Modbus-rtu/PLSR/Src/plsr_hal_f407.c

#include "plsr_hal_f407.h"
#include "plsr_address_map.h"
#include "plsr_core.h"
#include "plsr_job.h"
#include <string.h>

#ifndef PLSR_HOST_TEST
#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"
#endif

#define PLSR_HW_TIMER_CHANNEL1_BIT    (0x0001U)
#define PLSR_HW_TIMER_UPDATE_BIT      (0x0001U)
#define PLSR_HW_OUTPUT_POINT_COUNT    (21U)

typedef struct
{
    uint32_t timerClockHz;
    uint8_t directionPoint;         /* 0xFF = 无 */
#ifndef PLSR_HOST_TEST
    TIM_TypeDef *timer;
    GPIO_TypeDef *gpioPort;
    uint16_t gpioPin;
    uint8_t afMode;
    IRQn_Type irq;
#endif
} PLSR_HW_AXIS_MAP;

#ifndef PLSR_HOST_TEST
/* 输出点（Y 点号）→ GPIO 引脚：XDM-60T4-E 原理图。
 * 点号 8/9/18/19 不存在（资源层掩码 0x0013FCFF 已约束）。 */
typedef struct
{
    GPIO_TypeDef *port;
    uint16_t pin;
} PLSR_HW_OUTPUT_PIN;

static const PLSR_HW_OUTPUT_PIN PlsrHwOutputPins[PLSR_HW_OUTPUT_POINT_COUNT] =
{
    {GPIOF, GPIO_PIN_6},   /* Y0  */
    {GPIOF, GPIO_PIN_8},   /* Y1  */
    {GPIOF, GPIO_PIN_7},   /* Y2  */
    {GPIOF, GPIO_PIN_9},   /* Y3  */
    {GPIOI, GPIO_PIN_8},   /* Y4  */
    {GPIOE, GPIO_PIN_6},   /* Y5  */
    {GPIOE, GPIO_PIN_5},   /* Y6  */
    {GPIOE, GPIO_PIN_4},   /* Y7  */
    {NULL, 0U},            /* Y8  */
    {NULL, 0U},            /* Y9  */
    {GPIOG, GPIO_PIN_7},   /* Y10 */
    {GPIOG, GPIO_PIN_6},   /* Y11 */
    {GPIOH, GPIO_PIN_9},   /* Y12 */
    {GPIOH, GPIO_PIN_8},   /* Y13 */
    {GPIOH, GPIO_PIN_7},   /* Y14 */
    {GPIOH, GPIO_PIN_6},   /* Y15 */
    {GPIOF, GPIO_PIN_11},  /* Y16 */
    {GPIOB, GPIO_PIN_0},   /* Y17 */
    {NULL, 0U},            /* Y18 */
    {NULL, 0U},            /* Y19 */
    {GPIOH, GPIO_PIN_5}    /* Y20 */
};
#endif

/* Q0~Q3 定时器：XDM-60T4-E。
 * PF6=TIM10_CH1(AF3)、PF7=TIM11_CH1(AF3)、PF8=TIM13_CH1(AF9)、PF9=TIM14_CH1(AF9)。
 * 定时器时钟由 RCC 实际配置计算（APB2 分频≠1 时定时器时钟×2）。 */
static const PLSR_HW_AXIS_MAP PlsrHwAxisMap[PLSR_HW_AXIS_COUNT] =
{
#ifndef PLSR_HOST_TEST
    {168000000UL, PLSR_HW_DIR_POINT_NONE, TIM10, GPIOF, GPIO_PIN_6, 3U, TIM1_UP_TIM10_IRQn},
    {168000000UL, PLSR_HW_DIR_POINT_NONE, TIM13, GPIOF, GPIO_PIN_8, 9U, TIM8_UP_TIM13_IRQn},
    {168000000UL, PLSR_HW_DIR_POINT_NONE, TIM11, GPIOF, GPIO_PIN_7, 3U, TIM1_TRG_COM_TIM11_IRQn},
    {168000000UL, PLSR_HW_DIR_POINT_NONE, TIM14, GPIOF, GPIO_PIN_9, 9U, TIM8_TRG_COM_TIM14_IRQn}
#else
    {168000000UL, PLSR_HW_DIR_POINT_NONE},
    {168000000UL, PLSR_HW_DIR_POINT_NONE},
    {168000000UL, PLSR_HW_DIR_POINT_NONE},
    {168000000UL, PLSR_HW_DIR_POINT_NONE}
#endif
};

