eive/eive-obsw
eive/eive-obsw
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Merge pull request 'Update PSTs & Contd GPS Handler' (#48) from mueller/update-branch into develop

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Reviewed-on: #48
This commit is contained in:
Jakob Meier 2021-06-24 17:33:25 +02:00
commit e29939ff27
13 changed files with 505 additions and 361 deletions
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6
README.md
View File

@ -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 &rarr; Zynq-7000: <br> * Install settings. In the Devices selection, it is sufficient to pick SoC &rarr; Zynq-7000: <br>
<img src="./doc/img/vivado-edition.png" width="50%"> <br> <img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/src/branch/develop/doc/img/vivado-edition.png" width="50%"> <br>
<img src="./doc/img/vivado-hl-design.png" width="50%"> <br> <img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/src/branch/develop/doc/img/vivado-hl-design.png" width="50%"> <br>
<img src="./doc/img/xilinx-install.PNG" width="50%"> <br> <img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/src/branch/develop/doc/img/xilinx-install.PNG" width="50%"> <br>
* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf * 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): * Add path of linux cross-compiler to permanent environment variables (`.profile` file in Linux):

6
bsp_linux_board/InitMission.cpp
View File

@ -135,9 +135,9 @@ void initmission::initTasks() {
} }
#if OBSW_ADD_TEST_PST == 1 #if OBSW_ADD_TEST_PST == 1
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask( FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc); PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pollingSequenceTest(pstTestTask); result = pst::pstTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl; sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
} }

16
bsp_linux_board/ObjectFactory.cpp
View File

@ -1,3 +1,6 @@
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <mission/devices/GPSHandler.h>
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include "objects/systemObjectList.h" #include "objects/systemObjectList.h"
@ -68,6 +71,8 @@ void ObjectFactory::produce(void* args){
#if RPI_ADD_UART_TEST == 1 #if RPI_ADD_UART_TEST == 1
new UartTestClass(objects::UART_TEST); new UartTestClass(objects::UART_TEST);
#else
new UartComIF(objects::UART_COM_IF);
#endif #endif
#if RPI_LOOPBACK_TEST_GPIO == 1 #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); auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisGyroHandler->setStartUpImmediately(); adisGyroHandler->setStartUpImmediately();
#endif /* RPI_TEST_ADIS16507 == 1 */ #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
} }

1
bsp_linux_board/boardconfig/rpiConfig.h.in
View File

@ -7,6 +7,7 @@
#define RPI_LOOPBACK_TEST_GPIO 0 #define RPI_LOOPBACK_TEST_GPIO 0
#define RPI_TEST_ADIS16507 0 #define RPI_TEST_ADIS16507 0
#define RPI_TEST_GPS_HANDLER 0
// Only one of those 2 should be enabled! // Only one of those 2 should be enabled!
#define RPI_ADD_SPI_TEST 0 #define RPI_ADD_SPI_TEST 0

61
bsp_q7s/InitMission.cpp
View File

@ -85,14 +85,6 @@ void initmission::initTasks() {
initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK); 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 #if TEST_CCSDS_BRIDGE == 1
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask( PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
@ -153,30 +145,51 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST); 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 #if TE0720 == 0
//TODO: Add handling of missed deadlines //TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */ /* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0 #if Q7S_ADD_SPI_TEST == 0
FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask( FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask(
"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc); missedDeadlineFunc);
result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault); result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
} }
#endif #endif
FixedTimeslotTaskIF* gomSpacePstTask = factory-> FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask(
createFixedTimeslotTask("GS_PST_TASK", 50, "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 1.0, missedDeadlineFunc); result = pst::pstUart(uartPst);
result = pst::gomspacePstInit(gomSpacePstTask); 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) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
} }
#else #else /* TE7020 == 0 */
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask( FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
missedDeadlineFunc); missedDeadlineFunc);
@ -184,7 +197,7 @@ void initmission::initTasks() {
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
} }
#endif #endif /* TE7020 == 1 */
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
PeriodicTaskIF* testTask = factory->createPeriodicTask( PeriodicTaskIF* testTask = factory->createPeriodicTask(
@ -213,9 +226,15 @@ void initmission::initTasks() {
udpBridgeTask->startTask(); udpBridgeTask->startTask();
udpPollingTask->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(); gomSpacePstTask->startTask();
pollingSequenceTableTaskDefault->startTask(); spiPst->startTask();
#endif /* Q7S_ADD_SPI_TEST == 0 */
#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0 #elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
pollingSequenceTaskTE0720->startTask(); pollingSequenceTaskTE0720->startTask();
#endif #endif
@ -226,8 +245,6 @@ void initmission::initTasks() {
pusMedPrio->startTask(); pusMedPrio->startTask();
pusLowPrio->startTask(); pusLowPrio->startTask();
errorReporterTestTask->startTask();
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
testTask->startTask(); testTask->startTask();
#endif #endif

6
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -1,13 +1,13 @@
#ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ #ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
#define 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! */ /* Only one of those 2 should be enabled! */
/* Add code for ACS board */ /* Add code for ACS board */
#define OBSW_ADD_ACS_BOARD 0 #define OBSW_ADD_ACS_BOARD 0
#if OBSW_ADD_ACS_BOARD == 0
#define Q7S_ADD_SPI_TEST 0 #define Q7S_ADD_SPI_TEST 0
#endif
#endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */ #endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */

