LibrePilot/flight/Bootloaders/AHRS/bl_fsm.c

#include <stdint.h>		/* uint*_t */
#include <stddef.h>		/* NULL */

#include "bl_fsm.h"

#include "pios_opahrs_proto.h"

#include "pios.h"

struct lfsm_context {
  enum lfsm_state              curr_state;
  enum opahrs_msg_link_state   link_state;
  enum opahrs_msg_type         user_payload_type;
  uint32_t                     user_payload_len;

  uint32_t                     errors;

  uint8_t                    * rx;
  uint8_t                    * tx;

  uint8_t                    * link_rx;
  uint8_t                    * link_tx;

  uint8_t                    * user_rx;
  uint8_t                    * user_tx;

  struct lfsm_link_stats       stats;
};

static struct lfsm_context context = { 0 };

static void lfsm_update_link_tx (struct lfsm_context * context);
static void lfsm_init_rx (struct lfsm_context * context);

/*
 *
 * Link Finite State Machine
 *
 */

struct lfsm_transition {
  void (*entry_fn)(struct lfsm_context * context);
  enum lfsm_state next_state[LFSM_EVENT_NUM_EVENTS];
};

static void go_faulted(struct lfsm_context * context);
static void go_stopped(struct lfsm_context * context);
static void go_stopping(struct lfsm_context * context);
static void go_inactive(struct lfsm_context * context);
static void go_user_busy(struct lfsm_context * context);
static void go_user_busy_rx_pending(struct lfsm_context * context);
static void go_user_busy_tx_pending(struct lfsm_context * context);
static void go_user_busy_rxtx_pending(struct lfsm_context * context);
static void go_user_rx_pending(struct lfsm_context * context);
static void go_user_tx_pending(struct lfsm_context * context);
static void go_user_rxtx_pending(struct lfsm_context * context);
static void go_user_rx_active(struct lfsm_context * context);
static void go_user_tx_active(struct lfsm_context * context);
static void go_user_rxtx_active(struct lfsm_context * context);

const static struct lfsm_transition lfsm_transitions[LFSM_STATE_NUM_STATES] = {
  [LFSM_STATE_FAULTED] = {
    .entry_fn = go_faulted,
  },
  [LFSM_STATE_STOPPED] = {
    .entry_fn   = go_stopped,
    .next_state = {
      [LFSM_EVENT_INIT_LINK]   = LFSM_STATE_INACTIVE,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_STOPPED,
    },
  },
  [LFSM_STATE_STOPPING] = {
    .entry_fn   = go_stopping,
    .next_state = {
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_STOPPED,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_STOPPED,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_STOPPED,
    },
  },
  [LFSM_STATE_INACTIVE] = {
    .entry_fn   = go_inactive,
    .next_state = {
      [LFSM_EVENT_STOP]        = LFSM_STATE_STOPPING,
      [LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RX_PENDING,
      [LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_TX_PENDING,
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_INACTIVE,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_INACTIVE,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_INACTIVE,
    },
  },
  [LFSM_STATE_USER_BUSY] = {
    .entry_fn   = go_user_busy,
    .next_state = {
      [LFSM_EVENT_STOP]        = LFSM_STATE_STOPPING,
      [LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RX_PENDING,
      [LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_TX_PENDING,
      [LFSM_EVENT_USER_DONE]   = LFSM_STATE_INACTIVE,
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_USER_BUSY,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_USER_BUSY,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_USER_BUSY,
    },
  },
  [LFSM_STATE_USER_BUSY_RX_PENDING] = {
    .entry_fn   = go_user_busy_rx_pending,
    .next_state = {
      [LFSM_EVENT_USER_SET_TX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
      [LFSM_EVENT_USER_DONE]   = LFSM_STATE_USER_RX_PENDING,
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_USER_BUSY_RX_PENDING,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_USER_BUSY_RX_PENDING,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_USER_BUSY_RX_PENDING,
    },
  },
  [LFSM_STATE_USER_BUSY_TX_PENDING] = {
    .entry_fn   = go_user_busy_tx_pending,
    .next_state = {
      [LFSM_EVENT_USER_SET_RX] = LFSM_STATE_USER_BUSY_RXTX_PENDING,
      [LFSM_EVENT_USER_DONE]   = LFSM_STATE_USER_TX_PENDING,
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_USER_BUSY_TX_PENDING,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_USER_BUSY_TX_PENDING,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_USER_BUSY_TX_PENDING,
    },
  },
  [LFSM_STATE_USER_BUSY_RXTX_PENDING] = {
    .entry_fn   = go_user_busy_rxtx_pending,
    .next_state = {
      [LFSM_EVENT_USER_DONE]   = LFSM_STATE_USER_RXTX_PENDING,
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_USER_BUSY_RXTX_PENDING,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_USER_BUSY_RXTX_PENDING,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_USER_BUSY_RXTX_PENDING,
    },
  },
  [LFSM_STATE_USER_RX_PENDING] = {
    .entry_fn   = go_user_rx_pending,
    .next_state = {
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_USER_RX_ACTIVE,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_USER_RX_ACTIVE,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_USER_RX_ACTIVE,
    },
  },
  [LFSM_STATE_USER_TX_PENDING] = {
    .entry_fn   = go_user_tx_pending,
    .next_state = {
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_USER_TX_ACTIVE,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_USER_TX_ACTIVE,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_USER_TX_ACTIVE,
    },
  },
  [LFSM_STATE_USER_RXTX_PENDING] = {
    .entry_fn   = go_user_rxtx_pending,
    .next_state = {
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_USER_RXTX_ACTIVE,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_USER_RXTX_ACTIVE,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_USER_RXTX_ACTIVE,
    },
  },
  [LFSM_STATE_USER_RX_ACTIVE] = {
    .entry_fn   = go_user_rx_active,
    .next_state = {
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_USER_RX_ACTIVE,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_USER_BUSY,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_USER_RX_ACTIVE,
    },
  },
  [LFSM_STATE_USER_TX_ACTIVE] = {
    .entry_fn   = go_user_tx_active,
    .next_state = {
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_INACTIVE,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_INACTIVE,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_INACTIVE,
    },
  },
  [LFSM_STATE_USER_RXTX_ACTIVE] = {
    .entry_fn   = go_user_rxtx_active,
    .next_state = {
      [LFSM_EVENT_RX_LINK]     = LFSM_STATE_USER_RX_ACTIVE,
      [LFSM_EVENT_RX_USER]     = LFSM_STATE_USER_BUSY,
      [LFSM_EVENT_RX_UNKNOWN]  = LFSM_STATE_USER_RX_ACTIVE,
    },
  },
};

