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https://bitbucket.org/librepilot/librepilot.git
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91 lines
2.6 KiB
Plaintext
91 lines
2.6 KiB
Plaintext
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// Regenerate using graphviz/dotty with this command
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// dot -Tjpg ./flight/Doc/Architecture/ahrs_spi_link_fsm.dot > ./flight/Doc/Architecture/ahrs_spi_link_fsm.jpg
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digraph ahrs_spi_protocol {
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label="AHRS SPI Link State Machine"
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labelloc=t
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labeljust = l
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// Stopped -- Undefined Wire State
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{
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node [ style=filled,color=lightgray ]
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stopped [ shape="doublecircle" ]
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stopping
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}
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// Wire State Inactive
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{
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node [ style=filled,color=lightblue ]
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inactive
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}
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// Wire State Busy
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{
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node [ style=filled,color=red ]
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user_busy
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user_busy_tx_pending
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user_busy_rx_pending
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user_busy_rxtx_pending
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}
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{
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node [ style=filled,color=yellow ]
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user_tx_pending
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user_rx_pending
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user_rxtx_pending
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}
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// Wire State Ready
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{
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node [ style=filled,color=green ]
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user_rx_active
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user_tx_active
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user_rxtx_active
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}
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//
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// State transitions driven by the user
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//
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stopped -> inactive [ label="init link" ]
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inactive -> stopping [ label="stop" ]
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inactive -> user_busy_rx_pending [ label="user set rx" ]
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inactive -> user_busy_tx_pending [ label="user set tx" ]
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user_busy -> user_busy_tx_pending [ label="user set tx" ]
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user_busy -> user_busy_rx_pending [ label="user set rx" ]
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user_busy -> inactive [ label="user done" ]
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user_busy -> stopping [ label="stop" ]
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user_busy_tx_pending -> user_busy_rxtx_pending [ label="user set rx" ]
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user_busy_tx_pending -> user_tx_pending [ label="user done" ]
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user_busy_rx_pending -> user_busy_rxtx_pending [ label="user set tx" ]
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user_busy_rx_pending -> user_rx_pending [ label="user done" ]
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user_busy_rxtx_pending -> user_rxtx_pending [ label="user done" ]
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//
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// State transitions driven by messaging from the OP board
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//
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stopping -> stopped [ label="rx any" ]
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user_tx_pending -> user_tx_active [ label="rx any" ]
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user_rx_pending -> user_rx_active [ label="rx any" ]
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user_rxtx_pending -> user_rxtx_active [ label="rx any" ]
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// Active -> Busy
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user_rx_active -> user_busy [ label="rx user" ]
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user_tx_active -> inactive [ label="rx any" ]
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user_rxtx_active -> user_busy [ label="rx user" ]
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user_rxtx_active -> user_rx_active [ label="rx link" ]
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user_rxtx_active -> user_rx_active [ label="rx unknown" ]
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}
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