SC-F001 way better logging and parameters. not integrated yet but.

main/control_fsm.h

@@ -0,0 +1,47 @@
+#ifndef MAIN_CONTROL_FSM_H_
+#define MAIN_CONTROL_FSM_H_
+
+#include "freertos/FreeRTOS.h"   // Must be FIRST
+#include "freertos/projdefs.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+
+
+typedef enum { FSM_CMD_STOP, FSM_CMD_UNDO, FSM_CMD_SHUTDOWN} fsm_cmd_t;
+
+typedef enum {
+	STATE_IDLE = 0,
+	STATE_MOVE_START_DELAY = 1,
+	STATE_JACK_UP = 2,
+	STATE_DRIVE_START_DELAY = 3,
+	STATE_DRIVE = 4,
+	STATE_DRIVE_END_DELAY = 5,
+	STATE_JACK_DOWN = 6,
+	STATE_UNDO_JACK = 7,
+	STATE_UNDO_JACK_START = 8,
+} fsm_state_t;
+
+typedef enum {
+	BRIDGE_AUX   = 0,
+	BRIDGE_JACK  = 1,
+	BRIDGE_DRIVE = 2,
+} bridge_t;
+
+#define N_RELAYS 6
+#define N_BRIDGES 3
+
+void pulseOverride(bridge_t bridge, int8_t dir, int64_t pulse);
+
+void start_fsm();
+
+void fsm_request(fsm_cmd_t cmd);
+
+void fsm_begin_auto_move();
+
+int8_t fsm_get_current_progress(int8_t remainder);
+
+fsm_state_t fsm_get_state();
+
+int8_t get_bridge_state(bridge_t bridge);
+
+#endif /* MAIN_CONTROL_FSM_H_ */