fc_shared.h File Reference

Data exchanged between the flight context (ImuTask) and the AppTask. More...

#include <stdint.h>
#include "calib_mgr.h"

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Data Structures
struct	fsh_est_t
struct	fsh_apply_t
	calibration to apply (AppTask -> ImuTask) More...

Functions
void	fsh_est_write (const fsh_est_t *s)
	ImuTask.
void	fsh_est_read (fsh_est_t *out)
	AppTask: keeps *out on a race.
int	fsh_cal_push (const cal_sample_t *s)
int	fsh_cal_pop (cal_sample_t *s)
int	fsh_apply_post (uint8_t type, const cal_set_t *set)
int	fsh_apply_take (fsh_apply_t *a)
void	fsh_reset (void)

Variables
volatile uint8_t	g_fsh_cal_want
	calibration samples (ImuTask -> AppTask)

Detailed Description

Data exchanged between the flight context (ImuTask) and the AppTask.

ImuTask -> AppTask estimator / vertical state (seqlock, never blocks) ImuTask -> AppTask calibration samples (SPSC, only on request) AppTask -> ImuTask calibration to apply (SPSC)

The flight core has its own queues (fc_core.h). Host-testable.

Definition in file fc_shared.h.

Function Documentation

fsh_est_write()

void fsh_est_write

(

const fsh_est_t *

s

)

ImuTask.

Definition at line 23 of file fc_shared.c.

References s, s_est, s_seq, and SPSC_BARRIER.

Referenced by publish_est().

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fsh_est_read()

void fsh_est_read

(

fsh_est_t *

out

)

AppTask: keeps *out on a race.

Definition at line 32 of file fc_shared.c.

References s_est, s_seq, and SPSC_BARRIER.

Referenced by build_checks(), events(), log_sensors(), send_flight(), send_nav(), send_system(), and sensors_now().

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fsh_cal_push()

int fsh_cal_push

(

const cal_sample_t *

s

)

Definition at line 44 of file fc_shared.c.

References s, and spsc_push().

Referenced by on_state().

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fsh_cal_pop()

int fsh_cal_pop

(

cal_sample_t *

s

)

Definition at line 45 of file fc_shared.c.

References s, and spsc_pop().

Referenced by calibration().

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fsh_apply_post()

int fsh_apply_post	(	uint8_t	type,
		const cal_set_t *	set
	)

Definition at line 47 of file fc_shared.c.

References fsh_apply_t::set, set, spsc_push(), and fsh_apply_t::type.

Referenced by app_task_boot(), and cal_apply().

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fsh_apply_take()

int fsh_apply_take

(

fsh_apply_t *

a

)

Definition at line 55 of file fc_shared.c.

References spsc_pop().

Referenced by ImuTask(), and take_calibrations().

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fsh_reset()

void fsh_reset

(

void

)

Definition at line 15 of file fc_shared.c.

References g_fsh_cal_want, s_seq, and spsc_reset().

Referenced by app_task_boot().

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Variable Documentation

g_fsh_cal_want

volatile uint8_t g_fsh_cal_want

extern

calibration samples (ImuTask -> AppTask)

AppTask: 1 while samples are needed

Definition at line 7 of file fc_shared.c.

Referenced by calibration(), fsh_reset(), and on_state().