Modbus-rtu/PLSR/Src/plsr_planner.h

#ifndef PLSR_PLANNER_H
#define PLSR_PLANNER_H

#include "plsr_platform.h"

#include <stdint.h>

typedef enum
{
    PLSR_BOUNDARY_STOP = 0,
    PLSR_BOUNDARY_NEXT_FRESH,
    PLSR_BOUNDARY_NEXT_CARRY,
    PLSR_BOUNDARY_WAIT_TIME,
    PLSR_BOUNDARY_WAIT_SIGNAL,
    PLSR_BOUNDARY_WAIT_EXT,
    PLSR_BOUNDARY_JUMP,
    PLSR_BOUNDARY_EXT_CUT
} PLSR_BOUNDARY_ACTION;

/* A block is self-contained: the planner must not read live Modbus state. */
typedef struct
{
    uint32_t entryHz;
    uint32_t cruiseHz;
    uint32_t exitHz;
    uint32_t pulseBudget;
    uint32_t referenceSpeedHz;
    uint16_t accelerationTimeMs;
    uint16_t decelerationTimeMs;
    uint16_t curveMode;
    uint8_t pulseOutput;
    PLSR_BOUNDARY_ACTION boundary;
} PLSR_MOTION_BLOCK;

typedef struct
{
    PLSR_PLATFORM_TIMER_SETTING setting;
    uint32_t requestedFrequencyHz;
    uint32_t repeatCount;
} PLSR_STREAM_ITEM;

typedef enum
{
    PLSR_PLANNER_OK = 0,
    PLSR_PLANNER_CLIPPED,
    PLSR_PLANNER_DONE,
    PLSR_PLANNER_INVALID
} PLSR_PLANNER_STATUS;

typedef enum
{
    PLSR_PLANNER_PHASE_ENTRY = 0,
    PLSR_PLANNER_PHASE_STEADY,
    PLSR_PLANNER_PHASE_EXIT,
    PLSR_PLANNER_PHASE_COMPLETE
} PLSR_PLANNER_PHASE;

typedef struct
{
    uint32_t pulseCount;
    uint32_t actualFrequencyHz;
    PLSR_PLANNER_PHASE phase;
    uint8_t deadlineInProfile;
} PLSR_PLANNER_TIME_PREDICTION;

typedef struct
{
    PLSR_MOTION_BLOCK block;
    uint64_t phasePulses;
    uint32_t startHz;
    uint32_t peakHz;
    uint32_t endHz;
    uint32_t entryPulses;
    uint32_t steadyPulses;
    uint32_t exitPulses;
    uint32_t generatedPulses;
    uint32_t rampRelativePulse;
    uint32_t rampPulseCount;
    uint32_t rampFromHz;
    uint32_t rampToHz;
    uint32_t rampDurationMs;
    uint32_t lastRampHz;
    uint64_t rampTotalAreaQ32;
    uint64_t rampAreaStepQ32;
    uint64_t rampTargetAreaQ32;
    uint64_t rampBoundaryQ32;
    uint64_t rampActualTimeQ32;
    uint64_t rampLastPhaseStepQ32;
    uint64_t rampFirstBoundaryQ32;
    uint64_t rampSecondBoundaryQ32;
    uint32_t rampAreaRemainder;
    uint32_t rampRemainderAccumulator;
    uint8_t rampKind;
    uint8_t clipped;
    uint8_t active;
} PLSR_PLANNER_CONTEXT;

PLSR_PLANNER_STATUS PlsrPlannerBegin(PLSR_PLANNER_CONTEXT *context,
                                     const PLSR_MOTION_BLOCK *block,
                                     uint32_t appliedHz,
                                     uint64_t phasePulses);
uint16_t PlsrPlannerGenerate(PLSR_PLANNER_CONTEXT *context,
                             PLSR_STREAM_ITEM *output,
                             uint16_t capacity);
uint8_t PlsrPlannerPredictTime(
    const PLSR_PLANNER_CONTEXT *context,
    uint32_t elapsedUs,
    PLSR_PLANNER_TIME_PREDICTION *prediction);

#endif /* PLSR_PLANNER_H */