link_control.c File Reference

The CONTROL page's rules. More...

#include "link_control.h"
#include "link_can.h"
#include "link_pages.h"

Functions
static bool	poles_ok (uint16_t poles)
	Test whether a MOTOR_POLES value is one a motor comes in.
bool	link_arm_value_ok (uint16_t arm)
	Whether arm is a value CONTROL's ARM takes: 0, LINK_ARM_ALL, or a non-empty set of LINK_ARM_ROLES.
uint16_t	link_arm_roles (uint16_t arm)
	The roles arm arms, as LINK_ARM_ROLES bits: LINK_ARM_ROLES for LINK_ARM_ALL, the value itself for a set of roles, and 0 for 0 and for a value link_arm_value_ok() refuses.
uint8_t	link_control_write (uint16_t *regs, uint8_t off, uint8_t n, const uint16_t *in, bool may_arm, bool *cleared)
	Validate a register window of the CONTROL page and store it.

Detailed Description

The CONTROL page's rules.

See link_control.h.

SPDX-License-Identifier: MIT

Function Documentation

link_arm_roles()

uint16_t link_arm_roles

(

uint16_t

arm

)

The roles arm arms, as LINK_ARM_ROLES bits: LINK_ARM_ROLES for LINK_ARM_ALL, the value itself for a set of roles, and 0 for 0 and for a value link_arm_value_ok() refuses.

Parameters

arm	The ARM value.

Returns

LINK_ARM_ROLES for LINK_ARM_ALL, the value itself for a set of roles, and 0 for 0 and for a value link_arm_value_ok() refuses. The result is in LINK_ARM_ROLES bits.

link_arm_value_ok()

bool link_arm_value_ok

(

uint16_t

arm

)

Whether arm is a value CONTROL's ARM takes: 0, LINK_ARM_ALL, or a non-empty set of LINK_ARM_ROLES.

Parameters

arm	The value to test.

Returns

true for 0, for LINK_ARM_ALL, or for a non-empty set of LINK_ARM_ROLES bits.

link_control_write()

uint8_t link_control_write	(	uint16_t *	regs,
		uint8_t	off,
		uint8_t	n,
		const uint16_t *	in,
		bool	may_arm,
		bool *	cleared )

Validate a register window of the CONTROL page and store it.

regs is the page, LINK_CT_COUNT registers. may_arm is false while the link is in failsafe or the heartbeat is not trusted; a non-zero ARM is then refused with LINK_NACK_NOT_ARMED. An ARM that link_arm_value_ok() refuses, and a non-zero ARM that differs from the non-zero ARM in force, are refused with LINK_NACK_BAD_VALUE ahead of that check. THROTTLE above LINK_THROTTLE_MAX, MOTOR_POLES that is odd or outside LINK_POLES_MIN..LINK_POLES_MAX and not zero, and CLEAR without LINK_CLEAR_MAGIC are refused with LINK_NACK_BAD_VALUE.

Every register of the window is checked before any of them is stored, so a refusal leaves the page as it was and runs no side effect. A frame carries up to four registers, and a pass that stored as it went would commit the ones ahead of the refusal while answering NACK; ARM sits ahead of MOTOR_POLES, so that would be a bench armed on a refused write.

CLEAR is an action and not a setting: it is never stored, and reads back as zero. cleared is set true when the window carried it with the magic, and is otherwise left as it was; the caller lifts the failsafe.

Returns 0 when the window is stored, else the NACK reason.

Parameters

regs	The CONTROL page's registers, updated in place.
off	Register offset of the window within the page.
n	Number of registers in the window.
in	The n values the window carries.
may_arm	false while the link is in failsafe or the heartbeat is not trusted.
cleared	Set true when the window carries CLEAR with its magic.

Returns

0 when the window is stored, else the NACK reason (LINK_NACK_BAD_VALUE or LINK_NACK_NOT_ARMED).

poles_ok()

bool poles_ok ( uint16_t poles )

static

Test whether a MOTOR_POLES value is one a motor comes in.

Parameters

poles

The value to test.

Returns

true for 0, and for an even count within LINK_POLES_MIN to LINK_POLES_MAX.