Modbus-rtu/tests/plsr_host/test_plsr_host.c

#include "plsr.h"

#include <stdint.h>
#include <stdio.h>

#define PLSR_WAIT_TIME            (0U)
#define PLSR_WAIT_SIGNAL          (1U)
#define PLSR_ACT_TIME             (2U)
#define PLSR_EXT_SIGNAL           (3U)
#define PLSR_EXT_OR_COMPLETE      (4U)

#define PLSR_SEND_COMPLETE        (0U)
#define PLSR_SEND_SUBSEQUENT      (1U)
#define PLSR_POSITION_RELATIVE    (0U)
#define PLSR_POSITION_ABSOLUTE    (1U)

#define PLSR_COMMAND_START        (0x0001U)
#define PLSR_COMMAND_STOP         (0x0002U)
#define PLSR_COMMAND_CLEAR        (0x0004U)
#define PLSR_ERROR_TIMER          (4U)
#define PLSR_ERROR_COUNT          (5U)

#define PLSR_OUTPUT_MODE_PULSE_DIR (0U)
#define PLSR_OUTPUT_MODE_AB        (1U)

#define PLSR_DIAG_FLAGS_ADDRESS              (0x2100U)
#define PLSR_DIAG_REASON_ADDRESS             (0x2101U)
#define PLSR_DIAG_SEGMENT_ADDRESS            (0x2102U)
#define PLSR_DIAG_MODE_DIRECTION_ADDRESS     (0x2103U)
#define PLSR_DIAG_EXPECTED_COUNT_ADDRESS     (0x2104U)
#define PLSR_DIAG_OBSERVED_COUNT_ADDRESS     (0x2106U)
#define PLSR_DIAG_COUNT_ERROR_ADDRESS        (0x2108U)
#define PLSR_DIAG_REQUESTED_FREQUENCY_ADDRESS (0x210AU)
#define PLSR_DIAG_EXPECTED_TIMER_ADDRESS     (0x210CU)
#define PLSR_DIAG_ACTIVE_TIMER_ADDRESS       (0x210EU)
#define PLSR_DIAG_REQUEST_ERROR_ADDRESS      (0x2110U)
#define PLSR_DIAG_SAMPLE_COUNT_ADDRESS       (0x2112U)
#define PLSR_DIAG_MISMATCH_COUNT_ADDRESS     (0x2114U)
#define PLSR_DIAG_MAX_ERROR_ADDRESS          (0x2116U)
#define PLSR_DIAG_FIRST_MISMATCH_ADDRESS     (0x2118U)

#define PLSR_DIAG_MONITORING_ACTIVE (0x0001U)
#define PLSR_DIAG_COUNT_CHECKED     (0x0002U)
#define PLSR_DIAG_COUNT_PASS        (0x0004U)
#define PLSR_DIAG_FREQUENCY_CHECKED (0x0008U)
#define PLSR_DIAG_FREQUENCY_PASS    (0x0010U)
#define PLSR_DIAG_CURVE_CHECKED     (0x0020U)
#define PLSR_DIAG_CURVE_PASS        (0x0040U)
#define PLSR_DIAG_FAULT_LATCHED     (0x0080U)

#define PLSR_DIAG_REASON_NONE       (0U)
#define PLSR_DIAG_REASON_COUNT      (1U)
#define PLSR_DIAG_REASON_FREQUENCY  (2U)
#define PLSR_DIAG_REASON_CURVE      (3U)

void PlsrTestSetDiagnosticCurveCounts(uint32_t sampleCount,
                                      uint32_t mismatchCount);
uint8_t PlsrTestFlashNeedsStartupRecovery(
    uint8_t haveValidRecord,
    uint8_t sectorAHasProgrammedSlot,
    uint32_t sectorAFirstErasedAddress,
    uint8_t sectorBHasProgrammedSlot,
    uint32_t sectorBFirstErasedAddress);

static const char *CurrentTest;
static unsigned int AssertionCount;
static unsigned int FailureCount;
static void ExpectCompletedDiagnostic(uint32_t pulseCount);

static void ExpectUnsigned(unsigned long expected,
                           unsigned long actual,
                           const char *expression,
                           int line)
{
    AssertionCount++;
    if (expected != actual)
    {
        FailureCount++;
        (void)printf("FAIL %s:%d: %s expected %lu, got %lu\n",
                     CurrentTest, line, expression, expected, actual);
    }
}

static void ExpectSigned(long expected,
                         long actual,
                         const char *expression,
                         int line)
{
    AssertionCount++;
    if (expected != actual)
    {
        FailureCount++;
        (void)printf("FAIL %s:%d: %s expected %ld, got %ld\n",
                     CurrentTest, line, expression, expected, actual);
    }
}

static void ExpectTrue(int condition, const char *expression, int line)
{
    AssertionCount++;
    if (!condition)
    {
        FailureCount++;
        (void)printf("FAIL %s:%d: expected true: %s\n",
                     CurrentTest, line, expression);
    }
}

#define EXPECT_U(expected, actual) \
    ExpectUnsigned((unsigned long)(expected), \
                   (unsigned long)(actual), #actual, __LINE__)
#define EXPECT_I(expected, actual) \
    ExpectSigned((long)(expected), (long)(actual), #actual, __LINE__)
#define EXPECT_TRUE(expression) ExpectTrue((expression), #expression, __LINE__)

static uint16_t LowWord(uint32_t value)
{
    return (uint16_t)(value & 0xFFFFUL);
}

static uint16_t HighWord(uint32_t value)
{
    return (uint16_t)(value >> 16U);
}

static uint64_t PulsePeriodNs(uint32_t frequencyHz)
{
    return (1000000000ULL + frequencyHz / 2UL) / frequencyHz;
}

static uint64_t UnsignedDifference64(uint64_t first, uint64_t second)
{
    return (first > second) ? (first - second) : (second - first);
}

static uint32_t IntegerSquareRoot64(uint64_t value)
{
    uint64_t bit = (uint64_t)1U << 62U;
    uint64_t root = 0ULL;

    while (bit > value)
    {
        bit >>= 2U;
    }
    while (bit != 0ULL)
    {
        if (value >= root + bit)
        {
            value -= root + bit;
            root = (root >> 1U) + bit;
        }
        else
        {
            root >>= 1U;
        }
        bit >>= 2U;
    }
    return (uint32_t)root;
}

static PLSR_MB_RESULT WriteWord(uint16_t address, uint16_t value)
{
    return PlsrModbusWriteHolding(address, 1U, &value);
}

static PLSR_MB_RESULT WriteU32(uint16_t address, uint32_t value)
{
    uint16_t words[2];

    words[0] = LowWord(value);
    words[1] = HighWord(value);
    return PlsrModbusWriteHolding(address, 2U, words);
}

static PLSR_MB_RESULT WriteI32(uint16_t address, int32_t value)
{
    return WriteU32(address, (uint32_t)value);
}

static uint16_t ReadWord(uint16_t address)
{
    uint16_t value = 0xDEADU;
    PLSR_MB_RESULT result = PlsrModbusReadHolding(address, 1U, &value);

    EXPECT_U(PLSR_MB_OK, result);
    return value;
}

static uint32_t ReadU32(uint16_t address)
{
    uint16_t words[2] = {0xDEADU, 0xBEEFU};
    PLSR_MB_RESULT result = PlsrModbusReadHolding(address, 2U, words);

    EXPECT_U(PLSR_MB_OK, result);
    return (uint32_t)words[0] | ((uint32_t)words[1] << 16U);
}

static int32_t ReadI32(uint16_t address)
{
    return (int32_t)ReadU32(address);
}

static int32_t ReadPosition(void)
{
    return (int32_t)ReadU32(PLSR_STATUS_FIRST_ADDRESS);
}

static uint32_t ReadFrequency(void)
{
    return ReadU32((uint16_t)(PLSR_STATUS_FIRST_ADDRESS + 2U));
}

static uint16_t ReadStatus(void)
{
    return ReadWord((uint16_t)(PLSR_STATUS_FIRST_ADDRESS + 4U));
}

static uint16_t ReadCurrentSegment(void)
{
    return ReadWord((uint16_t)(PLSR_STATUS_FIRST_ADDRESS + 5U));
}

static uint16_t ReadError(void)
{
    return ReadWord((uint16_t)(PLSR_STATUS_FIRST_ADDRESS + 6U));
}

static PLSR_MB_RESULT QueueCommand(uint16_t command)
{
    return PlsrModbusWriteHolding(PLSR_CONTROL_ADDRESS, 1U, &command);
}

static PLSR_MB_RESULT SendCommand(uint16_t command)
{
    PLSR_MB_RESULT result = QueueCommand(command);

    if (result == PLSR_MB_OK)
    {
        PlsrPoll1ms();
    }
    return result;
}

static void ResetCore(void)
{
    PlsrTestClearPersistentStorage();
    EXPECT_U(1U, PlsrInit());
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
}

static void ConfigureCommon(uint16_t curveMode,
                            uint16_t positionMode,
                            uint16_t segmentCount,
                            uint16_t sendMode,
                            uint32_t defaultSpeedHz,
                            uint32_t startSpeedHz,
                            uint32_t stopSpeedHz,
                            uint16_t accelerationTimeMs,
                            uint16_t decelerationTimeMs)
{
    uint16_t words[0x14U];
    PLSR_MB_RESULT result;

    result = PlsrModbusReadHolding(0x1000U, 0x14U, words);
    EXPECT_U(PLSR_MB_OK, result);
    words[0x04U] = sendMode;
    words[0x05U] = 0U;
    words[0x07U] = curveMode;
    words[0x08U] = positionMode;
    words[0x09U] = segmentCount;
    words[0x0AU] = 1U;
    words[0x0BU] = LowWord(defaultSpeedHz);
    words[0x0CU] = HighWord(defaultSpeedHz);
    words[0x0DU] = LowWord(startSpeedHz);
    words[0x0EU] = HighWord(startSpeedHz);
    words[0x0FU] = 0U;
    words[0x10U] = LowWord(stopSpeedHz);
    words[0x11U] = HighWord(stopSpeedHz);
    words[0x12U] = accelerationTimeMs;
    words[0x13U] = decelerationTimeMs;
    result = PlsrModbusWriteHolding(0x1000U, 0x14U, words);
    EXPECT_U(PLSR_MB_OK, result);
}

static PLSR_MB_RESULT SetSegment(uint8_t segmentNumber,
                                 uint32_t frequencyHz,
                                 int32_t pulses,
                                 uint16_t waitType,
                                 uint16_t waitTimeMs,
                                 uint16_t actTimeMs,
                                 uint16_t jumpSegment)
{
    uint16_t words[8];
    uint16_t address = (uint16_t)(0x1100U
                                  + ((uint16_t)segmentNumber - 1U) * 0x10U);

    words[0] = LowWord(frequencyHz);
    words[1] = HighWord(frequencyHz);
    words[2] = LowWord((uint32_t)pulses);
    words[3] = HighWord((uint32_t)pulses);
    words[4] = waitType;
    words[5] = waitTimeMs;
    words[6] = actTimeMs;
    words[7] = jumpSegment;
    return PlsrModbusWriteHolding(address, 8U, words);
}

static void StopAndSettle(void)
{
    unsigned int pulse;

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    for (pulse = 0U; (pulse < 4U) && (PlsrTestPulseIsActive() != 0U);
         pulse++)
    {
        PlsrTestEmitPulses(1UL);
    }
    PlsrPoll1ms();
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
}

static void TestFiniteConstantPulseTrainBoundaries(void)
{
    static const int32_t counts[] =
    {
        1L, 2L, 65535L, 65536L, 65537L, 100000L,
        -1L, -2L, -65535L, -65536L, -65537L, -100000L
    };
    uint32_t index;

    for (index = 0U;
         index < (uint32_t)(sizeof(counts) / sizeof(counts[0]));
         index++)
    {
        int32_t pulses = counts[index];
        uint32_t magnitude = (pulses < 0)
                                 ? (uint32_t)(-pulses) : (uint32_t)pulses;

        ResetCore();
        PlsrTestEnableFinitePulseTrain(1U);
        ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U,
                        PLSR_SEND_COMPLETE, 100000UL, 100000UL,
                        100000UL, 0U, 0U);
        EXPECT_U(PLSR_MB_OK,
                 SetSegment(1U, 100000UL, pulses, PLSR_WAIT_TIME,
                            0U, 0U, 0U));
        EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
        EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
        EXPECT_U(1U, PlsrTestPulseIsActive());
        EXPECT_U(100000UL, ReadFrequency());

        PlsrTestCompleteFinitePulseTrain();
        EXPECT_U(0U, PlsrTestFinitePulseTrainActive());
        EXPECT_U(0U, PlsrTestPulseIsActive());
        EXPECT_I(0L, ReadPosition());
        PlsrPoll1ms();
        EXPECT_I(pulses, ReadPosition());
        EXPECT_U(PLSR_STATUS_WAITING, ReadStatus());
        EXPECT_U(PLSR_DIAG_COUNT_PASS,
                 ReadWord(PLSR_DIAG_FLAGS_ADDRESS)
                     & PLSR_DIAG_COUNT_PASS);
        EXPECT_U(magnitude, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
        PlsrPoll1ms();
        EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    }
}

static void TestFiniteProfileCurvesUseHardwareCounting(void)
{
    uint16_t curveMode;

    for (curveMode = 0U; curveMode <= 2U; curveMode++)
    {
        uint32_t tick;
        uint32_t peakFrequency = 0UL;
        uint8_t reachedHigh = 0U;
        uint8_t sawDeceleration = 0U;
        int32_t midpointPosition = 0L;

        ResetCore();
        PlsrTestEnableFinitePulseTrain(1U);
        ConfigureCommon(curveMode, PLSR_POSITION_RELATIVE, 1U,
                        PLSR_SEND_COMPLETE, 50000UL, 10000UL,
                        10000UL, 100U, 100U);
        EXPECT_U(PLSR_MB_OK,
                 SetSegment(1U, 50000UL, 20000L, PLSR_WAIT_TIME,
                            0U, 0U, 0U));
        EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
        EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
        EXPECT_U(10000UL, ReadFrequency());

        for (tick = 0UL;
             (tick < 1000UL) && (PlsrTestFinitePulseTrainActive() != 0U);
             tick++)
        {
            uint32_t frequency = PlsrTestOutputFrequency();
            uint32_t pulsesThisMs = (frequency + 999UL) / 1000UL;

            if (frequency > peakFrequency)
            {
                peakFrequency = frequency;
            }
            if (frequency >= 45000UL)
            {
                reachedHigh = 1U;
            }
            if ((reachedHigh != 0U) && (frequency <= 30000UL))
            {
                sawDeceleration = 1U;
            }
            PlsrTestEmitPulses(pulsesThisMs);
            PlsrPoll1ms();
            if (tick == 100UL)
            {
                midpointPosition = ReadPosition();
            }
        }

        EXPECT_TRUE(midpointPosition > 0L);
        EXPECT_TRUE(peakFrequency >= 49000UL);
        EXPECT_U(1U, reachedHigh);
        EXPECT_U(1U, sawDeceleration);
        EXPECT_U(0U, PlsrTestFinitePulseTrainActive());
        EXPECT_I(20000L, ReadPosition());
        EXPECT_U(PLSR_DIAG_COUNT_PASS,
                 ReadWord(PLSR_DIAG_FLAGS_ADDRESS)
                     & PLSR_DIAG_COUNT_PASS);
        EXPECT_U(20000UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
        PlsrPoll1ms();
        PlsrPoll1ms();
        EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
        EXPECT_U(PLSR_ERROR_NONE, ReadError());
    }
}

static void TestFiniteCompleteMultiSegmentUsesHardwareCounting(void)
{
    static const int32_t pulses[4] = {65537L, 2L, -65536L, -1L};
    static const uint16_t jumps[4] = {3U, 4U, 2U, 0U};
    static const uint8_t order[4] = {1U, 3U, 2U, 4U};
    uint8_t index;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 4U,
                    PLSR_SEND_COMPLETE, 100000UL, 100000UL,
                    100000UL, 0U, 0U);
    for (index = 0U; index < 4U; index++)
    {
        EXPECT_U(PLSR_MB_OK,
                 SetSegment((uint8_t)(index + 1U), 100000UL,
                            pulses[index], PLSR_WAIT_TIME,
                            0U, 0U, jumps[index]));
    }
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (index = 0U; index < 4U; index++)
    {
        uint8_t segment = order[index];
        uint32_t magnitude = (pulses[segment - 1U] < 0)
                                 ? (uint32_t)(-pulses[segment - 1U])
                                 : (uint32_t)pulses[segment - 1U];

        EXPECT_U(segment, ReadCurrentSegment());
        EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
        if (magnitude > 65536UL)
        {
            PlsrTestEmitPulses(65536UL);
            PlsrPoll1ms();
            EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
        }
        PlsrTestCompleteFinitePulseTrain();
        PlsrPoll1ms();
        PlsrPoll1ms();
        PlsrPoll1ms();
    }

