diff --git a/README.md b/README.md
index ba18152d..a03d7272 100644
--- a/README.md
+++ b/README.md
@@ -40,11 +40,11 @@ the TCF plugin and downloading the cross-compiler as specified in the section be
* Install settings. In the Devices selection, it is sufficient to pick SoC → Zynq-7000:
-
+
-
+
-
+
* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf
* Add path of linux cross-compiler to permanent environment variables (`.profile` file in Linux):
diff --git a/bsp_linux_board/InitMission.cpp b/bsp_linux_board/InitMission.cpp
index 16dab475..9e7abd94 100644
--- a/bsp_linux_board/InitMission.cpp
+++ b/bsp_linux_board/InitMission.cpp
@@ -135,9 +135,9 @@ void initmission::initTasks() {
}
#if OBSW_ADD_TEST_PST == 1
- FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
- "ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
- result = pst::pollingSequenceTest(pstTestTask);
+ FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
+ PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+ result = pst::pstTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
}
diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index d6dfd623..f4ae00bf 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -1,3 +1,6 @@
+#include
+#include
+#include
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
@@ -68,6 +71,8 @@ void ObjectFactory::produce(void* args){
#if RPI_ADD_UART_TEST == 1
new UartTestClass(objects::UART_TEST);
+#else
+ new UartComIF(objects::UART_COM_IF);
#endif
#if RPI_LOOPBACK_TEST_GPIO == 1
@@ -146,4 +151,15 @@ void ObjectFactory::produce(void* args){
auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisGyroHandler->setStartUpImmediately();
#endif /* RPI_TEST_ADIS16507 == 1 */
+
+#if RPI_TEST_GPS_HANDLER == 1
+ UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
+ UartModes::CANONICAL, 9600, 1024);
+ uartCookie->setToFlushInput(true);
+ uartCookie->setReadCycles(6);
+ GPSHandler* gpsHandler = new GPSHandler(objects::GPS0_HANDLER,
+ objects::UART_COM_IF, uartCookie);
+ gpsHandler->setStartUpImmediately();
+#endif
+
}
diff --git a/bsp_linux_board/boardconfig/rpiConfig.h.in b/bsp_linux_board/boardconfig/rpiConfig.h.in
index 0094903c..19629465 100644
--- a/bsp_linux_board/boardconfig/rpiConfig.h.in
+++ b/bsp_linux_board/boardconfig/rpiConfig.h.in
@@ -7,6 +7,7 @@
#define RPI_LOOPBACK_TEST_GPIO 0
#define RPI_TEST_ADIS16507 0
+#define RPI_TEST_GPS_HANDLER 0
// Only one of those 2 should be enabled!
#define RPI_ADD_SPI_TEST 0
diff --git a/bsp_q7s/InitMission.cpp b/bsp_q7s/InitMission.cpp
index 9a475a11..25cd6abf 100644
--- a/bsp_q7s/InitMission.cpp
+++ b/bsp_q7s/InitMission.cpp
@@ -85,14 +85,6 @@ void initmission::initTasks() {
initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
}
- /* UDP bridge */
- PeriodicTaskIF* errorReporterTestTask = factory->createPeriodicTask(
- "ERROR_REPORTER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
- result = udpBridgeTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
- if(result != HasReturnvaluesIF::RETURN_OK) {
- initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
- }
-
#if TEST_CCSDS_BRIDGE == 1
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
@@ -153,30 +145,51 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
+ result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
+ if(result != HasReturnvaluesIF::RETURN_OK) {
+ initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+ }
#if TE0720 == 0
-
//TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
- FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
- "PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
+ FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask(
+ "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
- result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
+ result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
#endif
- FixedTimeslotTaskIF* gomSpacePstTask = factory->
- createFixedTimeslotTask("GS_PST_TASK", 50,
- PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 1.0, missedDeadlineFunc);
- result = pst::gomspacePstInit(gomSpacePstTask);
+ FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask(
+ "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+ result = pst::pstUart(uartPst);
+ if (result != HasReturnvaluesIF::RETURN_OK) {
+ sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+ }
+ FixedTimeslotTaskIF* gpioPst = factory->createFixedTimeslotTask(
+ "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+ result = pst::pstGpio(gpioPst);
+ if (result != HasReturnvaluesIF::RETURN_OK) {
+ sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+ }
+ FixedTimeslotTaskIF* i2cPst = factory->createFixedTimeslotTask(
+ "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+ result = pst::pstI2c(i2cPst);
+ if (result != HasReturnvaluesIF::RETURN_OK) {
+ sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+ }
+
+ FixedTimeslotTaskIF* gomSpacePstTask = factory->createFixedTimeslotTask(
