The write side of the programmer for servos by Hitec: the draft and its edits, the soft rules and their confirmations, the write switch, the writes, and the record of a write. See hitec_prog.h. More...

#include "hitec_prog.h"
#include <string.h>
#include "hitec_prog_int.h"

Functions
static hitec_prog_msg_id_t	say (hitec_prog_t *p, hitec_prog_msg_id_t id, unsigned arg)
	Say message `id` with one argument.
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.
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.
static unsigned	differing (const hitec_prog_t p, const hitec_image_t img)
	The parameters in which `img` differs from the servo read.
unsigned	hitec_prog_changes (const hitec_prog_t *p)
	The writable parameters in which the draft differs from the servo read.
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.
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.
static int32_t	mag (int32_t v)
	The absolute value of `v`.
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.
static bool	covered (const hitec_prog_t *p, uint8_t id, int32_t value)
	Whether a confirmation covers `value` of `id:` the value confirmed, or one on its side of the servo's value and no further from it.
static hitec_prog_msg_id_t	edit_gate (const hitec_prog_t *p)
	Why an edit is not taken now.
static hitec_prog_edit_t	trial (hitec_prog_t p, uint8_t id, int32_t value, hitec_image_t out)
	Take `value` of `id` into a copy of the draft.
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.
static void	unconfirm (hitec_prog_t *p)
	Every confirmation ends, and the edit that waits.
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.
static void	file_due (hitec_prog_t *p)
	The record's text is due on the card.
static void	rec_clear (hitec_prog_t *p)
	The record ends: the write it stood for is verified, or nothing of it was sent.
static void	not_sent (hitec_prog_t *p, hitec_ses_t r)
	A write that ended before a step reached the servo: the record goes with it, a RESTORE's excepted, and the switch goes off.
static void	go (hitec_prog_t *p)
	The write goes out: its plan, step by step.
static hitec_prog_msg_id_t	start (hitec_prog_t p, uint8_t kind, const hitec_image_t target)
	Start a write of `kind` to `target`.
hitec_prog_msg_id_t	hitec_prog_write (hitec_prog_t *p)
	WRITE n VALUES: the draft to the servo, then its read-back.
hitec_prog_msg_id_t	hitec_prog_repair (hitec_prog_t *p)
	REPAIR: the classic balance 0x1C alone, then the read-back.
static bool	compared (uint8_t series, uint8_t addr)
	The addresses a write and the record compare: what a plan writes, without the classic balance.
static unsigned	at (const hitec_image_t *img, uint8_t addr)
	The value at `addr` of `img` in its series' width.
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_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.
static unsigned	diff_count (const hitec_prog_t *p)
	How many addresses the read-back found different.
void	hpw_write_done (hitec_prog_t *p, hitec_ses_t r)
	A write operation ended with `r`.
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.
static hitec_prog_rec_t	verdict (const hitec_prog_t *p)
	What the servo read holds of the record.
static void	rec_compare (hitec_prog_t *p)
	Compare the servo read with the record and say what it holds.
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.
void	hpw_connect (hitec_prog_t *p)
	A CONNECT starts: the switch off, the edits and the confirmations gone; the record stays.
void	hpw_off (hitec_prog_t *p)
	The write switch goes off: a LEAVE, a lost link, a stop.
void	hpw_read_done (hitec_prog_t p, bool had, const hitec_image_t was)
	A full read ended well: the draft is the servo again, the switch goes off when the servo changed, and a record stands against it.
void	hpw_tick (hitec_prog_t *p)
	Every feed: a stop switches the switch off, and a write that waits for the card gives up after HITEC_PROG_CARD_MS.
bool	hpw_abort (hitec_prog_t *p)
	ABORT of a write that waits for the card: nothing was written.

Detailed Description

The write side of the programmer for servos by Hitec: the draft and its edits, the soft rules and their confirmations, the write switch, the writes, and the record of a write. See hitec_prog.h.

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

SPDX-License-Identifier: MIT

Function Documentation

◆ at()

unsigned at	(	const hitec_image_t *	img,
		uint8_t	addr )

static

The value at addr of img in its series' width.

Parameters

img	The image.
addr	The address.

Returns: The cell or the register.

◆ compared()

bool compared	(	uint8_t	series,
		uint8_t	addr )

static

The addresses a write and the record compare: what a plan writes, without the classic balance.

Parameters

series	hitec_family_t.
addr	The address.

Returns: true when compared.

◆ covered()

bool covered	(	const hitec_prog_t *	p,
		uint8_t	id,
		int32_t	value )

static

Whether a confirmation covers value of id: the value confirmed, or one on its side of the servo's value and no further from it.

Parameters

p	The programmer.
id	hitec_param_t.
value	The value.

Returns: true when no new confirmation is needed.

◆ diff_count()

unsigned diff_count ( const hitec_prog_t * p )

static

How many addresses the read-back found different.

Parameters

p	The programmer.

Returns: The count.

◆ differing()

unsigned differing	(	const hitec_prog_t *	p,
		const hitec_image_t *	img )

static

The parameters in which img differs from the servo read.

Parameters

p	The programmer.
img	The image.

Returns: The count.

◆ edit_gate()

hitec_prog_msg_id_t edit_gate ( const hitec_prog_t * p )

static

Why an edit is not taken now.

Parameters

p	The programmer.

