69 triad01
69 : triad01
- Author: Duan Yihe
- Description: A clocked failsafe arbitration block for autonomous drone control paths. Evaluates RC and FC health signals through temporal filtering and ternary inference to select PRIMARY / FALLBACK / SAFE_HOLD, driving a 50 Hz PWM output accordingly. Includes a scan chain for counter observability and lightweight LBIST for post-silicon diagnosis. Four operating modes: normal, PWM-test (pad loopback), scan, and LBIST.
- GitHub repository
- Open in 3D viewer
- Clock: 50000000 Hz
How it works
A clocked failsafe arbitration block for autonomous drone control paths. Triad01 evaluates RC and FC health signals through temporal filtering and ternary inference to select PRIMARY / FALLBACK / SAFE_HOLD, driving a 50 Hz PWM output accordingly. Includes a scan chain for counter observability and lightweight LBIST for post-silicon diagnosis. Four operating modes: normal, PWM-test (pad loopback), scan, and LBIST.
How to test
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External hardware
List external hardware used in your project (e.g. PMOD, LED display, etc), if any
IO
| # | Input | Output | Bidirectional |
|---|---|---|---|
| 0 | fc_live | decision[0] | safehold_active |
| 1 | rc_live | decision[1] | scan_out |
| 2 | fc_conf | decision_valid | bist_done |
| 3 | rc_conf | fc_score[0] | bist_pass |
| 4 | scan_in | fc_score[1] | raw_decision[0] |
| 5 | rc_score[0] | raw_decision[1] | |
| 6 | mode[0] | rc_score[1] | |
| 7 | mode[1] | PWM_out/loopback |