The programming ports and the PROG link page. More...

#include "prog_port.h"
#include <stddef.h>
#include <string.h>
#include "link_msg.h"
#include "out_pwm_map.h"
#include "outputs_pages.h"

Macros
#define	REG(port, r)

Functions
static uint64_t	bit64 (uint16_t pin)
	The 64-bit mask with only bit `pin` set.
static uint16_t	fn_of (const uint16_t *regs, unsigned port)
	Port `port's` function as `regs` hold it.
static bool	fn_pwm (const uint16_t *regs, unsigned port)
	Whether the port's function is the servo pulse, which the PWM generator renders and which the PWM-pin and slice rules hold.
static bool	fn_dshot (const uint16_t *regs, unsigned port)
	Whether the port's function is DShot (4.28): a PIO state machine renders it from the port's channel, a throttle.
static uint16_t	fn_default (unsigned port)
	The function a port starts with on a board that has stored none: the servo pulse on port 0, nothing on the others.
static bool	holds (const prog_port_t *p, unsigned port)
	Whether port `port` holds the pin its register names.
static bool	ports_clash (uint16_t a, bool a_pwm, uint16_t b, bool b_pwm)
	Two port pins that cannot both be held: one pin, or two servo pulses on one compare register of the generator.
static bool	pin_ok (const outputs_t *o, uint16_t pin, bool pwm, uint64_t ours, uint64_t taken)
	Whether `pin` may be a port's beside the bank: a header pin, not reserved unless it is one the ports hold now (`ours`), not in `taken` and no slot's.
static bool	us_ok (uint16_t us)
	Whether `us` lies in the endpoint range.
static void	apply_cfg (const prog_port_t p, outputs_t o, unsigned port)
	The channel of `port` as the page describes it.
void	prog_port_init (prog_port_t *p, uint8_t count)
	`count` ports, 0 to LINK_PG_PORTS_MAX, none with a pin, all at PROG_PORT_RATE_HZ.
void	prog_port_defaults (uint16_t *kept, uint16_t pin0)
	The kept registers of a board that has stored none: port 0 on `pin0` (LINK_PG_PIN_NONE for none), the others without a pin, slew 0, LINK_CC_DEFAULT_MIN to LINK_CC_DEFAULT_MAX.
void	prog_port_restore (prog_port_t p, const uint16_t kept, outputs_t *o, uint64_t taken)
	Take the kept registers at start, after the slots and the other pin holders are restored.
static uint16_t	fn_from_word (uint16_t word, unsigned port)
	Port `port's` function from the kept word `word:` the nibble's value less 1, or the port's default for 0 or a value no write would take.
void	prog_port_restore_fn (prog_port_t p, const uint16_t kept, uint16_t func_word, outputs_t *o, uint64_t taken)
	As prog_port_restore(), with each port's function from the kept word `func_word` (prog_port_kept_func()): bits 4n to 4n + 3 hold 1 + port n's FUNC; 0, or a value no write would take, is the port's default.
void	prog_port_kept (const prog_port_t p, uint16_t kept)
	The kept registers as they stand, PROG_PORT_KEPT_COUNT of them.
uint16_t	prog_port_kept_func (const prog_port_t *p)
	The functions as they stand, as the kept word: bits 4n to 4n + 3 hold 1 + port n's FUNC, never 0.
static uint16_t	port_hz (uint16_t target, uint16_t hz, unsigned port)
	The rate port `port` runs at with `target` as TARGET and the SERVO rate `hz:` `hz` for the target port, PROG_PORT_RATE_HZ otherwise.
static bool	carries (uint8_t off, uint8_t n, unsigned r)
	Whether the window `off`, `n` carries register `r`.
uint8_t	prog_port_write (prog_port_t p, uint8_t off, uint8_t n, const uint16_t in, outputs_t *o, uint64_t taken, bool locked, uint32_t now_ms)
	A write of the page: 0, or the LINK_NACK_* reason with nothing changed.