Returns: HITEC_PROG_MSG_NONE when it is.

◆ file_due()

void file_due ( hitec_prog_t * p )

static

The record's text is due on the card.

Parameters

p	The programmer.

◆ go()

void go ( hitec_prog_t * p )

static

The write goes out: its plan, step by step.

Parameters

p	The programmer.

◆ 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_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_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_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_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_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_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_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_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_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.

◆ hpw_abort()

bool hpw_abort ( hitec_prog_t * p )

ABORT of a write that waits for the card: nothing was written.

Parameters

p	The programmer.

Returns: true when one waited.

◆ hpw_connect()

void hpw_connect ( hitec_prog_t * p )

A CONNECT starts: the switch off, the edits and the confirmations gone; the record stays.

Parameters

p	The programmer.

◆ hpw_off()

void hpw_off ( hitec_prog_t * p )

The write switch goes off: a LEAVE, a lost link, a stop.

Parameters

p	The programmer.

◆ hpw_read_done()

void hpw_read_done	(	hitec_prog_t *	p,
		bool	had,
		const hitec_image_t *	was )

A full read ended well: the draft is the servo again, the switch goes off when the servo changed, and a record stands against it.

Parameters

p	The programmer.
had	A servo was read before.
was	What that read found; NULL with none.

◆ hpw_tick()

void hpw_tick ( hitec_prog_t * p )

Every feed: a stop switches the switch off, and a write that waits for the card gives up after HITEC_PROG_CARD_MS.

Parameters

p	The programmer.

◆ hpw_write_done()

void hpw_write_done	(	hitec_prog_t *	p,
		hitec_ses_t	r )

A write operation ended with r.

Parameters

p	The programmer.
r	Its result.

◆ mag()

int32_t mag ( int32_t v )

static

The absolute value of v.

Parameters

v	The value.

Returns: |v|.

◆ not_sent()

void not_sent	(	hitec_prog_t *	p,
		hitec_ses_t	r )

static

A write that ended before a step reached the servo: the record goes with it, a RESTORE's excepted, and the switch goes off.

Parameters

p	The programmer.
r	The session's result.

◆ rec_clear()

void rec_clear ( hitec_prog_t * p )

static

The record ends: the write it stood for is verified, or nothing of it was sent.

Parameters

p	The programmer.

◆ rec_compare()

void rec_compare ( hitec_prog_t * p )

static

Compare the servo read with the record and say what it holds.

Parameters

p	The programmer.

◆ say()

hitec_prog_msg_id_t say	(	hitec_prog_t *	p,
		hitec_prog_msg_id_t	id,
		unsigned	arg )

static

Say message id with one argument.

Parameters

p	The programmer.
id	hitec_prog_msg_id_t.
arg	Its argument.

Returns: id.

◆ start()

hitec_prog_msg_id_t start	(	hitec_prog_t *	p,
		uint8_t	kind,
		const hitec_image_t *	target )

static

Start a write of kind to target.

Parameters

p	The programmer.
kind	hitec_prog_wr_t.
target	What the servo is to hold.

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

◆ trial()

hitec_prog_edit_t trial	(	hitec_prog_t *	p,
		uint8_t	id,
		int32_t	value,
		hitec_image_t *	out )

static

Take value of id into a copy of the draft.

Parameters

p	The programmer.
id	hitec_param_t.
value	The value.
out	Receives the draft with the edit.

Returns: HITEC_PROG_EDIT_OK, or HITEC_PROG_EDIT_REFUSED with its message.

◆ unconfirm()

void unconfirm ( hitec_prog_t * p )

static

Every confirmation ends, and the edit that waits.

Parameters

p	The programmer.

◆ verdict()

hitec_prog_rec_t verdict ( const hitec_prog_t * p )

static

What the servo read holds of the record.

Another series, another port or another D series model is another servo, and so is an address that holds neither the value before the write nor the value the write was to leave.

Parameters

p	The programmer.

Returns: hitec_prog_rec_t.

Functions

Detailed Description

Function Documentation

◆ at()

◆ compared()

◆ covered()

◆ diff_count()

◆ differing()

◆ edit_gate()

◆ file_due()

◆ go()

◆ hitec_prog_can_edit()

◆ hitec_prog_cancel()

◆ hitec_prog_changes()

◆ hitec_prog_confirm()

◆ hitec_prog_differs()

◆ hitec_prog_discard()

◆ hitec_prog_draft()

◆ hitec_prog_edit()

◆ hitec_prog_editable()

◆ 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_pending()

◆ hitec_prog_record()

◆ hitec_prog_record_verdict()

◆ hitec_prog_repair()

◆ hitec_prog_restore()

◆ hitec_prog_restore_image()

◆ hitec_prog_rules()

◆ hitec_prog_sum_bad()

◆ hitec_prog_write()

◆ hitec_prog_write_enable()

◆ hitec_prog_write_gate()

◆ hitec_prog_write_on()

◆ hitec_prog_write_progress()

◆ hpw_abort()

◆ hpw_connect()

◆ hpw_off()

◆ hpw_read_done()

◆ hpw_tick()

◆ hpw_write_done()

◆ mag()

◆ not_sent()

◆ rec_clear()

◆ rec_compare()

◆ say()

◆ start()

◆ trial()

◆ unconfirm()

◆ verdict()