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--- eeros_architecture:control_system:time_domains [2017/03/24 10:45] – [Catching Faults in Time Domains] graf
+++ eeros_architecture:control_system:time_domains [2017/10/19 18:19] – [Transitions from one Time Domain to another] graf
@@ Line 1: / Line 1: @@
-====== Time domains ======
+====== Time Domains ======
 Time domains comprise blocks which run with the same periodicity. Each time such a time domain executes everyone of its blocks runs in a predetermined way. A control system may have one or several time domains running with different periods.
 [{{ :eeros_architecture:control_system:controlloopwithtwotimedomains.png?500 | //Signal flow for a 1 ms filtered input into a 5 ms loop// }}]
@@ Line 13: / Line 13: @@
 </code>
 Finally, you have to add the time domain to the executor, refer to [[eeros_architecture:control_system:executor|]].
+If a block no longer has to run - this could be the case for blocks used solely for initializing - it can be removed with
+<code cpp>
+  td.removeBlock(const1);
+</code>
 ===== Time Stamps =====
 Each signals's value will be marked with a timestamp, indicating the exact time corresponding to the value of the represented physical quantity. This is for instance when the value was captured or generated.
@@ Line 37: / Line 42: @@
 </code>
+===== Transitions from one Time Domain to another =====
+The control system offers a special transition block whenever a signal crosses from one time domain to another. Such a transition block has two different manifestations depending on the two time domains involved.
+  * Signal passing from slow time domain to fast time domain: In this case the transition block does interpolate the signal in the fast time domain.
+  * Signal passing from fast time domain to slow time domain: The transition block filters the incoming signal according to a desired timestamp.
+For further details of the transition block, see [[eeros_architecture:control_system:available_blocks:transition|]].