Modbus-rtu/PLSR/Src/plsr_internal.h

#ifndef PLSR_INTERNAL_H
#define PLSR_INTERNAL_H

#include <stdint.h>

#define PLSR_SEGMENT_COUNT_MAX     (10U)
#define PLSR_FINITE_PROFILE_PULSE_LIMIT (1000U)
#define PLSR_PLATFORM_FINITE_STEP_MAX \
    (PLSR_SEGMENT_COUNT_MAX + 2U * PLSR_FINITE_PROFILE_PULSE_LIMIT)
#define PLSR_FREQUENCY_MAX_HZ      (100000UL)

#define PLSR_OUTPUT_PULSE_DIR       (0U)
#define PLSR_OUTPUT_AB              (1U)

typedef enum
{
    PLSR_EXEC_IDLE = 0,
    PLSR_EXEC_STEP_TABLE,
    PLSR_EXEC_STREAM,
    PLSR_EXEC_AB_LEGACY,
    PLSR_EXEC_REPLANNING,
    PLSR_EXEC_STOPPING
} PLSR_EXEC_MODE;

#define PLSR_EXEC_RUN_FAILED       (0U)
#define PLSR_EXEC_RUN_READY        (1U)
#define PLSR_EXEC_RUN_DONE         (2U)

typedef struct
{
    uint32_t frequencyHz;
    int32_t pulses;
    uint16_t waitType;
    uint16_t waitTimeMs;
    uint16_t actTimeMs;
    uint16_t jumpSegment;
} PLSR_SEGMENT_CONFIG;

typedef struct
{
    uint16_t pulseOutput;
    uint16_t directionOutput;
    uint16_t waitInput;
    uint16_t extInput;
    uint16_t sendMode;
    uint16_t directionDelayMs;
    uint16_t directionNegativeLogic;
    uint16_t curveMode;
    uint16_t positionMode;
    uint16_t segmentCount;
    uint16_t startSegment;
    uint32_t defaultSpeedHz;
    uint32_t startSpeedHz;
    uint32_t stopSpeedHz;
    uint16_t accelerationTimeMs;
    uint16_t decelerationTimeMs;
    PLSR_SEGMENT_CONFIG segments[PLSR_SEGMENT_COUNT_MAX];
    /* Kept at the end so version-2 persisted configurations remain a prefix. */
    uint16_t outputMode;
} PLSR_CONFIG;

typedef struct
{
    PLSR_CONFIG config;
    int32_t position;
    uint8_t positionValid;
    uint8_t wasBusy;
    uint16_t reserved;
} PLSR_PERSIST_PAYLOAD;

#endif /* PLSR_INTERNAL_H */