void	prog_port_read (const prog_port_t p, uint8_t off, uint8_t n, uint16_t out)
	Read a window of the PROG page's registers into `out`.
void	prog_port_revert (prog_port_t p, const prog_port_t was, outputs_t *o)
	Undo a write the silicon could not follow: the page as `was`, and each port's channel in `o` with the slew and endpoints of that page.
void	prog_port_bound (prog_port_t *p, uint8_t mask)
	Tell the page which ports' pins are held by their function, bit n for port n: bound to the generator for SERVO PWM, parked for NONE, or held by a wire page.
uint8_t	prog_port_func (const prog_port_t *p, uint8_t port)
	Port `port's` function, a link_pg_func_t; NONE for a port the model does not hold.
uint8_t	prog_port_pwm_ports (const prog_port_t *p)
	The SERVO PWM ports whose pin the generator has, bit n for port n: the ports a pulse bit and the TARGET may name.
uint8_t	prog_port_parked (const prog_port_t *p)
	The NONE ports that hold a pin, bit n for port n: the pins the caller parks as inputs.
uint8_t	prog_port_dshot (const prog_port_t *p)
	The DShot ports that hold a pin (FUNC DSHOT150 to DSHOT600, 4.28), bit n for port n: the pins the caller binds to a DShot state machine.
uint16_t	prog_port_kbit (const prog_port_t *p, uint8_t port)
	Port `port's` DShot bit rate in kbit/s, 0 for another function.
uint8_t	prog_port_count (const prog_port_t *p)
	The number of ports the model holds.
uint8_t	prog_port_pin (const prog_port_t *p, uint8_t port)
	The pin port `port` holds, or PROG_PORT_NO_PIN.
uint8_t	prog_port_wire_pin (const prog_port_t *p, uint8_t port, uint8_t bound)
	The pin a wire page (KST, HITEC) may take for a session on port `port:` the port's pin while the IOmcu holds it (`bound`, bit n, as outputs_hw_ports_bound() says), PROG_PORT_NO_PIN otherwise and for a DShot port, whose lead goes to an ESC.
uint64_t	prog_port_pins (const prog_port_t *p)
	Every pin the ports hold, one bit per pin.
uint8_t	prog_port_pwm (const prog_port_t *p)
	Bit n: port n's pulse is switched on.
uint16_t	prog_port_pwm_channels (const prog_port_t *p)
	The bank channels of the ports whose pulse is switched on, bit c for channel c: what servo_page_ports() is told.
void	prog_port_rate (prog_port_t *p, uint16_t hz)
	The SERVO page's frame rate, 0 while it names none.
uint16_t	prog_port_port_hz (const prog_port_t *p, uint8_t port)
	The frame rate port `port` runs at: the SERVO page's rate for the TARGET port while it names one, PROG_PORT_RATE_HZ otherwise.
uint16_t	prog_port_sliced_channels (const prog_port_t *p)
	The bank channels of the ports whose pin shares a PWM slice with another port's pin, bit c for channel c: what servo_page_ports() is told as held at PROG_PORT_RATE_HZ.
uint8_t	prog_port_target (const prog_port_t *p)
	0 for the standard servo ports, 1 + n for port n.
uint8_t	prog_port_channel (uint8_t port)
	The bank channel of `port`.
static bool	slot_on_port_channel (const uint16_t *r)
	Whether a bound slot's channels reach a port's bank channel.
unsigned	prog_port_slots_free (uint16_t *slots)
	Unbinds every slot of `slots` whose channel range reaches a port's bank channel, for a stored page read at start.
uint8_t	prog_port_slots_check (const prog_port_t p, const uint16_t slots)
	Whether the OUTPUTS page `slots` may be taken beside the ports: 0, or LINK_NACK_BAD_VALUE for a slot on a port's pin, a PWM slot on a SERVO PWM port pin's slice, or a bound slot whose channel range reaches a port's bank channel (PROG_PORT_CHANNEL0 to PROG_PORT_CHANNEL0 + LINK_PG_PORTS_MAX - 1).

Detailed Description

The programming ports and the PROG link page.

See prog_port.h.

