The programmer for servos by Hitec as the SERVO screen runs it: the session with one servo, driven step by step through the panel's half of the HITEC link page, read only. More...

#include <stdatomic.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include "hitec_card.h"
#include "hitec_link.h"
#include "hitec_reg.h"
#include "hitec_session.h"
#include "link_pages.h"

Data Structures
struct	hitec_prog_msg_t
	The last message, its level, its arguments and its number. More...
struct	hitec_prog_cmd_t
	One call for the task that owns the link module. More...
struct	hitec_prog_gate_t
	The pass a command needs to be carried out, as kst_prog.h's gate. More...
struct	hitec_prog_feed_t
	What the task that owns the link module publishes, every frame. More...
struct	hitec_prog_t
	The programmer's state. More...

Macros
#define	HITEC_PROG_SUPPLY_MV 5000u
	The programming voltage and current until set otherwise.
#define	HITEC_PROG_SUPPLY_MA 1000u
	The programming current limit until set otherwise, mA.
#define	HITEC_PROG_MV_MIN LINK_HITEC_SUPPLY_MIN_MV
	The lowest programming voltage a POWER takes, mV.
#define	HITEC_PROG_MV_MAX LINK_HITEC_SUPPLY_MAX_MV
	The highest, mV: a higher setting is taken as this one.
#define	HITEC_PROG_MA_MIN 50u
	The lowest current limit a POWER takes, mA.
#define	HITEC_PROG_MA_MAX 3000u
	The highest, mA: the PD mini's.
#define	HITEC_PROG_PIN_LAST 47u
	The highest GPIO of the IOmcu, and a pin that is not known.
#define	HITEC_PROG_NO_PIN 0xFFu
	A pin that is not known.
#define	HITEC_PROG_START_MS 2000u
	A command the link's task has not answered this long is given up, ms.
#define	HITEC_PROG_RUN_MS (HITEC_LINK_RUN_MAX_MS + 5000u)
	A request without an outcome this long after its command was taken is aborted, ms: HITEC_LINK_RUN_MAX_MS and 5000ms.
#define	HITEC_PROG_CARD_MS 3000u
	A write waits this long for the card to take its record, ms.
#define	HITEC_RULE_BIT(r)
	The bit of rule `r` in a rule set.
#define	HITEC_PROG_CUT_CHECK 0xFFu
	HITEC_PROG_MSG_WRITE_CUT's kind of a cut in the read-back.
#define	HITEC_PROG_SLOW_PCT 30
	The speed below which SPEED asks, %.
#define	HITEC_PROG_FS_FAR_US 300
	How far from 1500us a failsafe position asks, us.

Enumerations
enum	hitec_prog_state_t { HITEC_PROG_DOWN = 0 , HITEC_PROG_NO_PAGE , HITEC_PROG_SYNC , HITEC_PROG_PWM , HITEC_PROG_OTHER , HITEC_PROG_OPENING , HITEC_PROG_ENTERING , HITEC_PROG_HELD , HITEC_PROG_READING , HITEC_PROG_CLEARING , HITEC_PROG_LEAVING , HITEC_PROG_RELEASING , HITEC_PROG_RECORDING , HITEC_PROG_WRITING }
	Where the programmer is. More...
enum	hitec_prog_msg_id_t { HITEC_PROG_MSG_NONE = 0 , HITEC_PROG_MSG_READ , HITEC_PROG_MSG_DOWN , HITEC_PROG_MSG_NO_PAGE , HITEC_PROG_MSG_BUSY , HITEC_PROG_MSG_NEED_DISARM , HITEC_PROG_MSG_STOP_LATCHED , HITEC_PROG_MSG_NEED_TARGET , HITEC_PROG_MSG_NO_PIN , HITEC_PROG_MSG_RX_PENDING , HITEC_PROG_MSG_NEED_PD_C , HITEC_PROG_MSG_SUPPLY_CAPS , HITEC_PROG_MSG_HELD_KST , HITEC_PROG_MSG_HELD_OTHER , HITEC_PROG_MSG_NO_C , HITEC_PROG_MSG_NO_D , HITEC_PROG_MSG_ENTRY_BAD , HITEC_PROG_MSG_READ_FAIL , HITEC_PROG_MSG_NOT_IN_MODE , HITEC_PROG_MSG_STOPPED , HITEC_PROG_MSG_ABORTED , HITEC_PROG_MSG_CLEARED , HITEC_PROG_MSG_UNSAFE , HITEC_PROG_MSG_LEFT , HITEC_PROG_MSG_RELEASED , HITEC_PROG_MSG_SESSION_ENDED , HITEC_PROG_MSG_TIMEOUT , HITEC_PROG_MSG_NO_ANSWER , HITEC_PROG_MSG_RESTARTED , HITEC_PROG_MSG_NACK , HITEC_PROG_MSG_REFUSED , HITEC_PROG_MSG_NO_LINE , HITEC_PROG_MSG_SUPPLY , HITEC_PROG_MSG_UNKNOWN , HITEC_PROG_MSG_WRITTEN , HITEC_PROG_MSG_REPAIRED , HITEC_PROG_MSG_RESTORED , HITEC_PROG_MSG_WRITE_OFF , HITEC_PROG_MSG_NOT_READ , HITEC_PROG_MSG_MUST_READ , HITEC_PROG_MSG_NO_CHANGES , HITEC_PROG_MSG_EDITS_PENDING , HITEC_PROG_MSG_EDIT_REFUSED , HITEC_PROG_MSG_RECORD_FAILED , HITEC_PROG_MSG_WRITE_CUT , HITEC_PROG_MSG_VERIFY_FAIL , HITEC_PROG_MSG_RECORD , HITEC_PROG_MSG_REC_SAME , HITEC_PROG_MSG_REC_DONE , HITEC_PROG_MSG_REC_MIX , HITEC_PROG_MSG_REC_OTHER , HITEC_PROG_MSG_RECORD_HELD , HITEC_PROG_MSG_FORGOTTEN , HITEC_PROG_MSG_RECORD_BAD , HITEC_PROG_MSG_SUM_OK , HITEC_PROG_MSG_COUNT }
	What the screen says. More...
enum	hitec_prog_level_t { HITEC_PROG_INFO = 0 , HITEC_PROG_WARN , HITEC_PROG_DANGER }
	The level of a message.
enum	hitec_prog_cmd_kind_t { HITEC_PROG_CMD_OPEN = 0 , HITEC_PROG_CMD_STEP , HITEC_PROG_CMD_CLEAR , HITEC_PROG_CMD_CLOSE , HITEC_PROG_CMD_ABORT }
	The kinds of command for the task that owns the link module. More...
enum	hitec_prog_rule_t { HITEC_RULE_SPEED = 0 , HITEC_RULE_DEAD_BAND , HITEC_RULE_OVERLOAD , HITEC_RULE_END , HITEC_RULE_CENTRE , HITEC_RULE_DIRECTION , HITEC_RULE_FS_FAR , HITEC_RULE_COUNT }
	The soft rules of an edit: bit n of a rule set is rule n. More...
enum	hitec_prog_edit_t { HITEC_PROG_EDIT_OK = 0 , HITEC_PROG_EDIT_CHECK , HITEC_PROG_EDIT_REFUSED }
	What an edit came to. More...
enum	hitec_prog_rec_t { HITEC_PROG_REC_NONE = 0 , HITEC_PROG_REC_SAME , HITEC_PROG_REC_DONE , HITEC_PROG_REC_MIX , HITEC_PROG_REC_OTHER }
	What the servo read holds of a record. More...
enum	hitec_prog_wr_t { HITEC_PROG_WR_EDITS = 0 , HITEC_PROG_WR_REPAIR , HITEC_PROG_WR_RESTORE }
	What a write is. More...

