flight_control.h

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#ifndef FLIGHTCONTROL_H
#define FLIGHTCONTROL_H
 
#ifndef __MAIN_H
#include "main.h"
#endif
 
#include "utilities.h"
#include <stdio.h>
#include <stdbool.h>
#include "FLIGHT_PARAMETERS_CONFIG.h"
#include "cmsis_os2.h"
 
// --- Type Definitions ---
 
typedef enum {
    INVALID,      
    CALIBRATING,  
    LIFTOFF,      
    BURNING,      
    ABCSDEPLOYED, 
    DROGUE,       
    MAIN,         
    TOUCHDOWN,    
} flight_phase_t;
 
typedef struct {
    float_t accX;   
    float_t accY;   
    float_t accZ;   
} linear_acceleration_t;
 
typedef struct {
    float_t height;       
    float_t velocity;     
    float_t acceleration; 
} estimation_output_t;
 
typedef struct {
    flight_phase_t flight_state;         
    linear_acceleration_t old_acc_data;  
    linear_acceleration_t old_gyro_data; 
    uint32_t clock_memory;               
    uint32_t memory[3];                  
    uint32_t memory_bis[3];              
    uint32_t thrust_trigger_time;        
    bool state_changed;                  
} flight_fsm_t;
 
// --- State Handler Functions ---
 
void check_Calibrating_phase(flight_fsm_t *fsm_state, estimation_output_t MotionData, linear_acceleration_t acc_data);
 
void check_Liftoff_phase(flight_fsm_t *fsm_state, estimation_output_t MotionData);
 
void check_Burning_phase(flight_fsm_t *fsm_state, estimation_output_t MotionData);
 
void check_AbcsDeployed_phase(flight_fsm_t *fsm_state, estimation_output_t MotionData);
 
void check_Drogue_phase(flight_fsm_t *fsm_state, estimation_output_t MotionData);
 
void check_Main_phase(flight_fsm_t *fsm_state, estimation_output_t MotionData);
 
void check_Touchdown_phase(flight_fsm_t *fsm_state, estimation_output_t MotionData, linear_acceleration_t acc_data);
 
 
// --- Core FSM Functions ---
 
void check_flight_phase(flight_fsm_t *fsm_state, estimation_output_t MotionData, linear_acceleration_t acc_data);
 
void change_state_to(flight_fsm_t *fsm_state, flight_phase_t new_state);
 
#endif /* FLIGHTCONTROL_H */