SPDX-License-Identifier: MIT

Macro Definition Documentation

◆ REG

#define REG	(		port,
			r )

Value:

LINK_PG_REG(port, r)

Function Documentation

◆ apply_cfg()

void apply_cfg	(	const prog_port_t *	p,
		outputs_t *	o,
		unsigned	port )

static

The channel of port as the page describes it.

Parameters

p	The port model.
o	The outputs model whose port channel is set.
port	Port index.

◆ bit64()

uint64_t bit64 ( uint16_t pin )

static

The 64-bit mask with only bit pin set.

Parameters

pin	The pin number, used as a shift count.

Returns: A mask with bit pin set.

◆ carries()

bool carries	(	uint8_t	off,
		uint8_t	n,
		unsigned	r )

static

Whether the window off, n carries register r.

Parameters

off	First register of the window.
n	Number of registers in the window.
r	Register index.

Returns: true when r lies in the window.

◆ fn_default()

uint16_t fn_default ( unsigned port )

static

The function a port starts with on a board that has stored none: the servo pulse on port 0, nothing on the others.

Parameters

port	Port index.

Returns: LINK_PG_FN_SERVO_PWM for port 0, LINK_PG_FN_NONE otherwise.

◆ fn_dshot()

bool fn_dshot	(	const uint16_t *	regs,
		unsigned	port )

static

Whether the port's function is DShot (4.28): a PIO state machine renders it from the port's channel, a throttle.

Parameters

regs	The page's registers, LINK_PG_REGS entries.
port	Port index.

Returns: true when the port's function is DShot (DSHOT150 to DSHOT600).

◆ fn_from_word()

uint16_t fn_from_word	(	uint16_t	word,
		unsigned	port )

static

Port port's function from the kept word word: the nibble's value less 1, or the port's default for 0 or a value no write would take.

Parameters

word	The kept function word, 4 bits per port.
port	Port index.

Returns: The FUNC value of the port.

◆ fn_of()

uint16_t fn_of	(	const uint16_t *	regs,
		unsigned	port )

static

Port port's function as regs hold it.

Parameters

regs	The page's registers, LINK_PG_REGS entries.
port	Port index.

Returns: The FUNC register of the port.

◆ fn_pwm()

bool fn_pwm	(	const uint16_t *	regs,
		unsigned	port )

static

Whether the port's function is the servo pulse, which the PWM generator renders and which the PWM-pin and slice rules hold.

Parameters

regs	The page's registers, LINK_PG_REGS entries.
port	Port index.

Returns: true when the port's function is the servo pulse.

◆ holds()

bool holds	(	const prog_port_t *	p,
		unsigned	port )

static

Whether port port holds the pin its register names.

Parameters

p	The port model.
port	Port index.

Returns: true when the port index is below the count, its PIN register is not LINK_PG_PIN_NONE and the port is not blocked.

◆ pin_ok()

bool pin_ok	(	const outputs_t *	o,
		uint16_t	pin,
		bool	pwm,
		uint64_t	ours,
		uint64_t	taken )

static

Whether pin may be a port's beside the bank: a header pin, not reserved unless it is one the ports hold now (ours), not in taken and no slot's.

For the servo pulse (pwm) also a pin of the PWM generator beside no PWM slot's in the silicon.

Parameters

o	The outputs model, for its reservations and slots.
pin	The pin to test.
pwm	true for a SERVO PWM port.
ours	Bit n: pins the ports hold now.
taken	Bit n: pins other holders have.

Returns: true when the pin may be a port's pin.

◆ port_hz()

uint16_t port_hz	(	uint16_t	target,
		uint16_t	hz,
		unsigned	port )

static

The rate port port runs at with target as TARGET and the SERVO rate hz: hz for the target port, PROG_PORT_RATE_HZ otherwise.

Parameters

target	The TARGET register: 1 + the port index, or 0 for none.
hz	The SERVO page's rate in Hz, 0 for none.
port	Port index.

Returns: The frame rate of the port in Hz.

◆ ports_clash()

bool ports_clash	(	uint16_t	a,
		bool	a_pwm,
		uint16_t	b,
		bool	b_pwm )

static

Two port pins that cannot both be held: one pin, or two servo pulses on one compare register of the generator.