Functions
void	hitec_prog_gate_init (hitec_prog_gate_t *g)
	Sets up a gate: no pass offered.
void	hitec_prog_gate_offer (hitec_prog_gate_t *g, uint32_t id)
	The pass of command `id` is there to be taken.
bool	hitec_prog_gate_claim (hitec_prog_gate_t *g, uint32_t id)
	The link's task, with command `id` out of its queue.
bool	hitec_prog_gate_revoke (hitec_prog_gate_t *g, uint32_t id)
	The model gives command `id` up.
void	hitec_prog_init (hitec_prog_t *p)
	Sets up the programmer: nothing fed, D series, the default supply.
void	hitec_prog_gate_set (hitec_prog_t p, hitec_prog_gate_t g)
	The gate the link's task claims each command at; NULL for none.
void	hitec_prog_feed (hitec_prog_t p, const hitec_prog_feed_t f)
	The feed of this frame: answers and outcomes are taken, the session's next step goes out, and the state follows the page.
bool	hitec_prog_take (hitec_prog_t p, hitec_prog_cmd_t out)
	The next command for the link's task.
hitec_prog_state_t	hitec_prog_state (const hitec_prog_t *p)
	Where the programmer is.
void	hitec_prog_bench_armed (hitec_prog_t *p, bool armed)
	The bench is armed or asked to arm.
bool	hitec_prog_series_set (hitec_prog_t *p, uint8_t series)
	The series of the next CONNECT; taken in PWM only. A change of series drops what the last read found: hitec_prog_servo() and hitec_prog_model() return NULL until the next read.
uint8_t	hitec_prog_series (const hitec_prog_t *p)
	The series: the session's while the port is held, else the one the next CONNECT uses.
void	hitec_prog_supply_set (hitec_prog_t *p, uint16_t mv, uint16_t ma)
	The programming voltage and current limit the next CONNECT asks.
void	hitec_prog_supply_caps (hitec_prog_t *p, uint16_t max_mv, uint16_t max_ma)
	The SUPPLY screen's limits, 0 for none.
uint16_t	hitec_prog_mv (const hitec_prog_t *p)
	The voltage a POWER of the next CONNECT asks: the setting, at most HITEC_PROG_MV_MAX and at least HITEC_PROG_MV_MIN.
uint16_t	hitec_prog_ma (const hitec_prog_t *p)
	The current limit a POWER of the next CONNECT asks, HITEC_PROG_MA_MIN to HITEC_PROG_MA_MAX.
bool	hitec_prog_mv_capped (const hitec_prog_t *p)
	Whether the setting is above HITEC_PROG_MV_MAX and is taken as it.
hitec_prog_msg_id_t	hitec_prog_connect (hitec_prog_t *p)
	CONNECT on the SERVO screen's programming port.
hitec_prog_msg_id_t	hitec_prog_read (hitec_prog_t *p)
	READ ALL.
hitec_prog_msg_id_t	hitec_prog_leave (hitec_prog_t *p)
	LEAVE: programming mode ends and the port goes back to PWM.
hitec_prog_msg_id_t	hitec_prog_clear (hitec_prog_t *p)
	CLEAR the page's STOPPED flag, then the entry or the read.
void	hitec_prog_abort (hitec_prog_t *p)
	ABORT the running operation; the port stays held.
hitec_prog_msg_id_t	hitec_prog_release (hitec_prog_t *p)
	RELEASE PORT: CLOSE the port another session holds.
const hitec_prog_msg_t *	hitec_prog_message (const hitec_prog_t *p)
	The last message.
hitec_prog_level_t	hitec_prog_level (unsigned id)
	The level of message `id`.
uint8_t	hitec_prog_port (const hitec_prog_t *p)
	The programming port the overlay names: the session's while one holds it, the held port of another session, else the tester's; 0 while the tester drives the standard outputs.
uint8_t	hitec_prog_pin (const hitec_prog_t *p)
	The GPIO that port drives: the HITEC page's while it holds the line, else the PROG page's.
bool	hitec_prog_precharge (const hitec_prog_t *p)
	Whether the line receives by PRECHARGE: the open line's mode while the page holds one, else the mode its next OPEN takes.
bool	hitec_prog_on_port (const hitec_prog_t *p)
	Whether the SERVO screen's tester drives a programming port.
bool	hitec_prog_holds_port (const hitec_prog_t *p)
	Whether the session or another one holds a port, or a request of this model is on its way: no other programmer opens and the bench takes no arm.
bool	hitec_prog_port_taken (const hitec_link_readout_t *rd)
	The link task's view: the page holds a port, or a request runs.
bool	hitec_prog_in_mode (const hitec_prog_t *p)
	Whether the servo is in programming mode.
bool	hitec_prog_stopped (const hitec_prog_t *p)
	Whether the page's STOPPED flag is set on this panel's port.
bool	hitec_prog_rail (const hitec_prog_t *p)
	Whether a PD mini answers the page (LINK_HT_F_RAIL).
const hitec_image_t *	hitec_prog_servo (const hitec_prog_t *p)
	The servo as the last full read found it; NULL with none.
const hitec_model_t *	hitec_prog_model (const hitec_prog_t *p)
	The model of that servo; NULL with none.
uint8_t	hitec_prog_layout (const hitec_prog_t *p)
	The layout the values are decoded with: the model's, or the series' measured one before a read.
bool	hitec_prog_progress (const hitec_prog_t p, unsigned done, unsigned *total)
	The progress of the running read.
unsigned	hitec_prog_retry_code (const hitec_prog_t *p)
	The decoder's code of the last failed try of the running transaction, while it goes again.
const hitec_image_t *	hitec_prog_draft (const hitec_prog_t *p)
	The draft: the servo read with the edits; NULL with no servo read.
bool	hitec_prog_can_edit (const hitec_prog_t *p)
	Whether an edit is taken now: the port held and idle, the servo in programming mode and read, the port not stopped.
bool	hitec_prog_editable (const hitec_prog_t *p, uint8_t id)
	Whether parameter `id` of the servo's layout takes an edit.
hitec_prog_edit_t	hitec_prog_edit (hitec_prog_t *p, uint8_t id, int32_t value)
	Edit the draft: `value` in the unit of parameter `id`.
uint16_t	hitec_prog_pending (const hitec_prog_t p, uint8_t id, int32_t *value)
	The edit that waits for a confirmation.
hitec_prog_edit_t	hitec_prog_confirm (hitec_prog_t *p)
	Take the edit that waits: its rules are confirmed for its value.
void	hitec_prog_cancel (hitec_prog_t *p)
	Drop the edit that waits; the draft stays as it was.
uint16_t	hitec_prog_rules (const hitec_prog_t *p, uint8_t id, int32_t value)
	The soft rules `value` of parameter `id` breaks against the servo read.
bool	hitec_prog_differs (const hitec_prog_t p, const hitec_image_t img, uint8_t id)
	Whether parameter `id` differs in `img` from the servo read: in its decoded value or in its stored value.
unsigned	hitec_prog_changes (const hitec_prog_t *p)
	The writable parameters in which the draft differs from the servo read.
void	hitec_prog_discard (hitec_prog_t *p)
	DISCARD EDITS: the draft is the servo read again, and every confirmation ends.
hitec_prog_msg_id_t	hitec_prog_write_enable (hitec_prog_t *p, bool on)
	ENABLE WRITE TO SERVO.
bool	hitec_prog_write_on (const hitec_prog_t *p)
	Whether ENABLE WRITE TO SERVO is on.
hitec_prog_msg_id_t	hitec_prog_write_gate (const hitec_prog_t *p, uint8_t kind)
	Why a write of `kind` is not taken now, the switch included.
hitec_prog_msg_id_t	hitec_prog_write (hitec_prog_t *p)
	WRITE n VALUES: the draft to the servo, then its read-back.
bool	hitec_prog_sum_bad (const hitec_prog_t *p)
	Whether the classic servo read has cells 0x00 to 0x1C that do not sum to 0.
hitec_prog_msg_id_t	hitec_prog_repair (hitec_prog_t *p)
	REPAIR: the classic balance 0x1C alone, then the read-back.
bool	hitec_prog_first_done (const hitec_prog_t *p)
	Whether the first write of this CONNECT has gone out.
bool	hitec_prog_write_progress (const hitec_prog_t p, unsigned done, unsigned total, uint8_t kind)
	The progress of the running write.
bool	hitec_prog_record (const hitec_prog_t *p)
	Whether a record of a write stands.
hitec_prog_rec_t	hitec_prog_record_verdict (const hitec_prog_t *p)
	What the last servo read holds of the record.
hitec_prog_msg_id_t	hitec_prog_restore (hitec_prog_t *p)
	RESTORE: the values before the recorded write back to the servo, as a write; the record stays until it ends verified.
bool	hitec_prog_restore_image (const hitec_prog_t p, hitec_image_t out)
	The image RESTORE writes: the servo read with the record's values before the write.
hitec_prog_msg_id_t	hitec_prog_forget (hitec_prog_t *p)
	FORGET: discard the record without a write.
bool	hitec_prog_file_due (const hitec_prog_t *p)
	Whether the record's text is to go to the card.
size_t	hitec_prog_file_take (hitec_prog_t p, char out, size_t n)
	The record's text for the card: fill `out` and return its length; 0 while none is due, no card is mounted or `n` is under HITEC_CARD_TEXT_MAX.
void	hitec_prog_file_done (hitec_prog_t *p, bool ok)
	How the card took the text hitec_prog_file_take() gave.
bool	hitec_prog_file_load (hitec_prog_t p, const char text, size_t len)
	The record's text as the card held it at the start.