/*
 * FSM State Entry Functions
 */

static void go_faulted(struct lfsm_context * context)
{
  PIOS_DEBUG_Assert(0);
}

static void go_stopped(struct lfsm_context * context)
{
#if 0
  PIOS_SPI_Stop(PIOS_SPI_OP);
#endif
}

static void go_stopping(struct lfsm_context * context)
{
  context->link_tx    = NULL;
  context->tx         = NULL;
}

static void go_inactive(struct lfsm_context * context)
{
  context->link_state = OPAHRS_MSG_LINK_STATE_INACTIVE;
  lfsm_update_link_tx(context);

  context->user_rx    = NULL;
  context->user_tx    = NULL;

  context->rx         = context->link_rx;
  context->tx         = context->link_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_busy(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_rx);

  context->user_rx    = NULL;
  context->user_tx    = NULL;

  context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
  lfsm_update_link_tx(context);

  context->rx         = context->link_rx;
  context->tx         = context->link_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_busy_rx_pending(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_rx);

  context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
  lfsm_update_link_tx(context);

  context->rx         = context->link_rx;
  context->tx         = context->link_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_busy_tx_pending(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_tx);

  context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
  lfsm_update_link_tx(context);

  context->rx         = context->link_rx;
  context->tx         = context->link_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_busy_rxtx_pending(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_rx);
  PIOS_DEBUG_Assert(context->user_tx);

  context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
  lfsm_update_link_tx(context);

  context->rx         = context->link_rx;
  context->tx         = context->link_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_rx_pending(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_rx);

  context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
  lfsm_update_link_tx(context);

  context->rx         = context->link_rx;
  context->tx         = context->link_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_tx_pending(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_tx);

  context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
  lfsm_update_link_tx(context);

  context->rx         = context->link_rx;
  context->tx         = context->link_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_rxtx_pending(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_rx);
  PIOS_DEBUG_Assert(context->user_tx);

  context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
  lfsm_update_link_tx(context);

  context->rx         = context->link_rx;
  context->tx         = context->link_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_rx_active(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_rx);

  context->rx         = context->user_rx;
  context->tx         = context->link_tx;
  context->link_state = OPAHRS_MSG_LINK_STATE_READY;

