servo_limrun_t Struct Reference

Data Fields
servo_limrun_cfg_t	cfg
servo_limrun_state_t	state
servo_limrun_phase_t	phase
servo_limrun_verdict_t	verdict
servo_limrun_why_t	why
servo_test_abort_t	test_why
uint32_t	start_ms
uint32_t	end_ms
uint32_t	phase_ms
bool	safe_asked
uint16_t	ctr_us
uint16_t	end_us [2]
servo_limit_t	lf
uint8_t	side
uint32_t	search_ms
uint16_t	cmd_us
bool	cmd_due
bool	enc_valid
float	enc_deg
servo_limrun_side_t	first [2]
servo_limrun_side_t	after [2]
servo_limrun_side_t	probe
bool	read_once
bool	dry
servo_limrun_servo_t	servo
uint16_t	cur [2]
uint16_t	pulse_now [3]
bool	pulse_op
bool	searched
uint16_t	want [2]
int8_t	reg_side [2]
bool	need [2]
bool	mapped
uint8_t	map_side
uint8_t	map_reg
uint8_t	map_tries
uint8_t	stage [2]
uint16_t	v0 [2]
uint16_t	v1 [2]
uint16_t	v2 [2]
int32_t	d0_dus [2]
int32_t	db_dus [2]
int32_t	d1_dus [2]
int8_t	probe_side
unsigned	writes
unsigned	write_ops
unsigned	sessions
bool	pulses_landed
bool	programmed
bool	have_win
uint32_t	last_win_ms
uint32_t	windows
bool	have_rail
uint16_t	rail_mv
bool	elevated
uint32_t	elevated_ms
bool	sup_watch
bool	sup_online
bool	sup_out
float	sup_v
float	sup_i
unsigned	out_line
bool	out_open
bool	out_end
bool	out_done
char	scratch [SERVO_TEST_LINE_MAX]
servo_limrun_do_t	pend

Field Documentation

after

servo_limrun_side_t servo_limrun_t::after[2]

the last check of each side

cmd_us

uint16_t servo_limrun_t::cmd_us

the command last asked

cur

uint16_t servo_limrun_t::cur[2]

what the servo holds, register by register

d0_dus

int32_t servo_limrun_t::d0_dus[2]

the first search's free end from NEUTRAL

d1_dus

int32_t servo_limrun_t::d1_dus[2]

the overset search's; 0 not searched

db_dus

int32_t servo_limrun_t::db_dus[2]

its first bound pulse from NEUTRAL

dry

bool servo_limrun_t::dry

the read-only first session is under way

first

servo_limrun_side_t servo_limrun_t::first[2]

the first search of each side

map_reg

uint8_t servo_limrun_t::map_reg

the register that write goes to

map_side

uint8_t servo_limrun_t::map_side

the side whose first write finds it

map_tries

uint8_t servo_limrun_t::map_tries

registers tried for it

need

bool servo_limrun_t::need[2]

the side bound in the first search

out_line

unsigned servo_limrun_t::out_line

the next line of the report

probe

servo_limrun_side_t servo_limrun_t::probe

the last probe

probe_side

int8_t servo_limrun_t::probe_side

the side the next search looks at, -1 both

programmed

bool servo_limrun_t::programmed

a value differs from the servo's own, or a write failed once sent

pulse_now

uint16_t servo_limrun_t::pulse_now[3]

its NEUTRAL, PULSE LOWER, PULSE UPPER now

pulse_op

bool servo_limrun_t::pulse_op

the write under way is the pulse write

pulses_landed

bool servo_limrun_t::pulses_landed

the pulses read back as 1000 and 2000us

reg_side

int8_t servo_limrun_t::reg_side[2]

the side each register limits, -1 not known

safe_asked

bool servo_limrun_t::safe_asked

PH_SAFE: SAFE asked, after the return

search_ms

uint32_t servo_limrun_t::search_ms

the search's start; it walks from SERVO_LIMRUN_RETURN_MS after it

searched

bool servo_limrun_t::searched

the first search has begun

servo

servo_limrun_servo_t servo_limrun_t::servo

as the first session read it

side

uint8_t servo_limrun_t::side

the side it searches

stage

uint8_t servo_limrun_t::stage[2]

servo_limrun_int.h's limrun_stage_t

sup_online

bool servo_limrun_t::sup_online

it answered

sup_out

bool servo_limrun_t::sup_out

its output was on

v0

uint16_t servo_limrun_t::v0[2]

the register's value at the read

v1

uint16_t servo_limrun_t::v1[2]

the overset; 0 where it is left out

v2

uint16_t servo_limrun_t::v2[2]

the final value, once known

want

uint16_t servo_limrun_t::want[2]

the write under way

write_ops

unsigned servo_limrun_t::write_ops

writes sent, one that failed included

writes

unsigned servo_limrun_t::writes

register values written

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

• shared/servo/include/servo_limrun.h