Detailed Description

The programmer for servos by Hitec as the SERVO screen runs it: the session with one servo, driven step by step through the panel's half of the HITEC link page, read only.

Hitec is a name or trademark of its owner; it is used here only to say which servos this module works with.

The session runs on the panel (protocols/hitec/include/hitec_session.h): this model holds it, hands each of its steps to the task that owns the link module (hitec_link.h) as a command, and feeds each outcome back. The IOmcu's page runs one raw transaction at a time and holds no session (shared/outputs/hitec_port.h).

What it does:

CONNECT takes the SERVO screen's programming port from PWM (OPEN), enters programming mode for the series the operator chose (classic HS-5xxx and HS-7xxx, or D series) and reads the series' full set. It is refused, and nothing is sent, on an ARMED bench or one asked to arm, with STOP latched, with the tester on the standard outputs, with no pin on the port, on an IOmcu without the page, for a D series line whose receive mode is not held yet, for a classic servo with no PD mini answering (classic serial mode starts only at power-up), and with a programming voltage or current above the SUPPLY limits.
READ ALL reads the full set again: 21 D series registers, or 100 classic cells. The model is identified from what was read.
LEAVE ends programming mode (a D series reboot, a classic supply cycle) and gives the port back to PWM (CLOSE), also after a STOP.
CLEAR clears the page's STOPPED flag and goes on: the entry again where the supply went off, or the read. It is refused while STOP is latched at the panel: the heartbeat is withheld until a switch to ARMED, and the IOmcu would refuse the CLEAR as UNSAFE.
ABORT ends the running operation; the port stays held.
RELEASE PORT closes a port the page holds and this panel did not open: one the bench console opened, or one held over a panel restart or a link loss. The supply stays as it is.

