Modbus-rtu/PLSR/Inc/plsr.h

#ifndef PLSR_H
#define PLSR_H

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

#define PLSR_CONFIG_FIRST_ADDRESS  (0x1000U)
#define PLSR_CONFIG_LAST_ADDRESS   (0x1197U)
#define PLSR_STATUS_FIRST_ADDRESS  (0x2000U)
#define PLSR_STATUS_LAST_ADDRESS   (0x2006U)
#define PLSR_CONTROL_ADDRESS       (0x3000U)

#define PLSR_OUTPUT_MODE_ADDRESS       (0x1200U)
#define PLSR_DIAGNOSTIC_FIRST_ADDRESS  (0x2100U)
#define PLSR_DIAGNOSTIC_LAST_ADDRESS   (0x2119U)
#define PLSR_DIAGNOSTIC_CONTROL_ADDRESS (0x3100U)

typedef enum
{
    PLSR_MB_NOT_HANDLED = 0,
    PLSR_MB_OK,
    PLSR_MB_ILLEGAL_ADDRESS,
    PLSR_MB_ILLEGAL_VALUE,
    PLSR_MB_DEVICE_BUSY,
    PLSR_MB_SERVER_FAILURE
} PLSR_MB_RESULT;

typedef enum
{
    PLSR_STATUS_UNINITIALIZED = 0,
    PLSR_STATUS_IDLE = 1,
    PLSR_STATUS_ACCELERATING = 2,
    PLSR_STATUS_RUNNING = 3,
    PLSR_STATUS_DECELERATING = 4,
    PLSR_STATUS_WAITING = 5,
    PLSR_STATUS_PAUSED = 6,
    PLSR_STATUS_COMPLETED = 7,
    PLSR_STATUS_STOPPED = 8,
    PLSR_STATUS_ERROR = 9
} PLSR_STATUS;

typedef enum
{
    PLSR_ERROR_NONE = 0,
    PLSR_ERROR_INVALID_TRANSITION = 1,
    PLSR_ERROR_RESOURCE_CONFLICT = 2,
    PLSR_ERROR_INVALID_RESOURCE = 3,
    PLSR_ERROR_TIMER = 4,
    PLSR_ERROR_COUNT = 5,
    PLSR_ERROR_POSITIVE_LIMIT = 6,
    PLSR_ERROR_NEGATIVE_LIMIT = 7,
    PLSR_ERROR_EMERGENCY_STOP = 8,
    PLSR_ERROR_INTERNAL = 9
} PLSR_ERROR;

uint8_t PlsrInit(void);
void PlsrPoll1ms(void);
void PlsrServicePersistence(void);

PLSR_MB_RESULT PlsrModbusReadHolding(uint16_t startAddress,
                                     uint16_t quantity,
                                     uint16_t *values);
PLSR_MB_RESULT PlsrModbusWriteHolding(uint16_t startAddress,
                                      uint16_t quantity,
                                      const uint16_t *values);

/* Called by the selected output timer update interrupt once per pulse. */
void PlsrPulseTimerIrq(uint8_t pulseOutput);
void PlsrFinalArmJobIrq(uint8_t pulseOutput);

#ifdef PLSR_HOST_TEST
uint64_t PlsrTestDivideU64ByU32(uint64_t dividend,
                                uint32_t divisor,
                                uint32_t *remainder);
void PlsrTestSetInput(uint8_t inputSelection, uint8_t level);
void PlsrTestEmitPulses(uint32_t pulseCount);
void PlsrTestEmitPulseOnCriticalEntry(void);
void PlsrTestEmitPulseAfterCriticalEntries(uint8_t entriesToSkip);
void PlsrTestEmitPulseOnCriticalExit(void);
void PlsrTestLatchPulseOnCriticalEntry(void);
void PlsrTestLatchAbFinalQuarterOnNextStopArm(void);
void PlsrTestCompleteAbCycleOnNextQueueCommit(void);
void PlsrTestServicePendingPulse(void);
void PlsrTestServiceFinalArmJob(void);
void PlsrTestDeferFinalArmJob(uint8_t defer);
void PlsrTestFailNextStart(void);
void PlsrTestStaleNextFrequencyAtUpdate(void);
void PlsrTestFailNextFrequencyAtUpdate(void);
void PlsrTestFailNextStopRequest(void);
void PlsrTestEmitAbQuarters(uint32_t quarterCount);
uint8_t PlsrTestPulseIsActive(void);
uint32_t PlsrTestOutputFrequency(void);
uint32_t PlsrTestQueuedFrequency(void);
uint8_t PlsrTestDirectionLevel(void);
uint8_t PlsrTestDirectionPinLevel(uint8_t directionOutput);
uint32_t PlsrTestDirectionWriteCount(uint8_t directionOutput);
uint32_t PlsrTestDirectionTransitionCount(uint8_t directionOutput);
uint8_t PlsrTestAbPhase(void);
uint32_t PlsrTestAbTransitionCount(void);
uint32_t PlsrTestAbFastGateCount(void);
uint32_t PlsrTestAbCleanupCount(void);
void PlsrTestInjectCountOffset(int32_t offset);
void PlsrTestInjectActiveFrequencyOffset(int32_t offsetHz);
void PlsrTestInjectCurveMismatch(void);
void PlsrTestForceProfileQueueEmpty(void);
uint16_t PlsrTestProfileQueueCount(void);
uint32_t PlsrTestProfileQueueGeneration(void);
uint32_t PlsrTestProfileQueueReadIndex(void);
uint32_t PlsrTestProfileQueueWriteIndex(void);
uint32_t PlsrTestProfileQueueHeadFrequency(void);
uint16_t PlsrTestProfileProducerNextPeriod(void);
uint16_t PlsrTestActiveProfileNextPeriod(void);
uint32_t PlsrTestLastGateEvent(void);
uint32_t PlsrTestLastDiagnosticFinishEvent(void);
void PlsrTestSetPosition(int32_t position, uint8_t positionValid);
void PlsrTestClearPersistentStorage(void);
void PlsrTestResetSaveCount(void);
uint32_t PlsrTestSaveCount(void);
#endif

#if defined(PLSR_DEBUG_TIMING) && (PLSR_DEBUG_TIMING != 0)
extern volatile uint32_t PlsrProfileProducerItemCount;
extern volatile uint32_t PlsrProfileProducerTotalCycles;
extern volatile uint32_t PlsrProfileProducerMaxItemCycles;
#endif

#ifdef __cplusplus
}
#endif

#endif /* PLSR_H */