eive/eive-obsw
eive/eive-obsw
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This commit is contained in:
Robin Müller 2023-02-16 16:08:17 +01:00
parent 6be54a9485
commit feb59d321c
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
8 changed files with 50 additions and 157 deletions
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14
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,6 +1,7 @@
#include "ObjectFactory.h"
#include <fsfw/subsystem/Subsystem.h>
#include <linux/devices/RwPollingTask.h>
#include <mission/system/objects/CamSwitcher.h>
#include "OBSWConfig.h"
@ -150,9 +151,8 @@ void ObjectFactory::createTmpComponents() {
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
SerialComIF** uartComIF, SpiComIF** spiMainComIF,
I2cComIF** i2cComIF, SpiComIF** spiRWComIF) {
if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
spiRWComIF == nullptr) {
I2cComIF** i2cComIF) {
if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
<< std::endl;
}
@ -163,7 +163,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
*uartComIF = new SerialComIF(objects::UART_COM_IF);
*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
//*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
}
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
@ -678,10 +678,10 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
gpioIds::EN_RW4};
std::array<DeviceHandlerBase*, 4> rws = {};
new RwPollingTask(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
rwCookies[idx] =
new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second, rws::MAX_REPLY_SIZE,
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
rwGpioIds[idx], idx);
rwCookies[idx]->setCallbackArgs(rwHandler);

3
bsp_q7s/core/ObjectFactory.h
View File

@ -25,8 +25,7 @@ void setStatics();
void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, SerialComIF** uartComIF,
SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
SpiComIF** spiRwComIF);
SpiComIF** spiMainComIF, I2cComIF** i2cComIF);
void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);

12
bsp_q7s/core/scheduling.cpp
View File

@ -196,6 +196,15 @@ void scheduling::initTasks() {
}
#endif /* OBSW_ADD_GPS_CTRL */
#if OBSW_ADD_RW == 1
PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
"RW_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = rwPolling->addComponent(objects::SPI_RW_COM_IF);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("RW_POLLING_TASK", objects::SPI_RW_COM_IF);
}
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(acsSysTask);
@ -355,6 +364,9 @@ void scheduling::initTasks() {
strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_RW == 1
rwPolling->startTask();
#endif
#if OBSW_ADD_GPS_CTRL == 1
gpsTask->startTask();
#endif

3
bsp_q7s/fmObjectFactory.cpp
View File

@ -25,8 +25,7 @@ void ObjectFactory::produce(void* args) {
SpiComIF* spiMainComIF = nullptr;
I2cComIF* i2cComIF = nullptr;
PowerSwitchIF* pwrSwitcher = nullptr;
SpiComIF* spiRwComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
/* Adding gpios for chip select decoding to the gpioComIf */
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);

2
common/config/eive/definitions.h
View File

@ -61,6 +61,7 @@ static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
static constexpr uint32_t SCHED_BLOCK_3_ACS_CTRL_MS = 45;
static constexpr uint32_t SCHED_BLOCK_4_ACTUATOR_MS = 50;
static constexpr uint32_t SCHED_BLOCK_5_RW_READ_MS = 300;
// 15 ms for FM
static constexpr float SCHED_BLOCK_1_PERIOD = static_cast<float>(SCHED_BLOCK_1_SUS_READ_MS) / 400.0;
@ -68,6 +69,7 @@ static constexpr float SCHED_BLOCK_2_PERIOD =
static_cast<float>(SCHED_BLOCK_2_SENSOR_READ_MS) / 400.0;
static constexpr float SCHED_BLOCK_3_PERIOD = static_cast<float>(SCHED_BLOCK_3_ACS_CTRL_MS) / 400.0;
static constexpr float SCHED_BLOCK_4_PERIOD = static_cast<float>(SCHED_BLOCK_4_ACTUATOR_MS) / 400.0;
static constexpr float SCHED_BLOCK_5_PERIOD = static_cast<float>(SCHED_BLOCK_5_RW_READ_MS) / 400.0;
} // namespace acs

30
linux/devices/RwPollingTask.cpp
View File

@ -5,18 +5,19 @@
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/common/spi/spiCommon.h>
#include <fsfw_hal/linux/utility.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include "devConf.h"
#include "mission/devices/devicedefinitions/rwHelpers.h"
RwPollingTask::RwPollingTask(object_id_t objectId, SpiComIF* spiIF)
: SystemObject(objectId), spiIF(spiIF) {
RwPollingTask::RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF)
: SystemObject(objectId), spiDev(spiDev), gpioIF(gpioIF) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
ipcLock = MutexFactory::instance()->createMutex();
spiLock = spiIF->getCsMutex();
spiDev = spiIF->getSpiDev().c_str();
spiLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
@ -79,13 +80,7 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::initialize() {
if (spiDev == nullptr) {
sif::error << "SPI device is invalid" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::initialize() { return returnvalue::OK; }
ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
// We don't need to set the speed because a SPI core is used, but the mode has to be set once
@ -96,7 +91,16 @@ ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
sif::error << "could not open RW SPI bus" << std::endl;
return returnvalue::FAILED;
}
spiIF->setSpiSpeedAndMode(fd, spi::RW_MODE, spi::RW_SPEED);
spi::SpiModes mode = spi::RW_MODE;
int retval = ioctl(fd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
}
retval = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi::RW_SPEED);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
close(fd);
modeAndSpeedWasSet = true;
}
@ -201,7 +205,6 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
ReturnValue_t result = returnvalue::OK;
int fd = 0;
gpioId_t gpioId = rwCookie.getChipSelectPin();
GpioIF& gpioIF = spiIF->getGpioInterface();
pullCsLow(gpioId, spiLock, gpioIF);
uint8_t byteRead = 0;
for (unsigned idx = 0; idx < MAX_RETRIES_REPLY; idx++) {
@ -439,7 +442,6 @@ void RwPollingTask::closeSpi(int fd) {
ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
gpioId_t gpioId = rwCookie.getChipSelectPin();
GpioIF& gpioIF = spiIF->getGpioInterface();
if (spiLock == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return returnvalue::FAILED;

5
linux/devices/RwPollingTask.h
View File

@ -5,6 +5,7 @@
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
@ -30,7 +31,7 @@ class RwCookie : public SpiCookie {
class RwPollingTask : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
public:
RwPollingTask(object_id_t objectId, SpiComIF* spiIF);
RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
@ -43,7 +44,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
MutexIF* ipcLock;
MutexIF* spiLock;
const char* spiDev;
SpiComIF* spiIF;
GpioIF& gpioIF;
std::array<bool, 4> skipCommandingForRw;
std::array<DeviceCommandId_t, 4> specialRequestIds;
std::array<RwCookie*, 4> rwCookies;

138
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -632,83 +632,6 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::GET_READ);
}
if (cfg.scheduleRws) {
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
}
if (cfg.scheduleRws) {
// this is the torquing cycle
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
@ -738,67 +661,22 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_5_PERIOD,
DeviceHandlerIF::GET_READ);
}