Safety API is designed to provide safety features when working with the Spin board.

To work with Spin API, include the following file in your code:

Note

#include <SafetyAPI.h>

API Reference

Class SafetyAPI

ClassList > SafetyAPI

Public Functions

Type	Name
void	disableSafetyApi () disable the safet API fault detection task
void	enableSafetyApi () enable the safet API fault detection task
bool	getChannelError (sensor_t sensors_error) check if the sensor faced an error (went over/under threshold)
safety_reaction_t	getChannelReaction () returns the reaction to do when encoutering an error.
float32_t	getChannelThresholdMax (sensor_t sensors_threshold) get the maximum threshold of the selected sensor
float32_t	getChannelThresholdMin (sensor_t sensors_threshold) get the minimum threshold of the selected sensor
bool	getChannelWatch (sensor_t sensors_watch) check if a sensor is being monitored or not.
void	init_shield () Initializes thresholds min/max with the default value from the device tree, if values were stored and found in the flash they will be used instead. All the sensors will be monitored to detect potential faults in voltage/current.
void	init_shield (sensor_t * sensors_watch, uint8_t sensors_watch_number) Initializes thresholds min/max with the default value from the device tree, if values were stored and found in the flash they will be used instead. All the sensors will be monitored to detect potential faults in voltage/current.
int8_t	retrieveThreshold (sensor_t sensor_threshold_retrieve) store the current minimum and maximum threshold in the flash (non volatile memory)
void	setChannelReaction (safety_reaction_t sensors_reaction) Set the reaction to do if an error has been detected. Choose either open-circuit (both switches are opened and no power flows in the output) or short-circuit (high-side switch is opened, and low-side is closed maintaining the output in short-circuit)
int8_t	setChannelThresholdMax (sensor_t * sensors_threshold, float32_t * threshold_max, uint8_t sensors_threshold_number) set the maximum threshold for the sensors present in the list safety_sensors.
int8_t	setChannelThresholdMin (sensor_t * sensors_threshold, float32_t * threshold_min, uint8_t sensors_threshold_number) set the minimum threshold for the sensors present in the list safety_sensors.
int8_t	setChannelWatch (sensor_t * sensors_watch, uint8_t sensors_watch_number) Enables the monitoring of the selected sensors for safety.
int8_t	storeThreshold (sensor_t sensor_threshold_store) store the current minimum and maximum threshold in the flash (non volatile memory)
int8_t	unsetChannelWatch (sensor_t * sensors_watch, uint8_t sensors_watch_number) Disables the monitoring of the selected sensors for safety.

Public Functions Documentation

function disableSafetyApi

disable the safet API fault detection task

void SafetyAPI::disableSafetyApi ()

Returns:

none

function enableSafetyApi

enable the safet API fault detection task

void SafetyAPI::enableSafetyApi ()

Returns:

none

function getChannelError

check if the sensor faced an error (went over/under threshold)

bool SafetyAPI::getChannelError (
    sensor_t sensors_error
)

Parameters:

sensors_error the sensor to check
V1_LOW
V2_LOW
V_HIGH
I1_LOW
I2_LOW
I_HIGH
TEMP_SENSOR
EXTRA_MEAS
ANALOG_COMM

Returns:

true if the sensor faced an error, false if not

function getChannelReaction

returns the reaction to do when encoutering an error.

safety_reaction_t SafetyAPI::getChannelReaction ()

Returns:

Open_Circuit or Short_Circuit

function getChannelThresholdMax

get the maximum threshold of the selected sensor

float32_t SafetyAPI::getChannelThresholdMax (
    sensor_t sensors_threshold
)

Parameters:

sensors_threshold the sensor to check
V1_LOW
V2_LOW
V_HIGH
I1_LOW
I2_LOW
I_HIGH
TEMP_SENSOR
EXTRA_MEAS
ANALOG_COMM

Returns:

the maximum threshold

function getChannelThresholdMin

get the minimum threshold of the selected sensor

float32_t SafetyAPI::getChannelThresholdMin (
    sensor_t sensors_threshold
)

Parameters:

sensors_threshold the sensor to check
V1_LOW
V2_LOW
V_HIGH
I1_LOW
I2_LOW
I_HIGH
TEMP_SENSOR
EXTRA_MEAS
ANALOG_COMM

Returns:

the minimum threshold

function getChannelWatch

check if a sensor is being monitored or not.

bool SafetyAPI::getChannelWatch (
    sensor_t sensors_watch
)

Parameters:

sensors_watch the sensor to check
V1_LOW
V2_LOW
V_HIGH
I1_LOW
I2_LOW
I_HIGH
TEMP_SENSOR
EXTRA_MEAS
ANALOG_COMM

