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https://bitbucket.org/librepilot/librepilot.git
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68 lines
1.8 KiB
C
68 lines
1.8 KiB
C
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#ifndef AHRS_FSM_H
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#define AHRS_FSM_H
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#include "pios_opahrs_proto.h"
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enum lfsm_state {
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LFSM_STATE_FAULTED = 0, /* Must be zero so undefined transitions land here */
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LFSM_STATE_STOPPED,
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LFSM_STATE_STOPPING,
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LFSM_STATE_INACTIVE,
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LFSM_STATE_USER_BUSY,
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LFSM_STATE_USER_BUSY_RX_PENDING,
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LFSM_STATE_USER_BUSY_TX_PENDING,
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LFSM_STATE_USER_BUSY_RXTX_PENDING,
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LFSM_STATE_USER_RX_PENDING,
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LFSM_STATE_USER_TX_PENDING,
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LFSM_STATE_USER_RXTX_PENDING,
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LFSM_STATE_USER_RX_ACTIVE,
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LFSM_STATE_USER_TX_ACTIVE,
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LFSM_STATE_USER_RXTX_ACTIVE,
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LFSM_STATE_NUM_STATES, /* Must be last */
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};
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enum lfsm_event {
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LFSM_EVENT_INIT_LINK,
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LFSM_EVENT_STOP,
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LFSM_EVENT_USER_SET_RX,
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LFSM_EVENT_USER_SET_TX,
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LFSM_EVENT_USER_DONE,
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LFSM_EVENT_RX_LINK,
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LFSM_EVENT_RX_USER,
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LFSM_EVENT_RX_UNKNOWN,
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LFSM_EVENT_NUM_EVENTS, /* Must be last */
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};
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struct lfsm_link_stats {
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uint32_t rx_badcrc;
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uint32_t rx_badmagic_head;
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uint32_t rx_badmagic_tail;
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uint32_t rx_link;
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uint32_t rx_user;
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uint32_t tx_user;
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uint32_t rx_badtype;
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uint32_t rx_badver;
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};
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extern void lfsm_init(void);
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extern void lfsm_inject_event(enum lfsm_event event);
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extern void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val);
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extern void lfsm_get_link_stats (struct lfsm_link_stats * stats);
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extern enum lfsm_state lfsm_get_state (void);
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extern void lfsm_set_link_proto_v0 (struct opahrs_msg_v0 * link_tx, struct opahrs_msg_v0 * link_rx);
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extern void lfsm_user_set_rx_v0 (struct opahrs_msg_v0 * user_rx);
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extern void lfsm_user_set_tx_v0 (struct opahrs_msg_v0 * user_tx);
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extern void lfsm_set_link_proto_v1 (struct opahrs_msg_v1 * link_tx, struct opahrs_msg_v1 * link_rx);
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extern void lfsm_user_set_rx_v1 (struct opahrs_msg_v1 * user_rx);
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extern void lfsm_user_set_tx_v1 (struct opahrs_msg_v1 * user_tx);
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extern void lfsm_user_done (void);
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#endif /* AHRS_FSM_H */
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