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(2L, ReadPosition());
    EXPECT_U(0U, ReadCurrentSegment());
}

static void TestFiniteCompleteStartsAtConfiguredSegment(void)
{
    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 3U,
                    PLSR_SEND_COMPLETE, 25000UL, 25000UL,
                    25000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x100AU, 3U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 25000UL, 11L, PLSR_WAIT_TIME,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 25000UL, 22L, PLSR_WAIT_TIME,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(3U, 25000UL, 70000L, PLSR_WAIT_TIME,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    EXPECT_U(3U, ReadCurrentSegment());
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    PlsrTestEmitPulses(65536UL);
    PlsrPoll1ms();
    EXPECT_I(65536L, ReadPosition());
    PlsrTestCompleteFinitePulseTrain();
    PlsrPoll1ms();
    PlsrPoll1ms();
    PlsrPoll1ms();

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(70000L, ReadPosition());
}

static void TestFiniteZeroDurationRampAppliesTargetImmediately(void)
{
    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_COMPLETE, 1000UL, 400UL,
                    100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 400UL, 200L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 900UL, 200L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(400UL, PlsrTestOutputFrequency());

    PlsrTestEmitPulses(200UL);
    PlsrPoll1ms();
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    EXPECT_U(900UL, PlsrTestOutputFrequency());
    PlsrTestEmitPulses(200UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
}

static void TestFiniteRampUsesPulseBoundaryProfile(void)
{
    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U,
                    PLSR_SEND_COMPLETE, 2000UL, 100UL,
                    2000UL, 2U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 2000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_TRUE(PlsrTestOutputFrequency() > 700UL);
    EXPECT_TRUE(PlsrTestOutputFrequency() < 800UL);
    PlsrTestEmitPulses(1UL);
    EXPECT_TRUE(PlsrTestOutputFrequency() > 1600UL);
    EXPECT_TRUE(PlsrTestOutputFrequency() < 1800UL);
    PlsrTestEmitPulses(1UL);
    EXPECT_U(2000UL, PlsrTestOutputFrequency());
    PlsrTestCompleteFinitePulseTrain();
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
}

static void TestFiniteSubsequentThreeSegmentsWithoutPoll(void)
{
    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 3U,
                    PLSR_SEND_SUBSEQUENT, 100000UL, 100000UL,
                    100000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 100000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 100000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(3U, 100000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestFinitePulseTrainActive());

    PlsrPoll1ms();
    PlsrPoll1ms();
    PlsrPoll1ms();

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(3L, ReadPosition());
    EXPECT_U(1UL, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
    EXPECT_I(0L, ReadI32(PLSR_DIAG_COUNT_ERROR_ADDRESS));
}

static void TestFiniteSubsequentTenSegmentJumpChain(void)
{
    static const uint8_t jumps[10] =
        {3U, 4U, 5U, 6U, 7U, 8U, 9U, 10U, 2U, 0U};
    uint8_t index;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 10U,
                    PLSR_SEND_SUBSEQUENT, 100000UL, 10000UL,
                    100000UL, 0U, 0U);
    for (index = 0U; index < 10U; index++)
    {
        EXPECT_U(PLSR_MB_OK,
                 SetSegment((uint8_t)(index + 1U),
                            (uint32_t)(10000UL * (index + 1U)),
                            1L, PLSR_EXT_OR_COMPLETE,
                            0U, 0U, jumps[index]));
    }
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (index = 0U; index < 10U; index++)
    {
        EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
        PlsrTestEmitPulses(1UL);
    }
    EXPECT_U(0U, PlsrTestFinitePulseTrainActive());
    PlsrPoll1ms();
    PlsrPoll1ms();
    PlsrPoll1ms();

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(10L, ReadPosition());
    EXPECT_U(10U, ReadWord(PLSR_DIAG_SEGMENT_ADDRESS));
}

static void TestFiniteSubsequentCrossesCounterBlocks(void)
{
    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 100000UL, 100000UL,
                    100000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 100000UL, 65537L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 50000UL, 65536L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestEmitPulses(65536UL);
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    EXPECT_U(50000UL, PlsrTestOutputFrequency());
    PlsrTestEmitPulses(65536UL);
    EXPECT_U(0U, PlsrTestFinitePulseTrainActive());
    PlsrPoll1ms();
    PlsrPoll1ms();
    PlsrPoll1ms();

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(131073L, ReadPosition());
    EXPECT_I(0L, ReadI32(PLSR_DIAG_COUNT_ERROR_ADDRESS));
}

static void TestFiniteSubsequentDirectionReversalRestarts(void)
{
    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 100000UL, 100000UL,
                    100000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 1U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 100000UL, 2L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 100000UL, -3L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    PlsrTestCompleteFinitePulseTrain();
    PlsrPoll1ms();
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(0U, PlsrTestFinitePulseTrainActive());
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    EXPECT_U(0U, PlsrTestDirectionLevel());
    PlsrTestCompleteFinitePulseTrain();
    PlsrPoll1ms();
    PlsrPoll1ms();
    PlsrPoll1ms();

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(-1L, ReadPosition());
}

static void TestProtocolBoundaries(void)
{
    uint16_t value = 0U;
    uint16_t values[2];
    uint16_t before;

    ResetCore();

    EXPECT_U(PLSR_MB_NOT_HANDLED,
             PlsrModbusReadHolding(0x0FFEU, 1U, &value));
    EXPECT_U(PLSR_MB_NOT_HANDLED,
             PlsrModbusReadHolding(0x1198U, 1U, &value));
    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusReadHolding(0x11FFU, 2U, values));
    EXPECT_U(PLSR_MB_NOT_HANDLED,
             PlsrModbusReadHolding(0x1201U, 1U, &value));
    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusReadHolding(0x0FFFU, 2U, values));
    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusReadHolding(0x1197U, 2U, values));
    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusReadHolding(0x2006U, 2U, values));
    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusReadHolding(0x2119U, 2U, values));
    EXPECT_U(PLSR_MB_NOT_HANDLED,
             PlsrModbusReadHolding(0x211AU, 1U, &value));
    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusReadHolding(0xFFFFU, 2U, values));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE,
             PlsrModbusReadHolding(0x1000U, 0U, &value));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE,
             PlsrModbusReadHolding(0x1000U, 1U, NULL));

    EXPECT_U(0U, ReadWord(0x100FU));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x100FU, 0U));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, WriteWord(0x100FU, 1U));
    EXPECT_U(0U, ReadWord(0x1108U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1108U, 0U));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, WriteWord(0x1108U, 1U));

    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS, WriteWord(0x100BU, 2000U));
    EXPECT_U(PLSR_MB_OK, WriteU32(0x100BU, 2000UL));
    EXPECT_U(2000UL, ReadU32(0x100BU));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, WriteU32(0x100BU, 100001UL));
    EXPECT_U(2000UL, ReadU32(0x100BU));

    before = ReadWord(0x1013U);
    values[0] = 77U;
    values[1] = 1U;
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE,
             PlsrModbusWriteHolding(0x1013U, 2U, values));
    EXPECT_U(before, ReadWord(0x1013U));

    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusWriteHolding(0x2000U, 1U, &value));
    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusWriteHolding(PLSR_DIAGNOSTIC_FIRST_ADDRESS,
                                     1U, &value));
    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusWriteHolding(0x3000U, 2U, values));
    value = 3U;
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE,
             PlsrModbusWriteHolding(0x3000U, 1U, &value));
    value = 0U;
    EXPECT_U(PLSR_MB_OK,
             PlsrModbusWriteHolding(0x3000U, 1U, &value));
    EXPECT_U(0U, ReadWord(0x3000U));

    EXPECT_U(PLSR_MB_OK, WriteWord(0x1197U, 0U));
    EXPECT_U(0U, ReadWord(0x1197U));
    EXPECT_U(PLSR_MB_NOT_HANDLED, WriteWord(0x1198U, 0U));

    EXPECT_U(PLSR_OUTPUT_MODE_PULSE_DIR,
             ReadWord(PLSR_OUTPUT_MODE_ADDRESS));
    EXPECT_U(PLSR_MB_OK,
             WriteWord(PLSR_OUTPUT_MODE_ADDRESS, PLSR_OUTPUT_MODE_AB));
    EXPECT_U(PLSR_OUTPUT_MODE_AB, ReadWord(PLSR_OUTPUT_MODE_ADDRESS));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE,
             WriteWord(PLSR_OUTPUT_MODE_ADDRESS, 2U));
    EXPECT_U(PLSR_OUTPUT_MODE_AB, ReadWord(PLSR_OUTPUT_MODE_ADDRESS));

    EXPECT_U(0U, ReadWord(PLSR_DIAGNOSTIC_CONTROL_ADDRESS));
    EXPECT_U(PLSR_MB_OK, WriteWord(PLSR_DIAGNOSTIC_CONTROL_ADDRESS, 0U));
    EXPECT_U(PLSR_MB_OK, WriteWord(PLSR_DIAGNOSTIC_CONTROL_ADDRESS, 1U));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE,
             WriteWord(PLSR_DIAGNOSTIC_CONTROL_ADDRESS, 2U));
    EXPECT_U(PLSR_MB_ILLEGAL_ADDRESS,
             PlsrModbusWriteHolding(PLSR_DIAGNOSTIC_CONTROL_ADDRESS,
                                     2U, values));
    EXPECT_U(0U, ReadWord(PLSR_DIAGNOSTIC_CONTROL_ADDRESS));
}

static void ConfigureAbMotion(uint16_t pulseOutput,
                              int32_t pulses,
                              uint32_t frequencyHz,
                              uint32_t startStopFrequencyHz,
                              uint16_t accelerationTimeMs,
                              uint16_t decelerationTimeMs)
{
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    frequencyHz, startStopFrequencyHz,
                    startStopFrequencyHz, accelerationTimeMs,
                    decelerationTimeMs);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1000U, pulseOutput));
    EXPECT_U(PLSR_MB_OK,
             WriteWord(PLSR_OUTPUT_MODE_ADDRESS, PLSR_OUTPUT_MODE_AB));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, frequencyHz, pulses, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
}

static void ExpectDiagnosticCleared(void)
{
    uint16_t words[0x1AU];
    uint16_t index;

    EXPECT_U(PLSR_MB_OK,
             PlsrModbusReadHolding(PLSR_DIAGNOSTIC_FIRST_ADDRESS,
                                     0x1AU, words));
    for (index = 0U; index < 0x18U; index++)
    {
        EXPECT_U(0U, words[index]);
    }
    EXPECT_U(0xFFFFU, words[0x18U]);
    EXPECT_U(0xFFFFU, words[0x19U]);
}

static void ClearDiagnostic(void)
{
    EXPECT_U(PLSR_MB_OK,
             WriteWord(PLSR_DIAGNOSTIC_CONTROL_ADDRESS, 1U));
    ExpectDiagnosticCleared();
}

static void ExpectDiagnosticInterrupted(uint32_t expectedCycles,
                                        uint32_t observedCycles)
{
    uint16_t flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);

    EXPECT_U(0U, flags & PLSR_DIAG_MONITORING_ACTIVE);
    EXPECT_U(0U, flags & (PLSR_DIAG_COUNT_CHECKED | PLSR_DIAG_COUNT_PASS));
    EXPECT_U(0U, flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(PLSR_DIAG_REASON_NONE, ReadWord(PLSR_DIAG_REASON_ADDRESS));
    EXPECT_U(expectedCycles, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
    EXPECT_U(observedCycles, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
    EXPECT_I(0L, ReadI32(PLSR_DIAG_COUNT_ERROR_ADDRESS));
}

static void TestAbOutputPairsAndPhaseSequence(void)
{
    static const uint8_t positivePhases[4] = {2U, 3U, 1U, 0U};
    static const uint8_t negativePhases[4] = {1U, 3U, 2U, 0U};
    uint32_t transitionsBefore;
    uint16_t quarter;

    ResetCore();
    ConfigureAbMotion(0U, 2L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1001U, 3U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 250U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1006U, 1U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(0U, PlsrTestAbTransitionCount());
    EXPECT_U(1U, ReadCurrentSegment());
    EXPECT_U(0x0101U, ReadWord(PLSR_DIAG_MODE_DIRECTION_ADDRESS));

    for (quarter = 0U; quarter < 4U; quarter++)
    {
        PlsrTestEmitAbQuarters(1UL);
        EXPECT_U(positivePhases[quarter], PlsrTestAbPhase());
        EXPECT_U((uint32_t)quarter + 1UL,
                 PlsrTestAbTransitionCount());
        EXPECT_I((quarter == 3U) ? 1L : 0L, ReadPosition());
    }
    EXPECT_U(1U, PlsrTestPulseIsActive());

    transitionsBefore = PlsrTestAbTransitionCount();
    PlsrTestEmitPulses(1UL);
    EXPECT_U(transitionsBefore + 4UL, PlsrTestAbTransitionCount());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(2L, ReadPosition());

    ResetCore();
    ConfigureAbMotion(2U, -1L, 2000UL, 2000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1001U, 0U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 250U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1006U, 1U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(0x0001U, ReadWord(PLSR_DIAG_MODE_DIRECTION_ADDRESS));
    for (quarter = 0U; quarter < 4U; quarter++)
    {
        PlsrTestEmitAbQuarters(1UL);
        EXPECT_U(negativePhases[quarter], PlsrTestAbPhase());
        EXPECT_I((quarter == 3U) ? -1L : 0L, ReadPosition());
    }
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(1UL, PlsrTestAbFastGateCount());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(-1L, ReadPosition());
}

static void TestAbSinglePulseMaximumFrequencyMatrix(void)
{
    static const uint16_t outputs[2] = {0U, 2U};
    static const int32_t directions[2] = {1L, -1L};
    uint32_t transitionsBefore;
    uint16_t outputIndex;
    uint16_t directionIndex;

    for (outputIndex = 0U; outputIndex < 2U; outputIndex++)
    {
        for (directionIndex = 0U; directionIndex < 2U; directionIndex++)
        {
            ResetCore();
            ConfigureAbMotion(outputs[outputIndex], directions[directionIndex],
                              100000UL, 100000UL, 0U, 0U);
            EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
            EXPECT_U(1U, PlsrTestPulseIsActive());
            EXPECT_U(0U, PlsrTestAbPhase());
            EXPECT_U(0UL, PlsrTestAbTransitionCount());
            PlsrTestEmitAbQuarters(4UL);
            EXPECT_U(0U, PlsrTestAbPhase());
            EXPECT_U(4UL, PlsrTestAbTransitionCount());
            EXPECT_U(0U, PlsrTestPulseIsActive());
            EXPECT_I(directions[directionIndex], ReadPosition());
            EXPECT_U(1UL, PlsrTestAbFastGateCount());
            transitionsBefore = PlsrTestAbTransitionCount();
            PlsrTestEmitAbQuarters(8UL);
            EXPECT_U(transitionsBefore, PlsrTestAbTransitionCount());
            EXPECT_I(directions[directionIndex], ReadPosition());
            PlsrPoll1ms();
            EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
            EXPECT_U(PLSR_ERROR_NONE, ReadError());
            EXPECT_U(1UL, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
            EXPECT_U(1UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
            EXPECT_U(0U, ReadWord(PLSR_DIAG_REASON_ADDRESS));
        }
    }
}

static void TestAbFastGateCleanupIsDeferredToPoll(void)
{
    ResetCore();
    ConfigureAbMotion(0U, 1L, 100000UL, 100000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(0UL, PlsrTestAbCleanupCount());

    PlsrTestEmitAbQuarters(4UL);

    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(1UL, PlsrTestAbFastGateCount());
    EXPECT_U(0UL, PlsrTestAbCleanupCount());
    EXPECT_I(1L, ReadPosition());
    EXPECT_U(1UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));

    PlsrPoll1ms();

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(1UL, PlsrTestAbCleanupCount());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
}

static void TestAbFinalArmJobTailChainsOnce(void)
{
    static const uint16_t outputs[2] = {0U, 2U};
    static const int32_t displacements[2] = {2L, -2L};
    uint16_t index;

    for (index = 0U; index < 2U; index++)
    {
        ResetCore();
        ConfigureAbMotion(outputs[index], displacements[index],
                          100000UL, 100000UL, 0U, 0U);
        EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

        PlsrTestEmitAbQuarters(4UL);
        EXPECT_U(1U, PlsrTestPulseIsActive());
        EXPECT_U(0U, PlsrTestAbPhase());
        EXPECT_U(0UL, PlsrTestAbFastGateCount());
        EXPECT_I((displacements[index] > 0L) ? 1L : -1L,
                 ReadPosition());

        PlsrTestEmitAbQuarters(4UL);
        EXPECT_U(0U, PlsrTestPulseIsActive());
        EXPECT_U(0U, PlsrTestAbPhase());
        EXPECT_U(8UL, PlsrTestAbTransitionCount());
        EXPECT_U(1UL, PlsrTestAbFastGateCount());
        EXPECT_I(displacements[index], ReadPosition());
        PlsrTestServiceFinalArmJob();
        EXPECT_I(displacements[index], ReadPosition());