Writing (hitec_prog_write.c):

The values are edited in a draft (hitec_prog_edit()) through the parameter table of hitec_reg.h: a value no step of its encoding gives is refused, a value that breaks a soft rule (hitec_prog_rule_t) waits for a confirmation. A rule confirmed for a value is asked again for a value further from the servo's, or on its other side. A write, a read and DISCARD EDITS end every confirmation.
The switch ENABLE WRITE TO SERVO is off at every CONNECT and LEAVE, when the link goes, at a stop, after a write that did not end verified, and when a read finds other values than the ones held. The caller switches it off at every entry of the screen.
WRITE n VALUES runs hitec_session_write(): D series writes 20ms apart, the save, 100ms, the reboot, 1000ms, the read-back; classic per cell the value, then the balance 0x1C, then the read-back of cells 0x00 to 0x23. It is refused on an ARMED bench, with STOP latched, on a STOPPED port, with no servo read, with the switch off and while a record of an earlier write stands.
REPAIR writes the classic balance 0x1C alone when the cells 0x00 to 0x1C of the servo read do not sum to 0.
The record (hitec_card.h): before the first step of a write the servo's values, the target and the port are recorded, with a card in its file as well, and the write waits for the card. A write that ends verified clears it. A record that stands is compared with the next full read (hitec_prog_rec_t); RESTORE writes the values before the write back, and FORGET discards the record.
A write that fails once a step went out leaves what the servo holds unknown: READ ALL comes before the next write.

Every model is written: the D series with the HFP-30's registers, the classic servos with the HPP-21 Plus's cells (hitec_reg.h).

The programming voltage is the SERVO programmer's setting; the page takes LINK_HITEC_SUPPLY_MIN_MV to LINK_HITEC_SUPPLY_MAX_MV for a POWER, so a higher one is taken as LINK_HITEC_SUPPLY_MAX_MV (hitec_prog_mv()).

Every refusal, outcome and session result becomes one message (hitec_prog_msg_id_t) the screen has a text for.

Pure C. The caller hands in hitec_prog_feed_t every frame and carries out the commands hitec_prog_take() gives. One task only.

SPDX-License-Identifier: MIT

Macro Definition Documentation

◆ HITEC_RULE_BIT

#define HITEC_RULE_BIT ( r )

Value:

((uint16_t)(1u << (r)))

The bit of rule r in a rule set.

Enumeration Type Documentation

◆ hitec_prog_cmd_kind_t

enum hitec_prog_cmd_kind_t

The kinds of command for the task that owns the link module.

Enumerator
HITEC_PROG_CMD_OPEN	hitec_link_open()
HITEC_PROG_CMD_STEP	hitec_link_step()
HITEC_PROG_CMD_CLEAR	hitec_link_clear()
HITEC_PROG_CMD_CLOSE	hitec_link_close()
HITEC_PROG_CMD_ABORT	hitec_link_abort(); answered by none

◆ hitec_prog_edit_t

enum hitec_prog_edit_t

What an edit came to.

Enumerator
HITEC_PROG_EDIT_OK	the draft holds it
HITEC_PROG_EDIT_CHECK	it waits for CHECK THIS CHANGE
HITEC_PROG_EDIT_REFUSED	refused; the message says why

◆ hitec_prog_msg_id_t

enum hitec_prog_msg_id_t

What the screen says.

Enumerator
HITEC_PROG_MSG_READ	read; arg the D series model number, reg the D series ID or the classic version
HITEC_PROG_MSG_DOWN	no IOmcu answers
HITEC_PROG_MSG_NO_PAGE	the IOmcu has no HITEC page
HITEC_PROG_MSG_BUSY	another operation runs
HITEC_PROG_MSG_NEED_DISARM	ARMED or asked to arm
HITEC_PROG_MSG_STOP_LATCHED	STOP is latched at the panel
HITEC_PROG_MSG_NEED_TARGET	the tester drives the standard outputs
HITEC_PROG_MSG_NO_PIN	the port has no pin
HITEC_PROG_MSG_RX_PENDING	the D series receive mode is not held by the IOmcu yet
HITEC_PROG_MSG_NEED_PD_C	classic, and no PD mini answers
HITEC_PROG_MSG_SUPPLY_CAPS	the programming voltage or current is above the SUPPLY limits
HITEC_PROG_MSG_HELD_KST	the KST page holds the port
HITEC_PROG_MSG_HELD_OTHER	the page holds a port this panel did not open; arg its port
HITEC_PROG_MSG_NO_C	no classic servo answered
HITEC_PROG_MSG_NO_D	no D series servo answered
HITEC_PROG_MSG_ENTRY_BAD	bytes came that do not fit the series' entry
HITEC_PROG_MSG_READ_FAIL	a read failed on every try; arg the address
HITEC_PROG_MSG_NOT_IN_MODE	no servo is in programming mode
HITEC_PROG_MSG_STOPPED	a stop cut the operation
HITEC_PROG_MSG_ABORTED	ABORT ended it
HITEC_PROG_MSG_CLEARED	CLEAR was taken
HITEC_PROG_MSG_UNSAFE	refused: the IOmcu trusts neither heartbeat nor link
HITEC_PROG_MSG_LEFT	the port is back in PWM
HITEC_PROG_MSG_RELEASED	another's port closed; arg its port
HITEC_PROG_MSG_SESSION_ENDED	the port went back to PWM with no command of this model
HITEC_PROG_MSG_TIMEOUT	no answer or no outcome in time
HITEC_PROG_MSG_NO_ANSWER	the link did not answer
HITEC_PROG_MSG_RESTARTED	the IOmcu started again, or another writer sent a command
HITEC_PROG_MSG_NACK	a frame refused; arg the reason
HITEC_PROG_MSG_REFUSED	refused for a reason with no message of its own; arg link_hitec_refusal_t
HITEC_PROG_MSG_NO_LINE	OPEN: the IOmcu found no free line
HITEC_PROG_MSG_SUPPLY	POWER: the supply did not switch
HITEC_PROG_MSG_UNKNOWN	a code the tables do not hold; arg the code
HITEC_PROG_MSG_WRITTEN	a write verified; arg the values
HITEC_PROG_MSG_REPAIRED	the classic balance written
HITEC_PROG_MSG_RESTORED	the record's values written back
HITEC_PROG_MSG_WRITE_OFF	the write switch is off
HITEC_PROG_MSG_NOT_READ	no servo read
HITEC_PROG_MSG_MUST_READ	a write failed: READ ALL first
HITEC_PROG_MSG_NO_CHANGES	the draft is the servo's
HITEC_PROG_MSG_EDITS_PENDING	edits not written stand
HITEC_PROG_MSG_EDIT_REFUSED	an edit refused; arg hitec_set_t
HITEC_PROG_MSG_RECORD_FAILED	the card took no record; nothing was written
HITEC_PROG_MSG_WRITE_CUT	a write ended after a step went out; arg the address (a balance: the cell it balances), reg the hitec_step_kind_t of the step out or HITEC_PROG_CUT_CHECK
HITEC_PROG_MSG_VERIFY_FAIL	the read-back differs; arg the addresses that differ
HITEC_PROG_MSG_RECORD	a record stands, not compared yet; arg its pin, reg its port
HITEC_PROG_MSG_REC_SAME	the servo holds the values before the recorded write; as RECORD
HITEC_PROG_MSG_REC_DONE	it holds the write's values
HITEC_PROG_MSG_REC_MIX	it holds both
HITEC_PROG_MSG_REC_OTHER	it is another servo; as RECORD
HITEC_PROG_MSG_RECORD_HELD	a write refused: a record stands
HITEC_PROG_MSG_FORGOTTEN	the record discarded
HITEC_PROG_MSG_RECORD_BAD	the card's record does not read; arg hitec_card_result_t
HITEC_PROG_MSG_SUM_OK	REPAIR refused: the sum is right

