actuator: make arming sequences owner-local

libs/kaptan-actuator/src/dshot.rs

@@ -1,7 +1,6 @@
 //! DShot framing, timing, and arming policy.
 
 use crate::ArmingDuration;
-use core::sync::atomic::{AtomicBool, AtomicU16, Ordering};
 
 pub const MIN_THROTTLE: u16 = 48;
 pub const MOTOR_STOP: u16 = 0;
@@ -147,58 +146,50 @@ impl FrameValue {
 }
 
 pub struct ArmSequence {
-    armed_throttle: AtomicU16,
+    armed_throttle: Throttle,
-    zero_frames: AtomicU16,
+    zero_frames: u16,
-    remaining: AtomicU16,
+    remaining: u16,
-    armed: AtomicBool,
+    armed: bool,
 }
 
 impl ArmSequence {
     pub const fn new(armed_throttle: Throttle, zero_frames: u16) -> Self {
         Self {
-            armed_throttle: AtomicU16::new(armed_throttle.get()),
+            armed_throttle,
-            zero_frames: AtomicU16::new(zero_frames),
+            zero_frames,
-            remaining: AtomicU16::new(0),
+            remaining: 0,
-            armed: AtomicBool::new(false),
+            armed: false,
         }
     }
 
-    pub fn arm(&self) {
+    /// Starts the fixed configured stop-frame sequence. The driver which owns
-        self.remaining
+    /// this state must acquire external safety authorization before calling
-            .store(self.zero_frames.load(Ordering::Acquire), Ordering::Release);
+    /// this method and before every subsequent nonzero output commit.
-        self.armed.store(true, Ordering::Release);
+    pub fn arm(&mut self) {
+        self.remaining = self.zero_frames;
+        self.armed = true;
     }
 
-    pub fn configure_zero_frames(&self, zero_frames: u16) {
+    /// Stops the sequence; the physical output owner must emit an explicit
-        self.zero_frames.store(zero_frames, Ordering::Release);
+    /// stop frame independently of this local state transition.
+    pub fn disarm(&mut self) {
+        self.armed = false;
+        self.remaining = 0;
     }
 
-    pub fn configure_armed_throttle(&self, armed_throttle: Throttle) {
+    pub const fn is_armed(&self) -> bool {
-        self.armed_throttle
+        self.armed
-            .store(armed_throttle.get(), Ordering::Release);
     }
 
-    pub fn disarm(&self) {
+    pub fn next_frame(&mut self) -> Option<FrameValue> {
-        self.armed.store(false, Ordering::Release);
-        self.remaining.store(0, Ordering::Release);
-    }
-
-    pub fn is_armed(&self) -> bool {
-        self.armed.load(Ordering::Acquire)
-    }
-
-    pub fn next_frame(&self) -> Option<FrameValue> {
         if !self.is_armed() {
             return None;
         }
-        if self.remaining.load(Ordering::Acquire) != 0 {
+        if self.remaining != 0 {
-            self.remaining.fetch_sub(1, Ordering::AcqRel);
+            self.remaining -= 1;
             return Some(FrameValue::Stop);
         }
-        match Throttle::new(self.armed_throttle.load(Ordering::Acquire)) {
+        Some(FrameValue::Throttle(self.armed_throttle))
-            Some(throttle) => Some(FrameValue::Throttle(throttle)),
-            None => unreachable!(),
-        }
     }
 }
 
@@ -237,7 +228,7 @@ mod tests {
     #[test]
     fn arm_sequence_holds_stop_for_the_configured_interval() {
         let throttle = Throttle::new(300).unwrap();
-        let sequence = ArmSequence::new(throttle, 2);
+        let mut sequence = ArmSequence::new(throttle, 2);
         sequence.arm();
         assert_eq!(sequence.next_frame(), Some(FrameValue::Stop));
         assert_eq!(sequence.next_frame(), Some(FrameValue::Stop));

libs/kaptan-actuator/src/lib.rs

@@ -1,4 +1,10 @@
-//! Protocol-neutral motor-output policy.
+//! Protocol-neutral physical-motor protocol reference.
+//!
+//! This crate deliberately remains in the workspace for future, separately
+//! reviewed physical-flight work. No checked-in board platform links it, and
+//! its types model DShot/PWM framing and
+//! local arming sequences only; they grant neither peripheral access nor
+//! flight authority.
 
