Modbus-rtu/PLSR/Src/plc_device.c

#include "plc_device.h"
#include <string.h>

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

#define PLC_SM_PULSE_ACTIVE_MASK       (0x01U)
#define PLC_SM_DIRECTION_MASK          (0x02U)

const PLSR_AXIS_ADDRESS_MAP PlsrAxisAddressMap[PLSR_AXIS_COUNT] =
{
    {0U, 1000U, 1001U, 1000U, 6000U},
    {4U, 1020U, 1021U, 1020U, 6100U},
    {8U, 1040U, 1041U, 1040U, 6200U},
    {12U, 1060U, 1061U, 1060U, 6300U}
};

static PLSR_HSD_DATA PlcHsdData;
static PLSR_SFD_DATA PlcSfdData;
static int32_t PlcSdRuntime[PLSR_AXIS_COUNT][PLSR_SD_AXIS_ITEM_COUNT];
static uint8_t PlcSmFlags[PLSR_AXIS_COUNT];
static uint8_t PlcHsdDirty;
static uint8_t PlcSfdDirty;
static uint8_t PlcSfdOperationActive;
static uint32_t PlcHsdChangeCounter;
static PLSR_PERSISTENCE_RESULT PlcLastHsdLoadResult;
static PLSR_PERSISTENCE_RESULT PlcLastSfdLoadResult;
static uint8_t PlcRestoredHsdPositionValid;
static uint8_t PlcRestoredHsdLastBusy;

static uint32_t PlcDeviceEnterCritical(void)
{
#ifdef PLSR_HOST_TEST
    return 0UL;
#else
    uint32_t interruptState = __get_PRIMASK();
    __disable_irq();
    __DMB();
    return interruptState;
#endif
}

static void PlcDeviceExitCritical(uint32_t interruptState)
{
#ifdef PLSR_HOST_TEST
    (void)interruptState;
#else
    __DMB();
    if (interruptState == 0UL)
    {
        __enable_irq();
    }
#endif
}

static uint8_t PlcDeviceBeginSfdOperation(void)
{
    uint8_t axis;
    uint8_t busy;
    uint32_t interruptState;

#ifndef PLSR_HOST_TEST
    if (__get_IPSR() != 0UL)
    {
        return 0U;
    }
#endif

    interruptState = PlcDeviceEnterCritical();
    busy = PlcSfdOperationActive;
    for (axis = 0U; axis < PLSR_AXIS_COUNT; axis++)
    {
        if ((PlcSmFlags[axis] & PLC_SM_PULSE_ACTIVE_MASK) != 0U)
        {
            busy = 1U;
        }
    }
    if (busy == 0U)
    {
        PlcSfdOperationActive = 1U;
    }
    PlcDeviceExitCritical(interruptState);
    return (busy == 0U) ? 1U : 0U;
}

static void PlcDeviceEndSfdOperation(void)
{
    uint32_t interruptState = PlcDeviceEnterCritical();

    PlcSfdOperationActive = 0U;
    PlcDeviceExitCritical(interruptState);
}

static uint16_t *PlcDeviceResolveHsd(uint16_t address)
{
    if (address < PLSR_HSD_RUNTIME_START + PLSR_HSD_RUNTIME_COUNT)
    {
        return &PlcHsdData.runtime[address - PLSR_HSD_RUNTIME_START];
    }
    if ((address >= PLSR_HSD_CONFIG_START)
        && (address < PLSR_HSD_CONFIG_START + PLSR_HSD_CONFIG_COUNT))
    {
        return &PlcHsdData.config[address - PLSR_HSD_CONFIG_START];
    }

    return NULL;
}

static int32_t *PlcDeviceResolveSd(uint16_t address,
                                  uint8_t *axis,
                                  uint8_t *item)
{
    uint8_t axisIndex;
    uint16_t base;

    for (axisIndex = 0U; axisIndex < PLSR_AXIS_COUNT; axisIndex++)
    {
        base = PlsrAxisAddressMap[axisIndex].sdRuntimeBase;
        if ((address >= base)
            && (address < base + PLSR_SD_AXIS_ITEM_COUNT))
        {
            if (axis != NULL)
            {
                *axis = axisIndex;
            }
            if (item != NULL)
            {
                *item = (uint8_t)(address - base);
            }
            return &PlcSdRuntime[axisIndex][address - base];
        }
    }

    return NULL;
}

static PLC_DEVICE_RESULT PlcDeviceResolveSm(uint16_t address,
                                           uint8_t *axis,
                                           uint8_t *mask)
{
    uint8_t axisIndex;

    if ((axis == NULL) || (mask == NULL))
    {
        return PLC_DEVICE_NULL_POINTER;
    }

