bench_state.h

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#pragma once
 
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
 
#include "link_pages.h"
 
#ifdef __cplusplus
extern "C" {
#endif

#define BENCH_CHW_CHANNELS 12u

typedef struct {
    uint16_t window;
    uint16_t ok;
    uint16_t no_current;
    uint16_t no_voltage;
    int16_t  mean_ma[BENCH_CHW_CHANNELS];
    int16_t  max_ma[BENCH_CHW_CHANNELS];
    uint16_t min_mv[BENCH_CHW_CHANNELS];
} bench_chw_t;

typedef struct {
    float voltage;      
    float current;      
    float power;        
    float rpm;                          
    float temp_esc;     
    float temp_motor;   
    float charge_mah;                   
    float energy_wh;                    
 
    /* Peaks and sag, tracked by the end that has the fast samples. */
    float voltage_min;
    float current_max;
    float power_max;
    float rpm_max;
 
    uint16_t flags;     
    uint8_t  counted;
    bool     valid;     
    bool     sag_seeded;
 
    /*
     * The ESC's own telemetry while the INA228 is BENCH's source
     * (LINK_BN_SENSED), from the SENSE page: voltage and current, each
     * valid with its bit in esc_ok (LINK_SN_ESC_VOLTAGE_OK,
     * LINK_SN_ESC_CURRENT_OK).  Not on the BENCH page; without SENSED the
     * BENCH numbers are the ESC's and these are not used.
     */
    float    esc_voltage;   
    float    esc_current;   
    uint8_t  esc_ok;
    bool     clipped;
 
    /*
     * One 50ms window of the INA3221's channels, from SERVO_WIN (CH1) and
     * SERVO_SENSE, for the log: servo_new while it has not been written to
     * a row, so each window reaches the log once, keyed by its number.
     * Per channel the mean and highest current in mA, signed, and the
     * lowest bus voltage in mV, as the page carries them; bit n-1 of
     * servo_ok says CHn's window holds readings.  Bit n-1 of
     * servo_no_current says it holds no current sample, and of
     * servo_no_voltage no voltage sample: the figures of that quantity
     * read 0 and are not readings, and the log leaves their cells empty.
     * SERVO_WIN says which for CH1; SERVO_SENSE's flags do not, and both
     * stay 0 for a channel read from it.  Not on the BENCH page.
     */
    bool     servo_new;
    uint8_t  servo_ok;
    uint8_t  servo_no_current;
    uint8_t  servo_no_voltage;
    uint16_t servo_window;
    int16_t  servo_mean_ma[3];
    int16_t  servo_max_ma[3];
    uint16_t servo_min_mv[3];
    bench_chw_t chw;
} bench_state_t;

static inline bool bench_state_simulated(const bench_state_t *b)
{
    return b != NULL && (b->flags & LINK_BN_SIMULATED) != 0;
}

void bench_state_from_regs(bench_state_t *b, const uint16_t *regs,
                           uint8_t offset, uint8_t count);

void bench_state_to_regs(const bench_state_t *b, uint16_t *regs);

void bench_state_run_starts(bench_state_t *b, uint16_t *regs);

void bench_state_log_row(const bench_state_t *b, bool whole,
                         bench_state_t *out);

void bench_state_reset_peaks(bench_state_t *b);

void bench_state_set_esc(bench_state_t *b, bool v_ok, float volts,
                         bool i_ok, float amps, bool clipped);

bool bench_state_esc_voltage(const bench_state_t *b, float *out);
bool bench_state_esc_current(const bench_state_t *b, float *out);

bool bench_state_ina_voltage(const bench_state_t *b, float *out);
bool bench_state_ina_current(const bench_state_t *b, float *out);

#define BENCH_FINE_MAH_TOL 2.0f
#define BENCH_FINE_WH_TOL  0.2f

#define BENCH_CHARGE_MAH_MAX 65535.0f
#define BENCH_ENERGY_WH_MAX   6553.5f

void bench_state_fine_totals(bench_state_t *b, int32_t charge_cmah,
                             uint32_t energy_cwh);

#define BENCH_COUNTED_CHARGE 0x01u
#define BENCH_COUNTED_ENERGY 0x02u

#define BENCH_TOTALS_MAX_STEP_S 1.0f

typedef struct {
    float   mah;
    float   wh;
    uint8_t counted;   
    float   run_s;     
} bench_totals_t;

#define BENCH_TOTALS_SETTLE_S 0.1f

void bench_totals_reset(bench_totals_t *t);

void bench_totals_count(bench_totals_t *t, const bench_state_t *b,
                        float dt_s, bool driving);

void bench_totals_show(const bench_totals_t *t, bench_state_t *b);

void bench_state_track_peaks(bench_state_t *b);
 
/*
 * How stale a speed may be before it stops being reported.
 *
 * Frames go out at a kilohertz, so a reply older than this is not a slow
 * update but an ESC that has stopped answering -- unplugged, or one that
 * never did bidirectional DShot.  A held-over speed on a stopped motor is
 * exactly the plausible wrong number this bench exists to avoid.
 */
#define BENCH_RPM_STALE_MS  200u
 
/*
 * How old an extended-telemetry reading may be before the field goes empty.
 *
 * Longer than BENCH_RPM_STALE_MS because the rates are not the same: an ESC
 * answers every frame with a period and interleaves temperature, voltage and
 * current between them a few times a second.  Holding those to the speed's
 * window would blank fields that are arriving exactly as the protocol sends
 * them.
 */
#define BENCH_EDT_STALE_MS  2000u

typedef struct {
    bool     ok;        
    uint16_t count;     
    uint32_t age_ms;    
} bench_edt_reading_t;

typedef struct {
    uint16_t poles;         
    bool     erpm_ok;       
    uint32_t erpm;          
    uint32_t erpm_age_ms;               
    bench_edt_reading_t voltage;        
    bench_edt_reading_t current;        
    bench_edt_reading_t temperature;    
} bench_telem_t;

void bench_state_from_telem(bench_state_t *b, const bench_telem_t *t);
 
#ifdef __cplusplus
}
#endif