panel_arm.c File Reference

The bench's arm on the control task: the state the loop starts from, the watch on an arm until the render side has seen it, the run's totals, the latched stop and the act the arming policy asks for, the OUTPUTS screen's binding onto the IOmcu's output pages, disarming wherever it was asked for, one motor command, and the screens' commands in their order. More...

#include <stdatomic.h>
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "arming.h"
#include "bench_state.h"
#include "bind_link.h"
#include "heartbeat.h"
#include "hitec_link.h"
#include "kst_link.h"
#include "link_host.h"
#include "link_pages.h"
#include "motor_screen.h"
#include "out_bind.h"
#include "outputs.h"
#include "outputs_pages.h"
#include "outputs_screen.h"
#include "panel.h"
#include "prog_link.h"
#include "sense_link.h"
#include "servo_link.h"
#include "servo_source.h"
#include "supply.h"
#include "supply_link.h"
#include "telemetry_sim.h"
#include "tone_link.h"
#include "touch_loss.h"
#include "ui_text.h"

Macros
#define	DISARM_INHIBIT_MS   (2u * HEARTBEAT_MAX_GAP_MS)

Functions
static uint16_t	pct_to_span (float pct)
static uint16_t	pct_to_hundredths (float pct)
void	control_setup (telemetry_sim_t *sim, bench_state_t *bench)
static void	arm_applied (void)
	An arm was applied: number it, and watch it until the render side has seen it. The snapshot carries the number; the render side acknowledges it at the end of a frame that began with the bench armed and found no loss.
void	arm_watch_service (bool link_up)
static void	service_disarm (bool link_up)
void	service_arming (bool link_up)
	The latched stop and the act the arming policy asks for, once a pass of the control task: the router's backstop STOP unless the pump counted the same press, the let-go every stop owes, the supply, then the arm or the disarm.
static bool	write_output_binding (const outbind_t *bind)
bool	disarm_here (bool link_up)
static void	apply_motor_cmd (const motor_cmd_t *mc, bool link_up, bench_state_t *bench)
void	drain_commands (bool link_up, bench_state_t *bench)

Variables
static uint32_t	s_stops_served
static bool	s_disarm_timing
static uint32_t	s_disarm_since
bench_totals_t	s_totals
uint32_t	s_totals_ms
log_rail_t	s_rail
	The supply's last reading for a SERVO run's rows (log_rail_t). Control task only.
bench_totals_t	s_rail_totals
	The run's totals of s_rail since the arm. Control task only.

Detailed Description

The bench's arm on the control task: the state the loop starts from, the watch on an arm until the render side has seen it, the run's totals, the latched stop and the act the arming policy asks for, the OUTPUTS screen's binding onto the IOmcu's output pages, disarming wherever it was asked for, one motor command, and the screens' commands in their order.

SPDX-License-Identifier: MIT

Function Documentation

service_arming()

void service_arming

(

bool

link_up

)

The latched stop and the act the arming policy asks for, once a pass of the control task: the router's backstop STOP unless the pump counted the same press, the let-go every stop owes, the supply, then the arm or the disarm.

Parameters

link_up

whether the link to the IOmcu answers

Variable Documentation

s_disarm_timing

bool s_disarm_timing

static

whether s_disarm_since means anything