+ "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+ result = pst::pstGompaceCan(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
-#else
+#else /* TE7020 == 0 */
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
missedDeadlineFunc);
@@ -184,7 +197,7 @@ void initmission::initTasks() {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
}
-#endif
+#endif /* TE7020 == 1 */
#if OBSW_ADD_TEST_CODE == 1
PeriodicTaskIF* testTask = factory->createPeriodicTask(
@@ -213,9 +226,15 @@ void initmission::initTasks() {
udpBridgeTask->startTask();
udpPollingTask->startTask();
-#if TE0720 == 0 && Q7S_ADD_SPI_TEST == 0
+#if TE0720 == 0
+ uartPst->startTask();
+ gpioPst->startTask();
+ i2cPst->startTask();
+#if Q7S_ADD_SPI_TEST == 0
gomSpacePstTask->startTask();
- pollingSequenceTableTaskDefault->startTask();
+ spiPst->startTask();
+#endif /* Q7S_ADD_SPI_TEST == 0 */
+
#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
pollingSequenceTaskTE0720->startTask();
#endif
@@ -226,8 +245,6 @@ void initmission::initTasks() {
pusMedPrio->startTask();
pusLowPrio->startTask();
- errorReporterTestTask->startTask();
-
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
#endif
diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in
index 782ecf4f..81b96a7e 100644
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@@ -1,13 +1,13 @@
#ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
#define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
-#define Q7S_ADD_RTD_DEVICES 0
+#define Q7S_ADD_RTD_DEVICES 0
/* Only one of those 2 should be enabled! */
/* Add code for ACS board */
#define OBSW_ADD_ACS_BOARD 0
+#if OBSW_ADD_ACS_BOARD == 0
#define Q7S_ADD_SPI_TEST 0
-
-
+#endif
#endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */
diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h
index 3baf58b0..1651f6a0 100644
--- a/common/config/commonObjects.h
+++ b/common/config/commonObjects.h
@@ -48,6 +48,9 @@ enum commonObjects: uint32_t {
SUS_11 = 0x44000021,
SUS_12 = 0x44000022,
SUS_13 = 0x44000023,
+
+ GPS0_HANDLER = 0x44001000,
+ GPS1_HANDLER = 0x44002000
};
}
diff --git a/fsfw b/fsfw
index cae69d54..5f9a6bb1 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit cae69d540097acba46bffa47fd7afc6a8a19bd15
+Subproject commit 5f9a6bb155eb59981e7ff851b7efaa1ae25e42b4
diff --git a/fsfw_hal b/fsfw_hal
index fce40ebf..2533af3b 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit fce40ebf9a4a45bafedaee2fc87e5aa10e49fdcc
+Subproject commit 2533af3b53804bc68436236370911e013a2b8f64
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 60059d3c..3b64724a 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -9,18 +9,40 @@
#include "objects/systemObjectList.h"
-ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
+ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence)
{
- /* Length of a communication cycle */
+ // Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
- thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
+
thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
+ // Radiation sensor
+ // thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+ // if (length != 3000) {
+ // sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical "
+ // << "SUS sensors still produce correct values" << std::endl;
+ // }
+ if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+ return HasReturnvaluesIF::RETURN_OK;
+ }
+
+ sif::error << "PollingSequence::initialize has errors!" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
+ uint32_t length = thisSequence->getPeriodMs();
+
+ thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -40,12 +62,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
#endif /* Q7S_ADD_RTD_DEVICES */
- thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::PLOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@@ -65,12 +83,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif /* Q7S_ADD_RTD_DEVICES */
- thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
-
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -90,12 +104,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE);
#endif /* Q7S_ADD_RTD_DEVICES */
- thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
-
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ);
@@ -115,12 +125,8 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ);
#endif /* Q7S_ADD_RTD_DEVICES */
- thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
-
#if Q7S_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ);
@@ -139,23 +145,6 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ);
#endif /* Q7S_ADD_RTD_DEVICES */
-
- thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-
-
- /* Radiation sensor */
-// thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
-
- if (length != 3000) {
- sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical "
- << "SUS sensors still produce correct values" << std::endl;
- }
-
/**
* The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
* requests to a sun sensor must be performed consecutively. Another reason for calling multiple
