frc971/imu_reader/imu_failures.fbs

namespace frc971.controls;

// Counters to track how many times different errors have occurred.
table ImuFailures {
  // Count of total number of checksum mismatches between the IMU and the
  // pico itself.
  imu_to_pico_checksum_mismatch:uint (id: 0);
  // Count of total number of checksum mismatches between the pico board
  // and the raspberry pi.
  pico_to_pi_checksum_mismatch:uint (id: 1);
  // Total number of dropped/missed messages.
  missed_messages:uint (id: 2);
  // Total number of messages dropped for any other conditions that can fault
  // the zeroer (e.g., diagnostic failures in the IMU).
  other_zeroing_faults:uint (id: 3);
  // These are the counts for the number of times that we think the pico and imu
  // have reset. Note that when the pico resets both of these should increment.
  probable_pico_reset_count:uint (id: 4);
  probable_imu_reset_count:uint (id: 5);
  // This counter is used for things that look like resets (i.e., a large gap in
  // IMU readings) but where the IMU data counter and pico timestamp offsets
  // still look correct.
  unassignable_reset_count:uint (id: 6);
}