safety_scl.cpp File Reference

IEC 61784-3 black-channel SCL shared primitives - implementation. See safety_scl.h. More...

#include "services/machine_tool/safety_scl/safety_scl.h"

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Detailed Description

IEC 61784-3 black-channel SCL shared primitives - implementation. See safety_scl.h.

The whole module is one small state machine, and every transition out of RUNNING is one-way. The elapsed-time test is an unsigned difference (now - stamp >= limit), which is what makes the watchdog wrap-safe: at a millis() rollover the subtraction wraps with it and still yields the true interval.

Definition in file safety_scl.cpp.