    for (axisIndex = 0U; axisIndex < PLSR_AXIS_COUNT; axisIndex++)
    {
        if (address == PlsrAxisAddressMap[axisIndex].smPulseActiveAddress)
        {
            *axis = axisIndex;
            *mask = PLC_SM_PULSE_ACTIVE_MASK;
            return PLC_DEVICE_OK;
        }
        if (address == PlsrAxisAddressMap[axisIndex].smDirectionAddress)
        {
            *axis = axisIndex;
            *mask = PLC_SM_DIRECTION_MASK;
            return PLC_DEVICE_OK;
        }
    }

    return PLC_DEVICE_INVALID_ADDRESS;
}

PLC_DEVICE_RESULT PlcDeviceInit(void)
{
    (void)memset(&PlcHsdData, 0, sizeof(PlcHsdData));
    (void)memset(&PlcSfdData, 0, sizeof(PlcSfdData));
    (void)memset(PlcSdRuntime, 0, sizeof(PlcSdRuntime));
    (void)memset(PlcSmFlags, 0, sizeof(PlcSmFlags));
    PlcSfdOperationActive = 0U;
    PlcHsdChangeCounter = 0UL;
    PlcRestoredHsdPositionValid = 0U;
    PlcRestoredHsdLastBusy = 0U;

    PlcLastHsdLoadResult = PlsrPersistenceLoadHsd(&PlcHsdData);
    PlcHsdDirty = (PlcLastHsdLoadResult == PLSR_PERSISTENCE_DEFAULTED)
                      ? 1U
                      : 0U;
    if ((PlcLastHsdLoadResult != PLSR_PERSISTENCE_OK)
        && (PlcLastHsdLoadResult != PLSR_PERSISTENCE_DEFAULTED))
    {
        return PLC_DEVICE_PERSISTENCE_ERROR;
    }
    PlcRestoredHsdPositionValid =
        ((PlcHsdData.metadata & PLSR_HSD_META_POSITION_VALID) != 0UL)
            ? 1U
            : 0U;
    PlcRestoredHsdLastBusy =
        ((PlcHsdData.metadata & PLSR_HSD_META_LAST_BUSY) != 0UL) ? 1U : 0U;

    PlcLastSfdLoadResult = PlsrPersistenceLoadSfd(&PlcSfdData);
    PlcSfdDirty = (PlcLastSfdLoadResult == PLSR_PERSISTENCE_OK) ? 0U : 1U;
    if ((PlcLastSfdLoadResult != PLSR_PERSISTENCE_OK)
        && (PlcLastSfdLoadResult != PLSR_PERSISTENCE_DEFAULTED))
    {
        return PLC_DEVICE_PERSISTENCE_ERROR;
    }

    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceReadHsd(uint16_t address, uint16_t *value)
{
    uint16_t *source;

    if (value == NULL)
    {
        return PLC_DEVICE_NULL_POINTER;
    }
    source = PlcDeviceResolveHsd(address);
    if (source == NULL)
    {
        return PLC_DEVICE_INVALID_ADDRESS;
    }

    *value = *source;
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceWriteHsdConfig(uint16_t address, uint16_t value)
{
    if ((address < PLSR_HSD_CONFIG_START)
        || (address >= PLSR_HSD_CONFIG_START + PLSR_HSD_CONFIG_COUNT))
    {
        return (address < PLSR_HSD_RUNTIME_START
                            + PLSR_HSD_RUNTIME_COUNT)
                   ? PLC_DEVICE_READ_ONLY
                   : PLC_DEVICE_INVALID_ADDRESS;
    }

    PlcHsdData.config[address - PLSR_HSD_CONFIG_START] = value;
    PlcHsdChangeCounter++;
    PlcHsdDirty = 1U;
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDevicePublishHsdRuntime(uint16_t address, uint16_t value)
{
    if (address >= PLSR_HSD_RUNTIME_START + PLSR_HSD_RUNTIME_COUNT)
    {
        return PLC_DEVICE_INVALID_ADDRESS;
    }

    PlcHsdData.runtime[address - PLSR_HSD_RUNTIME_START] = value;
    PlcHsdChangeCounter++;
    PlcHsdDirty = 1U;
    return PLC_DEVICE_OK;
}

