M1M3 Static Support Documentation

The M1M3 Static Support (SS) C++ code is a layer between TCS (SAL) and NI cRIO FPGA. The code is designed to run cRIO CPU, on NI provided real-time Linux. LabView FPGA code is stored in ts_m1m3supportfpga.

Code is organized as follow:

• Threads various threads run in M1M3. Thread runs a single task:
  • ControllerThread
  • SubscriberThread
  • OuterLoopClockThread
  • PPSThread
• Model holds pointers to cRIO boards.
• States State and its children, representing M1M3 states
  • State, abstract parent class
    • OfflineState
    • DisabledState
    • StandbyState
    • EnabledState - parent abstract class for Enabled substates
      • ParkedState, ParkedEngineeringState
      • RaisingState, RaisingEngineeringState
      • ActiveState, ActiveEngineeringState
      • LoweringState, LoweringEngineeringState
    • FaultState
• Context glue Model and State
• Subscriber and Publisher for SAL communication classes.
• Commands contains Command & children executed from the Controller