        PlsrPoll1ms();
        EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
        EXPECT_U(PLSR_ERROR_NONE, ReadError());
        EXPECT_U(2UL, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
        EXPECT_U(2UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
    }
}

static void TestAbFinalBoundaryBeforeArmJobIsNoOp(void)
{
    ResetCore();
    ConfigureAbMotion(0U, 2L, 100000UL, 100000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestDeferFinalArmJob(1U);

    PlsrTestEmitAbQuarters(4UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_I(1L, ReadPosition());

    PlsrTestEmitAbQuarters(4UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(8UL, PlsrTestAbTransitionCount());
    EXPECT_I(2L, ReadPosition());

    PlsrTestServiceFinalArmJob();
    PlsrTestDeferFinalArmJob(0U);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(2L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_U(2UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
}

static void TestAbFinalArmJobFailureDoesNotCountFinalPulse(void)
{
    ResetCore();
    ConfigureAbMotion(2U, -2L, 100000UL, 100000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestDeferFinalArmJob(1U);

    PlsrTestEmitAbQuarters(4UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_I(-1L, ReadPosition());
    PlsrTestFailNextStopRequest();
    PlsrTestServiceFinalArmJob();

    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_I(-1L, ReadPosition());
    PlsrTestEmitAbQuarters(8UL);
    EXPECT_I(-1L, ReadPosition());
    PlsrTestDeferFinalArmJob(0U);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_ERROR, ReadStatus());
    EXPECT_U(PLSR_ERROR_TIMER, ReadError());
    EXPECT_I(-1L, ReadPosition());
    ExpectDiagnosticInterrupted(2UL, 1UL);
}

static void TestAbStopMailboxAtPendingBoundary(void)
{
    ResetCore();
    ConfigureAbMotion(0U, 1L, 100000UL, 100000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestEmitAbQuarters(4UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(1UL, PlsrTestAbFastGateCount());
    EXPECT_U(0UL, PlsrTestAbCleanupCount());
    EXPECT_I(1L, ReadPosition());
    EXPECT_U(1UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, QueueCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, QueueCommand(PLSR_COMMAND_CLEAR));
    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_STOP));

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_RUNNING, ReadStatus());
    EXPECT_U(0UL, PlsrTestAbCleanupCount());
    EXPECT_I(1L, ReadPosition());
    EXPECT_U(1UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_U(0U, ReadCurrentSegment());
    EXPECT_U(1UL, PlsrTestAbCleanupCount());
    EXPECT_I(1L, ReadPosition());
    EXPECT_U(1UL, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
    EXPECT_U(1UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_CLEAR));
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_I(0L, ReadPosition());
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitAbQuarters(4UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_U(2UL, PlsrTestAbCleanupCount());
    EXPECT_I(1L, ReadPosition());
    EXPECT_U(1UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
}

static void TestAbActAndExtCutsFinishAtZero(void)
{
    uint32_t transitionsBefore;

    ResetCore();
    ConfigureAbMotion(0U, 100L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_ACT_TIME,
                        0U, 1U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitAbQuarters(2UL);
    EXPECT_U(3U, PlsrTestAbPhase());
    PlsrPoll1ms();
    PlsrTestEmitAbQuarters(2UL);
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(4UL, PlsrTestAbTransitionCount());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(1L, ReadPosition());
    transitionsBefore = PlsrTestAbTransitionCount();
    PlsrTestEmitAbQuarters(4UL);
    EXPECT_U(transitionsBefore, PlsrTestAbTransitionCount());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(0U, ReadWord(PLSR_DIAG_FLAGS_ADDRESS)
                 & PLSR_DIAG_FAULT_LATCHED);
    ExpectDiagnosticInterrupted(100UL, 1UL);

    ResetCore();
    ConfigureAbMotion(2U, -100L, 1000UL, 1000UL, 0U, 0U);
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, -100L, PLSR_EXT_SIGNAL,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitAbQuarters(3UL);
    EXPECT_U(2U, PlsrTestAbPhase());
    PlsrTestSetInput(0U, 1U);
    PlsrPoll1ms();
    PlsrTestEmitAbQuarters(1UL);
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(4UL, PlsrTestAbTransitionCount());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(-1L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(0U, ReadWord(PLSR_DIAG_FLAGS_ADDRESS)
                 & PLSR_DIAG_FAULT_LATCHED);
    ExpectDiagnosticInterrupted(100UL, 1UL);
}

static void TestAbSubsequentSinglePulsesStayContinuous(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 100000UL, 100000UL, 100000UL,
                    0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1000U, 0U));
    EXPECT_U(PLSR_MB_OK,
             WriteWord(PLSR_OUTPUT_MODE_ADDRESS, PLSR_OUTPUT_MODE_AB));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 100000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 100000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitAbQuarters(4UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(4UL, PlsrTestAbTransitionCount());
    EXPECT_U(0UL, PlsrTestAbFastGateCount());
    EXPECT_I(1L, ReadPosition());
    PlsrTestEmitAbQuarters(4UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(8UL, PlsrTestAbTransitionCount());
    EXPECT_U(1UL, PlsrTestAbFastGateCount());
    EXPECT_I(2L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_U(0U, ReadWord(PLSR_DIAG_FLAGS_ADDRESS)
                 & PLSR_DIAG_FAULT_LATCHED);
}

static void TestAbArmedFrequencyWriteDoesNotReopenOutput(void)
{
    ResetCore();
    ConfigureAbMotion(0U, 1L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitAbQuarters(1UL);
    EXPECT_U(2U, PlsrTestAbPhase());
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 2000UL));
    PlsrPoll1ms();
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    EXPECT_U(1000UL, PlsrTestQueuedFrequency());
    PlsrTestEmitAbQuarters(3UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(4UL, PlsrTestAbTransitionCount());
    EXPECT_I(1L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_U(0U, ReadWord(PLSR_DIAG_FLAGS_ADDRESS)
                 & PLSR_DIAG_FAULT_LATCHED);
}

static void TestAbStopRequestForcedFault(void)
{
    ResetCore();
    ConfigureAbMotion(0U, 1L, 1000UL, 1000UL, 0U, 0U);
    PlsrTestFailNextStopRequest();
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(0L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_ERROR, ReadStatus());
    EXPECT_U(PLSR_ERROR_TIMER, ReadError());
    EXPECT_I(0L, ReadPosition());
    ExpectDiagnosticInterrupted(1UL, 0UL);

    ResetCore();
    ConfigureAbMotion(2U, -100L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitAbQuarters(2UL);
    PlsrTestFailNextStopRequest();
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(0L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_ERROR, ReadStatus());
    EXPECT_U(PLSR_ERROR_TIMER, ReadError());
    EXPECT_I(0L, ReadPosition());
    ExpectDiagnosticInterrupted(100UL, 0UL);
}

static void TestAbStopAfterFinalBoundaryIsArmed(void)
{
    ResetCore();
    ConfigureAbMotion(0U, 1L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitAbQuarters(1UL);
    EXPECT_U(2U, PlsrTestAbPhase());
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_STATUS_DECELERATING, ReadStatus());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitAbQuarters(3UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(4UL, PlsrTestAbTransitionCount());
    EXPECT_U(1UL, PlsrTestAbFastGateCount());
    EXPECT_I(1L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_U(0U, ReadWord(PLSR_DIAG_FLAGS_ADDRESS)
                 & PLSR_DIAG_FAULT_LATCHED);
}

static void TestAbStopArmConsumesLatchedFinalQuarterOnce(void)
{
    ResetCore();
    ConfigureAbMotion(0U, 100L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitAbQuarters(3UL);
    EXPECT_U(1U, PlsrTestAbPhase());
    EXPECT_U(3UL, PlsrTestAbTransitionCount());
    EXPECT_I(0L, ReadPosition());

    PlsrTestLatchAbFinalQuarterOnNextStopArm();
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(4UL, PlsrTestAbTransitionCount());
    EXPECT_U(1UL, PlsrTestAbFastGateCount());
    EXPECT_I(1L, ReadPosition());

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_U(0U, ReadWord(PLSR_DIAG_FLAGS_ADDRESS)
                 & PLSR_DIAG_FAULT_LATCHED);
}

static void TestAbRejectsUnpairedOutputs(void)
{
    ResetCore();
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1000U, 1U));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE,
             WriteWord(PLSR_OUTPUT_MODE_ADDRESS, PLSR_OUTPUT_MODE_AB));
    EXPECT_U(PLSR_OUTPUT_MODE_PULSE_DIR,
             ReadWord(PLSR_OUTPUT_MODE_ADDRESS));
    EXPECT_U(1U, ReadWord(0x1000U));

    ResetCore();
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1000U, 3U));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE,
             WriteWord(PLSR_OUTPUT_MODE_ADDRESS, PLSR_OUTPUT_MODE_AB));
    EXPECT_U(PLSR_OUTPUT_MODE_PULSE_DIR,
             ReadWord(PLSR_OUTPUT_MODE_ADDRESS));

    ResetCore();
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1000U, 2U));
    EXPECT_U(PLSR_MB_OK,
             WriteWord(PLSR_OUTPUT_MODE_ADDRESS, PLSR_OUTPUT_MODE_AB));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, WriteWord(0x1000U, 1U));
    EXPECT_U(2U, ReadWord(0x1000U));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, WriteWord(0x1000U, 3U));
    EXPECT_U(2U, ReadWord(0x1000U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1000U, 0U));
    EXPECT_U(0U, ReadWord(0x1000U));
}

static void TestAbStopAtCompleteCycleBoundary(void)
{
    ResetCore();
    ConfigureAbMotion(0U, 100L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitAbQuarters(1UL);
    EXPECT_U(2U, PlsrTestAbPhase());
    EXPECT_U(1U, PlsrTestAbTransitionCount());
    EXPECT_I(0L, ReadPosition());

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_STATUS_DECELERATING, ReadStatus());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(0UL, PlsrTestAbFastGateCount());
    PlsrTestEmitAbQuarters(2UL);
    EXPECT_U(1U, PlsrTestAbPhase());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_I(0L, ReadPosition());
    PlsrTestEmitAbQuarters(1UL);
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(4U, PlsrTestAbTransitionCount());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(1L, ReadPosition());
    EXPECT_U(1UL, PlsrTestAbFastGateCount());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
}

static void TestAbDynamicFrequencyChangesOnlyAtZeroPhase(void)
{
    uint32_t previousFrequency;
    uint32_t currentFrequency;
    uint16_t quarter;
    uint8_t frequencyChanged = 0U;

    ResetCore();
    ConfigureAbMotion(0U, 20L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitAbQuarters(1UL);
    EXPECT_U(2U, PlsrTestAbPhase());
    EXPECT_U(1000UL, PlsrTestOutputFrequency());

    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 2000UL));
    PlsrPoll1ms();
    previousFrequency = PlsrTestOutputFrequency();
    EXPECT_U(1000UL, previousFrequency);

    for (quarter = 0U; quarter < 12U; quarter++)
    {
        PlsrTestEmitAbQuarters(1UL);
        currentFrequency = PlsrTestOutputFrequency();
        if (currentFrequency != previousFrequency)
        {
            EXPECT_U(0U, PlsrTestAbPhase());
            EXPECT_U(0U, PlsrTestAbTransitionCount() & 3UL);
            EXPECT_U(1000UL, previousFrequency);
            EXPECT_U(2000UL, currentFrequency);
            frequencyChanged = 1U;
            break;
        }
        EXPECT_U(1000UL, currentFrequency);
        previousFrequency = currentFrequency;
    }
    EXPECT_U(1U, frequencyChanged);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    StopAndSettle();
}

static void TestAbStaleFrequencyCommitAfterNaturalCompletion(void)
{
    uint16_t flags;

    ResetCore();
    ConfigureAbMotion(0U, 2L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 2000UL));
    PlsrPoll1ms();
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    EXPECT_U(1000UL, PlsrTestQueuedFrequency());

    PlsrTestCompleteAbCycleOnNextQueueCommit();
    PlsrTestEmitAbQuarters(4UL);

    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(8UL, PlsrTestAbTransitionCount());
    EXPECT_I(2L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());

    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(PLSR_DIAG_COUNT_CHECKED | PLSR_DIAG_COUNT_PASS,
             flags & (PLSR_DIAG_COUNT_CHECKED | PLSR_DIAG_COUNT_PASS));
    EXPECT_U(0U, flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(2UL, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
    EXPECT_U(2UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
    EXPECT_I(0L, ReadI32(PLSR_DIAG_COUNT_ERROR_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_REQUESTED_FREQUENCY_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_EXPECTED_TIMER_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_ACTIVE_TIMER_ADDRESS));
}

static void TestAbDirectionReversalRestartsFromZeroPhase(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 1000UL, 1000UL, 1000UL,
                    0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1000U, 0U));
    EXPECT_U(PLSR_MB_OK,
             WriteWord(PLSR_OUTPUT_MODE_ADDRESS, PLSR_OUTPUT_MODE_AB));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 1000UL, -1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestEmitAbQuarters(4UL);
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(4U, PlsrTestAbTransitionCount());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(1U, ReadCurrentSegment());
    EXPECT_I(1L, ReadPosition());

    PlsrPoll1ms();
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(0x0001U, ReadWord(PLSR_DIAG_MODE_DIRECTION_ADDRESS));
    PlsrTestEmitAbQuarters(1UL);
    EXPECT_U(1U, PlsrTestAbPhase());
    EXPECT_U(5U, PlsrTestAbTransitionCount());
    EXPECT_I(1L, ReadPosition());
    PlsrTestEmitAbQuarters(3UL);
    EXPECT_U(0U, PlsrTestAbPhase());
    EXPECT_U(8U, PlsrTestAbTransitionCount());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(0L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
}

static void TestAbModePersistence(void)
{
    ResetCore();
    ConfigureAbMotion(2U, 4L, 2345UL, 2345UL, 0U, 0U);
    EXPECT_U(1U, PlsrInit());
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_U(2U, ReadWord(0x1000U));
    EXPECT_U(PLSR_OUTPUT_MODE_AB, ReadWord(PLSR_OUTPUT_MODE_ADDRESS));
    EXPECT_U(2345UL, ReadU32(0x1100U));

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(4UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(4L, ReadPosition());
}

static void TestDiagnosticPass(void)
{
    uint16_t flags;

    ResetCore();
    ClearDiagnostic();
    ConfigureAbMotion(0U, 8L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_DEVICE_BUSY,
             WriteWord(PLSR_OUTPUT_MODE_ADDRESS,
                       PLSR_OUTPUT_MODE_PULSE_DIR));
    EXPECT_U(PLSR_MB_DEVICE_BUSY,
             WriteWord(PLSR_DIAGNOSTIC_CONTROL_ADDRESS, 1U));
    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_TRUE((flags & PLSR_DIAG_MONITORING_ACTIVE) != 0U);
    EXPECT_U(1U, ReadWord(PLSR_DIAG_SEGMENT_ADDRESS));
    EXPECT_U(0x0101U, ReadWord(PLSR_DIAG_MODE_DIRECTION_ADDRESS));
    EXPECT_U(8UL, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
    EXPECT_U(0UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_REQUESTED_FREQUENCY_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_EXPECTED_TIMER_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_ACTIVE_TIMER_ADDRESS));
    EXPECT_I(0L, ReadI32(PLSR_DIAG_REQUEST_ERROR_ADDRESS));

    PlsrTestEmitPulses(8UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(0U, flags & PLSR_DIAG_MONITORING_ACTIVE);
    EXPECT_U(PLSR_DIAG_COUNT_CHECKED | PLSR_DIAG_COUNT_PASS,
             flags & (PLSR_DIAG_COUNT_CHECKED | PLSR_DIAG_COUNT_PASS));
    EXPECT_U(PLSR_DIAG_FREQUENCY_CHECKED | PLSR_DIAG_FREQUENCY_PASS,
             flags & (PLSR_DIAG_FREQUENCY_CHECKED
                      | PLSR_DIAG_FREQUENCY_PASS));
    EXPECT_U(PLSR_DIAG_CURVE_CHECKED | PLSR_DIAG_CURVE_PASS,
             flags & (PLSR_DIAG_CURVE_CHECKED | PLSR_DIAG_CURVE_PASS));
    EXPECT_U(0U, flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(PLSR_DIAG_REASON_NONE, ReadWord(PLSR_DIAG_REASON_ADDRESS));
    EXPECT_U(8UL, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
    EXPECT_U(8UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
    EXPECT_I(0L, ReadI32(PLSR_DIAG_COUNT_ERROR_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_REQUESTED_FREQUENCY_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_EXPECTED_TIMER_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_ACTIVE_TIMER_ADDRESS));
    EXPECT_I(0L, ReadI32(PLSR_DIAG_REQUEST_ERROR_ADDRESS));
    EXPECT_TRUE(ReadU32(PLSR_DIAG_SAMPLE_COUNT_ADDRESS) > 0UL);
    EXPECT_U(0UL, ReadU32(PLSR_DIAG_MISMATCH_COUNT_ADDRESS));
    EXPECT_U(0UL, ReadU32(PLSR_DIAG_MAX_ERROR_ADDRESS));
    EXPECT_U(0xFFFFFFFFUL,
             ReadU32(PLSR_DIAG_FIRST_MISMATCH_ADDRESS));
}

static void TestDiagnosticCountFaultAndClear(void)
{
    uint16_t flags;