/* 两个相邻 WORD 组成一个 32 位值：低地址=低16位，高地址=高16位（信捷兼容布局）。 */
PLC_DEVICE_RESULT PlcDeviceReadHsdDword(uint16_t lowAddress, int32_t *value)
{
    uint32_t combined;
    uint32_t interruptState;
    uint16_t offset;

    if (value == NULL)
    {
        return PLC_DEVICE_NULL_POINTER;
    }
    if ((lowAddress >= PLSR_HSD_RUNTIME_COUNT)
        || ((lowAddress & 1U) != 0U)
        || ((uint16_t)(lowAddress + 1U) >= PLSR_HSD_RUNTIME_COUNT))
    {
        return PLC_DEVICE_INVALID_ADDRESS;
    }

    offset = (uint16_t)(lowAddress - PLSR_HSD_RUNTIME_START);
    interruptState = PlcDeviceEnterCritical();
    combined = (uint32_t)PlcHsdData.runtime[offset];
    combined |= ((uint32_t)PlcHsdData.runtime[offset + 1U]) << 16U;
    PlcDeviceExitCritical(interruptState);
    *value = (int32_t)combined;
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDevicePublishHsdDword(uint16_t lowAddress, int32_t value)
{
    uint32_t rawValue;
    uint32_t interruptState;
    uint16_t offset;

    if ((lowAddress >= PLSR_HSD_RUNTIME_COUNT)
        || ((lowAddress & 1U) != 0U)
        || ((uint16_t)(lowAddress + 1U) >= PLSR_HSD_RUNTIME_COUNT))
    {
        return PLC_DEVICE_INVALID_ADDRESS;
    }

    rawValue = (uint32_t)value;
    offset = (uint16_t)(lowAddress - PLSR_HSD_RUNTIME_START);
    interruptState = PlcDeviceEnterCritical();
    PlcHsdData.runtime[offset] = (uint16_t)(rawValue & 0xFFFFUL);
    PlcHsdData.runtime[offset + 1U] = (uint16_t)(rawValue >> 16U);
    PlcHsdChangeCounter++;
    PlcHsdDirty = 1U;
    PlcDeviceExitCritical(interruptState);
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceSetHsdCheckpointMeta(uint8_t positionValid,
                                               uint8_t lastBusy)
{
    uint32_t interruptState = PlcDeviceEnterCritical();

    PlcHsdData.metadata &= ~(PLSR_HSD_META_POSITION_VALID
                             | PLSR_HSD_META_LAST_BUSY);
    if (positionValid != 0U)
    {
        PlcHsdData.metadata |= PLSR_HSD_META_POSITION_VALID;
    }
    if (lastBusy != 0U)
    {
        PlcHsdData.metadata |= PLSR_HSD_META_LAST_BUSY;
    }
    PlcHsdChangeCounter++;
    PlcHsdDirty = 1U;
    PlcDeviceExitCritical(interruptState);
    return PLC_DEVICE_OK;
}

uint8_t PlcDeviceGetRestoredHsdPositionValid(void)
{
    return PlcRestoredHsdPositionValid;
}

uint8_t PlcDeviceGetRestoredHsdLastBusy(void)
{
    return PlcRestoredHsdLastBusy;
}

PLC_DEVICE_RESULT PlcDeviceCheckpointHsd(void)
{
    PLSR_HSD_DATA snapshot;
    PLSR_PERSISTENCE_RESULT result;
    uint32_t snapshotCounter;
    uint32_t interruptState;

    if (PlcHsdDirty == 0U)
    {
        return PLC_DEVICE_OK;
    }

    interruptState = PlcDeviceEnterCritical();
    snapshot = PlcHsdData;
    snapshotCounter = PlcHsdChangeCounter;
    PlcDeviceExitCritical(interruptState);

    result = PlsrPersistenceSaveHsd(&snapshot);
    if (result != PLSR_PERSISTENCE_OK)
    {
        return PLC_DEVICE_PERSISTENCE_ERROR;
    }

    interruptState = PlcDeviceEnterCritical();
    if (PlcHsdChangeCounter == snapshotCounter)
    {
        PlcHsdDirty = 0U;
    }
    PlcDeviceExitCritical(interruptState);
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceReadSfd(uint16_t address, uint16_t *value)
{
    uint32_t interruptState;

    if (value == NULL)
    {
        return PLC_DEVICE_NULL_POINTER;
    }
    if ((address < PLSR_SFD_CONFIG_START)
        || (address >= PLSR_SFD_CONFIG_START + PLSR_SFD_CONFIG_COUNT))
    {
        return PLC_DEVICE_INVALID_ADDRESS;
    }

    interruptState = PlcDeviceEnterCritical();
    if (PlcSfdOperationActive != 0U)
    {
        PlcDeviceExitCritical(interruptState);
        return PLC_DEVICE_BUSY;
    }
    *value = PlcSfdData.config[address - PLSR_SFD_CONFIG_START];
    PlcDeviceExitCritical(interruptState);
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceWriteSfd(uint16_t address, uint16_t value)
{
    uint32_t interruptState;

