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 () Disables the safety API fault detection task.
void	enableSafetyApi () Enables the safety 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 encountering 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	initShield () Initializes thresholds min/max with the default value from the device tree.
void	initShield (sensor_t * sensors_watch, uint8_t sensors_watch_number) Initializes thresholds min/max with the default value from the device tree.
int8_t	retrieveThreshold (sensor_t sensor_threshold_retrieve) Retrieves the current minimum and maximum threshold stored in the flash (non volatile memory)
void	setChannelReaction (safety_reaction_t sensors_reaction) Set the reaction to do if an error has been detected.
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

Disables the safety API fault detection task.

void SafetyAPI::disableSafetyApi ()

function enableSafetyApi

Enables the safety API fault detection task.

void SafetyAPI::enableSafetyApi ()

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 within the possible names:

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 encountering 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 within the possible names:

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 within the possible names:

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 within the possible names:

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 initShield [1/2]

Initializes thresholds min/max with the default value from the device tree.

void SafetyAPI::initShield ()

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.

function initShield [2/2]

Initializes thresholds min/max with the default value from the device tree.

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

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.

Parameters:

sensors_watch A list of the sensors to watch. The variables names can be:

V1_LOW,V2_LOW, V_HIGH, I1_LOW,I2_LOW,I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM

Parameters:

sensors_watch_number The number of sensors present in the list sensors_watch.

function retrieveThreshold

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

int8_t SafetyAPI::retrieveThreshold (
    sensor_t sensor_threshold_retrieve
)

Parameters:

sensor_threshold_retrieve the sensor to retrieve the threshold stored in the NVS within the possible names:

V1_LOW,V2_LOW, V_HIGH, I1_LOW,I2_LOW,I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM

Returns:

0 if parameters were correctly retrieved, 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.

void SafetyAPI::setChannelReaction (
    safety_reaction_t sensors_reaction
)

Parameters:

sensors_reaction the reaction to do:
Open_Circuit: both switches are opened and no power flows to the output
Short_Circuit: high-side switch is opened, and low-side is closed maintaining the output in short-circuit. Useful in motor control.

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 watch. The variables names can be:

V1_LOW,V2_LOW, V_HIGH, I1_LOW,I2_LOW,I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM

Parameters:

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 successful, 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 watch. The variables names can be:

V1_LOW,V2_LOW, V_HIGH, I1_LOW,I2_LOW,I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM

Parameters:

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 successful, 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 names can be:

V1_LOW,V2_LOW, V_HIGH, I1_LOW,I2_LOW,I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM

Parameters:

sensors_watch_number The number of sensors present in the list sensors_watch.

Returns:

0 if successful, 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 to store the threshold in the NVS within the possible names:

V1_LOW,V2_LOW, V_HIGH, I1_LOW,I2_LOW,I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM

Parameters:

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

Returns:

0 if parameters were correctly 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 watch. The variables names can be:

V1_LOW,V2_LOW, V_HIGH, I1_LOW,I2_LOW,I_HIGH, TEMP_SENSOR, EXTRA_MEAS, ANALOG_COMM

Parameters:

sensors_watch_number The number of sensors present in the list sensors_watch.

Returns:

0 if successful, 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