◆ hitec_prog_rec_t

enum hitec_prog_rec_t

What the servo read holds of a record.

Enumerator
HITEC_PROG_REC_NONE	no record, or not compared
HITEC_PROG_REC_SAME	the values before the write
HITEC_PROG_REC_DONE	the values the write was to leave
HITEC_PROG_REC_MIX	some of each
HITEC_PROG_REC_OTHER	another servo: another series, port, model, or a value that is neither

◆ hitec_prog_rule_t

enum hitec_prog_rule_t

The soft rules of an edit: bit n of a rule set is rule n.

Enumerator
HITEC_RULE_SPEED	SPEED below 30%
HITEC_RULE_DEAD_BAND	DEAD BAND below the servo's
HITEC_RULE_OVERLOAD	OVERLOAD PROTECTION switched off
HITEC_RULE_END	an end point differs from the servo's
HITEC_RULE_CENTRE	NEUTRAL or CENTRE differs from it
HITEC_RULE_DIRECTION	DIRECTION reversed
HITEC_RULE_FS_FAR	a failsafe position more than 300us from 1500us

◆ hitec_prog_state_t

enum hitec_prog_state_t

Where the programmer is.

Enumerator
HITEC_PROG_DOWN	no IOmcu answers
HITEC_PROG_NO_PAGE	the IOmcu has no HITEC page
HITEC_PROG_SYNC	the page has not been read yet
HITEC_PROG_PWM	the page holds no port: the tester has it
HITEC_PROG_OTHER	the page holds a port this panel did not open
HITEC_PROG_OPENING	OPEN is on its way
HITEC_PROG_ENTERING	the entry into programming mode runs
HITEC_PROG_HELD	the port is this panel's, nothing runs
HITEC_PROG_READING	a read runs
HITEC_PROG_CLEARING	CLEAR is on its way
HITEC_PROG_LEAVING	the leave runs, then CLOSE
HITEC_PROG_RELEASING	CLOSE of another's port is on its way
HITEC_PROG_RECORDING	a write waits for the card's record
HITEC_PROG_WRITING	a write runs, with its read-back

◆ hitec_prog_wr_t

enum hitec_prog_wr_t

What a write is.

Enumerator
HITEC_PROG_WR_EDITS	WRITE n VALUES
HITEC_PROG_WR_REPAIR	REPAIR: the classic balance
HITEC_PROG_WR_RESTORE	the record's values back

Function Documentation

◆ hitec_prog_abort()

void hitec_prog_abort ( hitec_prog_t * p )

ABORT the running operation; the port stays held.

Parameters

p	The programmer.

◆ hitec_prog_bench_armed()

void hitec_prog_bench_armed	(	hitec_prog_t *	p,
		bool	armed )

The bench is armed or asked to arm.

Parameters

p	The programmer.
armed	true while it is.

◆ hitec_prog_can_edit()

bool hitec_prog_can_edit ( const hitec_prog_t * p )

Whether an edit is taken now: the port held and idle, the servo in programming mode and read, the port not stopped.

Parameters

p	The programmer.

Returns: true when it is.

◆ hitec_prog_cancel()

void hitec_prog_cancel ( hitec_prog_t * p )

Drop the edit that waits; the draft stays as it was.

Parameters

p	The programmer.

◆ hitec_prog_changes()

unsigned hitec_prog_changes ( const hitec_prog_t * p )

The writable parameters in which the draft differs from the servo read.

Parameters

p	The programmer.

Returns: The count; 0 with no servo read.

◆ hitec_prog_clear()

hitec_prog_msg_id_t hitec_prog_clear ( hitec_prog_t * p )

CLEAR the page's STOPPED flag, then the entry or the read.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when it starts, else the message said.

◆ hitec_prog_confirm()

hitec_prog_edit_t hitec_prog_confirm ( hitec_prog_t * p )

Take the edit that waits: its rules are confirmed for its value.

Parameters

p	The programmer.

Returns: What the edit came to; HITEC_PROG_EDIT_REFUSED with none waiting.

◆ hitec_prog_connect()

hitec_prog_msg_id_t hitec_prog_connect ( hitec_prog_t * p )

CONNECT on the SERVO screen's programming port.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when it starts, else the message said.

◆ hitec_prog_differs()

bool hitec_prog_differs	(	const hitec_prog_t *	p,
		const hitec_image_t *	img,
		uint8_t	id )

Whether parameter id differs in img from the servo read: in its decoded value or in its stored value.