/* host 测试：模拟定时器寄存器。 */
#ifdef PLSR_HOST_TEST
typedef struct
{
    uint32_t cr1;
    uint32_t dier;
    uint32_t sr;
    uint32_t psc;
    uint32_t arr;
    uint32_t ccr1;
    uint32_t ccer;
    uint8_t dirLevel;
} PLSR_HW_TIMER_REGS;

static PLSR_HW_TIMER_REGS PlsrHwTimers[PLSR_HW_AXIS_COUNT];
#endif

typedef struct
{
    PLSR_HW_STATE state;
    uint32_t currentFrequencyHz;
    int64_t targetPulses;
    int64_t emittedPulses;
    uint16_t directionDelayRemainingMs;
    uint8_t directionPoint;
    uint8_t directionPositive;
} PLSR_HW_AXIS_STATE;

static PLSR_HW_AXIS_STATE PlsrHwAxes[PLSR_HW_AXIS_COUNT];

/* ---- 定时器寄存器访问抽象（host 模拟 / 生产真实） ---- */

static void PlsrHwTimerSetArr(uint8_t axis, uint32_t value)
{
#ifdef PLSR_HOST_TEST
    PlsrHwTimers[axis].arr = value;
#else
    PlsrHwAxisMap[axis].timer->ARR = value;
#endif
}

static void PlsrHwTimerSetPsc(uint8_t axis, uint32_t value)
{
#ifdef PLSR_HOST_TEST
    PlsrHwTimers[axis].psc = value;
#else
    PlsrHwAxisMap[axis].timer->PSC = value;
#endif
}

static void PlsrHwTimerSetCcr(uint8_t axis, uint32_t value)
{
#ifdef PLSR_HOST_TEST
    PlsrHwTimers[axis].ccr1 = value;
#else
    PlsrHwAxisMap[axis].timer->CCR1 = value;
#endif
}

static void PlsrHwTimerSetCen(uint8_t axis, uint32_t value)
{
#ifdef PLSR_HOST_TEST
    PlsrHwTimers[axis].cr1 = (PlsrHwTimers[axis].cr1 & ~0x0001UL) | value;
#else
    if (value != 0UL)
    {
        PlsrHwAxisMap[axis].timer->CR1 |= TIM_CR1_CEN;
    }
    else
    {
        PlsrHwAxisMap[axis].timer->CR1 &= ~TIM_CR1_CEN;
    }
#endif
}

static void PlsrHwTimerSetCc1e(uint8_t axis, uint32_t value)
{
#ifdef PLSR_HOST_TEST
    PlsrHwTimers[axis].ccer = (PlsrHwTimers[axis].ccer & ~0x0001UL) | value;
#else
    if (value != 0UL)
    {
        PlsrHwAxisMap[axis].timer->CCER |= TIM_CCER_CC1E;
    }
    else
    {
        PlsrHwAxisMap[axis].timer->CCER &= ~TIM_CCER_CC1E;
    }
#endif
}

static void PlsrHwTimerSetUie(uint8_t axis, uint32_t value)
{
#ifdef PLSR_HOST_TEST
    PlsrHwTimers[axis].dier = (PlsrHwTimers[axis].dier & ~0x0001UL) | value;
#else
    if (value != 0UL)
    {
        PlsrHwAxisMap[axis].timer->DIER |= TIM_DIER_UIE;
    }
    else
    {
        PlsrHwAxisMap[axis].timer->DIER &= ~TIM_DIER_UIE;
    }
#endif
}

static void PlsrHwTimerClearUif(uint8_t axis)
{
#ifdef PLSR_HOST_TEST
    PlsrHwTimers[axis].sr &= ~PLSR_HW_TIMER_UPDATE_BIT;
#else
    PlsrHwAxisMap[axis].timer->SR &= ~TIM_SR_UIF;
#endif
}

