Modbus-rtu/PLSR/Inc/plsr_hal_f407.h

#ifndef PLSR_HAL_F407_H
#define PLSR_HAL_F407_H

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

#ifdef __cplusplus
extern "C" {
#endif

#define PLSR_HW_AXIS_COUNT           (PLSR_AXIS_COUNT)
#define PLSR_HW_DIR_POINT_NONE       (0xFFU)

typedef enum
{
    PLSR_HW_STATE_IDLE = 0,
    PLSR_HW_STATE_DIR_SETTLING,     /* DIR 已置位，等待方向建立延时 */
    PLSR_HW_STATE_PWM_PENDING,      /* 延时已到，等待首个非零频率启动 PWM */
    PLSR_HW_STATE_RUNNING,          /* PWM 输出中，更新中断计数 */
    PLSR_HW_STATE_DONE
} PLSR_HW_STATE;

typedef struct
{
    uint32_t frequencyHz;           /* 初始频率（起始速度，可为 0） */
    int64_t targetPulses;           /* 本段目标脉冲数 */
    PLSR_OUTPUT_MODE outputMode;    /* PULSE/DIR、AB 或 CW/CCW */
    uint8_t directionPoint;         /* DIR 输出点（Y 点号，0xFF=无） */
    uint8_t directionPositive;
    uint8_t directionNegativeLogic; /* SFD900 Bit1: 1 reverses DIR ON/OFF */
    uint16_t directionDelayMs;
} PLSR_HW_START_PARAMS;

PLSR_RESULT PlsrHwInit(void);

PLSR_RESULT PlsrHwStartPulse(uint8_t axis, const PLSR_HW_START_PARAMS *params);
PLSR_RESULT PlsrHwSetFrequency(uint8_t axis, uint32_t frequencyHz);
/* Re-arm a PAUSE-stopped timer without clearing its emitted/target counters. */
PLSR_RESULT PlsrHwResumePulse(uint8_t axis);
PLSR_RESULT PlsrHwStopPulse(uint8_t axis);

/* Batch related multi-axis DIR changes into one short GPIO commit window. */
void PlsrHwBeginDirectionBatch(void);
void PlsrHwEndDirectionBatch(void);

uint8_t PlsrHwIsPulseActive(uint8_t axis);
PLSR_HW_STATE PlsrHwGetState(uint8_t axis);
uint32_t PlsrHwGetTimerClockHz(uint8_t axis);
uint32_t PlsrHwGetCurrentFrequencyHz(uint8_t axis);
int64_t PlsrHwGetEmittedPulses(uint8_t axis);
uint8_t PlsrHwIsAbStartupPriming(uint8_t axis);
uint8_t PlsrHwUsesHardwareCounter(uint8_t axis);
uint32_t PlsrHwGetMaxOutputIsrCycles(void);
uint32_t PlsrHwGetMaxCounterIsrCycles(void);
uint32_t PlsrHwGetMaxControlIsrCycles(void);
/* Fast gate from the final AB 00 boundary; budget is one 100kHz quarter
 * period (420 cycles at 168MHz). */
uint32_t PlsrHwGetMaxAbGateCycles(void);
/* Atomically sample the free-running CPU counter and the accumulated time
 * spent inside PLSR timer ISRs.  PlsrProcess uses the pair to distinguish its
 * own CPU cost from wall-clock response time under high-rate preemption. */
void PlsrHwGetCycleSnapshot(uint32_t *cycleCount,
                            uint64_t *plsrIsrCycles);

/* 每 1ms tick 推进 HAL 状态机（DIR 延时等）。 */
void PlsrHwTick(uint8_t axis);

/* 输出定时器更新中断入口（生产由 IRQHandler 调用，host 由测试调用）。 */
void PlsrHwOnTimerUpdate(uint8_t axis);

/* 输出点（Y0~Y20）引脚映射表：DIR 点解析用。 */
uint8_t PlsrHwResolveDirectionPoint(uint8_t pointNumber);

#ifdef PLSR_HOST_TEST
/* 模拟寄存器访问与中断触发（测试用）。 */
uint32_t PlsrHwTestGetArr(uint8_t axis);
uint32_t PlsrHwTestGetCcr(uint8_t axis);
uint32_t PlsrHwTestGetCnt(uint8_t axis);
uint32_t PlsrHwTestGetCcmr1(uint8_t axis);
uint32_t PlsrHwTestGetCr1(uint8_t axis);
uint32_t PlsrHwTestGetPsc(uint8_t axis);
uint8_t PlsrHwTestGetPwmEnabled(uint8_t axis);
uint8_t PlsrHwTestGetCc1PolarityInverted(uint8_t axis);
uint8_t PlsrHwTestGetDirLevel(uint8_t axis);
uint8_t PlsrHwTestGetAbPhaseA(uint8_t axis);
uint8_t PlsrHwTestGetAbPhaseB(uint8_t axis);
uint8_t PlsrHwTestGetAbQuarter(uint8_t axis);
/* Model the short source-CNT/ITR synchronization window without advancing
 * the slave raw counter. */
void PlsrHwTestSetAbQuarterWithoutCounter(uint8_t axis, uint8_t quarter);
void PlsrHwTestTriggerUpdate(uint8_t axis);
void PlsrHwTestTriggerUpdateAndCompare(uint8_t axis);
void PlsrHwTestTriggerCompare(uint8_t axis);
void PlsrHwTestAdvanceAbQuarter(uint8_t axis);
uint32_t PlsrHwTestGetAbFullGateCount(void);
void PlsrHwTestSignalDualAbFinalBoundary(uint8_t firstAxis);
void PlsrHwTestSignalDualAbStaggeredFinalBoundary(uint8_t firstAxis);
#endif

#ifdef __cplusplus
}
#endif

#endif /* PLSR_HAL_F407_H */