87 lines
1.6 KiB
C
87 lines
1.6 KiB
C
#ifndef MAIN_CONTROL_FSM_H_
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#define MAIN_CONTROL_FSM_H_
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#include "freertos/FreeRTOS.h" // Must be FIRST
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#include "freertos/projdefs.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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typedef enum {
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FSM_CMD_START,
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FSM_CMD_STOP,
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FSM_CMD_UNDO,
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FSM_CMD_SHUTDOWN,
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FSM_CMD_CALIBRATE_JACK_PREP,
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FSM_CMD_CALIBRATE_JACK_START,
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FSM_CMD_CALIBRATE_JACK_END,
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FSM_CMD_CALIBRATE_JACK_FINISH,
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FSM_CMD_CALIBRATE_DRIVE_PREP,
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FSM_CMD_CALIBRATE_DRIVE_START,
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FSM_CMD_CALIBRATE_DRIVE_END,
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FSM_CMD_CALIBRATE_DRIVE_FINISH
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} fsm_cmd_t;
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typedef enum {
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STATE_IDLE = 0,
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STATE_MOVE_START_DELAY = 1,
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STATE_JACK_UP = 2,
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STATE_DRIVE_START_DELAY = 3,
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STATE_DRIVE = 4,
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STATE_DRIVE_END_DELAY = 5,
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STATE_JACK_DOWN = 6,
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STATE_UNDO_JACK = 7,
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STATE_UNDO_JACK_START = 8,
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STATE_CALIBRATE_JACK_DELAY,
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STATE_CALIBRATE_JACK_MOVE,
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STATE_CALIBRATE_DRIVE_DELAY,
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STATE_CALIBRATE_DRIVE_MOVE
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} fsm_state_t;
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typedef enum {
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RELAY_NONE = 0,
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RELAY_C3,
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RELAY_B3,
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RELAY_A3,
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RELAY_B2,
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RELAY_A2,
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RELAY_B1,
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RELAY_A1
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} relay_t;
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typedef enum {
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BRIDGE_AUX = 2,
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BRIDGE_JACK = 1,
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BRIDGE_DRIVE = 0,
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} bridge_t;
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#define N_RELAYS 8
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#define N_BRIDGES 3
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void pulseOverride(relay_t relay/*, int64_t pulse*/);
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esp_err_t fsm_init();
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esp_err_t fsm_stop();
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void fsm_set_cal_val(float v);
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int64_t fsm_get_cal_t();
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int64_t fsm_get_cal_e();
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void fsm_request(fsm_cmd_t cmd);
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float fsm_get_remaining_distance(void);
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void fsm_set_remaining_distance(float x);
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//void fsm_begin_auto_move();
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int8_t fsm_get_current_progress(int8_t remainder);
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fsm_state_t fsm_get_state();
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int8_t get_bridge_state(bridge_t bridge);
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#endif /* MAIN_CONTROL_FSM_H_ */ |