mode_core.h

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#ifndef STAR_MODE_CORE_H
#define STAR_MODE_CORE_H
 
/*
 * What runs in each flight state, and what a ground command does there.
 * Portable: src/app/mode.c applies it on the board, the tests check it here.
 *
 *   SELF_TEST      bring-up checks; nothing sampling yet
 *   IDLE           only the radio (Inez): IMU/high-g powered down, baro
 *                  idle, GPS rail off (REG_3V6_EN feeds only the GPS,
 *                  schematic p.10/p.12), W5500 held in reset; the Idle
 *                  loop (PR #162) sleeps in Stop between heartbeats
 *   ARMED onwards  everything on; the eMMC log records
 *                  (flight_state_logs_to_emmc)
 * ARMED means "record", never pyro: no pyro output is driven anywhere.
 */
 
#include <stdbool.h>
 
#include "flight_state.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct {
    bool sensors;     /* IMU, high-g, baro sampling */
    bool gps;         /* GPS rail on, GNSS task running */
    bool ethernet;    /* W5500 out of reset */
    bool idle_loop;   /* heartbeats + Stop between them */
    bool radio_sniff; /* radio duty-cycles (SetRxDutyCycle) instead of
                         listening continuously; only in Idle */
} mode_outputs_t;
 
/* Idle sniff timing (SX1262 DS 13.1.7, p.71; Megan, #182): listen 33 ms,
 * sleep 1 s. The ground must send Arm / Un-arm with a preamble longer than
 * the sleep (>= 260 symbols, ~1.08 s at SF9/125 kHz) or it can be missed. */
#define MODE_SNIFF_RX_MS 33U
#define MODE_SNIFF_SLEEP_MS 1000U
 
mode_outputs_t mode_outputs(flight_state_t state);
 
typedef enum { MODE_CMD_ARM = 1, MODE_CMD_DISARM } mode_command_t;
 
typedef enum {
    MODE_TO_IDLE_LOOP, /* IDLE: the Idle loop decides (Arm -> ARM_REQUESTED) */
    MODE_TRANSITION,   /* go to *next now */
    MODE_IGNORE        /* the state table does not move on it */
} mode_route_t;
 
/* Where a confirmed ground command goes in `state`. */
mode_route_t mode_route_command(flight_state_t state, mode_command_t command,
                                flight_state_t* next);
 
#ifdef __cplusplus
}
#endif
#endif