servo_test_io.h File Reference

What the automatic servo test reads and what it hands out: the supply's readings, the INA3221's windows and the encoder's readings it is fed, what it wants done, and the items of its outbox. A caller that feeds a run or carries its files to the card, and steps none, includes this alone, as servo_screen.h does; the engine is servo_test.h. More...

#include <stdbool.h>
#include <stdint.h>

Go to the source code of this file.

Data Structures
struct	servo_test_reading_t
	One reading of the supply, as SUPPLY has it (supply_state_t). More...
struct	servo_test_win_t
	One 50ms window of INA3221 CH1, as the window ring carries it (sense_link_win_t). More...
struct	servo_test_enc_sample_t
	A kept reading. More...
struct	servo_test_enc_t
	One reading of the output encoder, as the SENSE page has it. More...
struct	servo_test_do_t
	What the run wants done, from servo_test_step(). More...
struct	servo_test_in_t
	What the caller knows each step. More...

Macros
#define	SERVO_TEST_ENC_HIST   16u
	Readings of the encoder kept for matching with the supply's rows.
#define	SERVO_TEST_LINE_MAX   224u
	The longest line a log row or a report line takes, terminator included: the CSV's header with the encoder's columns is 219 characters.

Enumerations
enum	servo_test_out_t {   SERVO_TEST_OUT_NONE = 0 , SERVO_TEST_OUT_OPEN , SERVO_TEST_OUT_CSV , SERVO_TEST_OUT_TXT ,   SERVO_TEST_OUT_END , SERVO_TEST_OUT_OPEN_TXT }

Functions
float	servo_test_enc_deg (uint16_t raw, uint16_t centre)
	raw from centre on the circle, degrees, -180 to just under 180: 360 / 4096 a count. The difference of any two counts the shortest way round.
float	servo_test_enc_wrap (float deg)
	deg on the circle: -180 to just under 180.

Detailed Description

What the automatic servo test reads and what it hands out: the supply's readings, the INA3221's windows and the encoder's readings it is fed, what it wants done, and the items of its outbox. A caller that feeds a run or carries its files to the card, and steps none, includes this alone, as servo_screen.h does; the engine is servo_test.h.

SPDX-License-Identifier: MIT

Macro Definition Documentation

SERVO_TEST_ENC_HIST

#define SERVO_TEST_ENC_HIST   16u

Readings of the encoder kept for matching with the supply's rows.

The panel has one about every 40ms, so 16 span 640ms: more than SERVO_TEST_ENC_STALE_MS.

Enumeration Type Documentation

servo_test_out_t

enum servo_test_out_t

Enumerator
SERVO_TEST_OUT_OPEN	a run begins: its files are opened
SERVO_TEST_OUT_CSV	one line of the CSV
SERVO_TEST_OUT_TXT	one line of the report
SERVO_TEST_OUT_END	the run's files are complete
SERVO_TEST_OUT_OPEN_TXT	a report alone begins: a TXT, no CSV

Function Documentation

servo_test_enc_deg()

float servo_test_enc_deg	(	uint16_t	raw,
		uint16_t	centre )

raw from centre on the circle, degrees, -180 to just under 180: 360 / 4096 a count. The difference of any two counts the shortest way round.

Parameters

raw	Encoder count, 0 to 4095.
centre	Centre count, 0 to 4095.

Returns

angle, degrees, -180 up to just under 180.

servo_test_enc_wrap()

float servo_test_enc_wrap

(

float

deg

)

deg on the circle: -180 to just under 180.

Parameters

deg	Angle, degrees.

Returns

angle, degrees, -180 up to just under 180.