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e3824a6d78
To the outside world, the AHRS can be in one of only a few primary states: Not present - AHRS is absent or non-responsive via SPI Inactive - Only link-level status messages are processed Ready - Ready to receive the next application level message Busy - Application level message is being processed Internal to the AHRS, there are many more states that need to be managed. This FSM provides the necessary decoupling between the ISR (which is being driven by the SPI link) and the AHRS main processing loop which must continue to run its filters independently of the SPI messaging rate. With this structure, SPI messages can be received at any time but processed at only specific points within the filter chains. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1005 ebee16cc-31ac-478f-84a7-5cbb03baadba
68 lines
1.8 KiB
C
68 lines
1.8 KiB
C
#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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