fc_core.h

Go to the documentation of this file.

 
#ifndef FC_CORE_H
#define FC_CORE_H
 
#include <stdint.h>
 
/* ---- timing of the app-link supervision (§6) ---- */
#define FC_RC_STALE_MS       250u    
#define FC_FS_SHORT_MS       1000u   
#define FC_FS_LONG_MS        3000u   
#define FC_LINK_BACK_MS      500u    
#define FC_GROUND_DISARM_MS  3000u   
#define FC_ARM_RC_FRESH_MS   500u    
#define FC_NO_TAKEOFF_MS     10000u  
#define FC_STICK_CANCEL      300     
/* ---- automatic flight (§7.2, §7.3) ---- */
#define FC_TAKEOFF_VZ        0.6f    
#define FC_LIFTOFF_DH        0.15f   
#define FC_LIFTOFF_TIMEOUT_MS 6000u  
#define FC_LAND_SLOW_VZ      0.3f    
#define FC_TOUCH_VZ          0.12f   
#define FC_TOUCH_MS          700u    
#define FC_TOUCH_MS_NO_TOF   1000u
#define FC_FLOW_LOST_Q       30u     
#define FC_FLOW_BACK_Q       40u
#define FC_FLOW_LOST_MS      500u
#define FC_FLOW_CHECK_H      0.15f   /* m: FLOW_LOST is judged only above this height,
                                        never on the ground, in TAKEOFF or LAND */
 
/* ---- battery (§6): signals from the BattTask ---- */
#define FC_BATT_STALE_MS     1000u   
/* internal opcodes (AppTask -> core), outside the v2 range */
#define FC_OP_MOTOR_STOP     0xF0u   
typedef struct {
    uint8_t op, seq, len;            
    uint8_t p[18];
} fc_cmd_t;
 
typedef struct { uint8_t op, seq, result, reason; } fc_res_t;
typedef struct { uint8_t level; uint16_t code; int32_t arg; } fc_event_t;
 
typedef struct {
    uint8_t  present;                
    uint8_t  level;                  
    uint16_t cell_mv;                
} fc_batt_sig_t;
 
typedef struct {
    uint16_t sensors;                
    uint8_t  n_motors;               
    uint8_t  motors_built;           
    void   (*motors_arm)(uint8_t armed);
    void   (*motor_test)(uint8_t motor, float duty);   
    void   (*on_event)(const fc_event_t *e);
    uint8_t  batt_monitor;           
    uint8_t (*usb_host)(void);
} fc_config_t;
 
typedef struct {
    uint8_t  armed, mode, autom, failsafe, input, in_air;
    uint8_t  rc_stale;               
    uint8_t  fs_long;                
    uint16_t flight_time_s;
    uint8_t  motor_out_pct[8];
    uint8_t  test_motor;             
    uint8_t  landed;                 
    uint8_t  geofence;               
    uint8_t  batt_level;             
    uint8_t  batt_stale;             
    int32_t  alt_rel_cm;             
    int16_t  vz_cms;
    uint32_t silence_ms;             
    float    stick[4];               
} fc_state_t;
 
typedef struct {
    uint8_t valid;                   
    float   h, vz;                   
    uint8_t tof_valid, tof_ground;   
    float   tof_h;                   
    float   cos_tilt;                
    uint8_t flow_q;                  
    uint8_t flow_usable;             /* flow valid: above the PMW3901 minimum
                                        height (80 mm; landed it is ~11 mm)      */
} fc_vert_t;
 
typedef struct {
    uint8_t armed, mode, autom;
    uint8_t alt_ctrl;                
    float   thrust;                  
    float   roll, pitch;             
    float   roll_rate, pitch_rate;   
    float   yaw_rate;                
    float   h_sp, vz_sp;             
    uint8_t pos_hold;                /* hold the horizontal position (POS_HOLD or HOLD with
                                        a usable position source); 0 near the floor, where
                                        the flow is below its minimum height: level attitude */
} fc_setpoint_t;
 
void    fc_init(const fc_config_t *cfg);
void    fc_set_sensors(uint16_t sensors);
 
/* ---- flight-control context ---- */
void    fc_service(uint32_t now_ms, uint8_t est_running, const fc_vert_t *v);
void    fc_setpoint(fc_setpoint_t *out);         
/* ---- BattTask ---- */
int     fc_batt_signal(const fc_batt_sig_t *s);   
void    fc_batt_heartbeat(uint32_t now_ms);        
/* ---- AppTask ---- */
int     fc_post(const fc_cmd_t *c);              
int     fc_take_result(fc_res_t *r);              
int     fc_take_event(fc_event_t *e);
void    fc_snapshot(fc_state_t *out);
void    fc_set_ground_info(uint8_t checks_ready, uint8_t battery_fail, uint8_t calibrating);
uint8_t fc_is_core_op(uint8_t op);                
/* ---- bench test hooks (debugger Live Expressions) ----
 * g_fc_dbg_in_air: 1 while armed forces "in the air" (props off!), so that
 * the in-air failsafes can be tested on the bench without altitude sensors
 * (HANDOVER §6 test, §16.12). Clearing it simulates the touchdown. With an
 * altitude source, in air / on ground is detected from the vertical estimate
 * and the board can be "flown" by hand (lift it: lift-off; put it down during
 * LAND: touchdown). */
extern volatile uint8_t g_fc_dbg_in_air;
 
#endif /* FC_CORE_H */