3
common/config/commonObjects.h
View File

@ -48,6 +48,9 @@ enum commonObjects: uint32_t {
SUS_11 = 0x44000021, SUS_11 = 0x44000021,
SUS_12 = 0x44000022, SUS_12 = 0x44000022,
SUS_13 = 0x44000023, SUS_13 = 0x44000023,
GPS0_HANDLER = 0x44001000,
GPS1_HANDLER = 0x44002000
}; };
} }

2
fsfw

@ -1 +1 @@
Subproject commit cae69d540097acba46bffa47fd7afc6a8a19bd15 Subproject commit 5f9a6bb155eb59981e7ff851b7efaa1ae25e42b4

2
fsfw_hal

@ -1 +1 @@
Subproject commit fce40ebf9a4a45bafedaee2fc87e5aa10e49fdcc Subproject commit 2533af3b53804bc68436236370911e013a2b8f64

701
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -9,18 +9,40 @@
#include "objects/systemObjectList.h" #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(); 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::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0, thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); 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 #if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC4, 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); thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
#endif /* Q7S_ADD_RTD_DEVICES */ #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_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#if Q7S_ADD_RTD_DEVICES == 1 #if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE); 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_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); thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif /* Q7S_ADD_RTD_DEVICES */ #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_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
#if Q7S_ADD_RTD_DEVICES == 1 #if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE); 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_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); thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE);
#endif /* Q7S_ADD_RTD_DEVICES */ #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_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
#if Q7S_ADD_RTD_DEVICES == 1 #if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ); 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_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); thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ);
#endif /* Q7S_ADD_RTD_DEVICES */ #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_1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
#if Q7S_ADD_RTD_DEVICES == 1 #if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ); 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_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_IC17, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ);
#endif /* Q7S_ADD_RTD_DEVICES */ #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 * 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 * 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 */ /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_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, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE); // 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::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ); // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_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, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE); // 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::GET_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ); // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */ // /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions from inernal FIFO */ // /* 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::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE); // 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::GET_WRITE);
// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ); // 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_6, length * 0.917, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */ // /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions from inernal FIFO */ // /* 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::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE); // 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::GET_WRITE);
// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ); // 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_7, length * 0.92, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */ // /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions from inernal FIFO */ // /* 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::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE); // 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::GET_WRITE);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ); // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */ // /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */ // /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */ // /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */ // /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */ // /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */ // /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */ // /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */ // /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
// //
// /* Write setup */ // /* Write setup */
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION); // 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, SusHandler::FIRST_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
// /* Start ADC conversions */ // /* Start ADC conversions */
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
// /* Read ADC conversions */ // /* Read ADC conversions */
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION); // 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::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_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::SEND_READ);
// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ); // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK; sif::error << "SPI PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK;
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
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(); 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);
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -472,18 +531,18 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
length * 0.8, DeviceHandlerIF::GET_READ); length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { 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_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) { ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
/* Length of a communication cycle */ /* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, 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, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
@ -504,28 +563,28 @@ ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0, thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
@ -560,15 +619,25 @@ ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); 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_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif #endif
static_cast<void>(length);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "PollingSequence::initialize has errors!" << std::endl; #if RPI_TEST_GPS_HANDLER == 1
return HasReturnvaluesIF::RETURN_FAILED; 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<void>(length);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Test PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
} }
#if TE7020 == 1
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
@ -617,4 +686,4 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
#endif /* TE7020 == 1 */

36
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -1,7 +1,14 @@
#ifndef POLLINGSEQUENCEFACTORY_H_ #ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_ #define POLLINGSEQUENCEFACTORY_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #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; class FixedTimeslotTaskIF;
@ -25,21 +32,36 @@ class FixedTimeslotTaskIF;
namespace pst { namespace pst {
/* 0.4 second period init*/ /* 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 * @brief This function creates the PST for all gomspace devices.
* scheduled in a separate PST because the gomspace library uses * @details
* blocking calls when requesting data from devices. * 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 pollingSequenceTest(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);
#if TE7020 == 1
/** /**
* @brief This polling sequence will be created when the software is compiled for the TE0720. * @brief This polling sequence will be created when the software is compiled for the TE0720.
*/ */
ReturnValue_t pollingSequenceTE0720(FixedTimeslotTaskIF* thisSequence); ReturnValue_t pollingSequenceTE0720(FixedTimeslotTaskIF* thisSequence);
#endif
} }

24
mission/devices/GPSHandler.cpp
View File

@ -49,10 +49,26 @@ ReturnValue_t GPSHandler::buildCommandFromCommand(
ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len, ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) { DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library // Pass data to GPS library
int result = lwgps_process(&gpsData, start, len); if(len > 0) {
if(result != 0) { sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps" if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
<< std::endl; // 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 != 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; return HasReturnvaluesIF::RETURN_OK;

2
tmtc

@ -1 +1 @@
Subproject commit 20a44b4b67198d42e83a790191ad6740d0aabf7c Subproject commit 5be05c2a929dfc908b8de61250e4db890b010fa5