    if ((address < PLSR_SFD_CONFIG_START)
        || (address >= PLSR_SFD_CONFIG_START + PLSR_SFD_CONFIG_COUNT))
    {
        return PLC_DEVICE_INVALID_ADDRESS;
    }

    interruptState = PlcDeviceEnterCritical();
    if (PlcSfdOperationActive != 0U)
    {
        PlcDeviceExitCritical(interruptState);
        return PLC_DEVICE_BUSY;
    }
    PlcSfdData.config[address - PLSR_SFD_CONFIG_START] = value;
    PlcSfdDirty = 1U;
    PlcDeviceExitCritical(interruptState);
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceLoadSfd(void)
{
    if (PlcDeviceBeginSfdOperation() == 0U)
    {
        return PLC_DEVICE_BUSY;
    }

    PlcLastSfdLoadResult = PlsrPersistenceLoadSfd(&PlcSfdData);
    if ((PlcLastSfdLoadResult != PLSR_PERSISTENCE_OK)
        && (PlcLastSfdLoadResult != PLSR_PERSISTENCE_DEFAULTED))
    {
        PlcDeviceEndSfdOperation();
        return PLC_DEVICE_PERSISTENCE_ERROR;
    }

    PlcSfdDirty = (PlcLastSfdLoadResult == PLSR_PERSISTENCE_OK) ? 0U : 1U;
    PlcDeviceEndSfdOperation();
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceSaveSfd(void)
{
    PLSR_PERSISTENCE_RESULT result;

    if (PlcDeviceBeginSfdOperation() == 0U)
    {
        return PLC_DEVICE_BUSY;
    }
    if (PlcSfdDirty == 0U)
    {
        PlcDeviceEndSfdOperation();
        return PLC_DEVICE_OK;
    }

    result = PlsrPersistenceSaveSfd(&PlcSfdData);
    if (result != PLSR_PERSISTENCE_OK)
    {
        PlcDeviceEndSfdOperation();
        return PLC_DEVICE_PERSISTENCE_ERROR;
    }

    PlcSfdDirty = 0U;
    PlcDeviceEndSfdOperation();
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceResetSfdDefaults(void)
{
    PLSR_PERSISTENCE_RESULT result;
    if (PlcDeviceBeginSfdOperation() == 0U)
    {
        return PLC_DEVICE_BUSY;
    }

    result = PlsrPersistenceEraseSfd();
    if (result != PLSR_PERSISTENCE_OK)
    {
        PlcDeviceEndSfdOperation();
        return PLC_DEVICE_PERSISTENCE_ERROR;
    }

    PlcLastSfdLoadResult = PlsrPersistenceLoadSfd(&PlcSfdData);
    if (PlcLastSfdLoadResult != PLSR_PERSISTENCE_DEFAULTED)
    {
        PlcDeviceEndSfdOperation();
        return PLC_DEVICE_PERSISTENCE_ERROR;
    }
    PlcSfdDirty = 1U;
    PlcDeviceEndSfdOperation();
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceReadSm(uint16_t address, uint8_t *state)
{
    uint8_t axis;
    uint8_t mask;
    PLC_DEVICE_RESULT result;

    if (state == NULL)
    {
        return PLC_DEVICE_NULL_POINTER;
    }
    result = PlcDeviceResolveSm(address, &axis, &mask);
    if (result != PLC_DEVICE_OK)
    {
        return result;
    }

    *state = ((PlcSmFlags[axis] & mask) != 0U) ? 1U : 0U;
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceWriteSm(uint16_t address, uint8_t state)
{
    uint8_t axis;
    uint8_t mask;
    PLC_DEVICE_RESULT result;

    (void)state;
    result = PlcDeviceResolveSm(address, &axis, &mask);
    return (result == PLC_DEVICE_OK) ? PLC_DEVICE_READ_ONLY : result;
}

