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LibrePilot/flight/Doc/Architecture/ahrs_spi_link_fsm.dot

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