eive/eive-obsw
eive/eive-obsw
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Final Version of the ACS Controller #367

Merged
muellerr merged 78 commits from eggert/acs into develop 2023-02-08 13:50:11 +01:00
Conversation 0 Commits 78 Files Changed 27 +568 -539
17 changed files with 568 additions and 539 deletions
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Showing only changes of commit 80f48acb07 - Show all commits

8
CHANGELOG.md
View File

@ -19,7 +19,7 @@ change warranting a new major release:
## Changed
- Readded calibration matrices for MGM calibration
- Readded calibration matrices for MGM calibration.
- Added calculation of satellite velocity vector from GPS position data
- Added detumble mode using GYR values
- Added inertial pointing mode
@ -46,7 +46,7 @@ change warranting a new major release:
stored as the git SHA hash in `commonConfig.h`. This will be
an empty string now for regular versions.
- Bump FSFW for important fix in PUS mode service.
- Bugfixes in 'SensofProcessing' where previously MGM values would be calibrated before being
- Bugfixes in 'SensorProcessing' where previously MGM values would be calibrated before being
transformed in body RF. However, the calibration values are in the body RF. Also fixed the
validity flag of 'mgmVecTotDerivative'.
- Fixed calculation of model sun vector
@ -94,6 +94,10 @@ eive-tmtc version: v2.12.0
## Changed
- Update ACS scheduling to represent the actual ACS design. There is one ACS PST now for all
timing sensitive ACS operations. In the debug builds, the new ACS polling sequence table
will have a period of 0.6 seconds, but will remain 0.4 seconds for the release build.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
- ACS Subsystem Sequence Mode IDs updated.
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365

6
CMakeLists.txt
View File

@ -304,6 +304,9 @@ else()
endif()
endif()
include(BuildType)
set_build_type()
# Configuration files
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@ -562,6 +565,3 @@ add_custom_command(
POST_BUILD
COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
COMMENT ${POST_BUILD_COMMENT})
include(BuildType)
set_build_type()

2
bsp_q7s/OBSWConfig.h.in
View File

@ -9,6 +9,8 @@
#include "commonConfig.h"
#include "q7sConfig.h"
#cmakedefine RELEASE_BUILD
/*******************************************************************/
/** All of the following flags should be enabled for mission code */
/*******************************************************************/

87
bsp_q7s/core/scheduling.cpp
View File

@ -144,11 +144,12 @@ void scheduling::initTasks() {
#endif
PeriodicTaskIF* comTask = factory->createPeriodicTask(
"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
"COM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = comTask->addComponent(objects::COM_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
}
#if OBSW_ADD_CCSDS_IP_CORES == 1
result = comTask->addComponent(objects::CCSDS_HANDLER);
if (result != returnvalue::OK) {
@ -215,35 +216,6 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
}
#if OBSW_Q7S_EM == 1
acsSysTask->addComponent(objects::MGM_0_LIS3_HANDLER);
acsSysTask->addComponent(objects::MGM_1_RM3100_HANDLER);
acsSysTask->addComponent(objects::MGM_2_LIS3_HANDLER);
acsSysTask->addComponent(objects::MGM_3_RM3100_HANDLER);
acsSysTask->addComponent(objects::IMTQ_HANDLER);
acsSysTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
acsSysTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
acsSysTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
acsSysTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
acsSysTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
acsSysTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
acsSysTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
acsSysTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
acsSysTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
acsSysTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
acsSysTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
acsSysTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
acsSysTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
acsSysTask->addComponent(objects::GYRO_1_L3G_HANDLER);
acsSysTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
acsSysTask->addComponent(objects::GYRO_3_L3G_HANDLER);
acsSysTask->addComponent(objects::GPS_CONTROLLER);
acsSysTask->addComponent(objects::STAR_TRACKER);
acsSysTask->addComponent(objects::RW1);
acsSysTask->addComponent(objects::RW2);
acsSysTask->addComponent(objects::RW3);
acsSysTask->addComponent(objects::RW4);
#endif
#if OBSW_ADD_RTD_DEVICES == 1
PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
"TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
@ -440,11 +412,30 @@ void scheduling::initTasks() {
void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = returnvalue::OK;
#ifdef RELEASE_BUILD
static constexpr float acsPstPeriod = 0.4;
#else
static constexpr float acsPstPeriod = 0.6;
#endif
FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
"ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
result = pst::pstAcs(acsPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
}
} else {
taskVec.push_back(acsPst);
}
/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
"MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
result = pst::pstSpiAndSyrlinks(spiPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@ -456,37 +447,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
}
#endif
#if OBSW_ADD_RW == 1
FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
"RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
result = pst::pstSpiRw(rwPstTask);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
}
} else {
taskVec.push_back(rwPstTask);
}
#endif
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
"UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstUart(uartPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
} else {
sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
}
} else {
taskVec.push_back(uartPst);
}
#if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
"I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
result = pst::pstI2c(i2cPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -501,7 +464,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#if OBSW_ADD_GOMSPACE_PCDU == 1
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
"GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
result = pst::pstGompaceCan(gomSpacePstTask);
if (result != returnvalue::OK) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {

3
cmake/BuildType.cmake
View File

@ -21,10 +21,13 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
)
endif()
set(RELEASE_BUILD 1 PARENT_SCOPE)
if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
message(STATUS
"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
)
set(RELEASE_BUILD 0 PARENT_SCOPE)
elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
message(STATUS
"Building Release (Debug) application with "

4
linux/ObjectFactory.cpp
View File

@ -363,6 +363,6 @@ void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
void ObjectFactory::addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler,
PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel) {
cfdpFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
pusFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
cfdpFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
pusFunnel.addDestination("PTME IP Core", ipCoreHandler, config::LIVE_TM);
}

829
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -15,38 +15,17 @@
#define RPI_TEST_GPS_HANDLER 0
#endif
ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstSpiAndSyrlinks(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
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 * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#if OBSW_ADD_SYRLINKS == 1
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
return thisSequence->checkSequence();
}
ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_PL_PCDU == 1
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -56,271 +35,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_SUN_SENSORS == 1
bool addSus0 = true;
bool addSus1 = true;
bool addSus2 = true;
bool addSus3 = true;
bool addSus4 = true;
bool addSus5 = true;
bool addSus6 = true;
bool addSus7 = true;
bool addSus8 = true;
bool addSus9 = true;
bool addSus10 = true;
bool addSus11 = true;
if (addSus0) {
/* Write setup */
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus1) {
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus2) {
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus3) {
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus4) {
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus5) {
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus6) {
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus7) {
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus8) {
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus9) {
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus10) {
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus11) {
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
#if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -330,74 +44,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
bool enableAside = true;
bool enableBside = true;
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_ACS_BOARD == 1 */
return thisSequence->checkSequence();
}
@ -407,23 +53,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_MGT == 1
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
DeviceHandlerIF::PERFORM_OPERATION);
@ -481,29 +110,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
return thisSequence->checkSequence();
}
ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_SYRLINKS == 1
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
return thisSequence->checkSequence();
}
ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
// PCDU handlers receives two messages and both must be handled
@ -576,3 +182,422 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
}
return returnvalue::OK;
}
ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_ACS_BOARD == 1
bool enableAside = true;
bool enableBside = true;
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_ACS_BOARD == 1 */
// SUS: 16 ms
#if OBSW_ADD_SUN_SENSORS == 1
bool addSus0 = true;
bool addSus1 = true;
bool addSus2 = true;
bool addSus3 = true;
bool addSus4 = true;
bool addSus5 = true;
bool addSus6 = true;
bool addSus7 = true;
bool addSus8 = true;
bool addSus9 = true;
bool addSus10 = true;
bool addSus11 = true;
if (addSus0) {
/* Write setup */
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus1) {
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus2) {
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus3) {
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus4) {
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus5) {
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus6) {
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus7) {
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus8) {
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus9) {
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus10) {
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
if (addSus11) {
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
#if OBSW_ADD_STAR_TRACKER == 1
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_MGT == 1
// This is the MTM measurement cycle
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::ACS_CONTROLLER, length * 0.1, 0);
#if OBSW_ADD_MGT == 1
// This is the torquing cycle.
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_RW == 1
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_READ);
#endif
return returnvalue::OK;
}

