servo_link.h

Go to the documentation of this file.

 
#pragma once
 
#include <stdbool.h>
#include <stdint.h>
 
#include "link_host.h"
#include "link_port.h"
#include "prog_link.h"
#include "servo_cmd.h"
 
#ifdef __cplusplus
extern "C" {
#endif

#define SERVO_HZ_UNKNOWN 0xFFFFu  /* not known: perhaps a faster rate        */

typedef enum {
    SERVO_LINK_ALERT_RESUME_OLD = 0, 
    SERVO_LINK_ALERT_RESUME_REFUSED, 
    SERVO_LINK_ALERT_RESUME_UNTIMED, 
} servo_link_alert_t;

typedef struct {
    link_host_t       *host;   
    const link_port_t *port;   
    prog_link_t       *prog;   
    void              *ctx;    
    bool     (*armed)(void *ctx);
    bool     (*stopped)(void *ctx);
    void     (*alert)(void *ctx, servo_link_alert_t a);
    void     (*disarm)(void *ctx, bool link_up);
    uint32_t (*stop_count)(void *ctx);
    void     (*arm_surfaces)(void *ctx);
} servo_link_ctx_t;

void servo_link_init(const servo_link_ctx_t *ctx);

void servo_link_came_up(uint16_t minor);

void servo_link_lost(void);

void servo_link_binding(uint8_t channels, bool known);

void servo_link_forget_binding(void);

bool servo_link_binding_known(void);

void servo_link_surfaces_publish(void);

void servo_link_apply(const servo_cmd_t sv, bool link_up, uint32_t stops);

void servo_link_let_go(void);

void servo_link_service(bool link_up);

bool servo_link_rate_settled(void);

void servo_link_rate_reset_note(bool page, bool landed);

void servo_link_prog_service(void);

bool servo_link_release_owed(void);

uint16_t servo_link_hz_sent(void);

bool servo_link_take_release(void);

void servo_link_ask_release(void);

void servo_link_ask_hold(void);

unsigned servo_link_rate_shown(void);

bool servo_link_sweep_able(void);

bool servo_link_surfaces(void);

bool servo_link_take_sweep_refused(void);

bool servo_link_take_hold_lost(uint16_t *pause_seq);

bool servo_link_take_sweep_held(uint16_t *pause_seq, uint32_t *kept_ms);

bool servo_link_take_sweep_start(void);

typedef struct {
    uint16_t           start_seq;  
    uint32_t           start_ms;   
    servo_sweep_from_t from;       
    uint32_t           frozen_ms;  
} servo_link_start_t;

servo_link_start_t servo_link_sweep_start(void);
 
#ifdef __cplusplus
}
#endif