Returns:

true if the sensor is being monitored, false if not

function init_shield [1/2]

Initializes thresholds min/max with the default value from the device tree, if values were stored and found in the flash they will be used instead. All the sensors will be monitored to detect potential faults in voltage/current.

void SafetyAPI::init_shield ()

Returns:

none

function init_shield [2/2]

Initializes thresholds min/max with the default value from the device tree, if values were stored and found in the flash they will be used instead. All the sensors will be monitored to detect potential faults in voltage/current.

void SafetyAPI::init_shield (
    sensor_t * sensors_watch,
    uint8_t sensors_watch_number
)

Parameters:

sensors_watch A list of the sensors to watch. The variables in the list can be : V1_LOW, V2_LOW, V_HIGH, I1_LOW, I2_LOW, I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM
sensors_watch_number The number of sensors present in the list sensors_watch.

Returns:

none

function retrieveThreshold

store the current minimum and maximum threshold in the flash (non volatile memory)

int8_t SafetyAPI::retrieveThreshold (
    sensor_t sensor_threshold_retrieve
)

Parameters:

sensor_threshold_retrieve the sensor for which we store the threshold in the NVS

Returns:

0 if parameters were correcly retreived, negative value if there was an error: -1: NVS is empty -2: NVS contains data, but their version doesn't match current version -3: NVS data is corrupted -4: NVS contains data, but not for the requested sensor

function setChannelReaction

Set the reaction to do if an error has been detected. Choose either open-circuit (both switches are opened and no power flows in the output) or short-circuit (high-side switch is opened, and low-side is closed maintaining the output in short-circuit)

void SafetyAPI::setChannelReaction (
    safety_reaction_t sensors_reaction
)

Parameters:

sensors_reaction the reaction to do
Open_Circuit
Short_Circuit

Returns:

none

function setChannelThresholdMax

set the maximum threshold for the sensors present in the list safety_sensors.

int8_t SafetyAPI::setChannelThresholdMax (
    sensor_t * sensors_threshold,
    float32_t * threshold_max,
    uint8_t sensors_threshold_number
)

Parameters:

sensors_threshold A list of the sensors to set the threshold. The variables in the list can be : V1_LOW, V2_LOW, V_HIGH, I1_LOW, I2_LOW, I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM
threshold_max A list of the maximum threshold to apply to the sensors in safety_sensors.
sensors_threshold_number the number of sensors present in the list sensor_threshold

Returns:

0 if sucessfull, or -1 if not.

function setChannelThresholdMin

set the minimum threshold for the sensors present in the list safety_sensors.

int8_t SafetyAPI::setChannelThresholdMin (
    sensor_t * sensors_threshold,
    float32_t * threshold_min,
    uint8_t sensors_threshold_number
)

Parameters:

sensors_threshold A list of the sensors to set the threshold. The variables in the list can be : V1_LOW, V2_LOW, V_HIGH, I1_LOW, I2_LOW, I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM
threshold_min A list of the minimum threshold to apply to the sensors in safety_sensors.
sensors_threshold_number the number of sensors present in the list sensor_threshold

Returns:

0 if sucessfull, or -1 if not.

function setChannelWatch

Enables the monitoring of the selected sensors for safety.

int8_t SafetyAPI::setChannelWatch (
    sensor_t * sensors_watch,
    uint8_t sensors_watch_number
)

Parameters:

sensors_watch A list of the sensors to watch. The variables in the list can be : V1_LOW, V2_LOW, V_HIGH, I1_LOW, I2_LOW, I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM
sensors_watch_number The number of sensors present in the list sensors_watch.

Returns:

0 if sucessfull, or -1 if there was an error

function storeThreshold

store the current minimum and maximum threshold in the flash (non volatile memory)

int8_t SafetyAPI::storeThreshold (
    sensor_t sensor_threshold_store
)

Parameters:

sensor_threshold_store the sensor for which we store the threshold in the NVS

Returns:

0 if parameters were correcly stored, -1 if there was an error.

function unsetChannelWatch

Disables the monitoring of the selected sensors for safety.

int8_t SafetyAPI::unsetChannelWatch (
    sensor_t * sensors_watch,
    uint8_t sensors_watch_number
)

Parameters:

sensors_watch A list of the sensors to unwatch. The variables in the list can be : V1_LOW, V2_LOW, V_HIGH, I1_LOW, I2_LOW, I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM
sensors_watch_number The number of sensors present in the list sensors_watch.

Returns:

0 if sucessfull, or -1 if there was an error

The documentation for this class was generated from the following file docs/core/zephyr/modules/owntech_safety_api/zephyr/public_api/SafetyAPI.h