SYNOPSIS
loadrt safety_latch [count=N|names=name1[,name2…]]
DESCRIPTION
HAL component that implements a safety latch for error signals with customizable harm, healing and latching features.
When the component is not enabled the error input value is forwarded to output without further modififactions.
If error-in is true the error count is increased by harm. If error-in is false the error count is decreased by heal. When the error count exceeds the threscold value error-out is set to true. If latching is false the error-out pin will only return to false when reset is set to true.
The inputs pin min and max clamp the error count value to a specified range.
FUNCTIONS
- safety-latch.N
-
PINS
- safety-latch.N.error-in bit in (default: false)
-
Error Input
- safety-latch.N.heal s32 in (default: 1)
-
Heal when ok per tick
- safety-latch.N.harm s32 in (default: 1)
-
Harm when error per tick
- safety-latch.N.latching bit in (default: true)
-
If a reset is necessary to heal an error
- safety-latch.N.reset bit in (default: false)
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Reset input
- safety-latch.N.threshold s32 in (default: 100)
-
Error output threshold
- safety-latch.N.min s32 in (default: 0)
-
Minimum count
- safety-latch.N.max s32 in (default: 1000)
-
Maximum count
- safety-latch.N.enable bit in (default: true)
-
If not enabled the error count is passed to the output
- safety-latch.N.count s32 out (default: 0)
-
Current count
- safety-latch.N.error-out bit out (default: false)
-
Error output
- safety-latch.N.ok-out bit out (default: true)
-
Ok output
AUTHOR
Alexander Rössler
LICENSE
GPL