The session with one servo: results and state of its operation. More...

#include <kst_session.h>

Data Fields
kst_image_t	image
kst_image_t	backup
kst_fingerprint_t	fingerprint
kst_stats_t	stats
kst_reply_t	last_reply
uint32_t	bad_regs
uint32_t	wrote_regs
uint32_t	diff_regs
uint8_t	result
uint8_t	in_mode
uint8_t	has_image
uint8_t	has_backup
uint8_t	fingerprint_ok
uint8_t	locked
uint8_t	step_index
uint8_t	planning
uint8_t	plan_result
kst_rules_t	plan_rules
uint32_t	plan_cap
kst_driver_t	drv
kst_plan_t	plan
kst_plan_job_t	job
kst_image_t	expect
kst_image_t	read
kst_frame_t	frame
uint8_t	vals [KST_READ_PASSES_MAX][KST_REG_COUNT]
uint32_t	vals_ok [KST_READ_PASSES_MAX]
uint32_t	t_mark
uint32_t	t_gap
uint32_t	t_start
uint32_t	t_limit
int16_t	undo
int16_t	undo_stop
uint8_t	op
uint8_t	phase
uint8_t	t_state
uint8_t	t_expect
uint8_t	t_frame
uint8_t	t_reg
uint8_t	fault
uint8_t	abort
uint8_t	reading
uint8_t	read_result
uint8_t	pass
uint8_t	passes
uint8_t	reg
uint8_t	attempt
uint8_t	first_ok
uint8_t	dirty
uint8_t	unseen
uint8_t	cycled
uint8_t	undone
uint8_t	confirm

Detailed Description

The session with one servo: results and state of its operation.

Field Documentation

◆ backup

kst_image_t kst_session_t::backup

the first image read, after kst_session_init() or the last kst_session_power_cycled(); valid with has_backup

◆ bad_regs

uint32_t kst_session_t::bad_regs

bit n: register n has no 3 equal reads

◆ confirm

uint8_t kst_session_t::confirm

the running restore may be unchecked

◆ diff_regs

uint32_t kst_session_t::diff_regs

bit n: register n differs from what the operation expected

◆ expect

kst_image_t kst_session_t::expect

verify: expected; write: image so far

◆ fingerprint

kst_fingerprint_t kst_session_t::fingerprint

of the last image read

◆ fingerprint_ok

uint8_t kst_session_t::fingerprint_ok

1: the image passed the fingerprint

◆ has_backup

uint8_t kst_session_t::has_backup

1: backup is valid

◆ has_image

uint8_t kst_session_t::has_image

1: image is valid

◆ image

kst_image_t kst_session_t::image

the servo as last known; valid with has_image

◆ in_mode

uint8_t kst_session_t::in_mode

the servo is in programming mode; the pin carries no PWM until the supply was off

◆ job

kst_plan_job_t kst_session_t::job

the planning job of the operation

◆ last_reply

kst_reply_t kst_session_t::last_reply

of the last transaction

◆ locked

uint8_t kst_session_t::locked

only a restore plan is accepted

◆ plan

kst_plan_t kst_session_t::plan

the running plan; between operations the planner's work space

◆ plan_cap

uint32_t kst_session_t::plan_cap

units a planning job may take; KST_PLAN_WORK_CAP after kst_session_init()

◆ plan_result

uint8_t kst_session_t::plan_result

kst_plan_result_t of the last kst_session_edit(), kst_session_restore() or kst_session_release_pairing(); KST_PLAN_BUSY while it plans

◆ plan_rules

kst_rules_t kst_session_t::plan_rules

with KST_PLAN_ERR_RULES: the hard rules the target breaks

◆ planning

uint8_t kst_session_t::planning

1: the operation plans; nothing is sent

◆ read

kst_image_t kst_session_t::read

result of the read passes

◆ result

uint8_t kst_session_t::result

kst_ses_t of the last operation

◆ step_index

uint8_t kst_session_t::step_index

writes of the running plan that are done

◆ t_gap

uint32_t kst_session_t::t_gap

wait from t_mark before the next frame

◆ t_mark

uint32_t kst_session_t::t_mark

clock at the end of the last window

◆ t_reg

uint8_t kst_session_t::t_reg

the register of the frame

◆ undo

int16_t kst_session_t::undo

step being rolled back

◆ wrote_regs

uint32_t kst_session_t::wrote_regs

bit n: the session sent a write of register n, a write that was undone too, or found the register changed by one of its writes. A restore is refused with KST_SES_ERR_CHANGED while a register outside this set differs from the backup: the servo is not the backup's

The documentation for this struct was generated from the following file:

protocols/kst/include/kst_session.h

Data Fields