6
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -39,11 +39,9 @@ namespace pst {
*/
ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstAcs(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);

5
mission/acsDefs.h
View File

@ -6,8 +6,9 @@
namespace acs {
enum CtrlSubmode {
OFF = HasModesIF::SUBMODE_NONE,
// These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
enum AcsMode {
OFF = HasModesIF::MODE_OFF,
SAFE = 10,
DETUMBLE = 11,
PTG_IDLE = 12,

4
mission/controller/AcsController.cpp
View File

@ -170,7 +170,7 @@ void AcsController::performSafe() {
}
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
detumbleCounter = 0;
// Triggers detubmle mode transition in subsystem
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
}
@ -563,7 +563,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
return INVALID_SUBMODE;
}
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
if ((submode > acs::PTG_TARGET_INERTIAL) || (submode < acs::SAFE)) {
if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_TARGET_INERTIAL)) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;

8
mission/core/GenericFactory.cpp
View File

@ -127,12 +127,12 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
(*cfdpFunnel)->addDestination(*udpBridge, 0);
(*pusFunnel)->addDestination(*udpBridge, 0);
(*cfdpFunnel)->addDestination("UDP Server", *udpBridge, 0);
(*pusFunnel)->addDestination("UDP Server", *udpBridge, 0);
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
(*cfdpFunnel)->addDestination(*tcpBridge, 0);
(*pusFunnel)->addDestination(*tcpBridge, 0);
(*cfdpFunnel)->addDestination("TCP Server", *tcpBridge, 0);
(*pusFunnel)->addDestination("TCP Server", *tcpBridge, 0);
#endif
#endif
// Every TM packet goes through this funnel

4
mission/system/objects/AcsSubsystem.cpp
View File

@ -58,7 +58,7 @@ void AcsSubsystem::handleEventMessages() {
case EventMessage::EVENT_MESSAGE:
if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0);
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
@ -66,7 +66,7 @@ void AcsSubsystem::handleEventMessages() {
}
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;

107
mission/system/tree/acsModeTree.cpp
View File

@ -30,70 +30,69 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_OFF_TGT =
std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS_0 =
std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS_1 =
std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
auto ACS_SEQUENCE_DETUMBLE =
std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_DETUMBLE_TGT =
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TRANS_0 =
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_DETUMBLE_TRANS_1 =
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_SAFE_TGT =
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TRANS_0 =
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_SAFE_TRANS_1 =
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_IDLE =
std::make_pair(acs::CtrlSubmode::PTG_IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::IDLE, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_TGT =
std::make_pair((acs::CtrlSubmode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_0 =
std::make_pair((acs::CtrlSubmode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_1 =
std::make_pair((acs::CtrlSubmode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
std::make_pair((acs::AcsMode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_PTG_TRANS_0 =
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_SEQUENCE_PTG_TARGET =
std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_TGT =
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_TRANS_1 =
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_GS =
std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_GS_TGT =
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_NADIR =
std::make_pair(acs::CtrlSubmode::PTG_NADIR, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT =
std::make_pair((acs::CtrlSubmode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 =
std::make_pair((acs::CtrlSubmode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsMode::PTG_TARGET_NADIR << 24) | 1,
FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
(acs::AcsMode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
std::make_pair(acs::CtrlSubmode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT =
std::make_pair((acs::CtrlSubmode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 =
std::make_pair((acs::CtrlSubmode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
(acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
(acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
void satsystem::acs::init() {
ModeListEntry entry;
@ -123,7 +122,7 @@ void satsystem::acs::init() {
buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
ACS_SUBSYSTEM.setInitialMode(::acs::AcsMode::SAFE);
}
namespace {
@ -191,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build SAFE target
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TGT.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
@ -207,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build SAFE transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
ctxc);
@ -240,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build DETUMBLE target
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
@ -258,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
ctxc);
// Build DETUMBLE transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
true),
ctxc);
@ -292,7 +291,11 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
check(sequence.insert(eh), ctxc);
};
// Build IDLE target
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TGT.second);
>>>>>>> origin/develop
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
@ -308,7 +311,11 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
// Build IDLE transition 1
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_IDLE, ACS_TABLE_IDLE_TRANS_1.second);
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
>>>>>>> origin/develop
ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
// Build IDLE sequence
@ -340,7 +347,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
@ -351,7 +358,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
ACS_TABLE_PTG_TARGET_TRANS_1.second);
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
true),
@ -387,7 +394,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
@ -400,7 +407,11 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_NADIR,
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_NADIR,
>>>>>>> origin/develop
ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
@ -437,7 +448,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
@ -450,7 +461,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
@ -486,7 +497,11 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
};
// Build TARGET PT table
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_INERTIAL,
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
>>>>>>> origin/develop
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
@ -499,7 +514,11 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
// Transition 0 already built
// Build TARGET PT transition 1
<<<<<<< HEAD
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_INERTIAL,
=======
iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
>>>>>>> origin/develop
ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),