    ResetCore();
    ConfigureAbMotion(0U, 4L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestInjectCountOffset(1L);
    PlsrTestEmitPulses(4UL);
    PlsrPoll1ms();

    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(PLSR_DIAG_COUNT_CHECKED,
             flags & PLSR_DIAG_COUNT_CHECKED);
    EXPECT_U(0U, flags & PLSR_DIAG_COUNT_PASS);
    EXPECT_U(PLSR_DIAG_FAULT_LATCHED,
             flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(PLSR_DIAG_REASON_COUNT, ReadWord(PLSR_DIAG_REASON_ADDRESS));
    EXPECT_U(4UL, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
    EXPECT_U(5UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
    EXPECT_I(1L, ReadI32(PLSR_DIAG_COUNT_ERROR_ADDRESS));

    ClearDiagnostic();
}

static void TestDiagnosticFrequencyFaultAndClear(void)
{
    uint16_t flags;

    ResetCore();
    ConfigureAbMotion(0U, 8L, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestInjectActiveFrequencyOffset(25L);
    PlsrTestEmitPulses(8UL);
    PlsrPoll1ms();

    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(PLSR_DIAG_FREQUENCY_CHECKED,
             flags & PLSR_DIAG_FREQUENCY_CHECKED);
    EXPECT_U(0U, flags & PLSR_DIAG_FREQUENCY_PASS);
    EXPECT_U(PLSR_DIAG_FAULT_LATCHED,
             flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(PLSR_DIAG_REASON_FREQUENCY,
             ReadWord(PLSR_DIAG_REASON_ADDRESS));
    EXPECT_U(1000UL, ReadU32(PLSR_DIAG_EXPECTED_TIMER_ADDRESS));
    EXPECT_U(1025UL, ReadU32(PLSR_DIAG_ACTIVE_TIMER_ADDRESS));
    EXPECT_TRUE(ReadU32(PLSR_DIAG_MISMATCH_COUNT_ADDRESS) > 0UL);
    EXPECT_U(25UL, ReadU32(PLSR_DIAG_MAX_ERROR_ADDRESS));
    EXPECT_TRUE(ReadU32(PLSR_DIAG_FIRST_MISMATCH_ADDRESS)
                != 0xFFFFFFFFUL);

    ClearDiagnostic();
}

static void TestDiagnosticCurveFaultAndClear(void)
{
    uint16_t flags;

    ResetCore();
    ConfigureAbMotion(0U, 50L, 1000UL, 100UL, 1000U, 1000U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestInjectCurveMismatch();
    PlsrTestEmitPulses(50UL);
    PlsrPoll1ms();

    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(PLSR_DIAG_CURVE_CHECKED,
             flags & PLSR_DIAG_CURVE_CHECKED);
    EXPECT_U(0U, flags & PLSR_DIAG_CURVE_PASS);
    EXPECT_U(PLSR_DIAG_FAULT_LATCHED,
             flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(PLSR_DIAG_REASON_CURVE,
             ReadWord(PLSR_DIAG_REASON_ADDRESS));
    EXPECT_TRUE(ReadU32(PLSR_DIAG_MISMATCH_COUNT_ADDRESS) > 0UL);
    EXPECT_TRUE(ReadU32(PLSR_DIAG_FIRST_MISMATCH_ADDRESS)
                != 0xFFFFFFFFUL);

    ClearDiagnostic();
}

static void TestDiagnosticInterruptedSegments(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(2UL);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    ExpectDiagnosticInterrupted(100UL, 3UL);

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 10U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    ExpectDiagnosticInterrupted(100UL, 0UL);

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_ACT_TIME,
                        0U, 1U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(3UL);
    PlsrPoll1ms();
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    ExpectDiagnosticInterrupted(100UL, 4UL);

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_SIGNAL,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(2UL);
    PlsrTestSetInput(0U, 1U);
    PlsrPoll1ms();
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    ExpectDiagnosticInterrupted(100UL, 3UL);
}

static void TestDiagnosticFaultLatchNeedsExplicitClear(void)
{
    uint16_t flags;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 4L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestInjectCountOffset(1L);
    PlsrTestEmitPulses(4UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_DIAG_REASON_COUNT, ReadWord(PLSR_DIAG_REASON_ADDRESS));

    PlsrTestInjectCountOffset(0L);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_CLEAR));
    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(PLSR_DIAG_FAULT_LATCHED, flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(0U, flags & PLSR_DIAG_COUNT_PASS);
    EXPECT_U(PLSR_DIAG_REASON_COUNT, ReadWord(PLSR_DIAG_REASON_ADDRESS));

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(4UL);
    PlsrPoll1ms();
    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(PLSR_DIAG_COUNT_CHECKED, flags & PLSR_DIAG_COUNT_CHECKED);
    EXPECT_U(0U, flags & PLSR_DIAG_COUNT_PASS);
    EXPECT_U(PLSR_DIAG_FAULT_LATCHED, flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(PLSR_DIAG_REASON_COUNT, ReadWord(PLSR_DIAG_REASON_ADDRESS));
    EXPECT_U(4UL, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
    EXPECT_I(0L, ReadI32(PLSR_DIAG_COUNT_ERROR_ADDRESS));

    ClearDiagnostic();
}

static void TestDiagnosticFrequencyPassStaysFailed(void)
{
    uint16_t flags;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 4L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestInjectActiveFrequencyOffset(25L);
    PlsrTestEmitPulses(4UL);
    PlsrPoll1ms();
    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(0U, flags & PLSR_DIAG_FREQUENCY_PASS);
    EXPECT_U(PLSR_DIAG_REASON_FREQUENCY,
             ReadWord(PLSR_DIAG_REASON_ADDRESS));

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(4UL);
    PlsrPoll1ms();
    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(PLSR_DIAG_FREQUENCY_CHECKED,
             flags & PLSR_DIAG_FREQUENCY_CHECKED);
    EXPECT_U(0U, flags & PLSR_DIAG_FREQUENCY_PASS);
    EXPECT_U(PLSR_DIAG_FAULT_LATCHED, flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(PLSR_DIAG_REASON_FREQUENCY,
             ReadWord(PLSR_DIAG_REASON_ADDRESS));

    ClearDiagnostic();
}

static void TestDiagnosticCurveCountersSaturate(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 2L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestSetDiagnosticCurveCounts(0xFFFFFFFFUL, 0xFFFFFFFFUL);
    PlsrTestInjectCurveMismatch();
    PlsrTestEmitPulses(2UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(0xFFFFFFFFUL, ReadU32(PLSR_DIAG_SAMPLE_COUNT_ADDRESS));
    EXPECT_U(0xFFFFFFFFUL, ReadU32(PLSR_DIAG_MISMATCH_COUNT_ADDRESS));
    EXPECT_U(PLSR_DIAG_REASON_CURVE, ReadWord(PLSR_DIAG_REASON_ADDRESS));
}

static void TestWaitZeroUsesOneMillisecond(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_WAIT_TIME, 0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(1UL);

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_WAITING, ReadStatus());
    EXPECT_U(1U, ReadCurrentSegment());
    EXPECT_U(0U, PlsrTestPulseIsActive());

    PlsrPoll1ms();
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(2L, ReadPosition());
}

static void TestActZeroSkipsWithoutPulse(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_ACT_TIME, 0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(1U, ReadCurrentSegment());
    EXPECT_I(0L, ReadPosition());

    PlsrPoll1ms();
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_I(0L, ReadPosition());
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(1L, ReadPosition());
}

static void TestRelativeAndAbsoluteZeroDisplacement(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 0L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_STATUS_RUNNING, ReadStatus());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(0L, ReadPosition());

    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 5L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(5UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(5L, ReadPosition());

    EXPECT_U(PLSR_MB_OK, WriteWord(0x1008U, PLSR_POSITION_ABSOLUTE));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 5L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(5L, ReadPosition());
}

static void ConfigureTenSegmentMove(const uint8_t *jumpSegments)
{
    uint16_t segment;

    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 10U,
                    PLSR_SEND_COMPLETE, 1000UL, 1000UL, 1000UL,
                    0U, 0U);
    for (segment = 1U; segment <= 10U; segment++)
    {
        EXPECT_U(PLSR_MB_OK,
                 SetSegment((uint8_t)segment, 1000UL,
                            (int32_t)segment, PLSR_EXT_OR_COMPLETE,
                            0U, 0U,
                            (jumpSegments != NULL)
                                ? jumpSegments[segment - 1U] : 0U));
    }
}

static void TestAllTenSegmentsRunInSequence(void)
{
    int32_t expectedPosition = 0L;
    uint16_t segment;

    ResetCore();
    ConfigureTenSegmentMove(NULL);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (segment = 1U; segment <= 10U; segment++)
    {
        EXPECT_U(segment, ReadCurrentSegment());
        EXPECT_U(1U, PlsrTestPulseIsActive());
        PlsrTestEmitPulses((uint32_t)segment);
        expectedPosition += (int32_t)segment;
        EXPECT_I(expectedPosition, ReadPosition());
        PlsrPoll1ms();
        if (segment < 10U)
        {
            EXPECT_U(segment + 1U, ReadCurrentSegment());
            EXPECT_U(PLSR_STATUS_RUNNING, ReadStatus());
        }
    }

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(0U, ReadCurrentSegment());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(55L, ReadPosition());
}

static void TestCompleteTenSegmentFrequencyStaircase(void)
{
    uint64_t elapsedNs = 0ULL;
    uint64_t nextPollNs = 1000000ULL;
    uint16_t segment;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 10U,
                    PLSR_SEND_COMPLETE, 10000UL, 100UL, 100UL,
                    10U, 10U);
    for (segment = 1U; segment <= 10U; segment++)
    {
        EXPECT_U(PLSR_MB_OK,
                 SetSegment((uint8_t)segment, (uint32_t)segment * 1000UL,
                            100L, PLSR_EXT_OR_COMPLETE, 0U, 0U, 0U));
    }
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (segment = 1U; segment <= 10U; segment++)
    {
        uint32_t maximumFrequencyHz = 0UL;
        uint16_t trailingLowSpeedPulses = 0U;
        uint16_t pulse;

        while ((ReadCurrentSegment() != segment)
               && (ReadStatus() != PLSR_STATUS_ERROR))
        {
            PlsrPoll1ms();
            elapsedNs += 1000000ULL;
            nextPollNs = elapsedNs + 1000000ULL;
        }
        EXPECT_U(segment, ReadCurrentSegment());
        for (pulse = 0U; pulse < 100U; pulse++)
        {
            uint32_t frequencyHz = PlsrTestOutputFrequency();

            EXPECT_U(1U, PlsrTestPulseIsActive());
            if (frequencyHz > maximumFrequencyHz)
            {
                maximumFrequencyHz = frequencyHz;
            }
            if (frequencyHz <= 200UL)
            {
                trailingLowSpeedPulses++;
            }
            else
            {
                trailingLowSpeedPulses = 0U;
            }
            elapsedNs += PulsePeriodNs(frequencyHz);
            PlsrTestEmitPulses(1UL);
            while ((pulse + 1U < 100U) && (elapsedNs >= nextPollNs))
            {
                PlsrPoll1ms();
                nextPollNs += 1000000ULL;
            }
        }
        if (segment < 10U)
        {
            EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
            EXPECT_U(1U, PlsrTestPulseIsActive());
        }
        EXPECT_TRUE(maximumFrequencyHz
                    >= ((uint32_t)segment * 1000UL * 99UL) / 100UL);
        EXPECT_TRUE(trailingLowSpeedPulses <= 2U);
    }

    while ((ReadStatus() != PLSR_STATUS_COMPLETED)
           && (ReadStatus() != PLSR_STATUS_ERROR))
    {
        PlsrPoll1ms();
    }
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(1000L, ReadPosition());
}

static void TestCompleteCarriesSpeedAcrossNaturalBoundaries(void)
{
    uint64_t elapsedNs = 0ULL;
    uint64_t nextPollNs = 1000000ULL;
    uint32_t firstFrequencyHz[3];
    uint32_t lastFrequencyHz[3] = {0UL, 0UL, 0UL};
    uint32_t minimumFrequencyHz[3] = {
        0xFFFFFFFFUL, 0xFFFFFFFFUL, 0xFFFFFFFFUL
    };
    uint8_t segment;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 3U,
                    PLSR_SEND_COMPLETE, 3000UL, 100UL, 200UL,
                    10U, 10U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(3U, 3000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (segment = 0U; segment < 3U; segment++)
    {
        uint16_t pulse;

        while (((ReadCurrentSegment() != (uint32_t)segment + 1UL)
                || (PlsrTestPulseIsActive() == 0U))
               && (ReadStatus() != PLSR_STATUS_ERROR)
               && (ReadStatus() != PLSR_STATUS_COMPLETED))
        {
            PlsrPoll1ms();
            nextPollNs = elapsedNs + 1000000ULL;
        }
        EXPECT_U((uint32_t)segment + 1UL, ReadCurrentSegment());
        EXPECT_U(1U, PlsrTestPulseIsActive());
        firstFrequencyHz[segment] = PlsrTestOutputFrequency();
        for (pulse = 0U; pulse < 100U; pulse++)
        {
            uint32_t frequencyHz = PlsrTestOutputFrequency();

            EXPECT_U(1U, PlsrTestPulseIsActive());
            EXPECT_TRUE(frequencyHz != 0UL);
            if (frequencyHz == 0UL)
            {
                break;
            }
            if (frequencyHz < minimumFrequencyHz[segment])
            {
                minimumFrequencyHz[segment] = frequencyHz;
            }
            lastFrequencyHz[segment] = frequencyHz;
            elapsedNs += PulsePeriodNs(frequencyHz);
            PlsrTestEmitPulses(1UL);
            while ((pulse + 1U < 100U) && (elapsedNs >= nextPollNs))
            {
                PlsrPoll1ms();
                nextPollNs += 1000000ULL;
            }
        }
    }

    EXPECT_TRUE(firstFrequencyHz[0] >= 400UL);
    EXPECT_TRUE(firstFrequencyHz[0] <= 410UL);
    EXPECT_U(2000UL, firstFrequencyHz[1]);
    EXPECT_U(3000UL, firstFrequencyHz[2]);
    EXPECT_U(1000UL, lastFrequencyHz[0]);
    EXPECT_U(2000UL, lastFrequencyHz[1]);
    EXPECT_TRUE(minimumFrequencyHz[1] >= 1900UL);
    EXPECT_TRUE(lastFrequencyHz[2] <= 1500UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(300L, ReadPosition());
}

static void TestCompleteJumpCarriesSpeedToTargetSegment(void)
{
    uint64_t elapsedNs = 0ULL;
    uint64_t nextPollNs = 1000000ULL;
    uint16_t pulse;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 3U,
                    PLSR_SEND_COMPLETE, 3000UL, 100UL, 200UL,
                    10U, 10U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 3U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(3U, 3000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_TRUE(PlsrTestOutputFrequency() >= 400UL);
    EXPECT_TRUE(PlsrTestOutputFrequency() <= 410UL);

    for (pulse = 0U; pulse < 100U; pulse++)
    {
        uint32_t frequencyHz = PlsrTestOutputFrequency();

        elapsedNs += PulsePeriodNs(frequencyHz);
        PlsrTestEmitPulses(1UL);
        while ((pulse + 1U < 100U) && (elapsedNs >= nextPollNs))
        {
            PlsrPoll1ms();
            nextPollNs += 1000000ULL;
        }
    }
    while ((ReadCurrentSegment() != 3U)
           && (ReadStatus() != PLSR_STATUS_ERROR))
    {
        PlsrPoll1ms();
        nextPollNs = elapsedNs + 1000000ULL;
    }
    EXPECT_U(3U, ReadCurrentSegment());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_TRUE(PlsrTestOutputFrequency() >= 2900UL);

    for (pulse = 0U; pulse < 100U; pulse++)
    {
        uint32_t frequencyHz = PlsrTestOutputFrequency();

        elapsedNs += PulsePeriodNs(frequencyHz);
        PlsrTestEmitPulses(1UL);
        while ((pulse + 1U < 100U) && (elapsedNs >= nextPollNs))
        {
            PlsrPoll1ms();
            nextPollNs += 1000000ULL;
        }
    }
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(200L, ReadPosition());
}

static void TestTenMillisecondBoundaryRampHasNoSlowTail(void)
{
    uint64_t elapsedNs = 0ULL;
    uint64_t nextPollNs = 1000000ULL;
    uint32_t maximumFrequencyHz = 0UL;
    uint16_t trailingLowSpeedPulses = 0U;
    uint16_t pulse;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U,
                    PLSR_SEND_COMPLETE, 10000UL, 100UL, 100UL,
                    10U, 10U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 10000UL, 1000L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (pulse = 0U; pulse < 1000U; pulse++)
    {
        uint32_t frequencyHz = PlsrTestOutputFrequency();