Parameters

p	The programmer.
img	The image; the draft for NULL.
id	hitec_param_t.

Returns: true when it differs.

◆ hitec_prog_discard()

void hitec_prog_discard ( hitec_prog_t * p )

DISCARD EDITS: the draft is the servo read again, and every confirmation ends.

Parameters

p	The programmer.

◆ hitec_prog_draft()

const hitec_image_t * hitec_prog_draft ( const hitec_prog_t * p )

The draft: the servo read with the edits; NULL with no servo read.

Parameters

p	The programmer.

Returns: The draft.

◆ hitec_prog_edit()

hitec_prog_edit_t hitec_prog_edit	(	hitec_prog_t *	p,
		uint8_t	id,
		int32_t	value )

Edit the draft: value in the unit of parameter id.

A value equal to the draft's changes nothing. A value hitec_param_set() refuses is refused (HITEC_PROG_MSG_EDIT_REFUSED, arg its hitec_set_t). A value that breaks a soft rule not confirmed for it waits: hitec_prog_pending() names it, hitec_prog_confirm() takes it, hitec_prog_cancel() drops it.

Parameters

p	The programmer.
id	hitec_param_t.
value	The value.

Returns: What the edit came to.

◆ hitec_prog_editable()

bool hitec_prog_editable	(	const hitec_prog_t *	p,
		uint8_t	id )

Whether parameter id of the servo's layout takes an edit.

Parameters

p	The programmer.
id	hitec_param_t.

Returns: true for a writable parameter of the layout.

◆ hitec_prog_feed()

void hitec_prog_feed	(	hitec_prog_t *	p,
		const hitec_prog_feed_t *	f )

The feed of this frame: answers and outcomes are taken, the session's next step goes out, and the state follows the page.

Parameters

p	The programmer.
f	The feed.

◆ hitec_prog_file_done()

void hitec_prog_file_done	(	hitec_prog_t *	p,
		bool	ok )

How the card took the text hitec_prog_file_take() gave.

Only the answer to the text that holds the record of the write waiting in HITEC_PROG_RECORDING releases that write, or ends it when the card refused the text. The answer to a text taken before that write began, the record of an aborted or timed-out write or the text that clears a record, only frees the card for the next text.

Parameters

p	The programmer.
ok	true when the card holds it whole.

◆ hitec_prog_file_due()

bool hitec_prog_file_due ( const hitec_prog_t * p )

Whether the record's text is to go to the card.

Parameters

p	The programmer.

Returns: true while one is due and none is out.

◆ hitec_prog_file_load()

bool hitec_prog_file_load	(	hitec_prog_t *	p,
		const char *	text,
		size_t	len )

The record's text as the card held it at the start.

Parameters

p	The programmer.
text	The text.
len	Its length in bytes.

Returns: false, with HITEC_PROG_MSG_RECORD_BAD, for a text that does not parse.

◆ hitec_prog_file_take()

size_t hitec_prog_file_take	(	hitec_prog_t *	p,
		char *	out,
		size_t	n )

The record's text for the card: fill out and return its length; 0 while none is due, no card is mounted or n is under HITEC_CARD_TEXT_MAX.

Parameters

p	The programmer.
out	Receives the text.
n	Bytes at `out`.

Returns: The length.

◆ hitec_prog_first_done()

bool hitec_prog_first_done ( const hitec_prog_t * p )

Whether the first write of this CONNECT has gone out.

Parameters

p	The programmer.

Returns: true after it.

◆ hitec_prog_forget()

hitec_prog_msg_id_t hitec_prog_forget ( hitec_prog_t * p )

FORGET: discard the record without a write.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when taken; BUSY while a write runs.

◆ hitec_prog_gate_claim()

bool hitec_prog_gate_claim	(	hitec_prog_gate_t *	g,
		uint32_t	id )

The link's task, with command id out of its queue.

Parameters

g	The gate.
id	The command's id.

Returns: true when the command is to be carried out; false: it is dropped, with no answer.

◆ hitec_prog_gate_init()

void hitec_prog_gate_init ( hitec_prog_gate_t * g )

Sets up a gate: no pass offered.

Parameters

g The gate.

◆ hitec_prog_gate_offer()

void hitec_prog_gate_offer	(	hitec_prog_gate_t *	g,
		uint32_t	id )

The pass of command id is there to be taken.

Parameters

g	The gate.
id	The command's id.

◆ hitec_prog_gate_revoke()

bool hitec_prog_gate_revoke	(	hitec_prog_gate_t *	g,
		uint32_t	id )

The model gives command id up.

Parameters

g	The gate.
id	The command's id.

Returns: true when the command is not carried out and never is.

◆ hitec_prog_gate_set()

void hitec_prog_gate_set	(	hitec_prog_t *	p,
		hitec_prog_gate_t *	g )

The gate the link's task claims each command at; NULL for none.

With none, a command nobody answers within HITEC_PROG_START_MS counts as one that may have run: an ABORT follows it.

Parameters

p	The programmer.
g	The gate.

◆ hitec_prog_holds_port()

bool hitec_prog_holds_port ( const hitec_prog_t * p )

Whether the session or another one holds a port, or a request of this model is on its way: no other programmer opens and the bench takes no arm.

Parameters

p	The programmer.

Returns: true while held.

◆ hitec_prog_in_mode()

bool hitec_prog_in_mode ( const hitec_prog_t * p )

Whether the servo is in programming mode.

Parameters

p	The programmer.

Returns: true after an entry, until a leave.

◆ hitec_prog_init()

void hitec_prog_init ( hitec_prog_t * p )

Sets up the programmer: nothing fed, D series, the default supply.

Parameters

p	The programmer.

◆ hitec_prog_layout()

uint8_t hitec_prog_layout ( const hitec_prog_t * p )

The layout the values are decoded with: the model's, or the series' measured one before a read.

Parameters

p	The programmer.

Returns: hitec_layout_t.

◆ hitec_prog_leave()

hitec_prog_msg_id_t hitec_prog_leave ( hitec_prog_t * p )

LEAVE: programming mode ends and the port goes back to PWM.

Taken while the port is this panel's and nothing runs, STOPPED or not.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when it starts, else the message said.

◆ hitec_prog_level()

hitec_prog_level_t hitec_prog_level ( unsigned id )

The level of message id.

