47 lines
942 B
C
47 lines
942 B
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 { FSM_CMD_STOP, FSM_CMD_UNDO, FSM_CMD_SHUTDOWN} 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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} fsm_state_t;
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typedef enum {
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BRIDGE_AUX = 0,
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BRIDGE_JACK = 1,
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BRIDGE_DRIVE = 2,
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} bridge_t;
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#define N_RELAYS 6
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#define N_BRIDGES 3
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void pulseOverride(bridge_t bridge, int8_t dir, int64_t pulse);
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void start_fsm();
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void fsm_request(fsm_cmd_t cmd);
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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_ */ |