        EXPECT_U(1U, PlsrTestPulseIsActive());
        if (frequencyHz > maximumFrequencyHz)
        {
            maximumFrequencyHz = frequencyHz;
        }
        if (frequencyHz <= 200UL)
        {
            trailingLowSpeedPulses++;
        }
        else
        {
            trailingLowSpeedPulses = 0U;
        }
        elapsedNs += PulsePeriodNs(frequencyHz);
        PlsrTestEmitPulses(1UL);
        while ((pulse + 1U < 1000U) && (elapsedNs >= nextPollNs))
        {
            PlsrPoll1ms();
            nextPollNs += 1000000ULL;
        }
    }

    EXPECT_TRUE(maximumFrequencyHz >= 9900UL);
    EXPECT_TRUE(trailingLowSpeedPulses <= 2U);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(1000L, ReadPosition());
}

static void TestFiniteShortSingleSegmentUsesPulseProfile(void)
{
    uint32_t samples[100];
    uint64_t durationNs = 0ULL;
    uint16_t pulse;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U,
                    PLSR_SEND_COMPLETE, 10000UL, 100UL, 100UL,
                    10U, 10U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(0U, PlsrTestProfileQueueCount());
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());

    for (pulse = 0U; pulse < 100U; pulse++)
    {
        samples[pulse] = PlsrTestOutputFrequency();
        durationNs += PulsePeriodNs(samples[pulse]);
        EXPECT_U(1U, PlsrTestPulseIsActive());
        PlsrTestEmitPulses(1UL);
    }

    EXPECT_TRUE((samples[0] >= 549UL) && (samples[0] <= 551UL));
    EXPECT_TRUE((samples[99] >= 549UL) && (samples[99] <= 551UL));
    for (pulse = 1U; pulse < 99U; pulse++)
    {
        EXPECT_U(1000UL, samples[pulse]);
    }
    EXPECT_TRUE(durationNs >= 101600000ULL);
    EXPECT_TRUE(durationNs <= 101700000ULL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(100L, ReadPosition());
}

static void TestFiniteProfileThreeSegmentsRunsWithoutPollGap(void)
{
    uint32_t samples[300];
    uint16_t pulse;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 3U,
                    PLSR_SEND_COMPLETE, 10000UL, 100UL, 100UL,
                    10U, 10U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(3U, 3000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (pulse = 0U; pulse < 300U; pulse++)
    {
        samples[pulse] = PlsrTestOutputFrequency();
        EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
        PlsrTestEmitPulses(1UL);
    }

    EXPECT_TRUE((samples[0] >= 549UL) && (samples[0] <= 551UL));
    EXPECT_U(1000UL, samples[1]);
    EXPECT_U(1000UL, samples[99]);
    EXPECT_U(2000UL, samples[100]);
    EXPECT_U(2000UL, samples[199]);
    EXPECT_U(3000UL, samples[200]);
    EXPECT_TRUE(samples[299] < samples[298]);
    EXPECT_TRUE(samples[298] < samples[297]);
    EXPECT_U(0U, PlsrTestFinitePulseTrainActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(300L, ReadPosition());
}

static void TestAllTenSegmentsRunThroughJumpChain(void)
{
    static const uint8_t jumps[10] =
    {
        3U, 4U, 5U, 6U, 7U, 8U, 9U, 10U, 2U, 0U
    };
    static const uint8_t order[10] =
    {
        1U, 3U, 5U, 7U, 9U, 2U, 4U, 6U, 8U, 10U
    };
    int32_t expectedPosition = 0L;
    uint16_t index;

    ResetCore();
    ConfigureTenSegmentMove(jumps);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (index = 0U; index < 10U; index++)
    {
        uint8_t segment = order[index];

        EXPECT_U(segment, ReadCurrentSegment());
        EXPECT_U(1U, PlsrTestPulseIsActive());
        PlsrTestEmitPulses((uint32_t)segment);
        expectedPosition += (int32_t)segment;
        EXPECT_I(expectedPosition, ReadPosition());
        PlsrPoll1ms();
        if (index + 1U < 10U)
        {
            EXPECT_U(order[index + 1U], ReadCurrentSegment());
            EXPECT_U(PLSR_STATUS_RUNNING, ReadStatus());
        }
    }

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(0U, ReadCurrentSegment());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(55L, ReadPosition());
}

static void TestStartSegmentTenRunsNormally(void)
{
    ResetCore();
    ConfigureTenSegmentMove(NULL);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x100AU, 10U));
    EXPECT_U(10U, ReadWord(0x100AU));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(10U, ReadCurrentSegment());
    EXPECT_U(1U, PlsrTestPulseIsActive());

    PlsrTestEmitPulses(10UL);
    EXPECT_I(10L, ReadPosition());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();

    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(0U, ReadCurrentSegment());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(10L, ReadPosition());
}

static void TestSelfJumpCanStop(void)
{
    unsigned int loop;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 2L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 1U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (loop = 0U; loop < 3U; loop++)
    {
        PlsrTestEmitPulses(2UL);
        PlsrPoll1ms();
        EXPECT_U(PLSR_STATUS_RUNNING, ReadStatus());
        EXPECT_U(1U, ReadCurrentSegment());
        EXPECT_U(1U, PlsrTestPulseIsActive());
    }

    StopAndSettle();
}

static void TestStopDeceleratesBeforeCut(void)
{
    unsigned int tick;
    uint32_t middleFrequency;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 1000U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 10000L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_STATUS_DECELERATING, ReadStatus());
    EXPECT_U(1U, PlsrTestPulseIsActive());

    for (tick = 0U; tick < 450U; tick++)
    {
        PlsrPoll1ms();
        PlsrTestEmitPulses(1UL);
    }
    middleFrequency = PlsrTestOutputFrequency();
    EXPECT_TRUE((middleFrequency > 100UL) && (middleFrequency < 1000UL));
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_STOP));

    for (tick = 450U; tick < 900U; tick++)
    {
        PlsrPoll1ms();
        PlsrTestEmitPulses(1UL);
    }
    EXPECT_TRUE(PlsrTestOutputFrequency() > 100UL);
    EXPECT_TRUE(PlsrTestOutputFrequency() <= 103UL);
    EXPECT_U(PLSR_STATUS_DECELERATING, ReadStatus());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    EXPECT_U(100UL, PlsrTestOutputFrequency());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_I(902L, ReadPosition());
}

static void TestStopAtPendingBoundary(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_STATUS_RUNNING, ReadStatus());

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(0U, ReadCurrentSegment());
    EXPECT_I(1L, ReadPosition());

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(0U, PlsrTestPulseIsActive());
}

static void TestOneMillisecondDirectionDelay(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 1U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 10L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(0U, PlsrTestPulseIsActive());

    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    StopAndSettle();
}

static void ExpectDirectionPinLevels(uint8_t selectedOutput,
                                     uint8_t selectedPinLevel)
{
    uint8_t output;

    for (output = 0U; output < 4U; output++)
    {
        EXPECT_U((output == selectedOutput) ? selectedPinLevel : 1U,
                 PlsrTestDirectionPinLevel(output));
    }
}

static void TestDirectionOutputPolarityMatrix(void)
{
    uint8_t directionOutput;
    uint8_t negativeLogic;
    uint8_t positive;

    for (directionOutput = 0U; directionOutput < 4U; directionOutput++)
    {
        for (negativeLogic = 0U; negativeLogic < 2U; negativeLogic++)
        {
            for (positive = 0U; positive < 2U; positive++)
            {
                uint8_t logicalLevel = positive ^ negativeLogic;
                uint8_t pinLevel = logicalLevel ^ 1U;
                uint8_t output;

                ResetCore();
                ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U,
                                PLSR_SEND_COMPLETE, 1000UL, 1000UL,
                                1000UL, 0U, 0U);
                EXPECT_U(PLSR_MB_OK, WriteWord(0x1001U, directionOutput));
                EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 2U));
                EXPECT_U(PLSR_MB_OK, WriteWord(0x1006U, negativeLogic));
                EXPECT_U(PLSR_MB_OK,
                         SetSegment(1U, 1000UL,
                                    (positive != 0U) ? 1L : -1L,
                                    PLSR_EXT_OR_COMPLETE, 0U, 0U, 0U));

                EXPECT_U(directionOutput, ReadWord(0x1001U));
                EXPECT_U(negativeLogic, ReadWord(0x1006U));
                EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
                EXPECT_U(logicalLevel, PlsrTestDirectionLevel());
                ExpectDirectionPinLevels(directionOutput, pinLevel);
                EXPECT_U(0U, PlsrTestPulseIsActive());
                for (output = 0U; output < 4U; output++)
                {
                    EXPECT_U(1UL, PlsrTestDirectionWriteCount(output));
                    EXPECT_U(((output == directionOutput)
                              && (pinLevel == 0U)) ? 1UL : 0UL,
                             PlsrTestDirectionTransitionCount(output));
                }

                PlsrPoll1ms();
                EXPECT_U(0U, PlsrTestPulseIsActive());
                PlsrPoll1ms();
                EXPECT_U(1U, PlsrTestPulseIsActive());
                PlsrTestEmitPulses(1UL);
                PlsrPoll1ms();
                EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
                EXPECT_I((positive != 0U) ? 1L : -1L, ReadPosition());
            }
        }
    }
}

static void TestDirectionSameAndReverseSegments(void)
{
    uint8_t output;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 3U,
                    PLSR_SEND_COMPLETE, 1000UL, 1000UL, 1000UL,
                    0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1001U, 2U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 2U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1006U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(3U, 1000UL, -1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1U, PlsrTestDirectionLevel());
    ExpectDirectionPinLevels(2U, 0U);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());

    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    ExpectDirectionPinLevels(2U, 0U);
    EXPECT_U(1UL, PlsrTestDirectionTransitionCount(2U));

    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(3U, ReadCurrentSegment());
    EXPECT_U(0U, PlsrTestDirectionLevel());
    ExpectDirectionPinLevels(2U, 1U);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(2UL, PlsrTestDirectionTransitionCount(2U));
    for (output = 0U; output < 4U; output++)
    {
        EXPECT_U(3UL, PlsrTestDirectionWriteCount(output));
        if (output != 2U)
        {
            EXPECT_U(0UL, PlsrTestDirectionTransitionCount(output));
        }
    }

    PlsrPoll1ms();
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(1L, ReadPosition());
}

static void TestDirectionOutputCanChangeBetweenCommands(void)
{
    uint8_t output;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U,
                    PLSR_SEND_COMPLETE, 1000UL, 1000UL, 1000UL,
                    0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1001U, 0U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 1U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    ExpectDirectionPinLevels(0U, 0U);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());

    EXPECT_U(PLSR_MB_OK, WriteWord(0x1001U, 3U));
    EXPECT_U(3U, ReadWord(0x1001U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    ExpectDirectionPinLevels(3U, 0U);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(2UL, PlsrTestDirectionTransitionCount(0U));
    EXPECT_U(1UL, PlsrTestDirectionTransitionCount(3U));
    for (output = 0U; output < 4U; output++)
    {
        EXPECT_U(2UL, PlsrTestDirectionWriteCount(output));
    }

    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(2L, ReadPosition());
}

static void TestExtEdgeAtNaturalBoundary(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_SIGNAL,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestEmitPulseOnCriticalEntry();
    PlsrTestSetInput(0U, 1U);
    PlsrPoll1ms();
    EXPECT_U(0U, PlsrTestPulseIsActive());

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(0U, ReadCurrentSegment());
    EXPECT_I(1L, ReadPosition());
}

static void ConfigureExtBoundaryCarryRace(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 2000UL, 500UL, 1000UL,
                    0U, 1000U);
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 2000UL, 1L, PLSR_EXT_SIGNAL,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 1000UL, 70000L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(2000UL, PlsrTestOutputFrequency());
    PlsrTestSetInput(0U, 1U);
}

static void ExpectExtBoundaryCarry(void)
{
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(1U, ReadCurrentSegment());
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_TRUE(PlsrTestOutputFrequency() >= 1999UL);
    EXPECT_TRUE(PlsrTestOutputFrequency() <= 2001UL);
    EXPECT_I(1L, ReadPosition());
}

static void TestExtCutAndNaturalBoundaryInterleavings(void)
{
    ConfigureExtBoundaryCarryRace();
    PlsrTestEmitPulseAfterCriticalEntries(3U);
    PlsrPoll1ms();
    ExpectExtBoundaryCarry();

    ConfigureExtBoundaryCarryRace();
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    ExpectExtBoundaryCarry();
}

static void TestExtEdgeDuringDirectionDelay(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 2U));
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_SIGNAL,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestSetInput(0U, 1U);
    PlsrPoll1ms();
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(1L, ReadPosition());
}

static void TestStoppedTaskClearsPendingExtEdge(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1005U, 2U));
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_SIGNAL,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(0U, PlsrTestPulseIsActive());

    PlsrTestSetInput(0U, 1U);
    PlsrPoll1ms();
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());

    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_I(0L, ReadPosition());
    StopAndSettle();
}

static void TestExtEdgeDoesNotCutSeamlessNextSegment(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 1000UL, 1000UL, 100UL, 0U, 0U);
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 4L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestSetInput(0U, 1U);
    PlsrTestEmitPulseAfterCriticalEntries(3U);
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(2000UL, PlsrTestOutputFrequency());
    EXPECT_I(1L, ReadPosition());

    PlsrTestEmitPulses(4UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(5L, ReadPosition());
}

static void TestOldRampDoesNotRetargetSeamlessNextSegment(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 2000UL, 1000UL, 100UL, 100U, 0U);
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 2000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 3000UL, 4L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestEmitPulseAfterCriticalEntries(3U);
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(3000UL, PlsrTestOutputFrequency());
    EXPECT_I(1L, ReadPosition());

    PlsrTestEmitPulses(4UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(5L, ReadPosition());
}

static void TestShortProfileBoundaryMatrix(void)
{
    static const uint16_t pulseCounts[] =
    {
        1U, 2U, 10U, 99U, 100U, 101U, 258U
    };
    uint32_t samples[3][258];
    uint64_t previousDurationNs[3] = {0ULL, 0ULL, 0ULL};
    uint64_t durationNs[3];
    unsigned int countIndex;
    uint16_t curveMode;
    unsigned int pulse;
    unsigned int firstPeak;
    unsigned int lastPeak;
    uint32_t peakFrequencyHz;
    uint32_t expectedPeakHz;
    uint64_t expectedDurationNs;
    uint64_t toleranceNs;
    uint8_t linearDiffersFromSmooth;
    uint8_t smoothDiffersFromSine;
    uint8_t anyLinearDiffersFromSmooth = 0U;
    uint8_t anySmoothDiffersFromSine = 0U;

    for (countIndex = 0U;
         countIndex < sizeof(pulseCounts) / sizeof(pulseCounts[0]);
         countIndex++)
    {
        for (curveMode = 0U; curveMode <= 2U; curveMode++)
        {
            ResetCore();
            ConfigureCommon(curveMode, PLSR_POSITION_RELATIVE, 1U,
                            PLSR_SEND_COMPLETE, 1000UL, 100UL, 100UL,
                            1000U, 1000U);
            EXPECT_U(PLSR_MB_OK,
                     SetSegment(1U, 1000UL, pulseCounts[countIndex],
                                PLSR_EXT_OR_COMPLETE, 0U, 0U, 0U));
            EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
            EXPECT_U(1U, PlsrTestPulseIsActive());
            durationNs[curveMode] = 0ULL;

            for (pulse = 0U; pulse < pulseCounts[countIndex]; pulse++)
            {
                samples[curveMode][pulse] = PlsrTestOutputFrequency();
                EXPECT_TRUE(samples[curveMode][pulse] >= 100UL);
                EXPECT_TRUE(samples[curveMode][pulse] <= 1000UL);
                durationNs[curveMode] +=
                    PulsePeriodNs(samples[curveMode][pulse]);
                PlsrTestEmitPulses(1UL);
                if (((pulse + 1U) % 100U) == 0U)
                {
                    PlsrPoll1ms();
                }
                if ((pulse + 1U) < pulseCounts[countIndex])
                {
                    EXPECT_U(1U, PlsrTestPulseIsActive());
                }
            }

            peakFrequencyHz = samples[curveMode][0];
            firstPeak = 0U;
            lastPeak = 0U;
            for (pulse = 1U; pulse < pulseCounts[countIndex]; pulse++)
            {
                if (samples[curveMode][pulse] > peakFrequencyHz)
                {
                    peakFrequencyHz = samples[curveMode][pulse];
                    firstPeak = pulse;
                    lastPeak = pulse;
                }
                else if (samples[curveMode][pulse] == peakFrequencyHz)
                {
                    lastPeak = pulse;
                }
            }
            for (pulse = 1U; pulse <= firstPeak; pulse++)
            {
                EXPECT_TRUE(samples[curveMode][pulse]
                            >= samples[curveMode][pulse - 1U]);
            }
            for (pulse = firstPeak + 1U; pulse <= lastPeak; pulse++)
            {
                EXPECT_U(peakFrequencyHz, samples[curveMode][pulse]);
            }
            for (pulse = lastPeak + 1U;
                 pulse < pulseCounts[countIndex]; pulse++)
            {
                EXPECT_TRUE(samples[curveMode][pulse]
                            <= samples[curveMode][pulse - 1U]);
            }
            EXPECT_TRUE((samples[curveMode][0]
                         > samples[curveMode][pulseCounts[countIndex] - 1U]
                         ? samples[curveMode][0]
                           - samples[curveMode][pulseCounts[countIndex] - 1U]
                         : samples[curveMode][pulseCounts[countIndex] - 1U]
                           - samples[curveMode][0]) <= 2UL);

