#ifndef PLSR_POSITION_H
#define PLSR_POSITION_H

#include "plsr_types.h"
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct
{
    uint32_t pulsesPerRevolution;
    uint32_t movementPerRevolution;
    uint8_t unitCode;
} PLSR_EQUIVALENT_CONFIG;

uint8_t PlsrPositionUnitCodeIsValid(uint8_t unitCode);
uint8_t PlsrPositionUsesEquivalent(const PLSR_EQUIVALENT_CONFIG *config);
PLSR_RESULT PlsrPositionValidateEquivalent(
    const PLSR_EQUIVALENT_CONFIG *config);

/* 带余数的相对距离换算。remainder/newRemainder 的分母恒为
 * movementPerRevolution，允许负值以保证正反向运动可相互抵消。 */
PLSR_RESULT PlsrPositionUnitsToPulses(
    const PLSR_EQUIVALENT_CONFIG *config,
    int32_t units,
    int64_t remainder,
    int64_t *pulses,
    int64_t *newRemainder);

PLSR_RESULT PlsrPositionAbsoluteUnitsToPulses(
    const PLSR_EQUIVALENT_CONFIG *config,
    int32_t units,
    int64_t *pulses);

PLSR_RESULT PlsrPositionPulsesToUnits(
    const PLSR_EQUIVALENT_CONFIG *config,
    int64_t pulses,
    int64_t *units);

PLSR_RESULT PlsrPositionSpeedToPulseFrequency(
    const PLSR_EQUIVALENT_CONFIG *config,
    uint32_t speed,
    uint32_t *frequencyHz);

PLSR_RESULT PlsrPositionPulseFrequencyToSpeed(
    const PLSR_EQUIVALENT_CONFIG *config,
    uint32_t frequencyHz,
    uint32_t *speed);

#ifdef __cplusplus
}
#endif

#endif /* PLSR_POSITION_H */