PLC_DEVICE_RESULT PlcDevicePublishSm(uint8_t axis,
                                    uint8_t pulseActive,
                                    uint8_t direction)
{
    uint8_t flags = 0U;
    uint32_t interruptState;

    if (axis >= PLSR_AXIS_COUNT)
    {
        return PLC_DEVICE_INVALID_ARGUMENT;
    }
    if (pulseActive != 0U)
    {
        flags |= PLC_SM_PULSE_ACTIVE_MASK;
    }
    if (direction != 0U)
    {
        flags |= PLC_SM_DIRECTION_MASK;
    }

    interruptState = PlcDeviceEnterCritical();
    if ((pulseActive != 0U) && (PlcSfdOperationActive != 0U))
    {
        PlcDeviceExitCritical(interruptState);
        return PLC_DEVICE_BUSY;
    }
    PlcSmFlags[axis] = flags;
    PlcDeviceExitCritical(interruptState);
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceReadSd(uint16_t address, int32_t *value)
{
    int32_t *source;
    uint32_t interruptState;

    if (value == NULL)
    {
        return PLC_DEVICE_NULL_POINTER;
    }
    source = PlcDeviceResolveSd(address, NULL, NULL);
    if (source == NULL)
    {
        return PLC_DEVICE_INVALID_ADDRESS;
    }

    interruptState = PlcDeviceEnterCritical();
    *value = *source;
    PlcDeviceExitCritical(interruptState);
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceWriteSd(uint16_t address, int32_t value)
{
    (void)value;
    return (PlcDeviceResolveSd(address, NULL, NULL) != NULL)
               ? PLC_DEVICE_READ_ONLY
               : PLC_DEVICE_INVALID_ADDRESS;
}

PLC_DEVICE_RESULT PlcDevicePublishSd(uint8_t axis,
                                    uint8_t item,
                                    int32_t value)
{
    uint32_t interruptState;

    if ((axis >= PLSR_AXIS_COUNT) || (item >= PLSR_SD_AXIS_ITEM_COUNT))
    {
        return PLC_DEVICE_INVALID_ARGUMENT;
    }

    interruptState = PlcDeviceEnterCritical();
    PlcSdRuntime[axis][item] = value;
    PlcDeviceExitCritical(interruptState);
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceReadSdDword(uint16_t lowAddress, int32_t *value)
{
    int32_t *source;
    uint32_t rawValue;
    uint32_t interruptState;
    uint8_t axis;
    uint8_t item;

    if (value == NULL)
    {
        return PLC_DEVICE_NULL_POINTER;
    }
    source = PlcDeviceResolveSd(lowAddress, &axis, &item);
    if ((source == NULL) || ((item & 1U) != 0U)
        || (item > PLSR_SD_ITEM_SPEED))
    {
        return PLC_DEVICE_INVALID_ADDRESS;
    }
    interruptState = PlcDeviceEnterCritical();
    rawValue = (uint32_t)PlcSdRuntime[axis][item] & 0xFFFFUL;
    rawValue |= ((uint32_t)PlcSdRuntime[axis][item + 1U] & 0xFFFFUL)
                << 16U;
    PlcDeviceExitCritical(interruptState);
    *value = (int32_t)rawValue;
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDevicePublishSdDword(uint8_t axis,
                                         uint8_t lowItem,
                                         int32_t value)
{
    uint32_t rawValue;
    uint32_t interruptState;

    if ((axis >= PLSR_AXIS_COUNT) || ((lowItem & 1U) != 0U)
        || (lowItem > PLSR_SD_ITEM_SPEED))
    {
        return PLC_DEVICE_INVALID_ARGUMENT;
    }
    rawValue = (uint32_t)value;
    interruptState = PlcDeviceEnterCritical();
    PlcSdRuntime[axis][lowItem] = (int32_t)(rawValue & 0xFFFFUL);
    PlcSdRuntime[axis][lowItem + 1U] = (int32_t)(rawValue >> 16U);
    PlcDeviceExitCritical(interruptState);
    return PLC_DEVICE_OK;
}

PLC_DEVICE_RESULT PlcDeviceGetEventAddress(uint8_t axis,
                                          uint16_t segmentNumber,
                                          uint16_t *eventAddress)
{
    if (eventAddress == NULL)
    {
        return PLC_DEVICE_NULL_POINTER;
    }
    if ((axis >= PLSR_AXIS_COUNT) || (segmentNumber == 0U)
        || (segmentNumber > PLSR_EVENT_AXIS_ITEM_COUNT))
    {
        return PLC_DEVICE_INVALID_ARGUMENT;
    }

    *eventAddress = (uint16_t)(PlsrAxisAddressMap[axis].eventBase
                               + segmentNumber - 1U);
    return PLC_DEVICE_OK;
}

uint8_t PlcDeviceIsHsdDirty(void)
{
    return PlcHsdDirty;
}

uint8_t PlcDeviceIsSfdDirty(void)
{
    return PlcSfdDirty;
}

PLSR_PERSISTENCE_RESULT PlcDeviceGetLastHsdLoadResult(void)
{
    return PlcLastHsdLoadResult;
}

PLSR_PERSISTENCE_RESULT PlcDeviceGetLastSfdLoadResult(void)
{
    return PlcLastSfdLoadResult;
}