witness_amp_sample Struct Reference

#include <amp_contract.h>

Public Attributes
uint64_t	ticks
uint64_t	generation
uint64_t	overload_work
uint32_t	cycle
int32_t	reference
int32_t	position
int32_t	velocity
int32_t	command
int32_t	integral
int32_t	derivative
uint32_t	clipped
uint32_t	integral_held
uint32_t	submitted

Detailed Description

One observed sample and computed command, including actual commit-attempt status.

Definition at line 35 of file amp_contract.h.

Member Data Documentation

clipped

uint32_t witness_amp_sample::clipped

One when the computed command exceeds configured output limits.

Definition at line 39 of file amp_contract.h.

command

int32_t witness_amp_sample::command

Signed raw Q8.24 computed actuator command.

Definition at line 38 of file amp_contract.h.

cycle

uint32_t witness_amp_sample::cycle

Original fabric input cycle identifier.

Definition at line 37 of file amp_contract.h.

derivative

int32_t witness_amp_sample::derivative

Signed raw Q8.24 filtered derivative state after computation.

Definition at line 38 of file amp_contract.h.

generation

uint64_t witness_amp_sample::generation

Observed interrupt generation associated with this input.

Definition at line 36 of file amp_contract.h.

integral

int32_t witness_amp_sample::integral

Signed raw Q8.24 PID integral state after computation.

Definition at line 38 of file amp_contract.h.

integral_held

uint32_t witness_amp_sample::integral_held

One when conditional integration retains the previous integral.

Definition at line 39 of file amp_contract.h.

overload_work

uint64_t witness_amp_sample::overload_work

Checksum accumulated by the actual requested overload loop.

Definition at line 36 of file amp_contract.h.

position

int32_t witness_amp_sample::position

Signed raw Q8.24 observed plant position.

Definition at line 38 of file amp_contract.h.

reference

int32_t witness_amp_sample::reference

Signed raw Q8.24 reference input.

Definition at line 38 of file amp_contract.h.

submitted

uint32_t witness_amp_sample::submitted

One after the command commit was actually attempted; zero when safe-state flags prevent it.

Definition at line 39 of file amp_contract.h.

ticks

uint64_t witness_amp_sample::ticks

Fabric timestamp sampled with the controller input.

Definition at line 36 of file amp_contract.h.

velocity

int32_t witness_amp_sample::velocity

Signed raw Q8.24 observed plant velocity.

Definition at line 38 of file amp_contract.h.

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The documentation for this struct was generated from the following file:

• runtime/bare_metal/amp_contract.h