Modbus-rtu/PLSR/Inc/plsr_core.h

#ifndef PLSR_CORE_H
#define PLSR_CORE_H

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

#ifdef __cplusplus
extern "C" {
#endif

#define PLSR_PROCESS_STAGE_COUNT (6U)

typedef enum
{
    PLSR_PROCESS_STAGE_ACCOUNT_PROTECTION = 0,
    PLSR_PROCESS_STAGE_CRITICAL_EVENTS,
    PLSR_PROCESS_STAGE_COMMANDS,
    PLSR_PROCESS_STAGE_NORMAL_EVENTS,
    PLSR_PROCESS_STAGE_TICK_PATH_PROFILE,
    PLSR_PROCESS_STAGE_HSD_CHECKPOINT
} PLSR_PROCESS_STAGE;

PLSR_RESULT PlsrInit(void);
void PlsrTask(void *argument);
void PlsrProcess(void);
void PlsrControlTick100us(void);
void PlsrSetControlTickHook(void (*hook)(void));
uint32_t PlsrGetMaxProcessCycles(void);
uint32_t PlsrGetMaxProcessResponseCycles(void);
uint32_t PlsrGetMaxProcessStageCycles(uint8_t stage);

PLSR_RESULT PlsrPostCall(const PLSR_CALL *call);
/* Side-effect-free COMMIT validation.  It parses the complete S0/S1/S2/D
 * model but does not reserve resources or start an axis. */
PLSR_RESULT PlsrValidateCall(const PLSR_CALL *call,
                             PLSR_PARSE_DETAIL *detail);
PLSR_RESULT PlsrPostCommand(const PLSR_COMMAND *command);
PLSR_RESULT PlsrPostEvent(uint8_t axis, uint32_t eventMask);
PLSR_RESULT PlsrGetStatus(uint8_t axis, PLSR_STATUS *status);
PLSR_RESULT PlsrGetLastParseDetail(uint8_t axis,
                                   PLSR_PARSE_DETAIL *detail);

#ifdef PLSR_HOST_TEST
/* 仅测试使用的低层启动入口：不解析 S0/S1/S2/D，直接申请资源进入 ACCEL。
 * 生产调用必须使用 PlsrPostCall()。 */
PLSR_RESULT PlsrPostStart(const PLSR_START_REQUEST *request);
uint32_t PlsrTestGetProfileRefreshHz(uint8_t axis);
uint8_t PlsrTestGetProfileActive(uint8_t axis);
uint8_t PlsrTestGetJobRefreshCode(uint8_t axis);
uint32_t PlsrTestGetProfileFrequencyHz(uint8_t axis);
#endif

PLSR_RESULT PlsrStateTransition(uint8_t axis,
                                PLSR_STATE target,
                                PLSR_TRANSITION_REASON reason);

#ifdef __cplusplus
}
#endif

#endif /* PLSR_CORE_H */