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FSM - Finite State Machine

Finite State Machine (FSM) module is implemented in C language for usage in embedded system in order to provide backbone of FSM hidden behind intuitive API design.

FSM module is implemented in object oriented fashion as it provide to have multiple FSM objects as fully separated, individual instances. Each instance of FSM can be configured differently in order to fulfill application needs.

Dependencies

FMS module does not have any dependencies.

Limitations

1. Multientry

Module is not written to be used on multi core/task/intrrupts systems.

General Embedded C Libraries Ecosystem

In order to be part of General Embedded C Libraries Ecosystem this module must be placed in following path:

root/middleware/fsm/fsm/"module_space"

API

API Functions Description Prototype
fsm_init Initialization of FSM module fsm_status_t fsm_init(p_fsm_t * p_fsm_inst, const fsm_cfg_t * const p_cfg)
fsm_is_init Get initialization flag fsm_status_t fsm_is_init(p_fsm_t fsm_inst, bool * const p_is_init)
fsm_reset Reset FSM handler fsm_status_t fsm_reset(const p_fsm_t fsm_inst)
fsm_hndl FSM handler fsm_status_t fsm_hndl(p_fsm_t fsm_inst)
fsm_goto_state Change FSM state fsm_status_t fsm_goto_state(p_fsm_t fsm_inst, const uint8_t state)
fsm_get_state Get current FSM state uint8_t fsm_get_state(const p_fsm_t fsm_inst)
fsm_get_duration Get time spend in state in miliseconds uint32_t fsm_get_duration(const p_fsm_t fsm_inst)
fsm_reset_duration Reset time spend in state uint32_t fsm_get_duration(const p_fsm_t fsm_inst)
fsm_get_data Get (read) data from FSM fsm_data_t fsm_get_data(const p_fsm_t fsm_inst)
fsm_set_data Set (write) data to FSM void fsm_set_data(const p_fsm_t fsm_inst, const fsm_data_t data)
fsm_get_first_entry Get first time state entry flag bool fsm_get_first_entry(const p_fsm_t fsm_inst)

Usage

GENERAL NOTICE: Put all user code between sections: USER CODE BEGIN & USER CODE END!

  1. Copy template files to root directory of module.

  2. Configure FSM module for application needs. Configuration options are following:

Macros Description
FSM_GET_SYSTICK Get system timetick in 32-bit form
FSM_CFG_DEBUG_EN Enable/Disable debug mode
FSM_CFG_ASSERT_EN Enable/Disable assertions
FSM_DBG_PRINT Printing to debug channel
FSM_ASSERT Assert actions definition
  1. Create enumeration for FSM states
/**
 * 	APP FSM states
 */
typedef enum
{
    eAPP_FSM_POR = 0,
    eAPP_FSM_POT,
    eAPP_FSM_SSI,
    eAPP_FSM_HALL,

    eAPP_FSM_NUM_OF
} app_fsm_state_t;
  1. Create configuration table for FSM. Here user registers state handlers as pointer functions.
/**
 * 	APP FSM State Configurations
 */
static const fsm_cfg_t g_boot_fsm_cfg_table =
{
    .p_states = (fsm_state_cfg_t[])
    {
        // FSM state           On state entry handler        Normal handler                         On state exit handler       State name
        // -------------------------------------------------------------------------------------------------------------------------------------
        [eAPP_FSM_POR]      = {.on_entry=NULL,              .on_activity=NULL,                      .on_exit=NULL,              .name="POR"     },
        [eAPP_FSM_POT]      = {.on_entry=NULL,              .on_activity=app_fsm_pot_mode_hndl,     .on_exit=NULL,              .name="POT"     },
        [eAPP_FSM_SSI]      = {.on_entry=NULL,              .on_activity=app_fsm_ssi_mode_hndl,     .on_exit=NULL,              .name="SSI"     },
        [eAPP_FSM_HALL]     = {.on_entry=NULL,              .on_activity=app_fsm_hall_mode_hndl,    .on_exit=NULL,              .name="HAL"     },
    },
    .name   = "App FSM",
    .num_of = eAPP_FSM_NUM_OF,
};
  1. Create variable for FSM instance
/**
 * 	App FSM instance
 */
static p_fsm_t g_app_fsm = NULL;
  1. Initialize FSM instance
if ( eFSM_OK != fsm_init( &g_app_fsm, &g_fsm_cfg_table ))
{
    // Initialization failed...
    // Further actions here...
}
  1. Handle FSM instance
// This is cyclic function
static void app_100ms_hndl(void)
{
    // Handle app FSM
    fsm_hndl( g_app_fsm );
}
  1. Change state mode, checking first entry (example usage)

Example of mode change:

switch( mode )
{
    case eSEL_POT:
        fsm_goto_state( g_app_fsm, eAPP_FSM_POT );
        break;

    case eSEL_SSI:
        fsm_goto_state( g_app_fsm, eAPP_FSM_SSI );
        break;

    case eSEL_HALL:
        fsm_goto_state( g_app_fsm, eAPP_FSM_HALL );
        break;

    default:
        // No actions...
        break;
}

Checking first entry:

static void app_fsm_hall_mode_hndl(const p_fsm_t fsm_inst)
{
    // First entry
    if ( true == fsm_get_first_entry( g_app_fsm ))
    {
        // Action on first entry into "eAPP_FSM_HALL" mode
    }

    // Other state actions
}