@@ -166,263 +155,333 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
*/
/* Write setup */
-// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
/* Write setup */
-// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
/* Write setup */
-// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
-// /* Start ADC conversions */
-// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
-// /* Read ADC conversions from inernal FIFO */
-// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
-// /* Start ADC conversions */
-// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
-// /* Read ADC conversions from inernal FIFO */
-// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
-// /* Start ADC conversions */
-// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
-// /* Read ADC conversions from inernal FIFO */
-// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
-// /* Start ADC conversions */
-// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
-// /* Read ADC conversions */
-// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
-// /* Start ADC conversions */
-// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
-// /* Read ADC conversions */
-// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
-// /* Start ADC conversions */
-// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
-// /* Read ADC conversions */
-// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
-// /* Start ADC conversions */
-// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
-// /* Read ADC conversions */
-// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
-//
-// /* Write setup */
-// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
-// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
-// /* Start ADC conversions */
-// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
-// /* Read ADC conversions */
-// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
-// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
-// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
-// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
-// thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
+ // /* Start ADC conversions */
+ // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
+ // /* Read ADC conversions from inernal FIFO */
+ // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
+ // /* Start ADC conversions */
+ // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
+ // /* Read ADC conversions from inernal FIFO */
+ // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
+ // /* Start ADC conversions */
+ // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
+ // /* Read ADC conversions from inernal FIFO */
+ // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
+ // /* Start ADC conversions */
+ // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
+ // /* Read ADC conversions */
+ // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
+ // /* Start ADC conversions */
+ // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
+ // /* Read ADC conversions */
+ // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
+ // /* Start ADC conversions */
+ // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
+ // /* Read ADC conversions */
+ // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
+ // /* Start ADC conversions */
+ // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
+ // /* Read ADC conversions */
+ // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
+ //
+ // /* Write setup */
+ // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
+ // /* Start ADC conversions */
+ // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
+ // /* Read ADC conversions */
+ // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
+ // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
- if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
- return HasReturnvaluesIF::RETURN_OK;
+ if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
+ sif::error << "SPI PST initialization failed" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
}
-
- sif::error << "PollingSequence::initialize has errors!" << std::endl;
- return HasReturnvaluesIF::RETURN_FAILED;
+ return HasReturnvaluesIF::RETURN_OK;
}
-ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
+ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
+ // Length of a communication cycle
+ uint32_t length = thisSequence->getPeriodMs();
+ thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+ if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
+ sif::error << "I2C PST initialization failed" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
+ // Length of a communication cycle
+ uint32_t length = thisSequence->getPeriodMs();
+ thisSequence->addSlot(objects::PLOC_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+
+ thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+
+ thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+
+ thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