            EXPECT_U(0U, PlsrTestPulseIsActive());
            PlsrPoll1ms();
            EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
            EXPECT_U(PLSR_ERROR_NONE, ReadError());
            EXPECT_I((long)pulseCounts[countIndex], ReadPosition());
            EXPECT_TRUE(durationNs[curveMode]
                        > previousDurationNs[curveMode]);
            previousDurationNs[curveMode] = durationNs[curveMode];

            expectedPeakHz = IntegerSquareRoot64(
                10000ULL + (uint64_t)pulseCounts[countIndex] * 1000ULL);
            expectedDurationNs =
                (uint64_t)2U * (expectedPeakHz - 100UL) * 1000000ULL;
            toleranceNs = expectedDurationNs / 8ULL + 2000000ULL;
            EXPECT_TRUE(UnsignedDifference64(durationNs[curveMode],
                                             expectedDurationNs)
                        <= toleranceNs);
        }

        toleranceNs = durationNs[0] / 50ULL + 1000000ULL;
        EXPECT_TRUE(UnsignedDifference64(durationNs[0], durationNs[1])
                    <= toleranceNs);
        EXPECT_TRUE(UnsignedDifference64(durationNs[1], durationNs[2])
                    <= toleranceNs);

        if (pulseCounts[countIndex] >= 10U)
        {
            linearDiffersFromSmooth = 0U;
            smoothDiffersFromSine = 0U;
            for (pulse = 0U; pulse < pulseCounts[countIndex]; pulse++)
            {
                if (samples[0][pulse] != samples[1][pulse])
                {
                    linearDiffersFromSmooth = 1U;
                }
                if (samples[1][pulse] != samples[2][pulse])
                {
                    smoothDiffersFromSine = 1U;
                }
            }
            EXPECT_U(1U, linearDiffersFromSmooth);
            if (linearDiffersFromSmooth != 0U)
            {
                anyLinearDiffersFromSmooth = 1U;
            }
            if (smoothDiffersFromSine != 0U)
            {
                anySmoothDiffersFromSine = 1U;
            }
        }
    }
    EXPECT_U(1U, anyLinearDiffersFromSmooth);
    EXPECT_U(1U, anySmoothDiffersFromSine);
}

static void CaptureShortProfileFrequencies(uint16_t curveMode,
                                           uint16_t pulseCount,
                                           uint32_t startSpeedHz,
                                           uint32_t stopSpeedHz,
                                           uint16_t accelerationTimeMs,
                                           uint16_t decelerationTimeMs,
                                           uint32_t *samples)
{
    uint16_t pulse;

    ResetCore();
    ConfigureCommon(curveMode, PLSR_POSITION_RELATIVE, 1U,
                    PLSR_SEND_COMPLETE, 100000UL, startSpeedHz,
                    stopSpeedHz, accelerationTimeMs,
                    decelerationTimeMs);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 100000UL, pulseCount,
                        PLSR_EXT_OR_COMPLETE, 0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (pulse = 0U; pulse < pulseCount; pulse++)
    {
        EXPECT_U(1U, PlsrTestPulseIsActive());
        samples[pulse] = PlsrTestOutputFrequency();
        PlsrTestEmitPulses(1UL);
    }
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I((long)pulseCount, ReadPosition());
    ExpectCompletedDiagnostic(pulseCount);
}

static void TestZeroRampTimesIgnoreStartAndStopSpeeds(void)
{
    static const uint16_t pulseCounts[] = {1U, 2U, 10U};
    uint32_t firstSamples[10];
    uint32_t secondSamples[10];
    uint16_t curveMode;
    uint16_t countIndex;
    uint16_t pulse;

    for (curveMode = 0U; curveMode <= 2U; curveMode++)
    {
        for (countIndex = 0U;
             countIndex < sizeof(pulseCounts) / sizeof(pulseCounts[0]);
             countIndex++)
        {
            uint16_t pulseCount = pulseCounts[countIndex];

            CaptureShortProfileFrequencies(curveMode, pulseCount,
                                           100UL, 100UL, 0U, 0U,
                                           firstSamples);
            for (pulse = 0U; pulse < pulseCount; pulse++)
            {
                EXPECT_U(100000UL, firstSamples[pulse]);
            }

            CaptureShortProfileFrequencies(curveMode, pulseCount,
                                           100UL, 100UL, 0U, 1000U,
                                           firstSamples);
            CaptureShortProfileFrequencies(curveMode, pulseCount,
                                           50000UL, 100UL, 0U, 1000U,
                                           secondSamples);
            for (pulse = 0U; pulse < pulseCount; pulse++)
            {
                EXPECT_U(firstSamples[pulse], secondSamples[pulse]);
            }

            CaptureShortProfileFrequencies(curveMode, pulseCount,
                                           100UL, 100UL, 1000U, 0U,
                                           firstSamples);
            CaptureShortProfileFrequencies(curveMode, pulseCount,
                                           100UL, 50000UL, 1000U, 0U,
                                           secondSamples);
            for (pulse = 0U; pulse < pulseCount; pulse++)
            {
                EXPECT_U(firstSamples[pulse], secondSamples[pulse]);
            }
        }
    }
}

static void TestZeroSegmentFrequencyUsesDefaultSpeed(void)
{
    uint32_t explicitSamples[1000];
    uint32_t defaultSamples[1000];
    uint16_t pulse;

    CaptureShortProfileFrequencies(0U, 1000U,
                                   100UL, 100UL, 100U, 100U,
                                   explicitSamples);

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U,
                    PLSR_SEND_COMPLETE, 100000UL,
                    100UL, 100UL, 100U, 100U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 0UL, 1000L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(0UL, ReadU32(0x1100U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    for (pulse = 0U; pulse < 1000U; pulse++)
    {
        defaultSamples[pulse] = PlsrTestOutputFrequency();
        PlsrTestEmitPulses(1UL);
    }
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(1000L, ReadPosition());
    for (pulse = 0U; pulse < 1000U; pulse++)
    {
        EXPECT_U(explicitSamples[pulse], defaultSamples[pulse]);
    }
}

static void TestShortProfile258IsFullyPrecomputed(void)
{
    uint16_t curveMode;

    for (curveMode = 0U; curveMode <= 2U; curveMode++)
    {
        ResetCore();
        ConfigureCommon(curveMode, PLSR_POSITION_RELATIVE, 1U,
                        PLSR_SEND_COMPLETE, 100000UL, 1000UL, 1000UL,
                        100U, 100U);
        EXPECT_U(PLSR_MB_OK,
                 SetSegment(1U, 100000UL, 258L,
                            PLSR_EXT_OR_COMPLETE, 0U, 0U, 0U));
        EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

        EXPECT_U(256U, PlsrTestProfileQueueCount());
        EXPECT_U(0UL, PlsrTestProfileQueueReadIndex());
        EXPECT_U(256UL, PlsrTestProfileQueueWriteIndex());
        EXPECT_U(258U, PlsrTestProfileProducerNextPeriod());

        PlsrTestEmitPulses(258UL);
        EXPECT_U(0U, PlsrTestPulseIsActive());
        EXPECT_U(0U, PlsrTestProfileQueueCount());
        EXPECT_U(256UL, PlsrTestProfileQueueReadIndex());
        EXPECT_U(256UL, PlsrTestProfileQueueWriteIndex());
        EXPECT_I(258L, ReadPosition());
        EXPECT_U(PLSR_ERROR_NONE, ReadError());

        PlsrPoll1ms();
        EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
        EXPECT_U(PLSR_ERROR_NONE, ReadError());
    }
}

static void TestShortFinalDeceleratesWithoutPoll(void)
{
    uint16_t curveMode;
    unsigned int pulse;
    uint32_t previousFrequencyHz;
    uint32_t currentFrequencyHz;
    uint64_t durationNs;

    for (curveMode = 0U; curveMode <= 2U; curveMode++)
    {
        ResetCore();
        ConfigureCommon(curveMode, PLSR_POSITION_RELATIVE, 1U,
                        PLSR_SEND_COMPLETE, 100000UL, 100000UL, 100UL,
                        0U, 1000U);
        EXPECT_U(PLSR_MB_OK,
                 SetSegment(1U, 100000UL, 10L, PLSR_EXT_OR_COMPLETE,
                            0U, 0U, 0U));
        EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
        previousFrequencyHz = PlsrTestOutputFrequency();
        EXPECT_TRUE(previousFrequencyHz >= 99990UL);
        EXPECT_TRUE(previousFrequencyHz <= 100000UL);
        durationNs = PulsePeriodNs(previousFrequencyHz);

        for (pulse = 1U; pulse < 10U; pulse++)
        {
            PlsrTestEmitPulses(1UL);
            EXPECT_U(1U, PlsrTestPulseIsActive());
            currentFrequencyHz = PlsrTestOutputFrequency();
            EXPECT_TRUE(currentFrequencyHz <= previousFrequencyHz);
            EXPECT_TRUE(currentFrequencyHz >= 99990UL);
            durationNs += PulsePeriodNs(currentFrequencyHz);
            previousFrequencyHz = currentFrequencyHz;
            if (((pulse + 1UL) % 100UL) == 0UL)
            {
                PlsrPoll1ms();
            }
        }
        EXPECT_TRUE(durationNs >= 99990ULL);
        EXPECT_TRUE(durationNs <= 100010ULL);
        PlsrTestEmitPulses(1UL);
        EXPECT_U(0U, PlsrTestPulseIsActive());
        PlsrPoll1ms();
        EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
        EXPECT_U(PLSR_ERROR_NONE, ReadError());
        EXPECT_I(10L, ReadPosition());
    }
}

static void ExpectCompletedDiagnostic(uint32_t pulseCount)
{
    uint16_t flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);

    EXPECT_U(pulseCount, ReadU32(PLSR_DIAG_EXPECTED_COUNT_ADDRESS));
    EXPECT_U(pulseCount, ReadU32(PLSR_DIAG_OBSERVED_COUNT_ADDRESS));
    EXPECT_I(0L, ReadI32(PLSR_DIAG_COUNT_ERROR_ADDRESS));
    EXPECT_U(PLSR_DIAG_COUNT_CHECKED | PLSR_DIAG_COUNT_PASS
                 | PLSR_DIAG_FREQUENCY_CHECKED | PLSR_DIAG_FREQUENCY_PASS
                 | PLSR_DIAG_CURVE_CHECKED | PLSR_DIAG_CURVE_PASS,
             flags & (PLSR_DIAG_COUNT_CHECKED | PLSR_DIAG_COUNT_PASS
                      | PLSR_DIAG_FREQUENCY_CHECKED
                      | PLSR_DIAG_FREQUENCY_PASS
                      | PLSR_DIAG_CURVE_CHECKED | PLSR_DIAG_CURVE_PASS));
    EXPECT_U(0U, flags & PLSR_DIAG_FAULT_LATCHED);
    EXPECT_U(PLSR_DIAG_REASON_NONE, ReadWord(PLSR_DIAG_REASON_ADDRESS));
}

typedef struct
{
    uint64_t durationNs;
    uint32_t peakFrequencyHz;
    uint16_t peakIndex;
    uint16_t slowTailPulses;
} BUG_REPORT_PROFILE_STATS;

static void RunBugReportProfile(uint32_t startSpeedHz,
                                uint32_t stopSpeedHz,
                                uint16_t accelerationTimeMs,
                                uint16_t decelerationTimeMs,
                                BUG_REPORT_PROFILE_STATS *stats)
{
    uint64_t nextPollNs = 1000000ULL;
    uint32_t frequencyHz;
    uint16_t pulse;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    100000UL, startSpeedHz, stopSpeedHz,
                    accelerationTimeMs, decelerationTimeMs);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 100000UL, 1000L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(998U, PlsrTestProfileQueueCount());

    stats->durationNs = 0ULL;
    stats->peakFrequencyHz = 0UL;
    stats->peakIndex = 0U;
    stats->slowTailPulses = 0U;
    for (pulse = 0U; pulse < 1000U; pulse++)
    {
        EXPECT_U(1U, PlsrTestPulseIsActive());
        frequencyHz = PlsrTestOutputFrequency();
        EXPECT_TRUE(frequencyHz != 0UL);
        if (frequencyHz > stats->peakFrequencyHz)
        {
            stats->peakFrequencyHz = frequencyHz;
            stats->peakIndex = pulse;
        }
        if ((pulse >= 900U) && (frequencyHz <= stopSpeedHz * 2UL))
        {
            stats->slowTailPulses++;
        }
        stats->durationNs += PulsePeriodNs(frequencyHz);
        PlsrTestEmitPulses(1UL);
        while (((pulse + 1U) < 1000U)
               && (stats->durationNs >= nextPollNs))
        {
            PlsrPoll1ms();
            nextPollNs += 1000000ULL;
        }
    }

    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(1000L, ReadPosition());
    ExpectCompletedDiagnostic(1000UL);
}

static void TestBugReportShortProfiles(void)
{
    BUG_REPORT_PROFILE_STATS stats;

    RunBugReportProfile(100UL, 100UL, 100U, 100U, &stats);
    EXPECT_TRUE(stats.peakFrequencyHz >= 30000UL);
    EXPECT_TRUE(stats.peakFrequencyHz <= 34000UL);
    EXPECT_TRUE(stats.peakIndex >= 400U);
    EXPECT_TRUE(stats.peakIndex <= 600U);
    EXPECT_TRUE(stats.slowTailPulses <= 2U);
    EXPECT_TRUE(stats.durationNs >= 50000000ULL);
    EXPECT_TRUE(stats.durationNs <= 80000000ULL);

    RunBugReportProfile(100UL, 100UL, 10U, 10U, &stats);
    EXPECT_TRUE(stats.peakFrequencyHz >= 99000UL);
    EXPECT_TRUE(stats.peakIndex >= 400U);
    EXPECT_TRUE(stats.peakIndex <= 600U);
    EXPECT_TRUE(stats.slowTailPulses <= 2U);
    EXPECT_TRUE(stats.durationNs >= 15000000ULL);
    EXPECT_TRUE(stats.durationNs <= 30000000ULL);

    RunBugReportProfile(10UL, 10UL, 10U, 100U, &stats);
    EXPECT_TRUE(stats.peakFrequencyHz >= 30000UL);
    EXPECT_TRUE(stats.slowTailPulses <= 2U);
    EXPECT_TRUE(stats.durationNs < 100000000ULL);
}

static void TestFiniteCompleteTenSegmentsWithoutPoll(void)
{
    uint16_t segment;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 10U,
                    PLSR_SEND_COMPLETE, 10000UL, 100UL, 100UL,
                    10U, 10U);
    for (segment = 1U; segment <= 10U; segment++)
    {
        EXPECT_U(PLSR_MB_OK,
                 SetSegment((uint8_t)segment, 1000UL,
                            (int32_t)(99U + segment),
                            PLSR_EXT_OR_COMPLETE, 0U, 0U, 0U));
    }
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    for (segment = 1U; segment <= 10U; segment++)
    {
        EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
        PlsrTestEmitPulses(99UL + segment);
    }

    EXPECT_U(0U, PlsrTestFinitePulseTrainActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(1045L, ReadPosition());
}

static void TestShortProfileTimerFailure(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 100UL, 100UL, 1000U, 1000U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 10L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestFailNextFrequencyAtUpdate();
    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_ERROR, ReadStatus());
    EXPECT_U(PLSR_ERROR_TIMER, ReadError());
    EXPECT_I(1L, ReadPosition());
    ExpectDiagnosticInterrupted(10UL, 1UL);
}

static void TestStopImmediatelyAfterSubsequentHandoff(void)
{
    unsigned int tick;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 1000UL, 1000UL, 100UL,
                    0U, 100U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 3L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 20L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(3UL);
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_TRUE(PlsrTestOutputFrequency() <= 2000UL);
    EXPECT_TRUE(PlsrTestOutputFrequency() > 100UL);

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    PlsrPoll1ms();
    PlsrTestEmitPulses(1UL);
    EXPECT_U(PLSR_STATUS_DECELERATING, ReadStatus());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_TRUE(PlsrTestOutputFrequency() < 2000UL);
    EXPECT_TRUE(PlsrTestOutputFrequency() > 100UL);

    for (tick = 1U; tick < 190U; tick++)
    {
        PlsrPoll1ms();
    }
    while (PlsrTestPulseIsActive() != 0U)
    {
        PlsrTestEmitPulses(1UL);
    }
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(7L, ReadPosition());
}

static void TestShortProfileZeroSpeedEdges(void)
{
    unsigned int tick;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 0UL, 0UL, 1000U, 1000U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 2L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_TRUE(PlsrTestOutputFrequency() > 0UL);
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_TRUE(PlsrTestOutputFrequency() > 0UL);
    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(2L, ReadPosition());

