From ae3e0894b592fe83cb9a14d5f2b6091df47a41fa Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 21 Jun 2021 18:11:07 +0200 Subject: [PATCH 1/5] test --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index ba18152d..a03d7272 100644 --- a/README.md +++ b/README.md @@ -40,11 +40,11 @@ the TCF plugin and downloading the cross-compiler as specified in the section be * Install settings. In the Devices selection, it is sufficient to pick SoC → Zynq-7000:
-
+
-
+
-
+
* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf * Add path of linux cross-compiler to permanent environment variables (`.profile` file in Linux): From d88b920dea1f600f35f72d50c26666c3440f7e39 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 21 Jun 2021 18:40:26 +0200 Subject: [PATCH 2/5] tmtc update --- tmtc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtc b/tmtc index 20a44b4b..5be05c2a 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 20a44b4b67198d42e83a790191ad6740d0aabf7c +Subproject commit 5be05c2a929dfc908b8de61250e4db890b010fa5 From cea14946495ca75179b8859741bb0b6b21be5077 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 23 Jun 2021 15:18:31 +0200 Subject: [PATCH 3/5] split up psts --- bsp_linux_board/InitMission.cpp | 6 +- bsp_q7s/InitMission.cpp | 61 +- bsp_q7s/boardconfig/q7sConfig.h.in | 6 +- common/config/commonObjects.h | 3 + .../pollingSequenceFactory.cpp | 648 ++++++++++-------- .../pollingsequence/pollingSequenceFactory.h | 25 +- mission/devices/GPSHandler.cpp | 10 +- 7 files changed, 426 insertions(+), 333 deletions(-) diff --git a/bsp_linux_board/InitMission.cpp b/bsp_linux_board/InitMission.cpp index 16dab475..9e7abd94 100644 --- a/bsp_linux_board/InitMission.cpp +++ b/bsp_linux_board/InitMission.cpp @@ -135,9 +135,9 @@ void initmission::initTasks() { } #if OBSW_ADD_TEST_PST == 1 - FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask( - "ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc); - result = pst::pollingSequenceTest(pstTestTask); + FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50, + PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc); + result = pst::pstTest(pstTestTask); if(result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl; } diff --git a/bsp_q7s/InitMission.cpp b/bsp_q7s/InitMission.cpp index 9a475a11..25cd6abf 100644 --- a/bsp_q7s/InitMission.cpp +++ b/bsp_q7s/InitMission.cpp @@ -85,14 +85,6 @@ void initmission::initTasks() { initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK); } - /* UDP bridge */ - PeriodicTaskIF* errorReporterTestTask = factory->createPeriodicTask( - "ERROR_REPORTER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); - result = udpBridgeTask->addComponent(objects::INTERNAL_ERROR_REPORTER); - if(result != HasReturnvaluesIF::RETURN_OK) { - initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER); - } - #if TEST_CCSDS_BRIDGE == 1 PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask( "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); @@ -153,30 +145,51 @@ void initmission::initTasks() { if(result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST); } + result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER); + } #if TE0720 == 0 - //TODO: Add handling of missed deadlines /* Polling Sequence Table Default */ #if Q7S_ADD_SPI_TEST == 0 - FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask( - "PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, + FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask( + "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); - result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault); + result = pst::pstSpi(spiPst); if (result != HasReturnvaluesIF::RETURN_OK) { sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; } #endif - FixedTimeslotTaskIF* gomSpacePstTask = factory-> - createFixedTimeslotTask("GS_PST_TASK", 50, - PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 1.0, missedDeadlineFunc); - result = pst::gomspacePstInit(gomSpacePstTask); + FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask( + "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); + result = pst::pstUart(uartPst); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; + } + FixedTimeslotTaskIF* gpioPst = factory->createFixedTimeslotTask( + "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); + result = pst::pstGpio(gpioPst); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; + } + FixedTimeslotTaskIF* i2cPst = factory->createFixedTimeslotTask( + "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); + result = pst::pstI2c(i2cPst); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; + } + + FixedTimeslotTaskIF* gomSpacePstTask = factory->createFixedTimeslotTask( + "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc); + result = pst::pstGompaceCan(gomSpacePstTask); if(result != HasReturnvaluesIF::RETURN_OK) { sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; } -#else +#else /* TE7020 == 0 */ FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask( "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc); @@ -184,7 +197,7 @@ void initmission::initTasks() { if (result != HasReturnvaluesIF::RETURN_OK) { sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl; } -#endif +#endif /* TE7020 == 1 */ #if OBSW_ADD_TEST_CODE == 1 PeriodicTaskIF* testTask = factory->createPeriodicTask( @@ -213,9 +226,15 @@ void initmission::initTasks() { udpBridgeTask->startTask(); udpPollingTask->startTask(); -#if TE0720 == 0 && Q7S_ADD_SPI_TEST == 0 +#if TE0720 == 0 + uartPst->startTask(); + gpioPst->startTask(); + i2cPst->startTask(); +#if Q7S_ADD_SPI_TEST == 0 gomSpacePstTask->startTask(); - pollingSequenceTableTaskDefault->startTask(); + spiPst->startTask(); +#endif /* Q7S_ADD_SPI_TEST == 0 */ + #elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0 pollingSequenceTaskTE0720->startTask(); #endif @@ -226,8 +245,6 @@ void initmission::initTasks() { pusMedPrio->startTask(); pusLowPrio->startTask(); - errorReporterTestTask->startTask(); - #if OBSW_ADD_TEST_CODE == 1 testTask->startTask(); #endif diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in index 782ecf4f..81b96a7e 100644 --- a/bsp_q7s/boardconfig/q7sConfig.h.in +++ b/bsp_q7s/boardconfig/q7sConfig.h.in @@ -1,13 +1,13 @@ #ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ #define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ -#define Q7S_ADD_RTD_DEVICES 0 +#define Q7S_ADD_RTD_DEVICES 0 /* Only one of those 2 should be enabled! */ /* Add code for ACS board */ #define OBSW_ADD_ACS_BOARD 0 +#if OBSW_ADD_ACS_BOARD == 0 #define Q7S_ADD_SPI_TEST 0 - - +#endif #endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */ diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index 3baf58b0..1651f6a0 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -48,6 +48,9 @@ enum commonObjects: uint32_t { SUS_11 = 0x44000021, SUS_12 = 0x44000022, SUS_13 = 0x44000023, + + GPS0_HANDLER = 0x44001000, + GPS1_HANDLER = 0x44002000 }; } diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 60059d3c..0add7a3b 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -9,18 +9,40 @@ #include "objects/systemObjectList.h" -ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) +ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) { - /* Length of a communication cycle */ + // Length of a communication cycle uint32_t length = thisSequence->getPeriodMs(); - thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + // 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); + // if (length != 3000) { + // sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical " + // << "SUS sensors still produce correct values" << std::endl; + // } + if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { + return HasReturnvaluesIF::RETURN_OK; + } + + sif::error << "PollingSequence::initialize has errors!" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; +} + +ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { + uint32_t length = thisSequence->getPeriodMs(); + + 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 thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); @@ -40,12 +62,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION); #endif /* Q7S_ADD_RTD_DEVICES */ - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::PLOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - 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 thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE); @@ -65,12 +83,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE); #endif /* Q7S_ADD_RTD_DEVICES */ - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); - 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 thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE); @@ -90,12 +104,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE); #endif /* Q7S_ADD_RTD_DEVICES */ - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); - 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 thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ); @@ -115,12 +125,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ); #endif /* Q7S_ADD_RTD_DEVICES */ - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); - 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 thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ); @@ -139,23 +145,6 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) 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 */ - - thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); - - - /* 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); - - if (length != 3000) { - sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical " - << "SUS sensors still produce correct values" << std::endl; - } - /** * 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 @@ -166,263 +155,333 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) */ /* 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); + // 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); - /* 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); + /* 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); - /* 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); -// -// /* 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); -// -// /* 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); -// -// /* 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); -// -// /* 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); -// -// /* 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); -// -// /* 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); -// -// /* 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); -// -// /* 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); -// -// /* 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); -// -// /* 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); + /* 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); + // + // /* 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); + // + // /* 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); + // + // /* 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); + // + // /* 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); + // + // /* 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); + // + // /* 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); + // + // /* 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); + // + // /* 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); + // + // /* 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); + // + // /* 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); - if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { - return HasReturnvaluesIF::RETURN_OK; + if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "SPI PST initialization failed" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; } - - sif::error << "PollingSequence::initialize has errors!" