From d045498761e88b58b10645cdee540029ea523127 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Mar 2023 19:03:18 +0100 Subject: [PATCH 1/2] allow quicker transition --- mission/system/tree/system.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/mission/system/tree/system.cpp b/mission/system/tree/system.cpp index 5ec10a8c..710698a1 100644 --- a/mission/system/tree/system.cpp +++ b/mission/system/tree/system.cpp @@ -87,19 +87,19 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { // consecutive commanding of TCS and ACS can lead to SPI issues. iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second); iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second); + iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second); + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second); check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)), ctxc); // Build SAFE transition 1 - iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_1.second); - iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_1.second); - check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)), - ctxc); + //check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_1.first, &EIVE_TABLE_SAFE_TRANS_1.second)), + // ctxc); // Build Safe sequence ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false); ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false); - ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false); + //ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 0, false); check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second, EIVE_SEQUENCE_SAFE.first)), ctxc); @@ -129,19 +129,19 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { // Build SAFE transition 0 iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second); + iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second); + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second); check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)), ctxc); // Build SAFE transition 1 - iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_1.second); - iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_1.second); - check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)), - ctxc); + //check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_1.first, &EIVE_TABLE_IDLE_TRANS_1.second)), + // ctxc); // Build Safe sequence ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false); ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false); - ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false); + //ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_1.first, 0, false); check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second, EIVE_SEQUENCE_SAFE.first)), ctxc); From eaa0fc6cbeb0ce3da0d0ac23b0a7856a8c0cda38 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Mar 2023 14:43:50 +0100 Subject: [PATCH 2/2] bump changelog --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 739067cc..c9c811bc 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -19,6 +19,8 @@ will consitute of a breaking change warranting a new major release: ## Changed - Moved polling of all SPI parts to the same PST. +- Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS + component commanding again. # [v1.33.0]