7
mission/tmtc/CfdpTmFunnel.cpp
View File

@ -68,7 +68,7 @@ ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
msg.setStorageId(newStoreId);
store_address_t origStoreId = newStoreId;
for (unsigned int idx = 0; idx < destinations.size(); idx++) {
const auto& destVcidPair = destinations[idx];
const auto& dest = destinations[idx];
if (destinations.size() > 1) {
if (idx < destinations.size() - 1) {
// Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
@ -87,10 +87,11 @@ ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
msg.setStorageId(origStoreId);
}
}
result = tmQueue->sendMessage(destVcidPair.first, &msg);
result = tmQueue->sendMessage(dest.queueId, &msg);
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler " << dest.name
<< " failed" << std::endl;
#endif
tmStore.deleteData(msg.getStorageId());
}

7
mission/tmtc/PusTmFunnel.cpp
View File

@ -49,7 +49,7 @@ ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
packet.updateErrorControl();
for (unsigned int idx = 0; idx < destinations.size(); idx++) {
const auto &destVcidPair = destinations[idx];
const auto &dest = destinations[idx];
if (destinations.size() > 1) {
if (idx < destinations.size() - 1) {
// Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
@ -68,10 +68,11 @@ ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
message.setStorageId(origStoreId);
}
}
result = tmQueue->sendMessage(destVcidPair.first, &message);
result = tmQueue->sendMessage(dest.queueId, &message);
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler " << dest.name
<< " failed" << std::endl;
#endif
tmStore.deleteData(message.getStorageId());
}

5
mission/tmtc/TmFunnelBase.cpp
View File

@ -13,7 +13,8 @@ MessageQueueId_t TmFunnelBase::getReportReceptionQueue(uint8_t virtualChannel) c
return tmQueue->getId();
}
void TmFunnelBase::addDestination(const AcceptsTelemetryIF &downlinkDestination, uint8_t vcid) {
void TmFunnelBase::addDestination(const char *name, const AcceptsTelemetryIF &downlinkDestination,
uint8_t vcid) {
auto queueId = downlinkDestination.getReportReceptionQueue(vcid);
destinations.emplace_back(queueId, vcid);
destinations.emplace_back(name, queueId, vcid);
}

15
mission/tmtc/TmFunnelBase.h
View File

@ -10,14 +10,25 @@
class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
public:
TmFunnelBase(object_id_t objectId, StorageManagerIF& tmStore, uint32_t tmMsgDepth);
void addDestination(const AcceptsTelemetryIF& downlinkDestination, uint8_t vcid = 0);
void addDestination(const char* name, const AcceptsTelemetryIF& downlinkDestination,
uint8_t vcid = 0);
[[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
virtual ~TmFunnelBase();
protected:
StorageManagerIF& tmStore;
std::vector<std::pair<MessageQueueId_t, uint8_t>> destinations;
struct Destination {
Destination(const char* name, MessageQueueId_t queueId, uint8_t virtualChannel)
: name(name), queueId(queueId), virtualChannel(virtualChannel) {}
const char* name;
MessageQueueId_t queueId;
uint8_t virtualChannel = 0;
};
std::vector<Destination> destinations;
MessageQueueIF* tmQueue = nullptr;
};