diff --git a/bsp_q7s/obsw.cpp b/bsp_q7s/obsw.cpp index 91bad041..3ae795fc 100644 --- a/bsp_q7s/obsw.cpp +++ b/bsp_q7s/obsw.cpp @@ -13,6 +13,8 @@ #include "core/scheduling.h" #include "fsfw/tasks/TaskFactory.h" #include "fsfw/version.h" +#include "mission/acsDefs.h" +#include "mission/system/tree/system.h" #include "q7sConfig.h" #include "watchdog/definitions.h" @@ -72,6 +74,18 @@ int obsw::obsw() { scheduling::initMission(); + // Command the EIVE system to safe mode + /* + auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue(); + CommandMessage msg; + ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0); + ReturnValue_t result = + MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false); + if (result != returnvalue::OK) { + sif::error << "Sending safe mode command to EIVE system failed" << std::endl; + } + */ + for (;;) { /* Suspend main thread by sleeping it. */ TaskFactory::delayTask(5000); diff --git a/common/config/devConf.h b/common/config/devConf.h index beb01282..d212835f 100644 --- a/common/config/devConf.h +++ b/common/config/devConf.h @@ -51,6 +51,8 @@ static constexpr dur_millis_t RTD_CS_TIMEOUT = 50; static constexpr uint32_t RTD_SPEED = 2'000'000; static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3; +static constexpr dur_millis_t SUS_CS_TIMEOUT = 50; + } // namespace spi namespace uart { diff --git a/fsfw b/fsfw index d302ba71..7fae6cbd 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit d302ba71858edfa15834ff8b28d6cce2c2cbbb84 +Subproject commit 7fae6cbd6db588d69fc00198e4b2a9d8a7c12f59 diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index 3e206cf9..1003ead4 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -79,6 +79,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo std::array susHandlers = {}; SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[0] = new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF); @@ -86,6 +87,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[1] = new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB); @@ -93,6 +95,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[2] = new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB); @@ -100,6 +103,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[3] = new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF); @@ -107,6 +111,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[4] = new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF); @@ -114,6 +119,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[5] = new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB); @@ -121,6 +127,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[6] = new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF); @@ -128,6 +135,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[7] = new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB); @@ -135,6 +143,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[8] = new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB); @@ -142,6 +151,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[9] = new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF); @@ -149,6 +159,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[10] = new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF); @@ -156,6 +167,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT); susHandlers[11] = new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB); diff --git a/mission/devices/ImtqHandler.cpp b/mission/devices/ImtqHandler.cpp index 8cdb8de6..0e75c06d 100644 --- a/mission/devices/ImtqHandler.cpp +++ b/mission/devices/ImtqHandler.cpp @@ -707,7 +707,7 @@ ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDat subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0)); poolManager.subscribeForDiagPeriodicPacket( subdp::DiagnosticsHkPeriodicParams(rawMtmMeasurementSet.getSid(), false, 10.0)); - return returnvalue::OK; + return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager); } ReturnValue_t ImtqHandler::getSelfTestCommandId(DeviceCommandId_t* id) { diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index 55b4ac70..7d3fef4f 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -30,6 +30,8 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper); static const auto OFF = HasModesIF::MODE_OFF; static const auto NML = DeviceHandlerIF::MODE_NORMAL; +auto SUS_BOARD_NML_TRANS = std::make_pair(0x20, FixedArrayList()); + auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList()); auto ACS_TABLE_OFF_TGT = std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList()); @@ -39,56 +41,56 @@ auto ACS_TABLE_OFF_TRANS_1 = std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_DETUMBLE = - std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList()); + std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TGT = std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TRANS_0 = std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TRANS_1 = - std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList()); +auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList()); auto ACS_TABLE_SAFE_TGT = std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList()); auto ACS_TABLE_SAFE_TRANS_0 = std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList()); auto ACS_TABLE_SAFE_TRANS_1 = - std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList()); +auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList()); auto ACS_TABLE_IDLE_TGT = std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList()); auto ACS_TABLE_IDLE_TRANS_0 = std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList()); auto ACS_TABLE_IDLE_TRANS_1 = - std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList()); + std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList()); auto ACS_TABLE_PTG_TRANS_0 = std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET = - std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList()); + std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_TGT = std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_TRANS_1 = std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET_GS = - std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList()); + std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_GS_TGT = std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 = std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET_NADIR = - std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList()); + std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_PTG_TARGET_INERTIAL = - std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList()); + std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 1, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = @@ -114,6 +116,10 @@ Subsystem& satsystem::acs::init() { TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)), ctxc); + // Build SUS board transition + iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second); + check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)), ctxc); + buildOffSequence(ACS_SUBSYSTEM, entry); buildSafeSequence(ACS_SUBSYSTEM, entry); buildDetumbleSequence(ACS_SUBSYSTEM, entry); @@ -158,7 +164,6 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); - iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second); check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc); @@ -199,13 +204,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { // Build SAFE transition 0 iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true), ctxc); + // SUS board transition table is defined above + // Build SAFE transition 1 iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second); check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true), @@ -213,6 +219,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { // Build SAFE sequence ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true); + ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false); check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first, @@ -247,6 +254,8 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true), ctxc); + // SUS board transition table is defined above + // Build DETUMBLE transition 0 iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); @@ -265,6 +274,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { // Build DETUMBLE sequence ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true); + ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false); check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first, @@ -299,6 +309,8 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second); ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true); + // SUS board transition table is built above + // Build IDLE transition 0 iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second); @@ -313,6 +325,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true); + ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true); ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false, @@ -349,6 +362,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true), ctxc); + // SUS board transition table is built above // Transition 0 already built // Build TARGET PT transition 1 iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second); @@ -358,6 +372,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true); + ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true); check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first, @@ -407,6 +422,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true); + ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, SUS_BOARD_NML_TRANS.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true); check( @@ -457,6 +473,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true); + ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, SUS_BOARD_NML_TRANS.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true); check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first, @@ -506,6 +523,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true); + ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, SUS_BOARD_NML_TRANS.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0, true); diff --git a/mission/system/tree/system.cpp b/mission/system/tree/system.cpp index e8f9d5b1..5c3bacf9 100644 --- a/mission/system/tree/system.cpp +++ b/mission/system/tree/system.cpp @@ -95,7 +95,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { // 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, 3, false); + ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_1.first, 4, false); check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second, EIVE_SEQUENCE_SAFE.first)), ctxc);