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LibrePilot/flight/AHRS/inc/ahrs_fsm.h

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