From e1ae1c021acacee92d4d87510a5170c27a152674 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 22 Sep 2021 11:45:25 +0200 Subject: [PATCH] made more spi devices optional --- bsp_q7s/boardconfig/q7sConfig.h.in | 1 - bsp_q7s/core/ObjectFactory.cpp | 8 +- linux/fsfwconfig/OBSWConfig.h.in | 25 +++ .../pollingSequenceFactory.cpp | 188 ++++++++++-------- 4 files changed, 130 insertions(+), 92 deletions(-) diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in index 40b5a510..43283ea1 100644 --- a/bsp_q7s/boardconfig/q7sConfig.h.in +++ b/bsp_q7s/boardconfig/q7sConfig.h.in @@ -28,7 +28,6 @@ // Probably better if this is disabled for mission code. Convenient for development #define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1 -#define Q7S_ADD_RTD_DEVICES 0 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0 diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index 3f1d4c7d..a6d6dda3 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -129,13 +129,13 @@ void ObjectFactory::produce(void* args) { #endif /* OBSW_ADD_ACS_BOARD == 1 */ createHeaterComponents(); createSolarArrayDeploymentComponents(); -#if Q7S_ADD_SYRLINKS_HANDLER == 1 +#if OBSW_ADD_SYRLINKS == 1 createSyrlinksComponents(); -#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */ +#endif /* OBSW_ADD_SYRLINKS == 1 */ -#if Q7S_ADD_RTD_DEVICES == 1 +#if OBSW_ADD_RTD_DEVICES == 1 createRtdComponents(); -#endif /* Q7S_ADD_RTD_DEVICES == 1 */ +#endif /* OBSW_ADD_RTD_DEVICES == 1 */ I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV); diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in index 7abe1ea8..bf5c1405 100644 --- a/linux/fsfwconfig/OBSWConfig.h.in +++ b/linux/fsfwconfig/OBSWConfig.h.in @@ -31,6 +31,8 @@ debugging. */ //! Timers can mess up the code when debugging //! All of this should be enabled for mission code! +#if defined XIPHOS_Q7S + #define OBSW_ENABLE_TIMERS 1 #define OBSW_ADD_STAR_TRACKER 0 #define OBSW_ADD_PLOC_SUPERVISOR 0 @@ -39,6 +41,29 @@ debugging. */ #define OBSW_ADD_ACS_BOARD 0 #define OBSW_ADD_GPS_0 0 #define OBSW_ADD_GPS_1 0 +#define OBSW_ADD_RW 0 +#define OBSW_ADD_RTD_DEVICES 0 +#define OBSW_ADD_TMP_DEVICES 0 +#define OBSW_ADD_RAD_SENSORS 0 +#define OBSW_ADD_SYRLINKS 0 + +#elif defined RASPBERRY_PI + +#define OBSW_ENABLE_TIMERS 1 +#define OBSW_ADD_STAR_TRACKER 0 +#define OBSW_ADD_PLOC_SUPERVISOR 0 +#define OBSW_ADD_PLOC_MPSOC 0 +#define OBSW_ADD_SUN_SENSORS 0 +#define OBSW_ADD_ACS_BOARD 0 +#define OBSW_ADD_GPS_0 0 +#define OBSW_ADD_GPS_1 0 +#define OBSW_ADD_RW 0 +#define OBSW_ADD_RTD_DEVICES 0 +#define OBSW_ADD_TMP_DEVICES 0 +#define OBSW_ADD_RAD_SENSORS 0 +#define OBSW_ADD_SYRLINKS 0 + +#endif /*******************************************************************/ /** All of the following flags should be disabled for mission code */ diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 1b5ec2e3..1f74cca6 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -28,12 +28,14 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { uint32_t length = thisSequence->getPeriodMs(); - + static_cast(length); +#if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); -#if Q7S_ADD_RTD_DEVICES == 1 +#endif +#if OBSW_ADD_RTD_DEVICES == 1 thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC5, length * 0, DeviceHandlerIF::PERFORM_OPERATION); @@ -50,11 +52,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RTD_IC16, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC17, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION); -#endif /* Q7S_ADD_RTD_DEVICES */ +#endif /* OBSW_ADD_RTD_DEVICES */ +#if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE); -#if Q7S_ADD_RTD_DEVICES == 1 +#endif +#if OBSW_ADD_RTD_DEVICES == 1 thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC5, length * 0.2, DeviceHandlerIF::SEND_WRITE); @@ -71,11 +75,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RTD_IC16, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC17, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE); -#endif /* Q7S_ADD_RTD_DEVICES */ +#endif /* OBSW_ADD_RTD_DEVICES */ +#if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE); -#if Q7S_ADD_RTD_DEVICES == 1 +#endif +#if OBSW_ADD_RTD_DEVICES == 1 thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC5, length * 0.4, DeviceHandlerIF::GET_WRITE); @@ -92,11 +98,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RTD_IC16, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC17, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE); -#endif /* Q7S_ADD_RTD_DEVICES */ +#endif /* OBSW_ADD_RTD_DEVICES */ +#if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ); -#if Q7S_ADD_RTD_DEVICES == 1 +#endif +#if OBSW_ADD_RTD_DEVICES == 1 thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC5, length * 0.6, DeviceHandlerIF::SEND_READ); @@ -113,11 +121,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RTD_IC16, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC17, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ); -#endif /* Q7S_ADD_RTD_DEVICES */ +#endif /* OBSW_ADD_RTD_DEVICES */ +#if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ); -#if Q7S_ADD_RTD_DEVICES == 1 +#endif +#if OBSW_ADD_RTD_DEVICES == 1 thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC5, length * 0.8, DeviceHandlerIF::GET_READ); @@ -134,14 +144,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RTD_IC16, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ); -#endif /* Q7S_ADD_RTD_DEVICES */ +#endif /* OBSW_ADD_RTD_DEVICES */ +#if OBSW_ADD_RAD_SENSORS == 1 /* Radiation sensor */ 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); thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ); +#endif #if OBSW_ADD_SUN_SENSORS == 1 /** @@ -400,6 +412,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ); #endif +#if OBSW_ADD_RW == 1 thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE); @@ -408,70 +421,71 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW2, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW2, length * 0.7, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW2, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW3, length * 0.7, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW3, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW4, length * 0.7, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW4, length * 0.85, DeviceHandlerIF::GET_READ); +#endif #if OBSW_ADD_ACS_BOARD == 1 bool enableAside = false; bool enableBside = true; if(enableAside) { // A side -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, + 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::GYRO_0_ADIS_HANDLER, length * 0, // DeviceHandlerIF::PERFORM_OPERATION); -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, +// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3, // DeviceHandlerIF::SEND_WRITE); -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4, +// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, // DeviceHandlerIF::GET_WRITE); -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, +// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75, // DeviceHandlerIF::SEND_READ); -// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8, +// thisSequence->addSlot(objects::GYRO_0_ADIS_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 * 0.2, -// 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::GYRO_0_ADIS_HANDLER, length * 0, - // DeviceHandlerIF::PERFORM_OPERATION); - // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, - // DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4, - // DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, - // DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::GYRO_0_ADIS_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 * 0.35, + 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 * 0.85, + DeviceHandlerIF::GET_READ); } if(enableBside) { @@ -480,45 +494,45 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { 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::GET_WRITE); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8, + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); -// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0, + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.205, + 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 * 0.85, + DeviceHandlerIF::GET_READ); + +// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, // DeviceHandlerIF::PERFORM_OPERATION); -// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2, +// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.210, // DeviceHandlerIF::SEND_WRITE); -// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4, +// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, // DeviceHandlerIF::GET_WRITE); -// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, +// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75, // DeviceHandlerIF::SEND_READ); -// thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8, +// thisSequence->addSlot(objects::GYRO_2_ADIS_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 * 0.2, - // DeviceHandlerIF::SEND_WRITE); - // thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4, - // DeviceHandlerIF::GET_WRITE); - // thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, - // DeviceHandlerIF::SEND_READ); - // thisSequence->addSlot(objects::GYRO_2_ADIS_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::GYRO_3_L3G_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.215, + 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 * 0.85, + DeviceHandlerIF::GET_READ); } #endif /* OBSW_ADD_ACS_BOARD == 1 */ @@ -580,7 +594,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) { DeviceHandlerIF::GET_READ); #endif -#if Q7S_ADD_SYRLINKS_HANDLER == 1 +#if OBSW_ADD_SYRLINKS == 1 uartPstEmpty = false; thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);