#include "pollingSequenceFactory.h" #include #include #include #include #include "mission/devices/devicedefinitions/Max31865Definitions.h" #ifndef RPI_TEST_ADIS16507 #define RPI_TEST_ADIS16507 0 #endif #ifndef RPI_TEST_GPS_HANDLER #define RPI_TEST_GPS_HANDLER 0 #endif ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) { // Length of a communication cycle uint32_t length = thisSequence->getPeriodMs(); thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); if (thisSequence->checkSequence() == returnvalue::OK) { return returnvalue::OK; } sif::error << "PollingSequence::initialize has errors!" << std::endl; return returnvalue::FAILED; } ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) { uint32_t length = thisSequence->getPeriodMs(); static_cast(length); thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ); return thisSequence->checkSequence(); } ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { uint32_t length = thisSequence->getPeriodMs(); static_cast(length); #if OBSW_ADD_PL_PCDU == 1 thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ); #endif #if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); #endif #if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE); #endif #if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_WRITE); #endif #if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_READ); #endif #if OBSW_ADD_TMP_DEVICES == 1 thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_READ); #endif #if OBSW_ADD_SUN_SENSORS == 1 bool addSus0 = true; bool addSus1 = true; bool addSus2 = true; bool addSus3 = true; bool addSus4 = true; bool addSus5 = true; bool addSus6 = true; bool addSus7 = true; bool addSus8 = true; bool addSus9 = true; bool addSus10 = true; bool addSus11 = true; if (addSus0) { /* Write setup */ thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus1) { thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus2) { thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus3) { thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus4) { thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus5) { thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus6) { thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus7) { thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus8) { thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus9) { thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus10) { thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, DeviceHandlerIF::GET_READ); } if (addSus11) { thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, DeviceHandlerIF::GET_READ); } #endif /* OBSW_ADD_SUN_SENSORS == 1 */ #if OBSW_ADD_RAD_SENSORS == 1 /* Radiation sensor */ thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION); 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); #endif #if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 bool enableAside = true; bool enableBside = true; if (enableAside) { // A side thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); } if (enableBside) { // B side thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); } #endif /* OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 */ return thisSequence->checkSequence(); } ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { // Length of a communication cycle uint32_t length = thisSequence->getPeriodMs(); static_cast(length); #if OBSW_ADD_MGT == 1 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); #endif #if OBSW_ADD_BPX_BATTERY_HANDLER == 1 thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); #endif static_cast(length); return thisSequence->checkSequence(); } ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) { // Length of a communication cycle uint32_t length = thisSequence->getPeriodMs(); bool uartPstEmpty = true; #if OBSW_ADD_PLOC_MPSOC == 1 uartPstEmpty = false; thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); #endif thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); #if OBSW_ADD_PLOC_SUPERVISOR == 1 thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); #endif #if OBSW_ADD_SYRLINKS == 1 uartPstEmpty = false; thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); #endif #if OBSW_ADD_STAR_TRACKER == 1 uartPstEmpty = false; thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ); #endif static_cast(length); if (uartPstEmpty) { return returnvalue::OK; } if (thisSequence->checkSequence() != returnvalue::OK) { sif::error << "UART PST initialization failed" << std::endl; return returnvalue::FAILED; } return returnvalue::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::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::ACU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::ACU_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::ACU_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::ACU_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); if (thisSequence->checkSequence() != returnvalue::OK) { sif::error << "GomSpace PST initialization failed" << std::endl; return returnvalue::FAILED; } static_cast(length); return returnvalue::OK; } ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) { /* Length of a communication cycle */ uint32_t length = thisSequence->getPeriodMs(); bool notEmpty = false; #if RPI_TEST_ADIS16507 == 1 notEmpty = true; thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); 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 #if RPI_TEST_GPS_HANDLER == 1 notEmpty = true; 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 (not notEmpty) { return returnvalue::FAILED; } if (thisSequence->checkSequence() != returnvalue::OK) { sif::error << "Test PST initialization failed" << std::endl; return returnvalue::FAILED; } return returnvalue::OK; }