Parameters

id	hitec_prog_msg_id_t.

Returns: hitec_prog_level_t.

◆ hitec_prog_ma()

uint16_t hitec_prog_ma ( const hitec_prog_t * p )

The current limit a POWER of the next CONNECT asks, HITEC_PROG_MA_MIN to HITEC_PROG_MA_MAX.

Parameters

p	The programmer.

Returns: mA.

◆ hitec_prog_message()

const hitec_prog_msg_t * hitec_prog_message ( const hitec_prog_t * p )

The last message.

Parameters

p	The programmer.

Returns: The message.

◆ hitec_prog_model()

const hitec_model_t * hitec_prog_model ( const hitec_prog_t * p )

The model of that servo; NULL with none.

Parameters

p	The programmer.

Returns: The model.

◆ hitec_prog_mv()

uint16_t hitec_prog_mv ( const hitec_prog_t * p )

The voltage a POWER of the next CONNECT asks: the setting, at most HITEC_PROG_MV_MAX and at least HITEC_PROG_MV_MIN.

Parameters

p	The programmer.

Returns: mV.

◆ hitec_prog_mv_capped()

bool hitec_prog_mv_capped ( const hitec_prog_t * p )

Whether the setting is above HITEC_PROG_MV_MAX and is taken as it.

Parameters

p	The programmer.

Returns: true when capped.

◆ hitec_prog_on_port()

bool hitec_prog_on_port ( const hitec_prog_t * p )

Whether the SERVO screen's tester drives a programming port.

Parameters

p	The programmer.

Returns: true when it does.

◆ hitec_prog_pending()

uint16_t hitec_prog_pending	(	const hitec_prog_t *	p,
		uint8_t *	id,
		int32_t *	value )

The edit that waits for a confirmation.

Parameters

p	The programmer.
id	Receives its hitec_param_t; may be NULL.
value	Receives its value; may be NULL.

Returns: Its rule set; 0 with none waiting.

◆ hitec_prog_pin()

uint8_t hitec_prog_pin ( const hitec_prog_t * p )

The GPIO that port drives: the HITEC page's while it holds the line, else the PROG page's.

Parameters

p	The programmer.

Returns: The pin, HITEC_PROG_NO_PIN when not known.

◆ hitec_prog_port()

uint8_t hitec_prog_port ( const hitec_prog_t * p )

The programming port the overlay names: the session's while one holds it, the held port of another session, else the tester's; 0 while the tester drives the standard outputs.

Parameters

p	The programmer.

Returns: The port, from 0.

◆ hitec_prog_port_taken()

bool hitec_prog_port_taken ( const hitec_link_readout_t * rd )

The link task's view: the page holds a port, or a request runs.

Parameters

rd	The module's readout.

Returns: true while the bench takes no arm and no supply change.

◆ hitec_prog_precharge()

bool hitec_prog_precharge ( const hitec_prog_t * p )

Whether the line receives by PRECHARGE: the open line's mode while the page holds one, else the mode its next OPEN takes.

Parameters

p	The programmer.

Returns: true for PRECHARGE.

◆ hitec_prog_progress()

bool hitec_prog_progress	(	const hitec_prog_t *	p,
		unsigned *	done,
		unsigned *	total )

The progress of the running read.

Parameters

p	The programmer.
done	Receives the addresses read.
total	Receives the addresses it reads.

Returns: true while a read runs.

◆ hitec_prog_rail()

bool hitec_prog_rail ( const hitec_prog_t * p )

Whether a PD mini answers the page (LINK_HT_F_RAIL).

Parameters

p	The programmer.

Returns: true when one does.

◆ hitec_prog_read()

hitec_prog_msg_id_t hitec_prog_read ( hitec_prog_t * p )

READ ALL.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when it starts, else the message said.

◆ hitec_prog_record()

bool hitec_prog_record ( const hitec_prog_t * p )

Whether a record of a write stands.

Parameters

p	The programmer.

Returns: true when one does.

◆ hitec_prog_record_verdict()

hitec_prog_rec_t hitec_prog_record_verdict ( const hitec_prog_t * p )

What the last servo read holds of the record.

Parameters

p	The programmer.

Returns: hitec_prog_rec_t; HITEC_PROG_REC_NONE while not compared.

◆ hitec_prog_release()

hitec_prog_msg_id_t hitec_prog_release ( hitec_prog_t * p )

RELEASE PORT: CLOSE the port another session holds.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when it starts, else the message said.

◆ hitec_prog_repair()

hitec_prog_msg_id_t hitec_prog_repair ( hitec_prog_t * p )

REPAIR: the classic balance 0x1C alone, then the read-back.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when it starts, else the message said.

◆ hitec_prog_restore()

hitec_prog_msg_id_t hitec_prog_restore ( hitec_prog_t * p )

RESTORE: the values before the recorded write back to the servo, as a write; the record stays until it ends verified.

Taken once the servo read is compared and is not another servo.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when it starts, else the message said.

◆ hitec_prog_restore_image()

bool hitec_prog_restore_image	(	const hitec_prog_t *	p,
		hitec_image_t *	out )

The image RESTORE writes: the servo read with the record's values before the write.

Parameters

p	The programmer.
out	Receives it.

Returns: false with no record or no servo read.

◆ hitec_prog_retry_code()

unsigned hitec_prog_retry_code ( const hitec_prog_t * p )

The decoder's code of the last failed try of the running transaction, while it goes again.

Parameters

p	The programmer.

Returns: hitec_rx_t, 0 while no try failed.

◆ hitec_prog_rules()

uint16_t hitec_prog_rules	(	const hitec_prog_t *	p,
		uint8_t	id,
		int32_t	value )

The soft rules value of parameter id breaks against the servo read.

Parameters

p	The programmer.
id	hitec_param_t.
value	The value.

Returns: The rule set; 0 with no servo read.

◆ hitec_prog_series()

uint8_t hitec_prog_series ( const hitec_prog_t * p )

The series: the session's while the port is held, else the one the next CONNECT uses.

Parameters

p	The programmer.

Returns: hitec_family_t.

◆ hitec_prog_series_set()

bool hitec_prog_series_set	(	hitec_prog_t *	p,
		uint8_t	series )

The series of the next CONNECT; taken in PWM only. A change of series drops what the last read found: hitec_prog_servo() and hitec_prog_model() return NULL until the next read.