/* ---- DIR 输出 ---- */

static void PlsrHwSetDirLevel(uint8_t axis, uint8_t positive)
{
    PLSR_HW_AXIS_STATE *state = &PlsrHwAxes[axis];

    state->directionPositive = (positive != 0U) ? 1U : 0U;
    if (state->directionPoint == PLSR_HW_DIR_POINT_NONE)
    {
        return;
    }
#ifdef PLSR_HOST_TEST
    PlsrHwTimers[axis].dirLevel = (positive != 0U) ? 1U : 0U;
#else
    if (state->directionPoint < PLSR_HW_OUTPUT_POINT_COUNT)
    {
        const PLSR_HW_OUTPUT_PIN *pin =
            &PlsrHwOutputPins[state->directionPoint];

        if (pin->port != NULL)
        {
            HAL_GPIO_WritePin(pin->port, pin->pin,
                              (positive != 0U) ? GPIO_PIN_SET : GPIO_PIN_RESET);
        }
    }
#endif
}

/* ---- PWM 启停 ---- */

static void PlsrHwStartPwmTimer(uint8_t axis, uint32_t frequencyHz)
{
    uint16_t psc;
    uint16_t arr;

    if (PlsrCalculateTimerDivider(PlsrHwAxisMap[axis].timerClockHz,
                                  frequencyHz,
                                  &psc,
                                  &arr) != PLSR_RESULT_OK)
    {
        return;
    }
    PlsrHwTimerSetPsc(axis, psc);
    PlsrHwTimerSetArr(axis, arr);
    PlsrHwTimerSetCcr(axis, (uint32_t)arr / 2UL);   /* 50% 占空比 */
    PlsrHwTimerSetUie(axis, 1UL);
    PlsrHwTimerSetCc1e(axis, 1UL);
    PlsrHwTimerSetCen(axis, 1UL);
}

static void PlsrHwStopPwmTimer(uint8_t axis)
{
    PlsrHwTimerSetCc1e(axis, 0UL);
    PlsrHwTimerSetUie(axis, 0UL);
    PlsrHwTimerSetCen(axis, 0UL);
}

uint8_t PlsrHwResolveDirectionPoint(uint8_t pointNumber)
{
    /* 与资源层一致的合法输出点掩码（Q0~Q7、Q10~Q17、Q20）。 */
    const uint32_t validOutputMask = 0x0013FCFFUL;

    if (pointNumber >= PLSR_HW_OUTPUT_POINT_COUNT)
    {
        return 0U;
    }
    if ((validOutputMask & (1UL << pointNumber)) == 0UL)
    {
        return 0U;
    }
#ifndef PLSR_HOST_TEST
    if (PlsrHwOutputPins[pointNumber].port == NULL)
    {
        return 0U;
    }
#endif
    return 1U;
}

PLSR_RESULT PlsrHwInit(void)
{
    uint8_t axis;

    (void)memset(PlsrHwAxes, 0, sizeof(PlsrHwAxes));
    for (axis = 0U; axis < PLSR_HW_AXIS_COUNT; axis++)
    {
        PlsrHwAxes[axis].state = PLSR_HW_STATE_IDLE;
        PlsrHwAxes[axis].directionPoint = PLSR_HW_DIR_POINT_NONE;
#ifdef PLSR_HOST_TEST
        (void)memset(&PlsrHwTimers[axis], 0, sizeof(PlsrHwTimers[axis]));
#else
        PlsrHwTimerSetCc1e(axis, 0UL);
        PlsrHwTimerSetUie(axis, 0UL);
        PlsrHwTimerSetCen(axis, 0UL);
#endif
    }

#ifndef PLSR_HOST_TEST
    {
        GPIO_InitTypeDef gpio;
        uint8_t point;

        /* 1. 输出点 GPIO 时钟。 */
        __HAL_RCC_GPIOF_CLK_ENABLE();
        __HAL_RCC_GPIOI_CLK_ENABLE();
        __HAL_RCC_GPIOE_CLK_ENABLE();
        __HAL_RCC_GPIOG_CLK_ENABLE();
        __HAL_RCC_GPIOH_CLK_ENABLE();
        __HAL_RCC_GPIOB_CLK_ENABLE();

        /* 2. 全部输出点上电安全电平（推挽输出、低）。 */
        gpio.Mode = GPIO_MODE_OUTPUT_PP;
        gpio.Pull = GPIO_NOPULL;
        gpio.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
        for (point = 0U; point < PLSR_HW_OUTPUT_POINT_COUNT; point++)
        {
            if (PlsrHwOutputPins[point].port != NULL)
            {
                gpio.Pin = PlsrHwOutputPins[point].pin;
                HAL_GPIO_WritePin(PlsrHwOutputPins[point].port,
                                  PlsrHwOutputPins[point].pin,
                                  GPIO_PIN_RESET);
                HAL_GPIO_Init(PlsrHwOutputPins[point].port,
                              &gpio);
            }
        }