Parameters

a	The pin of one port.
a_pwm	true when that port is a SERVO PWM port.
b	The pin of the other port.
b_pwm	true when that port is a SERVO PWM port.

Returns: true when the two pins cannot both be held.

◆ prog_port_bound()

void prog_port_bound	(	prog_port_t *	p,
		uint8_t	mask )

Tell the page which ports' pins are held by their function, bit n for port n: bound to the generator for SERVO PWM, parked for NONE, or held by a wire page.

A port that loses its pin loses its PWM bit and, if it was the TARGET, the target returns to the standard servo ports.

Parameters

p	The port model.
mask	Bit n for port n: bound to the generator for SERVO PWM, parked for NONE, or held by a wire page.

◆ prog_port_channel()

uint8_t prog_port_channel ( uint8_t port )

The bank channel of port.

Parameters

port	Port index.

Returns: The bank channel of the port, PROG_PORT_CHANNEL0 + port.

◆ prog_port_count()

uint8_t prog_port_count ( const prog_port_t * p )

The number of ports the model holds.

Parameters

p	The port model, or NULL.

Returns: The port count; 0 for a NULL p.

◆ prog_port_defaults()

void prog_port_defaults	(	uint16_t *	kept,
		uint16_t	pin0 )

The kept registers of a board that has stored none: port 0 on pin0 (LINK_PG_PIN_NONE for none), the others without a pin, slew 0, LINK_CC_DEFAULT_MIN to LINK_CC_DEFAULT_MAX.

Parameters

kept	Receives PROG_PORT_KEPT_COUNT kept registers, written in place.
pin0	The pin of port 0, or LINK_PG_PIN_NONE for none.

◆ prog_port_dshot()

uint8_t prog_port_dshot ( const prog_port_t * p )

The DShot ports that hold a pin (FUNC DSHOT150 to DSHOT600, 4.28), bit n for port n: the pins the caller binds to a DShot state machine.

Parameters

p	The port model.

Returns: Bit n set for port n when it is a DShot port that holds a pin; 0 for a NULL p.

◆ prog_port_func()

uint8_t prog_port_func	(	const prog_port_t *	p,
		uint8_t	port )

Port port's function, a link_pg_func_t; NONE for a port the model does not hold.

Parameters

p	The port model, or NULL.
port	Port index, 0 to LINK_PG_PORTS_MAX - 1.

Returns: The function, a link_pg_func_t value; LINK_PG_FN_NONE for a NULL p or a port of LINK_PG_PORTS_MAX or more.

◆ prog_port_init()

void prog_port_init	(	prog_port_t *	p,
		uint8_t	count )

count ports, 0 to LINK_PG_PORTS_MAX, none with a pin, all at PROG_PORT_RATE_HZ.

Parameters

p	The port model to set up.
count	Ports the build has, 0 to LINK_PG_PORTS_MAX; a larger value is clamped.

◆ prog_port_kbit()

uint16_t prog_port_kbit	(	const prog_port_t *	p,
		uint8_t	port )

Port port's DShot bit rate in kbit/s, 0 for another function.

Parameters

p	The port model, or NULL.
port	Port index, 0 to LINK_PG_PORTS_MAX - 1.

Returns: The bit rate in kbit/s; 0 for a NULL p, a port of LINK_PG_PORTS_MAX or more, or a function that is not DShot.

◆ prog_port_kept()

void prog_port_kept	(	const prog_port_t *	p,
		uint16_t *	kept )

The kept registers as they stand, PROG_PORT_KEPT_COUNT of them.

Parameters

p	The port model.
kept	Receives PROG_PORT_KEPT_COUNT registers, written in place.

◆ prog_port_kept_func()

uint16_t prog_port_kept_func ( const prog_port_t * p )

The functions as they stand, as the kept word: bits 4n to 4n + 3 hold 1 + port n's FUNC, never 0.

Parameters

p	The port model.

Returns: The kept function word; PROG_PORT_FUNC_UNSTORED for a NULL p.

◆ prog_port_parked()

uint8_t prog_port_parked ( const prog_port_t * p )

The NONE ports that hold a pin, bit n for port n: the pins the caller parks as inputs.