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 0UL, 0UL, 1000U, 1000U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    for (tick = 0U; (tick < 10U) && (PlsrTestPulseIsActive() == 0U);
         tick++)
    {
        PlsrPoll1ms();
    }
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(1L, ReadPosition());
}

static void TestShortProfileDynamicRetarget(void)
{
    unsigned int tick;
    uint32_t frequencyAfterRetarget;
    int32_t positionBeforeStop;
    int32_t positionAfterStop;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 100UL, 100UL, 1000U, 1000U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 50L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(3UL);
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 2000UL));
    PlsrPoll1ms();
    PlsrTestEmitPulses(1UL);
    frequencyAfterRetarget = PlsrTestOutputFrequency();
    PlsrTestEmitPulses(1UL);
    EXPECT_TRUE(PlsrTestOutputFrequency() > 0UL);
    for (tick = 0U; tick < 10U; tick++)
    {
        PlsrPoll1ms();
        PlsrTestEmitPulses(1UL);
    }
    EXPECT_TRUE(PlsrTestOutputFrequency() > frequencyAfterRetarget);

    positionBeforeStop = ReadPosition();
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    for (tick = 0U; tick < 2000U; tick++)
    {
        PlsrPoll1ms();
    }
    while (PlsrTestPulseIsActive() != 0U)
    {
        PlsrTestEmitPulses(1UL);
    }
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    positionAfterStop = ReadPosition();
    EXPECT_TRUE(positionAfterStop > positionBeforeStop);
    EXPECT_TRUE(positionAfterStop <= positionBeforeStop + 3L);
}

static void TestShortProfileExtCut(void)
{
    uint32_t frequencyBeforeCut;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 100UL, 100UL, 1000U, 1000U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 50L, PLSR_EXT_SIGNAL,
                        0U, 0U, 0U));
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(3UL);
    frequencyBeforeCut = PlsrTestOutputFrequency();
    PlsrTestSetInput(0U, 1U);
    PlsrPoll1ms();
    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(0UL, PlsrTestOutputFrequency());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(4L, ReadPosition());
    EXPECT_TRUE(frequencyBeforeCut > 100UL);
}

static void TestFiniteProfileExtCut(void)
{
    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    5000UL, 500UL, 100UL, 100U, 100U);
    PlsrTestSetInput(0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 5000UL, 1000L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());

    PlsrTestEmitPulses(10UL);
    PlsrPoll1ms();
    EXPECT_I(10L, ReadPosition());
    PlsrTestSetInput(0U, 1U);
    PlsrPoll1ms();

    /* The already committed terminal pulse is allowed to drain. */
    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestFinitePulseTrainActive());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(11L, ReadPosition());
}

static void TestFiniteProfileStopOwnsTimer(void)
{
    unsigned int pulse;
    uint32_t previousFrequency;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    5000UL, 500UL, 100UL, 100U, 100U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 5000UL, 1000L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    PlsrTestEmitPulses(20UL);
    PlsrPoll1ms();

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_STATUS_DECELERATING, ReadStatus());

    /* Allow the active and shadow settings to drain at the cutover. */
    PlsrTestEmitPulses(2UL);
    PlsrPoll1ms();
    previousFrequency = PlsrTestOutputFrequency();
    for (pulse = 0U;
         (pulse < 200U) && (PlsrTestPulseIsActive() != 0U);
         pulse++)
    {
        uint32_t currentFrequency;

        PlsrPoll1ms();
        PlsrTestEmitPulses(1UL);
        currentFrequency = PlsrTestOutputFrequency();
        if (currentFrequency != 0UL)
        {
            EXPECT_TRUE(currentFrequency <= previousFrequency);
            previousFrequency = currentFrequency;
        }
    }
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_TRUE(ReadPosition() < 1000L);
}

static void TestFiniteProfileDynamicRetargetOwnsTimer(void)
{
    unsigned int pulse;
    uint32_t previousFrequency;

    ResetCore();
    PlsrTestEnableFinitePulseTrain(1U);
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    5000UL, 500UL, 100UL, 100U, 100U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 5000UL, 1000L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1U, PlsrTestFinitePulseTrainActive());
    PlsrTestEmitPulses(20UL);
    PlsrPoll1ms();

    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 1000UL));
    PlsrPoll1ms();
    PlsrTestEmitPulses(2UL);
    PlsrPoll1ms();
    previousFrequency = PlsrTestOutputFrequency();
    for (pulse = 0U; pulse < 40U; pulse++)
    {
        uint32_t currentFrequency;

        PlsrPoll1ms();
        PlsrTestEmitPulses(1UL);
        currentFrequency = PlsrTestOutputFrequency();
        EXPECT_TRUE(currentFrequency <= previousFrequency);
        previousFrequency = currentFrequency;
    }
    EXPECT_TRUE(previousFrequency >= 1000UL);
    EXPECT_TRUE(previousFrequency < 5000UL);
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    for (pulse = 0U;
         (pulse < 300U) && (PlsrTestPulseIsActive() != 0U);
         pulse++)
    {
        PlsrPoll1ms();
        PlsrTestEmitPulses(1UL);
    }
    PlsrPoll1ms();
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
}

static void TestCurrentFrequencyIsDynamic(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 2000UL));
    PlsrPoll1ms();
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    EXPECT_U(1000UL, ReadFrequency());
    PlsrTestEmitPulses(1UL);
    EXPECT_U(2000UL, PlsrTestOutputFrequency());
    EXPECT_U(2000UL, ReadFrequency());

    EXPECT_U(PLSR_MB_OK, WriteI32(0x1102U, 1L));
    PlsrTestEmitPulses(2UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    StopAndSettle();
}

static void TestDynamicZeroFrequencyUsesDefaultSpeed(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    4321UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1000UL, PlsrTestOutputFrequency());

    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 0UL));
    EXPECT_U(0UL, ReadU32(0x1100U));
    PlsrPoll1ms();
    PlsrTestEmitPulses(2UL);
    EXPECT_U(4321UL, PlsrTestOutputFrequency());
    EXPECT_U(4321UL, ReadFrequency());
    StopAndSettle();
}

static void StartMaximumShortProfile(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    100000UL, 1000UL, 1000UL, 100U, 100U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 100000UL, 258L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(256U, PlsrTestProfileQueueCount());
}

static void TestProfileQueueStaleDoesNotAdvance(void)
{
    uint32_t readIndex;
    uint32_t headFrequencyHz;
    uint16_t producerPeriod;
    uint16_t activePeriod;

    StartMaximumShortProfile();
    readIndex = PlsrTestProfileQueueReadIndex();
    headFrequencyHz = PlsrTestProfileQueueHeadFrequency();
    producerPeriod = PlsrTestProfileProducerNextPeriod();
    activePeriod = PlsrTestActiveProfileNextPeriod();
    EXPECT_TRUE(headFrequencyHz != 0UL);

    PlsrTestStaleNextFrequencyAtUpdate();
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(readIndex, PlsrTestProfileQueueReadIndex());
    EXPECT_U(256U, PlsrTestProfileQueueCount());
    EXPECT_U(headFrequencyHz, PlsrTestProfileQueueHeadFrequency());
    EXPECT_U(producerPeriod, PlsrTestProfileProducerNextPeriod());
    EXPECT_U(activePeriod, PlsrTestActiveProfileNextPeriod());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(readIndex + 1UL, PlsrTestProfileQueueReadIndex());
    EXPECT_U(255U, PlsrTestProfileQueueCount());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
}

static void TestProfileQueueRetargetInvalidatesGeneration(void)
{
    uint32_t generationBefore;
    uint32_t generationAfterWrite;

    StartMaximumShortProfile();
    generationBefore = PlsrTestProfileQueueGeneration();
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 2000UL));
    generationAfterWrite = PlsrTestProfileQueueGeneration();
    EXPECT_TRUE(generationAfterWrite != generationBefore);
    EXPECT_U(0U, PlsrTestProfileQueueCount());
    EXPECT_U(0UL, PlsrTestProfileQueueReadIndex());
    EXPECT_U(0UL, PlsrTestProfileQueueWriteIndex());

    PlsrPoll1ms();
    EXPECT_TRUE(PlsrTestProfileQueueGeneration() != generationAfterWrite);
    EXPECT_U(0U, PlsrTestProfileQueueCount());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
}

static void TestFinalPulseGatesBeforeDiagnosticFinish(void)
{
    uint32_t gateEvent;
    uint32_t diagnosticEvent;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(1UL);

    gateEvent = PlsrTestLastGateEvent();
    diagnosticEvent = PlsrTestLastDiagnosticFinishEvent();
    EXPECT_TRUE(gateEvent != 0UL);
    EXPECT_U(gateEvent + 1UL, diagnosticEvent);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_DIAG_COUNT_PASS,
             ReadWord(PLSR_DIAG_FLAGS_ADDRESS) & PLSR_DIAG_COUNT_PASS);
}

static void TestDeferredFrequencyRetriesAfterStale(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 2000UL));
    PlsrPoll1ms();
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    EXPECT_U(1000UL, PlsrTestQueuedFrequency());

    PlsrTestStaleNextFrequencyAtUpdate();
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    EXPECT_U(1000UL, PlsrTestQueuedFrequency());
    EXPECT_I(1L, ReadPosition());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    EXPECT_U(2000UL, PlsrTestQueuedFrequency());
    EXPECT_I(2L, ReadPosition());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(2000UL, PlsrTestOutputFrequency());
    EXPECT_U(2000UL, PlsrTestQueuedFrequency());
    EXPECT_I(3L, ReadPosition());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    StopAndSettle();
}

static void TestShortProfileRetriesSameSampleAfterStale(void)
{
    uint32_t expectedThirdFrequencyHz;
    uint32_t expectedFourthFrequencyHz;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 100UL, 100UL, 1000U, 1000U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 10L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(1UL);
    expectedThirdFrequencyHz = PlsrTestQueuedFrequency();
    PlsrTestEmitPulses(1UL);
    expectedFourthFrequencyHz = PlsrTestQueuedFrequency();
    EXPECT_TRUE(expectedThirdFrequencyHz != expectedFourthFrequencyHz);

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 100UL, 100UL, 1000U, 1000U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 10L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestStaleNextFrequencyAtUpdate();
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(PlsrTestOutputFrequency(), PlsrTestQueuedFrequency());
    EXPECT_I(1L, ReadPosition());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(expectedThirdFrequencyHz, PlsrTestQueuedFrequency());
    EXPECT_I(2L, ReadPosition());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(expectedThirdFrequencyHz, PlsrTestOutputFrequency());
    EXPECT_U(expectedFourthFrequencyHz, PlsrTestQueuedFrequency());
    EXPECT_I(3L, ReadPosition());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    PlsrTestEmitPulses(7UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(10L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
}

static void TestPollMailboxDefersPlatformFailure(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestFailNextFrequencyAtUpdate();
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1100U, 2000UL));
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_RUNNING, ReadStatus());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(1000UL, PlsrTestOutputFrequency());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_ERROR, ReadStatus());
    EXPECT_U(PLSR_ERROR_TIMER, ReadError());
    EXPECT_I(1L, ReadPosition());
}

static void TestFutureSegmentFrequencyAppliesOnArrival(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 3000UL, 10L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1110U, 5000UL));
    EXPECT_U(1000UL, PlsrTestOutputFrequency());

    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(5000UL, PlsrTestOutputFrequency());
    EXPECT_U(5000UL, ReadFrequency());
    StopAndSettle();
}

static void TestSubsequentFutureFrequencyRebuildsHandoff(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 3L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 4L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1110U, 5000UL));
    EXPECT_U(1000UL, PlsrTestOutputFrequency());

    PlsrTestEmitPulses(3UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(5000UL, PlsrTestOutputFrequency());
    EXPECT_U(5000UL, ReadFrequency());

    PlsrTestEmitPulses(4UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(7L, ReadPosition());
}

static void TestFutureFrequencyRaceAtLastPulse(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 4L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestEmitPulseOnCriticalExit();
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1110U, 5000UL));
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(5000UL, PlsrTestOutputFrequency());
    EXPECT_I(1L, ReadPosition());

    PlsrTestEmitPulses(4UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(5L, ReadPosition());
}

static void TestLatchedUpdateDrainsBeforeFutureFrequencyCommit(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 4L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1000UL, PlsrTestOutputFrequency());
    EXPECT_U(2000UL, PlsrTestQueuedFrequency());

    /* The physical edge latches 2000 Hz while interrupts are masked by the
       configuration commit.  The ISR must consume that old handoff before
       the new 5000 Hz preload replaces it. */
    PlsrTestLatchPulseOnCriticalEntry();
    EXPECT_U(PLSR_MB_OK, WriteU32(0x1110U, 5000UL));
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_I(1L, ReadPosition());
    EXPECT_U(2000UL, ReadFrequency());
    EXPECT_U(2000UL, PlsrTestOutputFrequency());

    PlsrPoll1ms();
    EXPECT_U(5000UL, PlsrTestQueuedFrequency());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_I(2L, ReadPosition());
    EXPECT_U(5000UL, ReadFrequency());
    EXPECT_U(5000UL, PlsrTestOutputFrequency());

    PlsrTestEmitPulses(3UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(5L, ReadPosition());
}

static void TestSubsequentHandoffHasNoPollGap(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 3L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 4L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));

    PlsrTestEmitPulses(3UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(2000UL, PlsrTestOutputFrequency());
    EXPECT_I(3L, ReadPosition());

    PlsrTestEmitPulses(4UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(7L, ReadPosition());
}

static void TestThreeSinglePulseSubsequentWithoutPoll(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 3U,
                    PLSR_SEND_SUBSEQUENT, 3000UL, 1000UL, 3000UL,
                    0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(3U, 3000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(1000UL, PlsrTestOutputFrequency());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(2U, ReadCurrentSegment());
    EXPECT_U(2000UL, PlsrTestOutputFrequency());
    EXPECT_I(1L, ReadPosition());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_U(3U, ReadCurrentSegment());
    EXPECT_U(3000UL, PlsrTestOutputFrequency());
    EXPECT_I(2L, ReadPosition());

    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(3L, ReadPosition());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
}

static void ConfigureHandoffFailureCase(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 2U,
                    PLSR_SEND_SUBSEQUENT, 2000UL, 1000UL, 2000UL,
                    0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 3L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(2U, 2000UL, 2L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
}

static void ExpectHandoffTimerError(void)
{
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_ERROR, ReadStatus());
    EXPECT_U(PLSR_ERROR_TIMER, ReadError());
    EXPECT_U(0U, ReadCurrentSegment());
    EXPECT_I(3L, ReadPosition());
}

static void TestHandoffQueueFailuresBecomeTimerError(void)
{
    ConfigureHandoffFailureCase();
    PlsrTestEmitPulses(1UL);
    PlsrTestFailNextFrequencyAtUpdate();
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    ExpectHandoffTimerError();

    ConfigureHandoffFailureCase();
    PlsrTestEmitPulses(2UL);
    PlsrTestFailNextFrequencyAtUpdate();
    PlsrTestEmitPulses(1UL);
    ExpectHandoffTimerError();
}

static void TestCommandStateRestrictions(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_CLEAR));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, SendCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, SendCommand(PLSR_COMMAND_CLEAR));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, WriteWord(0x1000U, 1U));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, WriteWord(0x1001U, 1U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1002U, 1U));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, SendCommand(3U));
    StopAndSettle();
}

static void TestCommandMailboxStartSnapshotAndConflicts(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 20L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));

    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_U(0U, ReadCurrentSegment());
    EXPECT_U(0UL, ReadFrequency());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_I(0L, ReadPosition());

    EXPECT_U(PLSR_MB_OK, WriteI32(0x1102U, 1L));
    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, QueueCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, QueueCommand(PLSR_COMMAND_CLEAR));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, QueueCommand(3U));
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_U(0U, PlsrTestPulseIsActive());

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_RUNNING, ReadStatus());
    EXPECT_U(1U, ReadCurrentSegment());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_I(1L, ReadPosition());
    StopAndSettle();
}

static void TestCommandMailboxStopAndClearAreDeferred(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(2UL);

    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_STOP));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, QueueCommand(PLSR_COMMAND_CLEAR));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, QueueCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_STATUS_RUNNING, ReadStatus());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    EXPECT_I(2L, ReadPosition());

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_DECELERATING, ReadStatus());
    EXPECT_U(1U, PlsrTestPulseIsActive());
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_U(0U, PlsrTestPulseIsActive());

    PlsrTestSetPosition(17L, 1U);
    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_CLEAR));
    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_CLEAR));
    EXPECT_U(PLSR_MB_DEVICE_BUSY, QueueCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_STATUS_STOPPED, ReadStatus());
    EXPECT_I(17L, ReadPosition());

    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_I(0L, ReadPosition());
}

static void TestCommandMailboxValidatesBeforeQueue(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 10L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));

    EXPECT_U(PLSR_MB_OK, WriteWord(0x100AU, 2U));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, QueueCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_STOP));
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());