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; + return HasReturnvaluesIF::RETURN_OK; } -ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){ +ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { + // Length of a communication cycle + uint32_t length = thisSequence->getPeriodMs(); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); + if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "I2C PST initialization failed" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) { + // Length of a communication cycle + uint32_t length = thisSequence->getPeriodMs(); + thisSequence->addSlot(objects::PLOC_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::GPS1_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + + thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + + thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + + thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6, + DeviceHandlerIF::SEND_READ); + + thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8, + DeviceHandlerIF::GET_READ); + + if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "UART PST initialization failed" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence){ uint32_t length = thisSequence->getPeriodMs(); + // PCDU handlers receives two messages and both must be handled thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); @@ -472,13 +531,13 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){ length * 0.8, DeviceHandlerIF::GET_READ); if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "Initialization of GomSpace PST failed" << std::endl; + sif::error << "GomSpace PST initialization failed" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } return HasReturnvaluesIF::RETURN_OK; } -ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) { +ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) { /* Length of a communication cycle */ uint32_t length = thisSequence->getPeriodMs(); #if OBSW_ADD_ACS_BOARD == 1 @@ -561,12 +620,11 @@ ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) { thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); #endif static_cast(length); - if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { - return HasReturnvaluesIF::RETURN_OK; + if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "Test PST initialization failed" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; } - - sif::error << "PollingSequence::initialize has errors!" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) { diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h index e05f96aa..32d35169 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h @@ -25,16 +25,29 @@ class FixedTimeslotTaskIF; namespace pst { /* 0.4 second period init*/ -ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence); +ReturnValue_t pstGpio(FixedTimeslotTaskIF *thisSequence); /** - * @brief This function creates the PST for all gomspace devices. They are - * scheduled in a separate PST because the gomspace library uses - * blocking calls when requesting data from devices. + * @brief This function creates the PST for all gomspace devices. + * @details + * Scheduled in a separate PST because the gomspace library uses blocking calls when requesting + * data from devices. */ -ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence); +ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF *thisSequence); + +ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence); + +ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence); + +ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence); + +/** + * Generic test PST + * @param thisSequence + * @return + */ +ReturnValue_t pstTest(FixedTimeslotTaskIF* thisSequence); -ReturnValue_t pollingSequenceTest(FixedTimeslotTaskIF* thisSequence); /** * @brief This polling sequence will be created when the software is compiled for the TE0720. diff --git a/mission/devices/GPSHandler.cpp b/mission/devices/GPSHandler.cpp index 86733794..be227f9c 100644 --- a/mission/devices/GPSHandler.cpp +++ b/mission/devices/GPSHandler.cpp @@ -49,10 +49,12 @@ ReturnValue_t GPSHandler::buildCommandFromCommand( ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { // Pass data to GPS library - int result = lwgps_process(&gpsData, start, len); - if(result != 0) { - sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps" - << std::endl; + if(len > 0) { + int result = lwgps_process(&gpsData, start, len); + if(result != 0) { + sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps" + << std::endl; + } } return HasReturnvaluesIF::RETURN_OK; From 6ba3f6918db9553de1859fe51043af92b0013db0 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 08:50:46 +0200 Subject: [PATCH 4/5] split up PSTs and add contd GPS handler --- bsp_linux_board/ObjectFactory.cpp | 16 +++++ bsp_linux_board/boardconfig/rpiConfig.h.in | 1 + fsfw_hal | 2 +- .../pollingSequenceFactory.cpp | 69 +++++++++++-------- .../pollingsequence/pollingSequenceFactory.h | 13 +++- mission/devices/GPSHandler.cpp | 16 ++++- 6 files changed, 84 insertions(+), 33 deletions(-) diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp index d6dfd623..f4ae00bf 100644 --- a/bsp_linux_board/ObjectFactory.cpp +++ b/bsp_linux_board/ObjectFactory.cpp @@ -1,3 +1,6 @@ +#include +#include +#include #include "ObjectFactory.h" #include "objects/systemObjectList.h" @@ -68,6 +71,8 @@ void ObjectFactory::produce(void* args){ #if RPI_ADD_UART_TEST == 1 new UartTestClass(objects::UART_TEST); +#else + new UartComIF(objects::UART_COM_IF); #endif #if RPI_LOOPBACK_TEST_GPIO == 1 @@ -146,4 +151,15 @@ void ObjectFactory::produce(void* args){ auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie); adisGyroHandler->setStartUpImmediately(); #endif /* RPI_TEST_ADIS16507 == 1 */ + +#if RPI_TEST_GPS_HANDLER == 1 + UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", + UartModes::CANONICAL, 9600, 1024); + uartCookie->setToFlushInput(true); + uartCookie->setReadCycles(6); + GPSHandler* gpsHandler = new GPSHandler(objects::GPS0_HANDLER, + objects::UART_COM_IF, uartCookie); + gpsHandler->setStartUpImmediately(); +#endif + } diff --git a/bsp_linux_board/boardconfig/rpiConfig.h.in b/bsp_linux_board/boardconfig/rpiConfig.h.in index 0094903c..19629465 100644 --- a/bsp_linux_board/boardconfig/rpiConfig.h.in +++ b/bsp_linux_board/boardconfig/rpiConfig.h.in @@ -7,6 +7,7 @@ #define RPI_LOOPBACK_TEST_GPIO 0 #define RPI_TEST_ADIS16507 0 +#define RPI_TEST_GPS_HANDLER 0 // Only one of those 2 should be enabled! #define RPI_ADD_SPI_TEST 0 diff --git a/fsfw_hal b/fsfw_hal index fce40ebf..2533af3b 160000 --- a/fsfw_hal +++ b/fsfw_hal @@ -1 +1 @@ -Subproject commit fce40ebf9a4a45bafedaee2fc87e5aa10e49fdcc +Subproject commit 2533af3b53804bc68436236370911e013a2b8f64 diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 0add7a3b..3b64724a 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -19,11 +19,11 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) DeviceHandlerIF::PERFORM_OPERATION); // 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); + // 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); // if (length != 3000) { // sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical " // << "SUS sensors still produce correct values" << std::endl; @@ -173,7 +173,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ); // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ); - /* Write setup */ + /* 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); @@ -192,7 +192,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ); // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ); - /* Write setup */ + /* 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); @@ -542,7 +542,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) { uint32_t length = thisSequence->getPeriodMs(); #if OBSW_ADD_ACS_BOARD == 1 thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); + DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4, @@ -563,28 +563,28 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) { thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8, - DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8, + DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, - DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2, - DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4, - DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, - DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8, - DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::GYRO_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_2_L3G_HANDLER, length * 0, @@ -619,6 +619,16 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) { 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); #endif + +#if RPI_TEST_GPS_HANDLER == 1 + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ); +#endif static_cast(length); if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { sif::error << "Test PST initialization failed" << std::endl; @@ -627,6 +637,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) { return HasReturnvaluesIF::RETURN_OK; } +#if TE7020 == 1 ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) { uint32_t length = thisSequence->getPeriodMs(); @@ -675,4 +686,4 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) { } return HasReturnvaluesIF::RETURN_OK; } - +#endif /* TE7020 == 1 */ diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h index 32d35169..a2b5edfb 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h @@ -1,7 +1,14 @@ #ifndef POLLINGSEQUENCEFACTORY_H_ #define POLLINGSEQUENCEFACTORY_H_ -#include +#include "OBSWConfig.h" +#if defined(RASPBERRY_PI) +#include "rpiConfig.h" +#elif defined(XIPHOS_Q7S) +#include "q7sConfig.h" +#endif + +#include "fsfw/returnvalues/HasReturnvaluesIF.h" class FixedTimeslotTaskIF; @@ -48,11 +55,13 @@ ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence); */ ReturnValue_t pstTest(FixedTimeslotTaskIF* thisSequence); - +#if TE7020 == 1 /** * @brief This polling sequence will be created when the software is compiled for the TE0720. */ ReturnValue_t pollingSequenceTE0720(FixedTimeslotTaskIF* thisSequence); +#endif + } diff --git a/mission/devices/GPSHandler.cpp b/mission/devices/GPSHandler.cpp index be227f9c..3fdb6ab1 100644 --- a/mission/devices/GPSHandler.cpp +++ b/mission/devices/GPSHandler.cpp @@ -50,11 +50,25 @@ ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { // Pass data to GPS library if(len > 0) { + sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl; + if (internalState == InternalStates::WAIT_FIRST_MESSAGE) { + // TODO: Check whether data is valid by chcking whether NMEA start string is valid + commandExecuted = true; + } int result = lwgps_process(&gpsData, start, len); - if(result != 0) { + if(result != 1) { sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps" << std::endl; } + else { + sif::info << "GPS Data" << std::endl; + // Print messages + printf("Valid status: %d\n", gpsData.is_valid); + printf("Latitude: %f degrees\n", gpsData.latitude); + printf("Longitude: %f degrees\n", gpsData.longitude); + printf("Altitude: %f meters\n", gpsData.altitude); + } + *foundLen = len; } return HasReturnvaluesIF::RETURN_OK; From 00ee82956e84638237ecc04dba92d27846d88800 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 08:51:49 +0200 Subject: [PATCH 5/5] fsfw update --- fsfw | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fsfw b/fsfw index cae69d54..5f9a6bb1 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit cae69d540097acba46bffa47fd7afc6a8a19bd15 +Subproject commit 5f9a6bb155eb59981e7ff851b7efaa1ae25e42b4