Parameters

p	The port model.

Returns: Bit n set for port n when it is a NONE port that holds a pin; 0 for a NULL p.

◆ prog_port_pin()

uint8_t prog_port_pin	(	const prog_port_t *	p,
		uint8_t	port )

The pin port port holds, or PROG_PORT_NO_PIN.

Parameters

p	The port model, or NULL.
port	Port index.

Returns: The pin the port holds, or PROG_PORT_NO_PIN for a NULL p or a port that holds no pin.

◆ prog_port_pins()

uint64_t prog_port_pins ( const prog_port_t * p )

Every pin the ports hold, one bit per pin.

Parameters

p	The port model, or NULL.

Returns: One bit per pin the ports hold; 0 for a NULL p.

◆ prog_port_port_hz()

uint16_t prog_port_port_hz	(	const prog_port_t *	p,
		uint8_t	port )

The frame rate port port runs at: the SERVO page's rate for the TARGET port while it names one, PROG_PORT_RATE_HZ otherwise.

Parameters

p	The port model, or NULL.
port	Port index.

Returns: The frame rate of the port in Hz; PROG_PORT_RATE_HZ for a NULL p.

◆ prog_port_pwm()

uint8_t prog_port_pwm ( const prog_port_t * p )

Bit n: port n's pulse is switched on.

Parameters

p	The port model, or NULL.

Returns: The pulse bits, bit n for port n; 0 for a NULL p.

◆ prog_port_pwm_channels()

uint16_t prog_port_pwm_channels ( const prog_port_t * p )

The bank channels of the ports whose pulse is switched on, bit c for channel c: what servo_page_ports() is told.

Parameters

p	The port model, or NULL.

Returns: Bit c set for each bank channel c of a port whose pulse is on; 0 for a NULL p.

◆ prog_port_pwm_ports()

uint8_t prog_port_pwm_ports ( const prog_port_t * p )

The SERVO PWM ports whose pin the generator has, bit n for port n: the ports a pulse bit and the TARGET may name.

Parameters

p	The port model.

Returns: Bit n set for port n when it is a SERVO PWM port whose pin is bound; 0 for a NULL p.

◆ prog_port_rate()

void prog_port_rate	(	prog_port_t *	p,
		uint16_t	hz )

The SERVO page's frame rate, 0 while it names none.

It reaches the TARGET port only; a write is judged against it.

Parameters

p	The port model, or NULL; a NULL p is ignored.
hz	The SERVO page's frame rate in Hz, 0 for none.

◆ prog_port_read()

void prog_port_read	(	const prog_port_t *	p,
		uint8_t	off,
		uint8_t	n,
		uint16_t *	out )

Read a window of the PROG page's registers into out.

Parameters

p	The port model.
off	First register of the window.
n	Number of registers to read.
out	Receives n register values; left unchanged for a NULL p or out, or a window beyond LINK_PG_REGS.

◆ prog_port_restore()

void prog_port_restore	(	prog_port_t *	p,
		const uint16_t *	kept,
		outputs_t *	o,
		uint64_t	taken )

Take the kept registers at start, after the slots and the other pin holders are restored.

A value no write would take becomes its default, except a slew above LINK_CC_SLEW_MAX, which becomes LINK_CC_SLEW_MAX. A pin that is taken (a slot's, one in taken, reserved in o, or beside a PWM slot in the silicon) stays on the page and is not held: LINK_PG_FLAGS says refused until another pin is written. Sets the role, slew and endpoints of each port's channel in o.

Parameters

p	The port model to restore into.
kept	PROG_PORT_KEPT_COUNT kept registers, as prog_port_kept() wrote them.
o	The outputs model whose port channels are set.
taken	Bit n: pin n is held by another holder beyond the slots and the bank's reservation.

◆ prog_port_restore_fn()

void prog_port_restore_fn	(	prog_port_t *	p,
		const uint16_t *	kept,
		uint16_t	func_word,
		outputs_t *	o,
		uint64_t	taken )

As prog_port_restore(), with each port's function from the kept word func_word (prog_port_kept_func()): bits 4n to 4n + 3 hold 1 + port n's FUNC; 0, or a value no write would take, is the port's default.

