rosflight_firmware::StateManager Class Reference

#include <state_manager.h>

Classes
struct	State

Public Types
enum	: uint16_t {   ERROR_NONE = 0x0000, ERROR_INVALID_MIXER = 0x0001, ERROR_IMU_NOT_RESPONDING = 0x0002, ERROR_RC_LOST = 0x0004,   ERROR_UNHEALTHY_ESTIMATOR = 0x0008, ERROR_TIME_GOING_BACKWARDS = 0x0010, ERROR_UNCALIBRATED_IMU = 0x0020 }
enum	Event {   EVENT_INITIALIZED, EVENT_REQUEST_ARM, EVENT_REQUEST_DISARM, EVENT_RC_LOST,   EVENT_RC_FOUND, EVENT_ERROR, EVENT_NO_ERROR, EVENT_CALIBRATION_COMPLETE,   EVENT_CALIBRATION_FAILED }

Public Member Functions
struct	__attribute__ ((packed)) BackupData
	Stores backup data for restoring the system state after a hard fault. More...
void	check_backup_memory ()
void	clear_error (uint16_t error)
void	init ()
void	run ()
void	set_error (uint16_t error)
void	set_event (Event event)
const State &	state () const
	StateManager (ROSflight &parent)
void	write_backup_data (const BackupData::DebugInfo &debug)
	Write recovery data to backup memory in the case of a hard fault. More...

Private Types
enum	FsmState {   FSM_STATE_INIT, FSM_STATE_PREFLIGHT, FSM_STATE_ARMED, FSM_STATE_ERROR,   FSM_STATE_FAILSAFE, FSM_STATE_CALIBRATING }

Private Member Functions
void	process_errors ()
void	update_leds ()

Private Attributes
FsmState	fsm_state_
uint32_t	hardfault_count_ = 0
uint32_t	next_arming_error_msg_ms_ = 0
uint32_t	next_led_blink_ms_ = 0
ROSflight &	RF_
State	state_

Detailed Description

Definition at line 44 of file state_manager.h.

Member Enumeration Documentation

anonymous enum : uint16_t

Enumerator
ERROR_NONE
ERROR_INVALID_MIXER
ERROR_IMU_NOT_RESPONDING
ERROR_RC_LOST
ERROR_UNHEALTHY_ESTIMATOR
ERROR_TIME_GOING_BACKWARDS
ERROR_UNCALIBRATED_IMU

Definition at line 68 of file state_manager.h.

enum rosflight_firmware::StateManager::Event

Enumerator
EVENT_INITIALIZED
EVENT_REQUEST_ARM
EVENT_REQUEST_DISARM
EVENT_RC_LOST
EVENT_RC_FOUND
EVENT_ERROR
EVENT_NO_ERROR
EVENT_CALIBRATION_COMPLETE
EVENT_CALIBRATION_FAILED

Definition at line 55 of file state_manager.h.

enum rosflight_firmware::StateManager::FsmState

private

Enumerator
FSM_STATE_INIT
FSM_STATE_PREFLIGHT
FSM_STATE_ARMED
FSM_STATE_ERROR
FSM_STATE_FAILSAFE
FSM_STATE_CALIBRATING

Definition at line 170 of file state_manager.h.

Constructor & Destructor Documentation

rosflight_firmware::StateManager::StateManager

(

ROSflight &

parent

)

Definition at line 38 of file state_manager.cpp.

Member Function Documentation

struct rosflight_firmware::StateManager::__attribute__ ( (packed)  )

inline

Stores backup data for restoring the system state after a hard fault.

Also stores debugging information to be sent over serial after the connection is restored.

< magic number to ensure we only arm on startup if we really intended to

< number of hard faults since normal system startup

< state manager error codes

< set to ARM_MAGIC if the system was armed when the hard fault occured, 0 otherwise

Low-level debugging information for case of hard fault

It is up to the board support layer to populate this data

< register 0

< register 1

< register 2

< register 3

< register 12

< link register

< program counter

< program status register

< checksum for data in the struct, must be the last member

Computes checksum and prepares struct to be written to backup memory

Precondition

All data fields have been set, no data will be changed between calling this function and writing to memory

Postcondition

Checksum field is set and the struct is ready to be written to backup memory

Checks whether the checksum of a struct read from backup memory is valid

Returns

true The checksum is valid

false The checksum is invalid

Definition at line 85 of file state_manager.h.

void rosflight_firmware::StateManager::check_backup_memory

(

)

Definition at line 285 of file state_manager.cpp.

void rosflight_firmware::StateManager::clear_error

(

uint16_t

error

)

Definition at line 75 of file state_manager.cpp.

void rosflight_firmware::StateManager::init

(

)

Definition at line 46 of file state_manager.cpp.

void rosflight_firmware::StateManager::process_errors ( )

private

Definition at line 322 of file state_manager.cpp.

void rosflight_firmware::StateManager::run

(

void

)

Definition at line 57 of file state_manager.cpp.

void rosflight_firmware::StateManager::set_error

(

uint16_t

error

)

Definition at line 66 of file state_manager.cpp.

void rosflight_firmware::StateManager::set_event

(

StateManager::Event

event

)

Definition at line 91 of file state_manager.cpp.

const State& rosflight_firmware::StateManager::state ( ) const

inline

Definition at line 140 of file state_manager.h.

void rosflight_firmware::StateManager::update_leds ( )

private

Definition at line 330 of file state_manager.cpp.

void rosflight_firmware::StateManager::write_backup_data

(

const BackupData::DebugInfo &

debug

)

Write recovery data to backup memory in the case of a hard fault.

This function should only be called by the hardfault interrupt handler

Precondition

Called from hardfault interrupt handler

Postcondition

Recovery data has been written to backup RAM and the hardfault interrupt handler may now reset the system

Parameters

debug

Low-level debugging data populated by the hardfault handler

Definition at line 273 of file state_manager.cpp.

Member Data Documentation

FsmState rosflight_firmware::StateManager::fsm_state_

private

Definition at line 180 of file state_manager.h.

uint32_t rosflight_firmware::StateManager::hardfault_count_ = 0

private

Definition at line 168 of file state_manager.h.

uint32_t rosflight_firmware::StateManager::next_arming_error_msg_ms_ = 0

private

Definition at line 166 of file state_manager.h.

uint32_t rosflight_firmware::StateManager::next_led_blink_ms_ = 0

private

Definition at line 165 of file state_manager.h.

ROSflight& rosflight_firmware::StateManager::RF_

private

Definition at line 162 of file state_manager.h.

State rosflight_firmware::StateManager::state_

private

Definition at line 163 of file state_manager.h.

---

The documentation for this class was generated from the following files:

• state_manager.h
• state_manager.cpp