        /* 3. 定时器时钟。 */
        __HAL_RCC_TIM10_CLK_ENABLE();
        __HAL_RCC_TIM11_CLK_ENABLE();
        __HAL_RCC_TIM13_CLK_ENABLE();
        __HAL_RCC_TIM14_CLK_ENABLE();

        /* 4. 脉冲点切定时器复用（PF6/7=AF3、PF8/9=AF9）。
         * 定时器通道尚未使能（CC1E=0），输出为无效电平（低），无毛刺。 */
        gpio.Mode = GPIO_MODE_AF_PP;
        gpio.Pin = GPIO_PIN_6 | GPIO_PIN_7;
        gpio.Alternate = 3U;
        HAL_GPIO_Init(GPIOF, &gpio);
        gpio.Pin = GPIO_PIN_8 | GPIO_PIN_9;
        gpio.Alternate = 9U;
        HAL_GPIO_Init(GPIOF, &gpio);

        /* 5. 更新中断 NVIC：高速计数/尾脉冲层（P3b 统一规划优先级表）。 */
        HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 1U, 0U);
        HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
        HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 1U, 0U);
        HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
        HAL_NVIC_SetPriority(TIM1_TRG_COM_TIM11_IRQn, 1U, 0U);
        HAL_NVIC_EnableIRQ(TIM1_TRG_COM_TIM11_IRQn);
        HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 1U, 0U);
        HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
    }
#endif
    return PLSR_RESULT_OK;
}

PLSR_RESULT PlsrHwStartPulse(uint8_t axis, const PLSR_HW_START_PARAMS *params)
{
    PLSR_HW_AXIS_STATE *state;

    if ((axis >= PLSR_HW_AXIS_COUNT) || (params == NULL))
    {
        return PLSR_RESULT_INVALID_ARGUMENT;
    }
    if (params->targetPulses <= 0)
    {
        return PLSR_RESULT_INVALID_ARGUMENT;
    }
    state = &PlsrHwAxes[axis];
    if (state->state == PLSR_HW_STATE_RUNNING)
    {
        return PLSR_RESULT_BUSY;
    }

    state->targetPulses = params->targetPulses;
    state->emittedPulses = 0;
    state->currentFrequencyHz = params->frequencyHz;
    state->directionPoint = params->directionPoint;
    state->directionDelayRemainingMs = params->directionDelayMs;
    PlsrHwSetDirLevel(axis, params->directionPositive);
    state->state = (params->directionDelayMs > 0U)
                       ? PLSR_HW_STATE_DIR_SETTLING
                       : PLSR_HW_STATE_PWM_PENDING;
    return PLSR_RESULT_OK;
}

PLSR_RESULT PlsrHwSetFrequency(uint8_t axis, uint32_t frequencyHz)
{
    PLSR_HW_AXIS_STATE *state;

    if (axis >= PLSR_HW_AXIS_COUNT)
    {
        return PLSR_RESULT_INVALID_ARGUMENT;
    }
    state = &PlsrHwAxes[axis];
    state->currentFrequencyHz = frequencyHz;
    if (state->state == PLSR_HW_STATE_RUNNING)
    {
        if (frequencyHz > 0UL)
        {
            PlsrHwStartPwmTimer(axis, frequencyHz);
        }
        else
        {
            PlsrHwStopPwmTimer(axis);
        }
    }
    else if ((state->state == PLSR_HW_STATE_PWM_PENDING)
             && (frequencyHz > 0UL))
    {
        PlsrHwStartPwmTimer(axis, frequencyHz);
        state->state = PLSR_HW_STATE_RUNNING;
    }
    return PLSR_RESULT_OK;
}