  lfsm_update_link_tx(context);
  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_tx_active(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_tx);

  context->link_state = OPAHRS_MSG_LINK_STATE_BUSY;
  context->rx         = context->link_rx;
  context->tx         = context->user_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

static void go_user_rxtx_active(struct lfsm_context * context)
{
  /* Sanity checks */
  PIOS_DEBUG_Assert(context->user_rx);
  PIOS_DEBUG_Assert(context->user_tx);

  context->link_state = OPAHRS_MSG_LINK_STATE_READY;
  context->rx         = context->user_rx;
  context->tx         = context->user_tx;

  lfsm_init_rx(context);
  PIOS_SPI_TransferBlock(PIOS_SPI_OP, context->tx, context->rx, context->user_payload_len, lfsm_irq_callback);
}

/*
 *
 * Misc Helper Functions
 *
 */

static void lfsm_update_link_tx_v0 (struct opahrs_msg_v0 * msg, enum opahrs_msg_link_state state, uint16_t errors)
{
  opahrs_msg_v0_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);

  msg->payload.link.state  = state;
  msg->payload.link.errors = errors;
}

static void lfsm_update_link_tx_v1 (struct opahrs_msg_v1 * msg, enum opahrs_msg_link_state state, uint16_t errors)
{
  opahrs_msg_v1_init_link_tx(msg, OPAHRS_MSG_LINK_TAG_NOP);

  msg->payload.link.state  = state;
  msg->payload.link.errors = errors;
}

static void lfsm_update_link_tx (struct lfsm_context * context)
{
  PIOS_DEBUG_Assert(context->link_tx);

  switch (context->user_payload_type) {
  case OPAHRS_MSG_TYPE_USER_V0:
    lfsm_update_link_tx_v0 ((struct opahrs_msg_v0 *)context->link_tx, context->link_state, context->errors);
    break;
  case OPAHRS_MSG_TYPE_USER_V1:
    lfsm_update_link_tx_v1 ((struct opahrs_msg_v1 *)context->link_tx, context->link_state, context->errors);
    break;
  case OPAHRS_MSG_TYPE_LINK:
    PIOS_DEBUG_Assert(0);
  }
}

static void lfsm_init_rx (struct lfsm_context * context)
{
  PIOS_DEBUG_Assert(context->rx);

  switch (context->user_payload_type) {
  case OPAHRS_MSG_TYPE_USER_V0:
    opahrs_msg_v0_init_rx ((struct opahrs_msg_v0 *)context->rx);
    break;
  case OPAHRS_MSG_TYPE_USER_V1:
    opahrs_msg_v1_init_rx ((struct opahrs_msg_v1 *)context->rx);
    break;
  case OPAHRS_MSG_TYPE_LINK:
    PIOS_DEBUG_Assert(0);
  }
}

/*
 *
 * External API
 *
 */

void lfsm_inject_event(enum lfsm_event event)
{
  PIOS_IRQ_Disable();

  /* 
   * Move to the next state
   *
   * This is done prior to calling the new state's entry function to 
   * guarantee that the entry function never depends on the previous
   * state.  This way, it cannot ever know what the previous state was.
   */
  context.curr_state = lfsm_transitions[context.curr_state].next_state[event];

  /* Call the entry function (if any) for the next state. */
  if (lfsm_transitions[context.curr_state].entry_fn) {
    lfsm_transitions[context.curr_state].entry_fn(&context);
  }
  PIOS_IRQ_Enable();
}

void lfsm_init(void)
{
  context.curr_state = LFSM_STATE_STOPPED;
  go_stopped(&context);
}

void lfsm_set_link_proto_v0 (struct opahrs_msg_v0 * link_tx, struct opahrs_msg_v0 * link_rx)
{
  PIOS_DEBUG_Assert(link_tx);

  context.link_tx           = (uint8_t *)link_tx;
  context.link_rx           = (uint8_t *)link_rx;
  context.user_payload_type = OPAHRS_MSG_TYPE_USER_V0;
  context.user_payload_len  = sizeof(*link_tx);

  lfsm_update_link_tx_v0(link_tx, context.link_state, context.errors);

  lfsm_inject_event(LFSM_EVENT_INIT_LINK);
}

void lfsm_set_link_proto_v1 (struct opahrs_msg_v1 * link_tx, struct opahrs_msg_v1 * link_rx)
{
  PIOS_DEBUG_Assert(link_tx);

  context.link_tx           = (uint8_t *)link_tx;
  context.link_rx           = (uint8_t *)link_rx;
  context.user_payload_type = OPAHRS_MSG_TYPE_USER_V1;
  context.user_payload_len  = sizeof(*link_tx);

  lfsm_update_link_tx_v1(link_tx, context.link_state, context.errors);

  lfsm_inject_event(LFSM_EVENT_INIT_LINK);
}

void lfsm_user_set_tx_v0 (struct opahrs_msg_v0 * user_tx)
{
  PIOS_DEBUG_Assert(user_tx);

  PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);
  context.user_tx = (uint8_t *)user_tx;

  lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
}

void lfsm_user_set_rx_v0 (struct opahrs_msg_v0 * user_rx)
{
  PIOS_DEBUG_Assert(user_rx);
  PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V0);

  context.user_rx = (uint8_t *)user_rx;

  lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
}

void lfsm_user_set_tx_v1 (struct opahrs_msg_v1 * user_tx)
{
  PIOS_DEBUG_Assert(user_tx);
  PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);

  context.user_tx = (uint8_t *)user_tx;

  lfsm_inject_event(LFSM_EVENT_USER_SET_TX);
}

void lfsm_user_set_rx_v1 (struct opahrs_msg_v1 * user_rx)
{
  PIOS_DEBUG_Assert(user_rx);
  PIOS_DEBUG_Assert(context.user_payload_type == OPAHRS_MSG_TYPE_USER_V1);

  context.user_rx = (uint8_t *)user_rx;

  lfsm_inject_event(LFSM_EVENT_USER_SET_RX);
}

void lfsm_user_done (void)
{
  lfsm_inject_event(LFSM_EVENT_USER_DONE);
}

void lfsm_stop (void)
{
  lfsm_inject_event(LFSM_EVENT_STOP);
}

void lfsm_get_link_stats (struct lfsm_link_stats * stats)
{
  PIOS_DEBUG_Assert(stats);

  *stats = context.stats;
}

enum lfsm_state lfsm_get_state (void)
{
  return context.curr_state;
}

/*
 *
 * ISR Callback
 *
 */

void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val)
{
  if (!crc_ok) {
    context.stats.rx_badcrc++;
    lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
    return;
  }

  if (!context.rx) {
    /* No way to know what we just received, assume invalid */
    lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
    return;
  }

  /* Recover the head and tail pointers from the message */
  struct opahrs_msg_link_head * head=0;
  struct opahrs_msg_link_tail * tail=0;

  switch (context.user_payload_type) {
  case OPAHRS_MSG_TYPE_USER_V0:
    head = &((struct opahrs_msg_v0 *)context.rx)->head;
    tail = &((struct opahrs_msg_v0 *)context.rx)->tail;
    break;
  case OPAHRS_MSG_TYPE_USER_V1:
    head = &((struct opahrs_msg_v1 *)context.rx)->head;
    tail = &((struct opahrs_msg_v1 *)context.rx)->tail;
    break;
  case OPAHRS_MSG_TYPE_LINK:
    /* Should never be rx'ing before the link protocol version is known */
    PIOS_DEBUG_Assert(0);
    break;
  }

  /* Check for bad magic */
  if ((head->magic != OPAHRS_MSG_MAGIC_HEAD) ||
      (tail->magic != OPAHRS_MSG_MAGIC_TAIL)) {
    if (head->magic != OPAHRS_MSG_MAGIC_HEAD) {
      context.stats.rx_badmagic_head++;
    }
    if (tail->magic != OPAHRS_MSG_MAGIC_TAIL) {
      context.stats.rx_badmagic_tail++;
    }
    lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
    return;
  }

  /* Good magic, find out what type of payload we've got */
  switch (head->type) {
  case OPAHRS_MSG_TYPE_LINK:
    context.stats.rx_link++;
    lfsm_inject_event (LFSM_EVENT_RX_LINK);
    break;
  case OPAHRS_MSG_TYPE_USER_V0:
  case OPAHRS_MSG_TYPE_USER_V1:
    if (head->type == context.user_payload_type) {
      context.stats.rx_user++;
      lfsm_inject_event (LFSM_EVENT_RX_USER);
    } else {
      /* Mismatched user payload type */
      context.stats.rx_badver++;
      lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
    }
    break;
  default:
    /* Unidentifiable payload type */
    context.stats.rx_badtype++;
    lfsm_inject_event (LFSM_EVENT_RX_UNKNOWN);
  }
}