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95 lines
2.8 KiB
C
95 lines
2.8 KiB
C
/**
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******************************************************************************
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*
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* @file ahrs_fsm.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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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,
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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,
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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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