95 lines
2.9 KiB
C
95 lines
2.9 KiB
C
#ifndef FLIGHT_APP_H
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#define FLIGHT_APP_H
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#include <stdint.h>
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typedef struct {
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int16_t raw_air_speed;
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int16_t raw_altitude;
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int16_t raw_pitch;
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int16_t raw_temperature;
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} SensorRawData;
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typedef struct {
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float air_speed;
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float altitude;
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float pitch;
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float temperature;
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} SensorData;
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typedef struct {
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float target_speed;
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float target_altitude;
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float pitch_limit;
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uint8_t auto_mode;
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} CommandState;
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typedef struct {
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float throttle;
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float elevator;
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uint8_t armed;
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} ActuatorState;
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typedef struct {
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uint16_t sensor_fault;
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uint16_t actuator_fault;
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uint16_t command_fault;
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uint16_t cycle_count;
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} DiagnosticState;
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typedef struct {
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SensorData sensor;
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CommandState command;
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ActuatorState actuator;
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DiagnosticState diagnostic;
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} AppState;
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void System_Init(AppState *state);
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void System_LoadDefaults(CommandState *command);
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void System_RunCycle(AppState *state);
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void System_Shutdown(AppState *state);
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void Sensor_Init(SensorRawData *raw);
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void Sensor_ReadAdc(SensorRawData *raw);
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uint8_t Sensor_Validate(const SensorRawData *raw);
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void Sensor_Scale(const SensorRawData *raw, SensorData *data);
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void Sensor_Collect(SensorRawData *raw, SensorData *data);
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void Filter_Init(SensorData *data);
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float Filter_Median3(float a, float b, float c);
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float Filter_LowPass(float previous, float current, float alpha);
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float Filter_Limit(float value, float min_value, float max_value);
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void Filter_Process(SensorData *data);
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void Control_Init(CommandState *command);
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float Control_ComputeSpeedError(const CommandState *command, const SensorData *data);
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float Control_ComputeAltitudeError(const CommandState *command, const SensorData *data);
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float Control_PidStep(float error, float gain, float limit);
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void Control_Update(const CommandState *command, const SensorData *data, ActuatorState *actuator);
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void Actuator_Init(ActuatorState *actuator);
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void Actuator_Arm(ActuatorState *actuator);
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void Actuator_WriteThrottle(ActuatorState *actuator, float throttle);
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void Actuator_WriteElevator(ActuatorState *actuator, float elevator);
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void Actuator_UpdateOutputs(ActuatorState *actuator);
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void Actuator_Disarm(ActuatorState *actuator);
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void Comm_Init(CommandState *command);
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uint16_t Comm_PackStatus(const AppState *state);
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uint8_t Comm_ReceiveCommand(CommandState *command, uint16_t word);
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void Comm_ApplyCommand(CommandState *command, uint16_t word);
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void Comm_SendStatus(uint16_t status_word);
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void Diag_Init(DiagnosticState *diagnostic);
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uint8_t Diag_CheckSensor(const SensorData *data);
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uint8_t Diag_CheckActuator(const ActuatorState *actuator);
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void Diag_UpdateFaults(DiagnosticState *diagnostic, const SensorData *data, const ActuatorState *actuator);
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uint16_t Diag_ReportStatus(const DiagnosticState *diagnostic);
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void Log_Init(void);
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void Log_RecordSample(const SensorData *data);
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void Log_RecordFault(uint16_t status_word);
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void Log_Flush(void);
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#endif
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