The sensor bus's sampling schedule. More...

#include "sense_sched_int.h"
#include <string.h>

Enumerations
enum	rot_t { ROT_NONE = 0 , ROT_TEMP , ROT_DIAG , ROT_ENERGY , ROT_CHARGE , ROT_ADC , ROT_FLAGS0 , ROT_CONFIG0 = ROT_FLAGS0 + SENSE_I3221_PARTS }
	What a rotation item reads. More...

Functions
static void	acc_clear (sense_acc_t *a)
	Clear a window accumulator.
static void	acc_current (sense_acc_t *a, sense_value_t v)
	Add one current sample to a window accumulator.
static void	acc_voltage (sense_acc_t *a, int32_t uv)
	Add one bus voltage sample to a window accumulator.
static void	acc_close (const sense_acc_t a, uint64_t number, sense_window_t w)
	Close a window: write its totals from an accumulator.
static void	ring_close (int32_t top, int32_t bottom, const sense_acc_t a, sense_ring_win_t e)
	FAST's window into a ring entry: every sample counted, a clipped one as the end of the range it read. `top` and `bottom` are the ends of FAST's range.
static void	ring_push (sense_sched_t s, uint64_t number, const sense_acc_t a)
	Window `number` has closed with FAST's `a`, empty with no FAST: the ring moves on by as many places as numbers have passed, and the places of skipped numbers read not closed.
static void	init_part (sense_sched_t *s, unsigned a)
	Part `a's` set-up from the map: its channels with a shunt.
static bool	ch_read (const sense_sched_t *s, unsigned c)
	Whether channel `c` is read: its part set up and the channel on.
void	sense_sched_init (sense_sched_t s, const sense_sched_io_t io, const sense_sched_cfg_t *cfg)
	A schedule over `io` for the parts `cfg` enables.
const ina3221_t *	sense_sched_fast_part (const sense_sched_t *s)
	FAST's INA3221, or NULL with no FAST channel.
void	sense_sched_arm (sense_sched_t *s)
	The edge into driving: the run's peaks start again and the INA228's totals are cleared on the next tick.
bool	sense_sched_window (const sense_sched_t s, unsigned src, sense_window_t out)
	The last complete window of source `src` (a channel, or SENSE_SRC_INA228); false before one has closed.
bool	sense_sched_ring (const sense_sched_t s, unsigned back, sense_ring_win_t out)
	FAST's window numbered `back` before the newest complete one, `back` under SENSE_WIN_RING; false, and `out` not closed, for a number that was skipped, lies before the first window, or before one has closed.
static bool	i228_ok (sense_sched_t *s, sense_err_t e)
	An INA228 transaction's result: the first failure after the clear ends the run's totals.
static void	roll_windows (sense_sched_t *s, uint64_t now_ms)
	The windows: the one being filled closes when the clock passes its end, and the next one starts empty.
static uint64_t	stamp (sense_sched_t *s)
	A read is done: its time, µs, with the windows rolled to it, so what it read goes into the window it was read in.
static bool	read_ch_current (sense_sched_t s, unsigned c, sense_value_t v, uint64_t *at_us)
	Channel `c's` current into its window; true with a sample. `at_us`, when given, is when the read was done, sample or not.
static void	read_ch_bus (sense_sched_t *s, unsigned c)
	Read channel c's bus voltage into its window.
static void	read_other (sense_sched_t *s)
	The next channel beside FAST, in turn.
static void	read_volt (sense_sched_t *s)
	The next channel's bus voltage: every channel in turn, one that is not read leaving its turn empty, so each is read every SENSE_CHANNELS even ticks.
static void	read_i228_current (sense_sched_t *s)
	Read the INA228's current into its window and the run's peaks.
static void	read_i228_vbus (sense_sched_t *s)
	Read the INA228's bus voltage into its window and the run's minimum.
static void	read_i228 (sense_sched_t *s, uint32_t n)
	The INA228's slot `n:` CURRENT on even ones, VBUS on odd ones.
static void	verify_i228 (sense_sched_t *s)
	The INA228's ADC_CONFIG read back.
static void	verify_i3221 (sense_sched_t *s, unsigned a)
	Part `a's` Configuration read back.
static void	read_flags (sense_sched_t *s, unsigned a)
	Read part a's Mask/Enable flags; kept when the read succeeds.
static void	read_rotation (sense_sched_t *s)
	The next rotation item.
uint16_t	sense_sched_enc_still_ms (const sense_sched_t *s)
	How long the encoder's angle has stayed within SENSE_ENC_STILL_TOL counts of its anchor, ms, saturating at 65535; 0 with no anchor.
static void	enc_anchor (sense_enc_t *e, uint16_t raw, uint64_t at_ms)
	An angle sample at `at_ms:` the anchor moves when the angle has left its tolerance.
static void	read_enc (sense_sched_t *s)
	The encoder's slot: STATUS and RAW ANGLE, and every SENSE_ENC_MAG_EVERY-th time the field's AGC and MAGNITUDE as well, in place of STATUS.
static void	totals (sense_sched_t *s)
	The totals: cleared once the arm owes it.
void	sense_sched_tick (sense_sched_t *s)
	One tick: every 1ms.