PLSR_RESULT PlsrHwStopPulse(uint8_t axis)
{
    PLSR_HW_AXIS_STATE *state;

    if (axis >= PLSR_HW_AXIS_COUNT)
    {
        return PLSR_RESULT_INVALID_ARGUMENT;
    }
    state = &PlsrHwAxes[axis];
    if (state->state != PLSR_HW_STATE_IDLE)
    {
        PlsrHwStopPwmTimer(axis);
        state->state = PLSR_HW_STATE_IDLE;
    }
    return PLSR_RESULT_OK;
}

uint8_t PlsrHwIsPulseActive(uint8_t axis)
{
    if (axis >= PLSR_HW_AXIS_COUNT)
    {
        return 0U;
    }
    return (PlsrHwAxes[axis].state == PLSR_HW_STATE_RUNNING) ? 1U : 0U;
}

PLSR_HW_STATE PlsrHwGetState(uint8_t axis)
{
    if (axis >= PLSR_HW_AXIS_COUNT)
    {
        return PLSR_HW_STATE_IDLE;
    }
    return PlsrHwAxes[axis].state;
}

uint32_t PlsrHwGetTimerClockHz(uint8_t axis)
{
    if (axis >= PLSR_HW_AXIS_COUNT)
    {
        return 0UL;
    }
    return PlsrHwAxisMap[axis].timerClockHz;
}

void PlsrHwTick(uint8_t axis)
{
    PLSR_HW_AXIS_STATE *state;

    if (axis >= PLSR_HW_AXIS_COUNT)
    {
        return;
    }
    state = &PlsrHwAxes[axis];
    switch (state->state)
    {
        case PLSR_HW_STATE_DIR_SETTLING:
            if (state->directionDelayRemainingMs > 0U)
            {
                state->directionDelayRemainingMs--;
            }
            if (state->directionDelayRemainingMs == 0U)
            {
                state->state = PLSR_HW_STATE_PWM_PENDING;
            }
            break;

        case PLSR_HW_STATE_PWM_PENDING:
            if (state->currentFrequencyHz > 0UL)
            {
                PlsrHwStartPwmTimer(axis, state->currentFrequencyHz);
                state->state = PLSR_HW_STATE_RUNNING;
            }
            break;

        default:
            break;
    }
}

/* 输出定时器更新中断：每周期末触发一次（=1 个脉冲）。 */
void PlsrHwOnTimerUpdate(uint8_t axis)
{
    PLSR_HW_AXIS_STATE *state;

    if (axis >= PLSR_HW_AXIS_COUNT)
    {
        return;
    }
    state = &PlsrHwAxes[axis];
    PlsrHwTimerClearUif(axis);
    if (state->state != PLSR_HW_STATE_RUNNING)
    {
        return;
    }

    state->emittedPulses++;
    if (state->emittedPulses >= state->targetPulses)
    {
        /* 更新时刻 = 周期结束：关通道即完整下降沿后停止，无额外脉冲。 */
        PlsrHwStopPwmTimer(axis);
        state->state = PLSR_HW_STATE_DONE;
        (void)PlsrPostEvent(axis, PLSR_EVENT_SEGMENT_COMPLETE);
    }
}

#ifdef PLSR_HOST_TEST
uint32_t PlsrHwTestGetArr(uint8_t axis)
{
    return PlsrHwTimers[axis].arr;
}

uint32_t PlsrHwTestGetCcr(uint8_t axis)
{
    return PlsrHwTimers[axis].ccr1;
}

uint32_t PlsrHwTestGetPsc(uint8_t axis)
{
    return PlsrHwTimers[axis].psc;
}

uint8_t PlsrHwTestGetPwmEnabled(uint8_t axis)
{
    return ((PlsrHwTimers[axis].ccer & PLSR_HW_TIMER_CHANNEL1_BIT) != 0UL)
               ? 1U
               : 0U;
}

uint8_t PlsrHwTestGetDirLevel(uint8_t axis)
{
    return PlsrHwTimers[axis].dirLevel;
}

void PlsrHwTestTriggerUpdate(uint8_t axis)
{
    PlsrHwOnTimerUpdate(axis);
}
#endif

#ifndef PLSR_HOST_TEST
void TIM1_UP_TIM10_IRQHandler(void)
{
    PlsrHwOnTimerUpdate(0U);
}

void TIM8_UP_TIM13_IRQHandler(void)
{
    PlsrHwOnTimerUpdate(1U);
}

void TIM1_TRG_COM_TIM11_IRQHandler(void)
{
    PlsrHwOnTimerUpdate(2U);
}

void TIM8_TRG_COM_TIM14_IRQHandler(void)
{
    PlsrHwOnTimerUpdate(3U);
}
#endif