eive/eive-obsw
eive/eive-obsw
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ACS board added #86

Merged
meierj merged 7 commits from mueller/acs-board-added into develop 2021-08-18 12:44:28 +02:00
Conversation 1 Commits 7 Files Changed 30 +83 -51
6 changed files with 83 additions and 51 deletions
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Showing only changes of commit aa248b7997 - Show all commits

3
bsp_linux_board/ObjectFactory.cpp
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@ -1,3 +1,4 @@
#include <devConf.h>
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
@ -6,8 +7,6 @@
#include "OBSWConfig.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
#include "spiConf.h"
#include "linux/boardtest/LibgpiodTest.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/boardtest/UartTestClass.h"

14
bsp_q7s/boardconfig/busConf.h Normal file
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@ -0,0 +1,14 @@
#ifndef BSP_Q7S_BOARDCONFIG_BUSCONF_H_
#define BSP_Q7S_BOARDCONFIG_BUSCONF_H_
namespace q7s {
static constexpr char SPI_DEFAULT_FILE[] = "dev/spidev2.0";
static constexpr char SPI_RW_FILE[] = "dev/spidev3.0";
}
#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

99
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,12 +1,12 @@
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "devConf.h"
#include "busConf.h"
#include "tmtc/apid.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "tmtc/pusIds.h"
#include "devices/powerSwitcherList.h"
#include "spiConf.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
@ -45,6 +45,7 @@
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/devices/GPSHyperionHandler.h>
#include "mission/utility/TmFunnel.h"
#include "linux/obc/CCSDSIPCoreBridge.h"
@ -105,7 +106,8 @@ void ObjectFactory::produce(void* args){
ObjectFactory::produceGenericObjects();
new CoreController(objects::CORE_CONTROLLER);
LinuxLibgpioIF* gpioComIF = nullptr;
createCommunicationInterfaces(&gpioComIF);
UartComIF* uartComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF);
createTmpComponents();
#if BOARD_TE0720 == 0
@ -113,7 +115,7 @@ void ObjectFactory::produce(void* args){
createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF);
createAcsBoardComponents(gpioComIF, uartComIF);
#endif /* OBSW_ADD_ACS_BOARD == 1 */
createHeaterComponents();
createSolarArrayDeploymentComponents();
@ -208,9 +210,10 @@ void ObjectFactory::createTmpComponents() {
(void) tmp1075Handler_2;
}
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
if(gpioComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid GPIO ComIF"
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
UartComIF** uartComIF) {
if(gpioComIF == nullptr or uartComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
<< std::endl;
}
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
@ -218,7 +221,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF);
new I2cComIF(objects::I2C_COM_IF);
new UartComIF(objects::UART_COM_IF);
*uartComIF = new UartComIF(objects::UART_COM_IF);
#if Q7S_ADD_SPI_TEST == 0
new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
#endif /* Q7S_ADD_SPI_TEST == 0 */
@ -264,7 +267,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
gpioComIF->addGpios(gpioCookieRadSensor);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
}
@ -315,43 +318,43 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
SUS::MAX1227_SPI_FREQ);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
@ -382,7 +385,7 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
gpioIds::CS_SUS_13);
}
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr;
gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
@ -413,7 +416,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(gpioCookieAcsBoard);
std::string spiDev = "/dev/spidev2.0";
std::string spiDev = q7s::SPI_DEFAULT_FILE;
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
@ -454,6 +457,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
// gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
// spiCookie);
// gyroL3gHandler->setStartUpImmediately();
// TODO: Add GPS device handlers
// auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
// maxReplyLen);
// auto uartCookieGps1 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
// maxReplyLen);
// new GPSHyperionHandler(objects::GPS0_HANDLER, uartComIF);
// new GPSHyperionHandler(objects::GPS1_HANDLER, uartComIF);
}
void ObjectFactory::createHeaterComponents() {
@ -578,52 +589,52 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(rtdGpioCookie);
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_3, 2000000);
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 3900000);
SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, 2000000);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
@ -716,16 +727,16 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
gpioComIF->addGpios(gpioCookieRw);
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev3.0",
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_FILE,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, "/dev/spidev3.0",
auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_FILE,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, "/dev/spidev3.0",
auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_FILE,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev3.0",
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_FILE,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);

5
bsp_q7s/core/ObjectFactory.h
View File

@ -2,18 +2,19 @@
#define BSP_Q7S_OBJECTFACTORY_H_
class LinuxLibgpioIF;
class UartComIF;
namespace ObjectFactory {
void setStatics();
void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF);
void createTmpComponents();
void createPcduComponents();
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);
void createHeaterComponents();
void createSolarArrayDeploymentComponents();
void createSyrlinksComponents();

10
common/config/spiConf.h → common/config/devConf.h
View File

@ -1,5 +1,5 @@
#ifndef COMMON_CONFIG_SPICONF_H_
#define COMMON_CONFIG_SPICONF_H_
#ifndef COMMON_CONFIG_DEVCONF_H_
#define COMMON_CONFIG_DEVCONF_H_
#include <cstdint>
#include <fsfw_hal/linux/spi/spiDefinitions.h>
@ -31,4 +31,8 @@ static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
}
#endif /* COMMON_CONFIG_SPICONF_H_ */
namespace uart {
}
#endif /* COMMON_CONFIG_DEVCONF_H_ */

3
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -423,6 +423,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
@ -491,6 +492,8 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "SPI PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;