Variables
static const uint8_t	k_rotation [SENSE_ROTATION]
	The INA228's eight slots where they always were; each INA3221's Mask/Enable and Configuration 20ms apart, part 0's in the slots one part had before; four slots empty.

Detailed Description

The sensor bus's sampling schedule.

See sense_sched.h.

SPDX-License-Identifier: MIT

Enumeration Type Documentation

◆ rot_t

enum rot_t

What a rotation item reads.

An INA3221 item names its part.

Function Documentation

◆ acc_clear()

void acc_clear ( sense_acc_t * a )

static

Clear a window accumulator.

Parameters

a	The accumulator.

◆ acc_close()

void acc_close	(	const sense_acc_t *	a,
		uint64_t	number,
		sense_window_t *	w )

static

Close a window: write its totals from an accumulator.

Parameters

a	The accumulator.
number	Number of the window.
w	Receives the window.

◆ acc_current()

void acc_current	(	sense_acc_t *	a,
		sense_value_t	v )

static

Add one current sample to a window accumulator.

Parameters

a	The accumulator.
v	The sample.

◆ acc_voltage()

void acc_voltage	(	sense_acc_t *	a,
		int32_t	uv )

static

Add one bus voltage sample to a window accumulator.

Parameters

a	The accumulator.
uv	Voltage, in µV.

◆ ch_read()

bool ch_read	(	const sense_sched_t *	s,
		unsigned	c )

static

Whether channel c is read: its part set up and the channel on.

Parameters

s	The schedule.
c	Channel index, 0 to 11.

Returns: true when the channel is read.

◆ enc_anchor()

void enc_anchor	(	sense_enc_t *	e,
		uint16_t	raw,
		uint64_t	at_ms )

static

An angle sample at at_ms: the anchor moves when the angle has left its tolerance.

Parameters

e	The encoder state.
raw	The angle, 0 to 4095 counts.
at_ms	The time of the sample, in ms.

◆ i228_ok()

bool i228_ok	(	sense_sched_t *	s,
		sense_err_t	e )

static

An INA228 transaction's result: the first failure after the clear ends the run's totals.

Parameters

s	The schedule.
e	The result of the transaction.

Returns: true when the transaction succeeded.

◆ init_part()

void init_part	(	sense_sched_t *	s,
		unsigned	a )

static

Part a's set-up from the map: its channels with a shunt.

Parameters

s	The schedule.
a	Part index, 0 to 3.

◆ read_ch_bus()

void read_ch_bus	(	sense_sched_t *	s,
		unsigned	c )

static

Read channel c's bus voltage into its window.

Parameters

s	The schedule.
c	Channel index, 0 to 11.

◆ read_ch_current()

bool read_ch_current	(	sense_sched_t *	s,
		unsigned	c,
		sense_value_t *	v,
		uint64_t *	at_us )

static

Channel c's current into its window; true with a sample. at_us, when given, is when the read was done, sample or not.

Parameters

s	The schedule.
c	Channel index, 0 to 11.
v	Receives the current.
at_us	Receives the time of the read, in µs; may be NULL.

