return SUS_4_STRING;
|
||||
case 0x44120037:
|
||||
return SUS_6_STRING;
|
||||
return SUS_5_STRING;
|
||||
case 0x44120038:
|
||||
return SUS_7_STRING;
|
||||
return SUS_6_STRING;
|
||||
case 0x44120039:
|
||||
return SUS_8_STRING;
|
||||
return SUS_7_STRING;
|
||||
case 0x44120040:
|
||||
return SUS_9_STRING;
|
||||
return SUS_8_STRING;
|
||||
case 0x44120041:
|
||||
return SUS_10_STRING;
|
||||
return SUS_9_STRING;
|
||||
case 0x44120042:
|
||||
return SUS_11_STRING;
|
||||
return SUS_10_STRING;
|
||||
case 0x44120043:
|
||||
return SUS_12_STRING;
|
||||
case 0x44120044:
|
||||
return SUS_13_STRING;
|
||||
return SUS_11_STRING;
|
||||
case 0x44120047:
|
||||
return RW1_STRING;
|
||||
case 0x44120107:
|
||||
@ -195,6 +194,8 @@ const char *translateObject(object_id_t object) {
|
||||
return ACU_HANDLER_STRING;
|
||||
case 0x44260000:
|
||||
return BPX_BATT_HANDLER_STRING;
|
||||
case 0x44300000:
|
||||
return PLPCDU_HANDLER_STRING;
|
||||
case 0x443200A5:
|
||||
return RAD_SENSOR_STRING;
|
||||
case 0x44330000:
|
||||
@ -325,6 +326,8 @@ const char *translateObject(object_id_t object) {
|
||||
return SPI_TEST_STRING;
|
||||
case 0x54000020:
|
||||
return UART_TEST_STRING;
|
||||
case 0x54000030:
|
||||
return I2C_TEST_STRING;
|
||||
case 0x5400AFFE:
|
||||
return DUMMY_HANDLER_STRING;
|
||||
case 0x5400CAFE:
|
||||
|
||||
@ -7,8 +7,6 @@
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
|
||||
|
||||
|
||||
ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
|
||||
// Length of a communication cycle
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
@ -153,6 +151,19 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_SUN_SENSORS == 1
|
||||
|
||||
bool addSus0 = true;
|
||||
bool addSus1 = true;
|
||||
bool addSus2 = true;
|
||||
bool addSus3 = true;
|
||||
bool addSus4 = true;
|
||||
bool addSus5 = true;
|
||||
bool addSus6 = true;
|
||||
bool addSus7 = true;
|
||||
bool addSus8 = true;
|
||||
bool addSus9 = true;
|
||||
bool addSus10 = true;
|
||||
bool addSus11 = true;
|
||||
/**
|
||||
* The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
|
||||
* requests to a sun sensor must be performed consecutively. Another reason for calling multiple
|
||||
@ -161,253 +172,157 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
* One sun sensor communication sequence also blocks the SPI bus. So other devices can not be
|
||||
* inserted between the device handler cycles of one SUS.
|
||||
*/
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
|
||||
if (addSus0) {
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
if (addSus1) {
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
if (addSus2) {
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
if (addSus3) {
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
if (addSus4) {
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
|
||||
/* Read ADC conversions from inernal FIFO */
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
if (addSus5) {
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
|
||||
/* Read ADC conversions from inernal FIFO */
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
|
||||
/* Read ADC conversions from inernal FIFO */
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
|
||||
if (addSus6) {
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
|
||||
/* Read ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
|
||||
/* Read ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
|
||||
if (addSus7) {
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
|
||||
/* Read ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
|
||||
/* Read ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
|
||||
if (addSus8) {
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
|
||||
/* Read ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
|
||||
if (addSus9) {
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
|
||||
if (addSus10) {
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
|
||||
if (addSus11) {
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
@ -436,8 +351,8 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
|
||||
bool enableAside = true;
|
||||
bool enableBside = false;
|
||||
bool enableAside = false;
|
||||
bool enableBside = true;
|
||||
if (enableAside) {
|
||||
// A side
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
|
||||
@ -452,21 +367,21 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
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 * 0.7, 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);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.35, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
|
||||
@ -474,7 +389,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
// B side
|
||||
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 * 0.25, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
||||
@ -484,21 +399,21 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
|
||||
DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
#endif /* OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 */
|
||||
@ -519,6 +434,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
|
||||
// Length of a communication cycle
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
static_cast<void>(length);
|
||||
#if OBSW_ADD_MGT == 1
|
||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
@ -685,7 +601,7 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
|
||||
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#if OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
|
||||
#if OBSW_TEST_RAD_SENSOR == 1
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
@ -693,7 +609,7 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#if OBSW_TEST_SUS_HANDLER == 1
|
||||
#if OBSW_TEST_SUS == 1
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
|
||||
|
||||
Reference in New Issue
Block a user