A kept pin is judged under its port's function: a SERVO PWM port's pin must be a pin of the generator.

Parameters

p	The port model to restore into.
kept	PROG_PORT_KEPT_COUNT kept registers, as prog_port_kept() wrote them.
func_word	The kept function word, as prog_port_kept_func() wrote it.
o	The outputs model whose port channels are set.
taken	Bit n: pin n is held by another holder beyond the slots and the bank's reservation.

◆ prog_port_revert()

void prog_port_revert	(	prog_port_t *	p,
		const prog_port_t *	was,
		outputs_t *	o )

Undo a write the silicon could not follow: the page as was, and each port's channel in o with the slew and endpoints of that page.

A command the write carried stays commanded.

Parameters

p	The port model, overwritten with `was`.
was	The port model as it stood before the write that failed.
o	The outputs model whose port channels are set.

◆ prog_port_sliced_channels()

uint16_t prog_port_sliced_channels ( const prog_port_t * p )

The bank channels of the ports whose pin shares a PWM slice with another port's pin, bit c for channel c: what servo_page_ports() is told as held at PROG_PORT_RATE_HZ.

Parameters

p	The port model, or NULL.

Returns: Bit c set for each bank channel c of a port whose pin shares a PWM slice with another port's pin; 0 for a NULL p.

◆ prog_port_slots_check()

uint8_t prog_port_slots_check	(	const prog_port_t *	p,
		const uint16_t *	slots )

Whether the OUTPUTS page slots may be taken beside the ports: 0, or LINK_NACK_BAD_VALUE for a slot on a port's pin, a PWM slot on a SERVO PWM port pin's slice, or a bound slot whose channel range reaches a port's bank channel (PROG_PORT_CHANNEL0 to PROG_PORT_CHANNEL0 + LINK_PG_PORTS_MAX - 1).

Parameters

p	The port model, or NULL.
slots	The OUTPUTS slot registers, LINK_OUT_SLOTS slots of LINK_OS_STRIDE registers each.

Returns: 0 when the slots may be taken; LINK_NACK_BAD_VALUE for a NULL slots or a refused slot (see above). 0 for a NULL p.

◆ prog_port_slots_free()

unsigned prog_port_slots_free ( uint16_t * slots )

Unbinds every slot of slots whose channel range reaches a port's bank channel, for a stored page read at start.

Returns how many.

Parameters

slots The OUTPUTS slot registers, LINK_OUT_SLOTS slots of LINK_OS_STRIDE registers each; a slot on a port's channel has its driver cleared in place.

Returns: The number of slots unbound; 0 for NULL slots.

◆ prog_port_target()

uint8_t prog_port_target ( const prog_port_t * p )

0 for the standard servo ports, 1 + n for port n.

Parameters

p	The port model, or NULL.

Returns: 1 + n for the TARGET port n, 0 for the standard servo ports; 0 for a NULL p.

◆ prog_port_wire_pin()

uint8_t prog_port_wire_pin	(	const prog_port_t *	p,
		uint8_t	port,
		uint8_t	bound )

The pin a wire page (KST, HITEC) may take for a session on port port: the port's pin while the IOmcu holds it (bound, bit n, as outputs_hw_ports_bound() says), PROG_PORT_NO_PIN otherwise and for a DShot port, whose lead goes to an ESC.

Parameters

p	The port model, or NULL.
port	Port index, 0 to LINK_PG_PORTS_MAX - 1.
bound	Bit n for port n: the port's pin is held by the IOmcu (outputs_hw_ports_bound()).

Returns: The pin for the wire page, or PROG_PORT_NO_PIN (see above).

◆ prog_port_write()

uint8_t prog_port_write	(	prog_port_t *	p,
		uint8_t	off,
		uint8_t	n,
		const uint16_t *	in,
		outputs_t *	o,
		uint64_t	taken,
		bool	locked,
		uint32_t	now_ms )

A write of the page: 0, or the LINK_NACK_* reason with nothing changed.

taken: the pins other holders have beyond the slots and the bank's reservation. locked: no PIN or FUNC may change now (the bank is armed or asked to arm, or a wire page holds a port). A PIN or FUNC change is also refused for a port whose PWM bit is set or that is the TARGET, before or after the frame. A FUNC above LINK_PG_FN_NONE, and any register of a port the build does not have, is BAD_VALUE. A PIN is judged under the FUNC the frame leaves its port with.