Returns: true with a sample.

◆ read_enc()

void read_enc ( sense_sched_t * s )

static

The encoder's slot: STATUS and RAW ANGLE, and every SENSE_ENC_MAG_EVERY-th time the field's AGC and MAGNITUDE as well, in place of STATUS.

The angle is read in every slot, 500Hz. Each register is a transaction of its own (as5600.h).

Parameters

s	The schedule.

◆ read_flags()

void read_flags	(	sense_sched_t *	s,
		unsigned	a )

static

Read part a's Mask/Enable flags; kept when the read succeeds.

Parameters

s	The schedule.
a	Part index, 0 to 3.

◆ read_i228()

void read_i228	(	sense_sched_t *	s,
		uint32_t	n )

static

The INA228's slot n: CURRENT on even ones, VBUS on odd ones.

Parameters

s	The schedule.
n	The slot number.

◆ read_i228_current()

void read_i228_current ( sense_sched_t * s )

static

Read the INA228's current into its window and the run's peaks.

Parameters

s	The schedule.

◆ read_i228_vbus()

void read_i228_vbus ( sense_sched_t * s )

static

Read the INA228's bus voltage into its window and the run's minimum.

Parameters

s	The schedule.

◆ read_other()

void read_other ( sense_sched_t * s )

static

The next channel beside FAST, in turn.

Parameters

s	The schedule.

◆ read_rotation()

void read_rotation ( sense_sched_t * s )

static

The next rotation item.

Parameters

s	The schedule.

◆ read_volt()

void read_volt ( sense_sched_t * s )

static

The next channel's bus voltage: every channel in turn, one that is not read leaving its turn empty, so each is read every SENSE_CHANNELS even ticks.

Parameters

s	The schedule.

◆ ring_close()

void ring_close	(	int32_t	top,
		int32_t	bottom,
		const sense_acc_t *	a,
		sense_ring_win_t *	e )

static

FAST's window into a ring entry: every sample counted, a clipped one as the end of the range it read. top and bottom are the ends of FAST's range.

Parameters

top	The current at the top code, in µA.
bottom	The current at the bottom code, in µA.
a	The accumulator.
e	Receives the ring entry.

◆ ring_push()

void ring_push	(	sense_sched_t *	s,
		uint64_t	number,
		const sense_acc_t *	a )

static

Window number has closed with FAST's a, empty with no FAST: the ring moves on by as many places as numbers have passed, and the places of skipped numbers read not closed.

Parameters

s	The schedule.
number	Number of the window.
a	FAST's accumulator, or the empty one with no FAST.

◆ roll_windows()

void roll_windows	(	sense_sched_t *	s,
		uint64_t	now_ms )

static

The windows: the one being filled closes when the clock passes its end, and the next one starts empty.

In 64 bits, so the numbering runs on past the 32-bit millisecond count's wrap at 49.7 days.

Parameters

s	The schedule.
now_ms	The current time, in ms.

◆ sense_sched_arm()

void sense_sched_arm ( sense_sched_t * s )

The edge into driving: the run's peaks start again and the INA228's totals are cleared on the next tick.

Parameters

s	The schedule.

◆ sense_sched_enc_still_ms()

uint16_t sense_sched_enc_still_ms ( const sense_sched_t * s )

How long the encoder's angle has stayed within SENSE_ENC_STILL_TOL counts of its anchor, ms, saturating at 65535; 0 with no anchor.

Parameters

s	The schedule.

Returns: Time since the encoder angle was last anchored, in ms; 0 before an anchor, 65535 at most.

◆ sense_sched_fast_part()

const ina3221_t * sense_sched_fast_part ( const sense_sched_t * s )

FAST's INA3221, or NULL with no FAST channel.

Parameters

s	The schedule.

Returns: FAST's INA3221, or NULL with no FAST channel.

◆ sense_sched_init()

void sense_sched_init	(	sense_sched_t *	s,
		const sense_sched_io_t *	io,
		const sense_sched_cfg_t *	cfg )

A schedule over io for the parts cfg enables.

A part whose set-up the driver refuses is left unset, never addressed, and its error kept in i228_setup or i3221_setup[a]; a FAST that names a channel off is taken as none. The bus is the caller's to open at 400kHz.

