servo_screen_core_int.h

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#pragma once
 
#include <stdbool.h>
#include <stdint.h>
 
#include "outputs.h"
#include "servo_screen_int.h"

#define SHAFT_X (PAD + 392)
/* Integer division on purpose: this is a pixel row. */
/* NOLINTNEXTLINE(bugprone-integer-division) */
#define SHAFT_Y ((CARD_Y + READ_LBL_Y) / 2) 
#define ARC_R   150 
#define HORN_L  98  
#define BODY_W  260 
#define BODY_H  88  
_Static_assert(SHAFT_X - BODY_W + 24 - 62 >= PAD + 12,
               "the servo's lead starts inside LIVE's card");
_Static_assert(SHAFT_X + ARC_R + 26 + 24 <= PAD + LCARD_W - 12,
               "the dial's labels end inside LIVE's card");
_Static_assert(SHAFT_Y - ARC_R - 36 >= CARD_Y + 4,
               "the dial's +90 label ends inside LIVE's card");
_Static_assert(SHAFT_Y + ARC_R + 36 <= READ_LBL_Y - 4,
               "the dial's -90 label ends above the readings");
_Static_assert(PAD + 10 + BOX_W <= SHAFT_X - 36,
               "the run's box stays clear of the horn and its rings");
/*
 * The mounting flanges run the full width of the case end, as on a servo.
 *
 * The three clearances are the chosen numbers.  The flange width is what
 * holds a bore with TAB_MARGIN of material outside it and TAB_INNER between
 * it and the case, and the hole positions follow from the same margin top
 * and bottom.
 */
#define TAB_HOLE_R  12                  
#define TAB_MARGIN  6                   
#define TAB_INNER   8                   
#define TAB_OVER    6                   
#define TAB_W       (TAB_MARGIN + 2 * TAB_HOLE_R + TAB_INNER + TAB_OVER)  
#define TAB_H       BODY_H              
#define TAB_HOLE_DY (BODY_H / 2 - TAB_MARGIN - TAB_HOLE_R)
 
/*
 * Screen angle from servo angle.
 *
 * The case lies along the card with its output at the right-hand end; zero
 * is the arm pointing straight out, and positive is counter-clockwise, the
 * convention every other angle on the bench uses.
 */
#define PHI(a) (a)
 
/* The power plot's series: the servo rail's voltage, current and power. */
enum { PS_V = 0, PS_A, PS_W, PS_COUNT };
 
/*
 * SPEED as the bench's slew, in channel-span units a second.
 *
 * The horn's full travel is 180 degrees and a channel's span covers it, so
 * SPEED_FULL_SPAN_S, two spans a second, is 360 degrees a second.  Below
 * 100% the bench ramps the command at that fraction of it, and a servo
 * asked for 30% takes three times as long to cross as one asked for 90%.
 *
 * 100% is immediate rather than two spans a second, at the far end and in
 * the drawing (slew_per_ms()).  It is the value the screen starts at, so
 * anybody who never touches the slider gets the servo at its own rate,
 * with nothing in front of it.
 */
#define SPEED_FULL_SPAN_S (2u * OUT_SPAN)
 
/* What the servo rail's meter reads, at the precision it is drawn with. */
typedef struct {
    bool v_ok,                              
         i_ok;                              
    float   v;        
    float   i;        
    float   p;        
    int32_t q_a;      
    bool    clipped;  
} rail_t;
 
/* What the CURRENT row shows: the dashes, or the digits and their colour. */
#define CUR_KEY_NONE INT32_MIN
 
/* --- the functions one file calls of another ---------------------------- */
 
/* servo_screen.c */

bool svs_command(float deg);
void svs_drop_motion(void);
void svs_ask_disarm(void);
float svs_deg_to_us_f(float deg);
uint16_t svs_deg_to_us(float deg);
servo_map_t svs_map_now(void);
float svs_map_cmd_to_us(const servo_map_t *m, float cmd);
float svs_map_us_to_deg(const servo_map_t *m, float us);
float svs_us_to_cmd(float us);
float svs_cmd_to_us(float cmd);
float svs_rest_deg(void);
uint16_t svs_slew_of(int pct);
 
/* servo_screen_sweep.c */

void svs_hold_sweep(void);
void svs_restart_sweep(void);
void svs_toggle_sweep(void);
bool svs_same_sweep(const sweep_cfg_t *a, const sweep_cfg_t *b);
bool svs_speed_limits_sweep(void);
void svs_tick_body(float dt_s);
 
/* servo_screen_link.c */

int32_t svs_fixed_of(float x, float per);
rail_t svs_rail_now(void);
 
/* servo_screen_touch.c */

bool svs_arm_locked(void);
bool svs_safe_at(int x, int y);
void svs_knob_note_owner(void);
void svs_knob_withdraw(void);
void svs_drag_tick(float dt_s);
void svs_drag_filter_end(void);
void svs_drag_end(void);
void svs_drag_on_post(servo_cmd_kind_t kind, uint16_t us);
void svs_event_body(const touch_event_t *evt);
 
/* servo_screen_draw.c */

void svs_render(gfx_canvas_t *c, int buffer_index);