fsm.h File Reference

Finite State Machine (FSM) module for the SPP core. More...

#include "spp/core/returnTypes.h"
#include "spp/core/types.h"

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Data Structures
struct	FSM_Transition_t
	A single row in the FSM transition table. More...
struct	FSM_Handle_t
	FSM handle — holds the current and previous state of the machine. More...

Macros
#define	K_FSM_TIMEOUT_MS   10000U
#define	K_FSM_MAX_TABLE_SIZE   10U

Enumerations
enum	FSM_State_t { FSM_STATE_INIT = 0 , FSM_STATE_READY , FSM_STATE_FLIGHT , FSM_STATE_LANDED }
	Top-level FSM states. More...
enum	FSM_SubState_t { FSM_SUBSTATE_NONE = 0 , FSM_SUBSTATE_FLIGHT_ASCENDING , FSM_SUBSTATE_FLIGHT_DESCENDING , FSM_SUBSTATE_FLIGHT_PARACHUTE_DEPLOYED }
	FSM sub-states. Use FSM_SUBSTATE_NONE for states with no sub-state. More...

Functions
spp_uint16_t *	SPP_CORE_FSM_getErrorsBit (void)
	Get the pointer to the FSM errors bit.
SPP_RetVal_t	FSM_init (const FSM_Transition_t *p_transitionTable, const spp_uint8_t tableSize)
	Initialize the FSM.
void	FSM_tick (void)
	Evaluate the transition table and advance the FSM if a guard passes. Call this once per superloop tick.

Detailed Description

Finite State Machine (FSM) module for the SPP core.

Definition in file fsm.h.

Macro Definition Documentation

K_FSM_TIMEOUT_MS

#define K_FSM_TIMEOUT_MS   10000U

Definition at line 15 of file fsm.h.

K_FSM_MAX_TABLE_SIZE

#define K_FSM_MAX_TABLE_SIZE   10U

Definition at line 16 of file fsm.h.

Referenced by FSM_init().

Enumeration Type Documentation

FSM_State_t

enum FSM_State_t

Top-level FSM states.

Enumerator
FSM_STATE_INIT
FSM_STATE_READY
FSM_STATE_FLIGHT
FSM_STATE_LANDED

Definition at line 26 of file fsm.h.

FSM_SubState_t

enum FSM_SubState_t

FSM sub-states. Use FSM_SUBSTATE_NONE for states with no sub-state.

Enumerator
FSM_SUBSTATE_NONE
FSM_SUBSTATE_FLIGHT_ASCENDING
FSM_SUBSTATE_FLIGHT_DESCENDING
FSM_SUBSTATE_FLIGHT_PARACHUTE_DEPLOYED

Definition at line 37 of file fsm.h.

Function Documentation

SPP_CORE_FSM_getErrorsBit()

spp_uint16_t * SPP_CORE_FSM_getErrorsBit

(

void

)

Get the pointer to the FSM errors bit.

Returns

Pointer to the FSM errors bit.

Definition at line 33 of file fsm.c.

References s_fsmErrors, and SPP_CORE_FSM_getErrorsBit().

Referenced by SPP_CORE_FSM_getErrorsBit(), SPP_SERVICES_DATALOGGER_init(), SPP_SERVICES_ICM20948_init(), and SPP_SERVICES_M10M_init().

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FSM_init()

SPP_RetVal_t FSM_init	(	const FSM_Transition_t *	p_transitionTable,
		const spp_uint8_t	tableSize )

Initialize the FSM.

Parameters

p_halPorts	Pointer to the HAL ports.
p_transitiontable	Pointer to the FSM table for operation.
tableSize	Size of the table.

Definition at line 38 of file fsm.c.

References FSM_init(), K_FSM_MAX_TABLE_SIZE, K_SPP_ERROR_INVALID_PARAMETER, K_SPP_ERROR_NULL_POINTER, K_SPP_OK, p_s_transitionTable, and s_tableSize.

Referenced by app_main(), and FSM_init().

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FSM_tick()

void FSM_tick

(

void

)

Evaluate the transition table and advance the FSM if a guard passes. Call this once per superloop tick.

Definition at line 58 of file fsm.c.

References FSM_Transition_t::action, FSM_Transition_t::fromState, FSM_Transition_t::fromSubState, FSM_tick(), FSM_Transition_t::guard, p_s_transitionTable, FSM_Handle_t::prevState, FSM_Handle_t::prevSubState, s_fsmHandle, s_tableSize, FSM_Handle_t::state, FSM_Transition_t::stateFunction, FSM_Handle_t::subState, FSM_Transition_t::toState, and FSM_Transition_t::toSubState.

Referenced by app_main(), and FSM_tick().

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