    EXPECT_U(PLSR_MB_OK, WriteWord(0x100AU, 1U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1008U, PLSR_POSITION_ABSOLUTE));
    PlsrTestSetPosition(3L, 0U);
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, QueueCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_U(0U, PlsrTestPulseIsActive());
}

static void TestCommandMailboxStartFailureBecomesError(void)
{
    uint16_t flags;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 1000UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 10L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    PlsrTestFailNextStart();

    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_ERROR, ReadStatus());
    EXPECT_U(PLSR_ERROR_INVALID_RESOURCE, ReadError());
    EXPECT_U(0U, ReadCurrentSegment());
    EXPECT_U(0U, PlsrTestPulseIsActive());
    flags = ReadWord(PLSR_DIAG_FLAGS_ADDRESS);
    EXPECT_U(0U, flags & PLSR_DIAG_MONITORING_ACTIVE);
    EXPECT_U(0U, flags & PLSR_DIAG_FAULT_LATCHED);

    EXPECT_U(PLSR_MB_DEVICE_BUSY, QueueCommand(PLSR_COMMAND_START));
    EXPECT_U(PLSR_MB_OK, QueueCommand(PLSR_COMMAND_CLEAR));
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_U(PLSR_ERROR_NONE, ReadError());
}

static void TestWaitSignalPositivePath(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 2L, PLSR_WAIT_SIGNAL,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(2UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_WAITING, ReadStatus());
    PlsrTestSetInput(0U, 1U);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
}

static void TestPersistenceAcrossReinit(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    2345UL, 2345UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1000U, 2U));
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1001U, 3U));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 2345UL, 4L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(4UL);
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
    EXPECT_I(4L, ReadPosition());

    EXPECT_U(1U, PlsrInit());
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_U(2U, ReadWord(0x1000U));
    EXPECT_U(3U, ReadWord(0x1001U));
    EXPECT_U(2345UL, ReadU32(0x1100U));
    EXPECT_I(4L, ReadPosition());

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_CLEAR));
    PlsrPoll1ms();
    EXPECT_U(1U, PlsrInit());
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_I(0L, ReadPosition());
}

static void TestFlashStartupRecoveryDecision(void)
{
    EXPECT_U(1U, PlsrTestFlashNeedsStartupRecovery(0U, 1U, 0UL,
                                                   1U, 0UL));
    EXPECT_U(0U, PlsrTestFlashNeedsStartupRecovery(1U, 1U, 0UL,
                                                   1U, 0UL));
    EXPECT_U(0U, PlsrTestFlashNeedsStartupRecovery(0U, 1U, 0x080C0000UL,
                                                   1U, 0UL));
    EXPECT_U(0U, PlsrTestFlashNeedsStartupRecovery(0U, 1U, 0UL,
                                                   1U, 0x080E0000UL));
    EXPECT_U(0U, PlsrTestFlashNeedsStartupRecovery(0U, 0U, 0UL,
                                                   1U, 0UL));
    EXPECT_U(0U, PlsrTestFlashNeedsStartupRecovery(0U, 1U, 0UL,
                                                   0U, 0UL));
}

static void TestPositionSchedulesFlashSave(void)
{
    unsigned int tick;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 1L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    for (tick = 0U; tick < 1001U; tick++)
    {
        PlsrPoll1ms();
        PlsrServicePersistence();
    }
    PlsrTestResetSaveCount();

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(1UL);
    PlsrPoll1ms();
    PlsrServicePersistence();
    EXPECT_U(0UL, PlsrTestSaveCount());
    for (tick = 0U; tick < 1001U; tick++)
    {
        PlsrPoll1ms();
        PlsrServicePersistence();
    }
    EXPECT_U(1UL, PlsrTestSaveCount());

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_CLEAR));
    for (tick = 0U; tick < 1001U; tick++)
    {
        PlsrPoll1ms();
        PlsrServicePersistence();
    }
    EXPECT_U(2UL, PlsrTestSaveCount());
}

static void TestBusyResetInvalidatesAbsolutePosition(void)
{
    unsigned int tick;

    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 100L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(5UL);
    for (tick = 0U; tick < 10U; tick++)
    {
        PlsrPoll1ms();
    }
    EXPECT_I(5L, ReadPosition());

    EXPECT_U(1U, PlsrInit());
    EXPECT_U(PLSR_STATUS_IDLE, ReadStatus());
    EXPECT_I(5L, ReadPosition());
    EXPECT_U(PLSR_MB_OK, WriteWord(0x1008U, PLSR_POSITION_ABSOLUTE));
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 5L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_ILLEGAL_VALUE, SendCommand(PLSR_COMMAND_START));

    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_CLEAR));
    EXPECT_I(0L, ReadPosition());
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 0L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_COMPLETED, ReadStatus());
}

static void TestPositionOverflowStopsWithError(void)
{
    ResetCore();
    ConfigureCommon(0U, PLSR_POSITION_RELATIVE, 1U, PLSR_SEND_COMPLETE,
                    1000UL, 1000UL, 100UL, 0U, 0U);
    EXPECT_U(PLSR_MB_OK,
             SetSegment(1U, 1000UL, 2L, PLSR_EXT_OR_COMPLETE,
                        0U, 0U, 0U));
    PlsrTestSetPosition(INT32_MAX, 1U);
    EXPECT_I(INT32_MAX, ReadPosition());
    EXPECT_U(PLSR_MB_OK, SendCommand(PLSR_COMMAND_START));
    PlsrTestEmitPulses(1UL);
    EXPECT_U(0U, PlsrTestPulseIsActive());
    PlsrPoll1ms();
    EXPECT_U(PLSR_STATUS_ERROR, ReadStatus());
    EXPECT_U(PLSR_ERROR_COUNT, ReadError());
    EXPECT_I(INT32_MIN, ReadPosition());
}

typedef void (*TEST_FUNCTION)(void);

typedef struct
{
    const char *name;
    TEST_FUNCTION function;
} TEST_CASE;

static const TEST_CASE TestCases[] =
{
    {"finite_profile_curves_hardware_counting",
     TestFiniteProfileCurvesUseHardwareCounting},
    {"finite_complete_multisegment_hardware_counting",
     TestFiniteCompleteMultiSegmentUsesHardwareCounting},
    {"finite_complete_start_segment",
     TestFiniteCompleteStartsAtConfiguredSegment},
    {"finite_zero_duration_ramp_target",
     TestFiniteZeroDurationRampAppliesTargetImmediately},
    {"finite_ramp_uses_pulse_boundary_profile",
     TestFiniteRampUsesPulseBoundaryProfile},
    {"finite_subsequent_three_segments_no_poll",
     TestFiniteSubsequentThreeSegmentsWithoutPoll},
    {"finite_subsequent_ten_segment_jump_chain",
     TestFiniteSubsequentTenSegmentJumpChain},
    {"finite_subsequent_counter_blocks",
     TestFiniteSubsequentCrossesCounterBlocks},
    {"finite_subsequent_direction_reversal",
     TestFiniteSubsequentDirectionReversalRestarts},
    {"finite_constant_pulse_train_boundaries",
     TestFiniteConstantPulseTrainBoundaries},
    {"protocol_boundaries", TestProtocolBoundaries},
    {"ab_output_pairs_phase_sequence", TestAbOutputPairsAndPhaseSequence},
    {"ab_single_pulse_100khz_matrix",
     TestAbSinglePulseMaximumFrequencyMatrix},
    {"ab_fast_gate_cleanup_deferred_to_poll",
     TestAbFastGateCleanupIsDeferredToPoll},
    {"ab_final_arm_job_tail_chain_once",
     TestAbFinalArmJobTailChainsOnce},
    {"ab_final_boundary_before_arm_job_noop",
     TestAbFinalBoundaryBeforeArmJobIsNoOp},
    {"ab_final_arm_job_failure_no_final_count",
     TestAbFinalArmJobFailureDoesNotCountFinalPulse},
    {"ab_stop_mailbox_pending_boundary",
     TestAbStopMailboxAtPendingBoundary},
    {"ab_act_ext_cut_zero_boundary", TestAbActAndExtCutsFinishAtZero},
    {"ab_subsequent_single_pulse_continuous",
     TestAbSubsequentSinglePulsesStayContinuous},
    {"ab_armed_frequency_write", TestAbArmedFrequencyWriteDoesNotReopenOutput},
    {"ab_stop_request_forced_fault", TestAbStopRequestForcedFault},
    {"ab_stop_after_final_boundary_armed",
     TestAbStopAfterFinalBoundaryIsArmed},
    {"ab_stop_arm_latched_final_quarter_once",
     TestAbStopArmConsumesLatchedFinalQuarterOnce},
    {"ab_rejects_unpaired_outputs", TestAbRejectsUnpairedOutputs},
    {"ab_stop_complete_cycle_boundary", TestAbStopAtCompleteCycleBoundary},
    {"ab_dynamic_frequency_zero_boundary",
     TestAbDynamicFrequencyChangesOnlyAtZeroPhase},
    {"ab_stale_frequency_commit_after_completion",
     TestAbStaleFrequencyCommitAfterNaturalCompletion},
    {"ab_direction_reversal_zero_restart",
     TestAbDirectionReversalRestartsFromZeroPhase},
    {"ab_mode_persistence", TestAbModePersistence},
    {"diagnostic_pass", TestDiagnosticPass},
    {"diagnostic_count_fault_clear", TestDiagnosticCountFaultAndClear},
    {"diagnostic_frequency_fault_clear",
     TestDiagnosticFrequencyFaultAndClear},
    {"diagnostic_curve_fault_clear", TestDiagnosticCurveFaultAndClear},
    {"diagnostic_interrupted_segments", TestDiagnosticInterruptedSegments},
    {"diagnostic_fault_latch_explicit_clear",
     TestDiagnosticFaultLatchNeedsExplicitClear},
    {"diagnostic_frequency_pass_latched",
     TestDiagnosticFrequencyPassStaysFailed},
    {"diagnostic_curve_counter_saturation",
     TestDiagnosticCurveCountersSaturate},
    {"wait_zero_one_ms", TestWaitZeroUsesOneMillisecond},
    {"act_zero_no_pulse", TestActZeroSkipsWithoutPulse},
    {"relative_absolute_zero", TestRelativeAndAbsoluteZeroDisplacement},
    {"ten_segments_sequence", TestAllTenSegmentsRunInSequence},
    {"complete_ten_segment_frequency_staircase",
     TestCompleteTenSegmentFrequencyStaircase},
    {"complete_natural_boundaries_carry_speed",
     TestCompleteCarriesSpeedAcrossNaturalBoundaries},
    {"complete_jump_carries_speed",
     TestCompleteJumpCarriesSpeedToTargetSegment},
    {"ten_ms_boundary_ramp_no_slow_tail",
     TestTenMillisecondBoundaryRampHasNoSlowTail},
    {"finite_short_single_segment_pulse_profile",
     TestFiniteShortSingleSegmentUsesPulseProfile},
    {"finite_profile_three_segments_no_poll_gap",
     TestFiniteProfileThreeSegmentsRunsWithoutPollGap},
    {"ten_segments_jump_chain", TestAllTenSegmentsRunThroughJumpChain},
    {"start_segment_ten", TestStartSegmentTenRunsNormally},
    {"self_jump_stop", TestSelfJumpCanStop},
    {"stop_deceleration", TestStopDeceleratesBeforeCut},
    {"stop_pending_boundary", TestStopAtPendingBoundary},
    {"direction_delay_one_ms", TestOneMillisecondDirectionDelay},
    {"direction_output_polarity_matrix", TestDirectionOutputPolarityMatrix},
    {"direction_same_reverse_segments", TestDirectionSameAndReverseSegments},
    {"direction_output_change", TestDirectionOutputCanChangeBetweenCommands},
    {"ext_edge_at_natural_boundary", TestExtEdgeAtNaturalBoundary},
    {"ext_cut_natural_boundary_interleavings",
     TestExtCutAndNaturalBoundaryInterleavings},
    {"ext_edge_during_direction_delay", TestExtEdgeDuringDirectionDelay},
    {"stopped_clears_pending_ext", TestStoppedTaskClearsPendingExtEdge},
    {"ext_edge_seamless_epoch", TestExtEdgeDoesNotCutSeamlessNextSegment},
    {"ramp_seamless_epoch", TestOldRampDoesNotRetargetSeamlessNextSegment},
    {"short_profile_boundary_matrix", TestShortProfileBoundaryMatrix},
    {"zero_ramp_times_ignore_edge_speeds",
     TestZeroRampTimesIgnoreStartAndStopSpeeds},
    {"zero_segment_frequency_uses_default_speed",
     TestZeroSegmentFrequencyUsesDefaultSpeed},
    {"short_profile_258_fully_precomputed",
     TestShortProfile258IsFullyPrecomputed},
    {"short_final_no_poll", TestShortFinalDeceleratesWithoutPoll},
    {"bug_report_short_profiles", TestBugReportShortProfiles},
    {"finite_complete_ten_segments_no_poll",
     TestFiniteCompleteTenSegmentsWithoutPoll},
    {"profile_queue_stale_no_advance", TestProfileQueueStaleDoesNotAdvance},
    {"profile_queue_retarget_generation",
     TestProfileQueueRetargetInvalidatesGeneration},
    {"final_pulse_gate_before_diagnostic",
     TestFinalPulseGatesBeforeDiagnosticFinish},
    {"short_timer_failure", TestShortProfileTimerFailure},
    {"stop_after_subsequent_handoff",
     TestStopImmediatelyAfterSubsequentHandoff},
    {"short_zero_speed_edges", TestShortProfileZeroSpeedEdges},
    {"short_dynamic_retarget", TestShortProfileDynamicRetarget},
    {"short_ext_cut", TestShortProfileExtCut},
    {"finite_ext_cut", TestFiniteProfileExtCut},
    {"finite_stop_single_timer_owner", TestFiniteProfileStopOwnsTimer},
    {"finite_dynamic_single_timer_owner",
     TestFiniteProfileDynamicRetargetOwnsTimer},
    {"current_frequency_dynamic", TestCurrentFrequencyIsDynamic},
    {"dynamic_zero_frequency_uses_default_speed",
     TestDynamicZeroFrequencyUsesDefaultSpeed},
    {"deferred_frequency_retries_after_stale",
     TestDeferredFrequencyRetriesAfterStale},
    {"short_profile_retries_same_sample_after_stale",
     TestShortProfileRetriesSameSampleAfterStale},
    {"poll_mailbox_failure", TestPollMailboxDefersPlatformFailure},
    {"future_frequency_on_arrival",
     TestFutureSegmentFrequencyAppliesOnArrival},
    {"subsequent_future_frequency_handoff",
     TestSubsequentFutureFrequencyRebuildsHandoff},
    {"future_frequency_last_pulse_race",
     TestFutureFrequencyRaceAtLastPulse},
    {"latched_update_before_future_frequency_commit",
     TestLatchedUpdateDrainsBeforeFutureFrequencyCommit},
    {"subsequent_no_poll_gap", TestSubsequentHandoffHasNoPollGap},
    {"three_single_pulse_no_poll", TestThreeSinglePulseSubsequentWithoutPoll},
    {"handoff_queue_failures", TestHandoffQueueFailuresBecomeTimerError},
    {"command_state_restrictions", TestCommandStateRestrictions},
    {"command_mailbox_start_snapshot",
     TestCommandMailboxStartSnapshotAndConflicts},
    {"command_mailbox_stop_clear_deferred",
     TestCommandMailboxStopAndClearAreDeferred},
    {"command_mailbox_validation", TestCommandMailboxValidatesBeforeQueue},
    {"command_mailbox_start_failure",
     TestCommandMailboxStartFailureBecomesError},
    {"wait_signal_positive", TestWaitSignalPositivePath},
    {"persistence_reinit", TestPersistenceAcrossReinit},
    {"flash_startup_recovery_decision", TestFlashStartupRecoveryDecision},
    {"position_flash_save", TestPositionSchedulesFlashSave},
    {"busy_reset_absolute_gate", TestBusyResetInvalidatesAbsolutePosition},
    {"position_overflow", TestPositionOverflowStopsWithError}
};

int main(void)
{
    unsigned int index;

    for (index = 0U;
         index < (unsigned int)(sizeof(TestCases) / sizeof(TestCases[0]));
         index++)
    {
        unsigned int failuresBefore = FailureCount;

        CurrentTest = TestCases[index].name;
        (void)printf("RUN  %s\n", CurrentTest);
        (void)fflush(stdout);
        TestCases[index].function();
        if (FailureCount == failuresBefore)
        {
            (void)printf("PASS %s\n", CurrentTest);
        }
        else
        {
            (void)printf("FAIL %s (%u new failure(s))\n",
                         CurrentTest, FailureCount - failuresBefore);
        }
    }

    (void)printf("SUMMARY tests=%u assertions=%u failures=%u\n",
                 (unsigned int)(sizeof(TestCases) / sizeof(TestCases[0])),
                 AssertionCount, FailureCount);
    return (FailureCount == 0U) ? 0 : 1;
}