Parameters

s	The schedule to set up.
io	The callbacks the schedule calls.
cfg	The parts to enable.

◆ sense_sched_ring()

bool sense_sched_ring	(	const sense_sched_t *	s,
		unsigned	back,
		sense_ring_win_t *	out )

FAST's window numbered back before the newest complete one, back under SENSE_WIN_RING; false, and out not closed, for a number that was skipped, lies before the first window, or before one has closed.

Parameters

s	The schedule.
back	How many windows before the newest complete one.
out	Receives the window.

Returns: true with a window; false for a number that was skipped, lies before the first window, or before one has closed.

◆ sense_sched_tick()

void sense_sched_tick ( sense_sched_t * s )

One tick: every 1ms.

Parameters

s	The schedule.

◆ sense_sched_window()

bool sense_sched_window	(	const sense_sched_t *	s,
		unsigned	src,
		sense_window_t *	out )

The last complete window of source src (a channel, or SENSE_SRC_INA228); false before one has closed.

Parameters

s	The schedule.
src	The source: a channel, or SENSE_SRC_INA228.
out	Receives the window.

Returns: true with a window; false before one has closed.

◆ stamp()

uint64_t stamp ( sense_sched_t * s )

static

A read is done: its time, µs, with the windows rolled to it, so what it read goes into the window it was read in.

Parameters

s	The schedule.

Returns: The time of the read, in µs.

◆ totals()

void totals ( sense_sched_t * s )

static

The totals: cleared once the arm owes it.

Parameters

s	The schedule.

◆ verify_i228()

void verify_i228 ( sense_sched_t * s )

static

The INA228's ADC_CONFIG read back.

A part found reset is offline from here. The read-back is stamped as any read: the windows are rolled to the time it was done, and the one being filled then is emptied – it holds samples at the reset range. The voltage of the last slot pairs with no current, and the totals are no longer the run's.

Parameters

s	The schedule.

◆ verify_i3221()

void verify_i3221	(	sense_sched_t *	s,
		unsigned	a )

static

Part a's Configuration read back.

A part found reset is offline from here, which ends a capture on it as lost (sense_cap_step()); the windows being filled from it at the time the read-back was done are emptied.

Parameters

s	The schedule.
a	Part index, 0 to 3.

Variable Documentation

◆ k_rotation

const uint8_t k_rotation[SENSE_ROTATION]

static

Initial value:

                                = {
    ROT_FLAGS0 + 1,  ROT_TEMP,   ROT_NONE,         ROT_DIAG,
    ROT_FLAGS0 + 2,  ROT_ENERGY, ROT_FLAGS0 + 3,   ROT_CHARGE,
    ROT_NONE,        ROT_FLAGS0,
    ROT_CONFIG0 + 1, ROT_ADC,    ROT_NONE,         ROT_DIAG,
    ROT_CONFIG0 + 2, ROT_ENERGY, ROT_CONFIG0 + 3,  ROT_CHARGE,
    ROT_NONE,        ROT_CONFIG0,
}

The INA228's eight slots where they always were; each INA3221's Mask/Enable and Configuration 20ms apart, part 0's in the slots one part had before; four slots empty.

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ rot_t

Function Documentation

◆ acc_clear()

◆ acc_close()

◆ acc_current()

◆ acc_voltage()

◆ ch_read()

◆ enc_anchor()

◆ i228_ok()

◆ init_part()

◆ read_ch_bus()

◆ read_ch_current()

◆ read_enc()

◆ read_flags()

◆ read_i228()

◆ read_i228_current()

◆ read_i228_vbus()

◆ read_other()

◆ read_rotation()

◆ read_volt()

◆ ring_close()

◆ ring_push()

◆ roll_windows()

◆ sense_sched_arm()

◆ sense_sched_enc_still_ms()

◆ sense_sched_fast_part()

◆ sense_sched_init()

◆ sense_sched_ring()

◆ sense_sched_tick()

◆ sense_sched_window()

◆ stamp()

◆ totals()

◆ verify_i228()

◆ verify_i3221()

Variable Documentation

◆ k_rotation