amp_contract.h

Go to the documentation of this file.

// SPDX-License-Identifier: AGPL-3.0-or-later
// Commercial license available
// © Concepts 1996–2026 Miroslav Šotek. All rights reserved.
// © Code 2020–2026 Miroslav Šotek. All rights reserved.
// ORCID: 0009-0009-3560-0851
// Contact: www.anulum.li | protoscience@anulum.li
// Loop Timing Witness — dedicated hart and single producer telemetry contract

 
#ifndef WITNESS_AMP_CONTRACT_H
#define WITNESS_AMP_CONTRACT_H
#include "../../controllers/c/witness_controller.h"

#define WITNESS_AMP_ABI UINT32_C(2)
#define WITNESS_AMP_CAPACITY UINT32_C(256)

typedef struct {
    uint32_t hart, interrupt;
    uint64_t mmio, priority, enable_word, threshold, claim, shared;
} witness_amp_platform_contract;

typedef struct {
    uint32_t cycles, period_ticks, lqr, overload_iterations;
    witness_coefficients coefficients;
} witness_amp_run_contract;

typedef struct {
    uint64_t ticks, generation, overload_work;
    uint32_t cycle;
    int32_t reference, position, velocity, command, integral, derivative;
    uint32_t clipped, integral_held, submitted;
} witness_amp_sample;

typedef struct {
    uint32_t abi, status, producer, consumer;
    uint64_t trap_cause, trap_value;
    uint32_t telemetry_overflow, samples;
    uint32_t logger_status, reserved;
    witness_amp_run_contract run;
    uint32_t run_reserved;
    witness_amp_sample records[WITNESS_AMP_CAPACITY];
} witness_amp_mailbox;

enum witness_amp_status {
    WITNESS_AMP_INITIAL = 0 ,
    WITNESS_AMP_ARMED = 1 ,
    WITNESS_AMP_FINISHED =
        2 ,
    WITNESS_AMP_REFUSED = 3 
};

enum witness_amp_logger_status {
    WITNESS_AMP_LOGGER_WAITING =
        0 ,
    WITNESS_AMP_LOGGER_COMPLETE =
        1 ,
    WITNESS_AMP_LOGGER_READY = 2 
};

extern const witness_amp_platform_contract witness_amp_platform;
extern const witness_amp_run_contract witness_amp_run;

#ifdef __cplusplus
[[noreturn]] void witness_amp_main(void);
#else
_Noreturn void witness_amp_main(void);
#endif
void witness_amp_trap(uint64_t cause, uint64_t value);
#ifdef __cplusplus
[[noreturn]] void witness_amp_rust_panic(void);
#else
_Noreturn void witness_amp_rust_panic(void);
#endif
#ifdef __cplusplus
[[noreturn]] void witness_amp_exit(void);
#else
_Noreturn void witness_amp_exit(void);
#endif
 
#endif