+
+ thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8,
+ DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
+ DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
+ DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
+ DeviceHandlerIF::GET_READ);
+
+ if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
+ sif::error << "UART PST initialization failed" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence){
uint32_t length = thisSequence->getPeriodMs();
+ // PCDU handlers receives two messages and both must be handled
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -472,18 +531,18 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
- sif::error << "Initialization of GomSpace PST failed" << std::endl;
+ sif::error << "GomSpace PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
-ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
+ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
+ DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
@@ -504,28 +563,28 @@ ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
+ DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+ DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
@@ -560,15 +619,25 @@ ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
- static_cast(length);
- if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
- return HasReturnvaluesIF::RETURN_OK;
- }
- sif::error << "PollingSequence::initialize has errors!" << std::endl;
- return HasReturnvaluesIF::RETURN_FAILED;
+#if RPI_TEST_GPS_HANDLER == 1
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
+#endif
+ static_cast(length);
+ if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
+ sif::error << "Test PST initialization failed" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ return HasReturnvaluesIF::RETURN_OK;
}
+#if TE7020 == 1
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
@@ -617,4 +686,4 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
}
return HasReturnvaluesIF::RETURN_OK;
}
-
+#endif /* TE7020 == 1 */
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
index e05f96aa..a2b5edfb 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
@@ -1,7 +1,14 @@
#ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_
-#include
+#include "OBSWConfig.h"
+#if defined(RASPBERRY_PI)
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
class FixedTimeslotTaskIF;
@@ -25,21 +32,36 @@ class FixedTimeslotTaskIF;
namespace pst {
/* 0.4 second period init*/
-ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
+ReturnValue_t pstGpio(FixedTimeslotTaskIF *thisSequence);
/**
- * @brief This function creates the PST for all gomspace devices. They are
- * scheduled in a separate PST because the gomspace library uses
- * blocking calls when requesting data from devices.
+ * @brief This function creates the PST for all gomspace devices.
+ * @details
+ * Scheduled in a separate PST because the gomspace library uses blocking calls when requesting
+ * data from devices.
*/
-ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
+ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF *thisSequence);
-ReturnValue_t pollingSequenceTest(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
+
+ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
+
+/**
+ * Generic test PST
+ * @param thisSequence
+ * @return
+ */
+ReturnValue_t pstTest(FixedTimeslotTaskIF* thisSequence);
+
+#if TE7020 == 1
/**
* @brief This polling sequence will be created when the software is compiled for the TE0720.
*/
ReturnValue_t pollingSequenceTE0720(FixedTimeslotTaskIF* thisSequence);
+#endif
+
}
diff --git a/mission/devices/GPSHandler.cpp b/mission/devices/GPSHandler.cpp
index 86733794..3fdb6ab1 100644
--- a/mission/devices/GPSHandler.cpp
+++ b/mission/devices/GPSHandler.cpp
@@ -49,10 +49,26 @@ ReturnValue_t GPSHandler::buildCommandFromCommand(
ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
- int result = lwgps_process(&gpsData, start, len);
- if(result != 0) {
- sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
- << std::endl;
+ if(len > 0) {
+ sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
+ if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
+ // TODO: Check whether data is valid by chcking whether NMEA start string is valid
+ commandExecuted = true;
+ }
+ int result = lwgps_process(&gpsData, start, len);
+ if(result != 1) {
+ sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps"
+ << std::endl;
+ }
+ else {
+ sif::info << "GPS Data" << std::endl;
+ // Print messages
+ printf("Valid status: %d\n", gpsData.is_valid);
+ printf("Latitude: %f degrees\n", gpsData.latitude);
+ printf("Longitude: %f degrees\n", gpsData.longitude);
+ printf("Altitude: %f meters\n", gpsData.altitude);
+ }
+ *foundLen = len;
}
return HasReturnvaluesIF::RETURN_OK;
diff --git a/tmtc b/tmtc
index 20a44b4b..5be05c2a 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 20a44b4b67198d42e83a790191ad6740d0aabf7c
+Subproject commit 5be05c2a929dfc908b8de61250e4db890b010fa5