safety_latch - latch for error signals
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loadrt safety_latch [count=N|names=name1[,name2...]] |
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.
safety-latch.N
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)
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
Alexander Rössler
GPL