PWM and TARGET name only SERVO PWM ports whose pin the generator has (prog_port_bound()), and not a port whose PIN or FUNC the same frame changes.

No port whose PWM bit the write leaves set may have an endpoint longer than its frame carries: MIN_US and MAX_US at most out_pwm_pulse_max() of the rate the write leaves the port at (prog_port_port_hz()), 1784us at 560Hz (BAD_VALUE, protocol 4.16). This covers a range written to a pulsing port and a pulse switched on under a range that does not fit.

A TARGET change returns the SERVO rate to 0 (servo_page_target()), so every port is judged at PROG_PORT_RATE_HZ after one, and the write sets the rate prog_port_rate() last named to 0 as well: prog_port_port_hz() then names the rate each port runs at once the write is in force, before the SERVO page has followed the TARGET. Refused as well (BAD_VALUE, protocol 4.19): a TARGET change away from the standard servo ports while they run at a SERVO rate, when a PWM slot back at its own rate would carry a pulse longer than its frame (outputs_pulse_check()); and a PIN that puts a port on the PWM slice of the TARGET port while that port runs at a rate other than PROG_PORT_RATE_HZ.

Parameters

p	The port model, updated when the write is applied.
off	First register of the window; below LINK_PG_PWM is read-only.
n	Number of registers in the window; 0 applies nothing.
in	The n register values to write.
o	The outputs model whose port channels are set.
taken	Bit n: pin n is held by another holder beyond the slots and the bank's reservation.
locked	True refuses every PIN and FUNC change.
now_ms	Current time in milliseconds, passed on for a CMD write.

Returns: 0 when the write is applied; otherwise the LINK_NACK_* reason: LINK_NACK_BAD_RANGE for a NULL argument or a window beyond LINK_PG_REGS, LINK_NACK_READ_ONLY for a window below LINK_PG_PWM, LINK_NACK_BAD_VALUE for a value refused as described above.

◆ slot_on_port_channel()

bool slot_on_port_channel ( const uint16_t * r )

static

Whether a bound slot's channels reach a port's bank channel.

Parameters

r	The slot's register words.

Returns: true when the slot drives and its channel range reaches a port's bank channel.

◆ us_ok()

bool us_ok ( uint16_t us )

static

Whether us lies in the endpoint range.

Parameters

us	The endpoint in microseconds.

Returns: true when us lies between LINK_CC_FLOOR_US and LINK_CC_CEILING_US, both included.

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ REG

Function Documentation

◆ apply_cfg()

◆ bit64()

◆ carries()

◆ fn_default()

◆ fn_dshot()

◆ fn_from_word()

◆ fn_of()

◆ fn_pwm()

◆ holds()

◆ pin_ok()

◆ port_hz()

◆ ports_clash()

◆ prog_port_bound()

◆ prog_port_channel()

◆ prog_port_count()

◆ prog_port_defaults()

◆ prog_port_dshot()

◆ prog_port_func()

◆ prog_port_init()

◆ prog_port_kbit()

◆ prog_port_kept()

◆ prog_port_kept_func()

◆ prog_port_parked()

◆ prog_port_pin()

◆ prog_port_pins()

◆ prog_port_port_hz()

◆ prog_port_pwm()

◆ prog_port_pwm_channels()

◆ prog_port_pwm_ports()

◆ prog_port_rate()

◆ prog_port_read()

◆ prog_port_restore()

◆ prog_port_restore_fn()

◆ prog_port_revert()

◆ prog_port_sliced_channels()

◆ prog_port_slots_check()

◆ prog_port_slots_free()

◆ prog_port_target()

◆ prog_port_wire_pin()

◆ prog_port_write()

◆ slot_on_port_channel()

◆ us_ok()