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@ -1,5 +1,7 @@
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#include "pollingSequenceFactory.h"
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#include "eive/definitions.h"
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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@ -183,94 +185,94 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
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return returnvalue::OK;
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}
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ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
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ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
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/* Length of a communication cycle */
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uint32_t length = thisSequence->getPeriodMs();
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#if OBSW_ADD_ACS_BOARD == 1
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bool enableAside = true;
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bool enableBside = true;
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if(cfg.scheduleAcsBoard) {
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if (enableAside) {
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// A side
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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}
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if (enableBside) {
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// B side
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
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}
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}
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#endif /* OBSW_ADD_ACS_BOARD == 1 */
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// SUS: 16 ms
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#if OBSW_ADD_SUN_SENSORS == 1
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bool addSus0 = true;
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bool addSus1 = true;
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@ -285,6 +287,7 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
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bool addSus10 = true;
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bool addSus11 = true;
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if(cfg.scheduleSus) {
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if (addSus0) {
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/* Write setup */
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
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@ -297,13 +300,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
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thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus1) {
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@ -317,13 +320,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
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thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_READ);
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}
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if (addSus2) {
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@ -337,13 +340,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
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|
|
|
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
if (addSus3) {
|
|
|
|
@ -357,13 +360,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
|
|
|
|
|
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,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
if (addSus4) {
|
|
|
|
@ -377,13 +380,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
|
|
|
|
|
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,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
if (addSus5) {
|
|
|
|
@ -397,13 +400,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
|
|
|
|
|
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,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -418,13 +421,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
|
|
|
|
|
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,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -439,13 +442,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
|
|
|
|
|
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,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -460,13 +463,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
|
|
|
|
|
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,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -480,13 +483,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
|
|
|
|
|
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,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -502,13 +505,13 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
|
|
|
|
|
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,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
@ -524,80 +527,81 @@ ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
|
|
|
|
|
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,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
|
|
|
|
|
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * config::acs::SCHED_BLOCK_1_PERIOD,
|
|
|
|
|
DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#if OBSW_ADD_STAR_TRACKER == 1
|
|
|
|
|
if(cfg.scheduleStr) {
|
|
|
|
|
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
|
|
|
|
|
if(cfg.scheduleImtq) {
|
|
|
|
|
// This is the MTM measurement cycle
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
thisSequence->addSlot(objects::ACS_CONTROLLER, length * 0.1, 0);
|
|
|
|
|
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
|
|
|
|
|
|
|
|
|
|
#if OBSW_ADD_MGT == 1
|
|
|
|
|
if(cfg.scheduleImtq) {
|
|
|
|
|
// 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
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#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);
|
|
|
|
|
if(cfg.scheduleRws) {
|
|
|
|
|
|
|
|
|
|
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 * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::PERFORM_OPERATION);
|
|
|
|
|
|
|
|
|
|
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 * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_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 * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
|
|
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
|
|
|
|
|
|
|
|
|
|
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
|
|
|
|
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
|
|
|
|
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
|
|
|
|
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
|
|
|
|
|
}
|
|
|
|
|
return returnvalue::OK;
|
|
|
|
|
}
|
|
|
|
|