 #![no_std]
 
@@ -27,13 +33,3 @@ pub enum MotorProtocol {
     Pwm(pwm::Config),
     Dshot(dshot::Config),
 }
-
-/// Flight-control and MAVLink boundary for motor outputs.
-pub trait MotorOutput {
-    /// Enables the configured armed output sequence.
-    fn arm(&mut self);
-    /// Stops output and returns all motor channels to their safe state.
-    fn disarm(&mut self);
-    /// Returns whether the output has accepted an arm request.
-    fn is_armed(&self) -> bool;
-}

libs/kaptan-actuator/src/pwm.rs

@@ -1,7 +1,6 @@
 //! Conventional PWM framing and arming policy.
 
 use crate::ArmingDuration;
-use core::sync::atomic::{AtomicBool, AtomicU16, Ordering};
 
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct Config {
@@ -104,60 +103,50 @@ pub enum FrameValue {
 }
 
 pub struct ArmSequence {
-    armed_idle: AtomicU16,
+    armed_idle: PulseWidth,
-    minimum_frames: AtomicU16,
+    minimum_frames: u16,
-    remaining: AtomicU16,
+    remaining: u16,
-    armed: AtomicBool,
+    armed: bool,
 }
 
 impl ArmSequence {
     pub const fn new(armed_idle: PulseWidth, minimum_frames: u16) -> Self {
         Self {
-            armed_idle: AtomicU16::new(armed_idle.microseconds()),
+            armed_idle,
-            minimum_frames: AtomicU16::new(minimum_frames),
+            minimum_frames,
-            remaining: AtomicU16::new(0),
+            remaining: 0,
-            armed: AtomicBool::new(false),
+            armed: false,
         }
     }
 
-    pub fn arm(&self) {
+    /// Starts the fixed configured minimum-frame sequence. The driver which
-        self.remaining.store(
+    /// owns this state must acquire external safety authorization before
-            self.minimum_frames.load(Ordering::Acquire),
+    /// calling this method and before every subsequent non-minimum commit.
-            Ordering::Release,
+    pub fn arm(&mut self) {
-        );
+        self.remaining = self.minimum_frames;
-        self.armed.store(true, Ordering::Release);
+        self.armed = true;
     }
 
-    pub fn configure_minimum_frames(&self, minimum_frames: u16) {
+    /// Stops the sequence; the physical output owner must drive its explicit
-        self.minimum_frames.store(minimum_frames, Ordering::Release);
+    /// minimum pulse independently of this local state transition.
+    pub fn disarm(&mut self) {
+        self.armed = false;
+        self.remaining = 0;
     }
 
-    pub fn configure_armed_idle(&self, armed_idle: PulseWidth) {
+    pub const fn is_armed(&self) -> bool {
-        self.armed_idle
+        self.armed
-            .store(armed_idle.microseconds(), Ordering::Release);
     }
 
-    pub fn disarm(&self) {
+    pub fn next_frame(&mut self) -> Option<FrameValue> {
-        self.armed.store(false, Ordering::Release);
-        self.remaining.store(0, Ordering::Release);
-    }
-
-    pub fn is_armed(&self) -> bool {
-        self.armed.load(Ordering::Acquire)
-    }
-
-    pub fn next_frame(&self) -> Option<FrameValue> {
         if !self.is_armed() {
             return None;
         }
-        if self.remaining.load(Ordering::Acquire) != 0 {
+        if self.remaining != 0 {
-            self.remaining.fetch_sub(1, Ordering::AcqRel);
+            self.remaining -= 1;
             return Some(FrameValue::Minimum);
         }
-        match PulseWidth::new(self.armed_idle.load(Ordering::Acquire)) {
+        Some(FrameValue::ArmedIdle(self.armed_idle))
-            Some(pulse) => Some(FrameValue::ArmedIdle(pulse)),
-            None => unreachable!(),
-        }
     }
 }
 
@@ -176,7 +165,7 @@ mod tests {
     #[test]
     fn sequence_holds_minimum_before_armed_idle() {
         let pulse = PulseWidth::new(1_100).unwrap();
-        let sequence = ArmSequence::new(pulse, 2);
+        let mut sequence = ArmSequence::new(pulse, 2);
         sequence.arm();
         assert_eq!(sequence.next_frame(), Some(FrameValue::Minimum));
         assert_eq!(sequence.next_frame(), Some(FrameValue::Minimum));