Parameters

p	The programmer.
series	hitec_family_t.

Returns: true when taken.

◆ hitec_prog_servo()

const hitec_image_t * hitec_prog_servo ( const hitec_prog_t * p )

The servo as the last full read found it; NULL with none.

Parameters

p	The programmer.

Returns: The image.

◆ hitec_prog_state()

hitec_prog_state_t hitec_prog_state ( const hitec_prog_t * p )

Where the programmer is.

Parameters

p	The programmer.

Returns: The state.

◆ hitec_prog_stopped()

bool hitec_prog_stopped ( const hitec_prog_t * p )

Whether the page's STOPPED flag is set on this panel's port.

Parameters

p	The programmer.

Returns: true while stopped.

◆ hitec_prog_sum_bad()

bool hitec_prog_sum_bad ( const hitec_prog_t * p )

Whether the classic servo read has cells 0x00 to 0x1C that do not sum to 0.

Parameters

p	The programmer.

Returns: true when REPAIR has something to write.

◆ hitec_prog_supply_caps()

void hitec_prog_supply_caps	(	hitec_prog_t *	p,
		uint16_t	max_mv,
		uint16_t	max_ma )

The SUPPLY screen's limits, 0 for none.

Parameters

p	The programmer.
max_mv	The voltage limit, mV.
max_ma	The current limit, mA.

◆ hitec_prog_supply_set()

void hitec_prog_supply_set	(	hitec_prog_t *	p,
		uint16_t	mv,
		uint16_t	ma )

The programming voltage and current limit the next CONNECT asks.

Parameters

p	The programmer.
mv	The voltage, mV.
ma	The current limit, mA.

◆ hitec_prog_take()

bool hitec_prog_take	(	hitec_prog_t *	p,
		hitec_prog_cmd_t *	out )

The next command for the link's task.

Parameters

p	The programmer.
out	Receives it.

Returns: true when one was taken.

◆ hitec_prog_write()

hitec_prog_msg_id_t hitec_prog_write ( hitec_prog_t * p )

WRITE n VALUES: the draft to the servo, then its read-back.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when it starts, else the message said.

◆ hitec_prog_write_enable()

hitec_prog_msg_id_t hitec_prog_write_enable	(	hitec_prog_t *	p,
		bool	on )

ENABLE WRITE TO SERVO.

Off is always taken. On needs the state hitec_prog_can_edit() needs, a SAFE bench and no STOP latched.

Parameters

p	The programmer.
on	The switch.

Returns: HITEC_PROG_MSG_NONE when taken, else the message said.

◆ hitec_prog_write_gate()

hitec_prog_msg_id_t hitec_prog_write_gate	(	const hitec_prog_t *	p,
		uint8_t	kind )

Why a write of kind is not taken now, the switch included.

Parameters

p	The programmer.
kind	hitec_prog_wr_t.

Returns: HITEC_PROG_MSG_NONE when it is taken, else the reason.

◆ hitec_prog_write_on()

bool hitec_prog_write_on ( const hitec_prog_t * p )

Whether ENABLE WRITE TO SERVO is on.

Parameters

p	The programmer.

Returns: true when on.

◆ hitec_prog_write_progress()

bool hitec_prog_write_progress	(	const hitec_prog_t *	p,
		unsigned *	done,
		unsigned *	total,
		uint8_t *	kind )

The progress of the running write.

Parameters

p	The programmer.
done	Receives the plan's steps done.
total	Receives its steps.
kind	Receives the hitec_step_kind_t of the step out; 0xFF in the read-back.

Returns: true while a write runs.

Data Structures

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ HITEC_RULE_BIT

Enumeration Type Documentation

◆ hitec_prog_cmd_kind_t

◆ hitec_prog_edit_t

◆ hitec_prog_msg_id_t

◆ hitec_prog_rec_t

◆ hitec_prog_rule_t

◆ hitec_prog_state_t

◆ hitec_prog_wr_t

Function Documentation

◆ hitec_prog_abort()

◆ hitec_prog_bench_armed()

◆ hitec_prog_can_edit()

◆ hitec_prog_cancel()

◆ hitec_prog_changes()

◆ hitec_prog_clear()

◆ hitec_prog_confirm()

◆ hitec_prog_connect()

◆ hitec_prog_differs()

◆ hitec_prog_discard()

◆ hitec_prog_draft()

◆ hitec_prog_edit()

◆ hitec_prog_editable()

◆ hitec_prog_feed()

◆ hitec_prog_file_done()

◆ hitec_prog_file_due()

◆ hitec_prog_file_load()

◆ hitec_prog_file_take()

◆ hitec_prog_first_done()

◆ hitec_prog_forget()

◆ hitec_prog_gate_claim()

◆ hitec_prog_gate_init()

◆ hitec_prog_gate_offer()

◆ hitec_prog_gate_revoke()

◆ hitec_prog_gate_set()

◆ hitec_prog_holds_port()

◆ hitec_prog_in_mode()

◆ hitec_prog_init()

◆ hitec_prog_layout()

◆ hitec_prog_leave()

◆ hitec_prog_level()

◆ hitec_prog_ma()

◆ hitec_prog_message()

◆ hitec_prog_model()

◆ hitec_prog_mv()

◆ hitec_prog_mv_capped()

◆ hitec_prog_on_port()

◆ hitec_prog_pending()

◆ hitec_prog_pin()

◆ hitec_prog_port()

◆ hitec_prog_port_taken()

◆ hitec_prog_precharge()

◆ hitec_prog_progress()

◆ hitec_prog_rail()

◆ hitec_prog_read()

◆ hitec_prog_record()

◆ hitec_prog_record_verdict()

◆ hitec_prog_release()

◆ hitec_prog_repair()

◆ hitec_prog_restore()

◆ hitec_prog_restore_image()

◆ hitec_prog_retry_code()

◆ hitec_prog_rules()

◆ hitec_prog_series()

◆ hitec_prog_series_set()

◆ hitec_prog_servo()

◆ hitec_prog_state()

◆ hitec_prog_stopped()

◆ hitec_prog_sum_bad()

◆ hitec_prog_supply_caps()

◆ hitec_prog_supply_set()

◆ hitec_prog_take()

◆ hitec_prog_write()

◆ hitec_prog_write_enable()