RCL_Command.h

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/*
 * Copyright (c) 2020-2023, Texas Instruments Incorporated
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 *    notice, this list of conditions and the following disclaimer.
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 *    notice, this list of conditions and the following disclaimer in the
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 *    from this software without specific prior written permission.
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#ifndef ti_drivers_RCL_Command_h__include
#define ti_drivers_RCL_Command_h__include
 
#include <stdint.h>
#include <stdbool.h>
 
#include <ti/drivers/rcl/RCL_Types.h>
#include <ti/drivers/rcl/RCL_Event.h>
#include <ti/drivers/rcl/LRF.h>
 
typedef RCL_Events (*RCL_CommandHandler)(RCL_Command *cmd, LRF_Events lrfEvents, RCL_Events rclEvents);
 
typedef void (*RCL_Callback)(RCL_Command *cmd, LRF_Events lrfEvents, RCL_Events rclEvents);
 
struct RCL_CommandRuntime_s {
    RCL_CommandHandler handler;         
    RCL_Client *client;                 
    LRF_Events lrfCallbackMask;         
    RCL_Events rclCallbackMask;         
    RCL_Callback callback;              
};
 
struct RCL_CommandTiming_s {
    uint32_t absStartTime;        
    uint32_t relMinTime;          
    int32_t  relGracefulStopTime; 
    uint32_t relHardStopTime;     
};
 
typedef enum RCL_CommandStatus_e {
    RCL_CommandStatus_Idle = 0,                 
    RCL_CommandStatus_Queued,                   
    RCL_CommandStatus_Scheduled,                
    RCL_CommandStatus_Active,                   
    RCL_CommandStatus_Suspended,                
    RCL_CommandStatus_Deferred,                 
    RCL_CommandStatus_Finished = 0x10,          
    RCL_CommandStatus_ChannelIdle,              
    RCL_CommandStatus_ChannelBusy,              
    RCL_CommandStatus_RxTimeout,                
    RCL_CommandStatus_NoSync,                   
    RCL_CommandStatus_RxErr,                    
    RCL_CommandStatus_GracefulStop,             
    RCL_CommandStatus_HardStop,                 
    RCL_CommandStatus_Descheduled,              
    RCL_CommandStatus_RejectedStart,            
    RCL_CommandStatus_Connect = 0x40,           
    RCL_CommandStatus_MaxNak,                   
    RCL_CommandStatus_Error  = 0x80,            
    RCL_CommandStatus_Error_Setup,              
    RCL_CommandStatus_Error_Param,              
    RCL_CommandStatus_Error_MissingTxBuffer,    
    RCL_CommandStatus_Error_TxBufferCorruption, 
    RCL_CommandStatus_Error_RxBufferCorruption, 
    RCL_CommandStatus_Error_StartTooLate,       
    RCL_CommandStatus_Error_TxFifo,             
    RCL_CommandStatus_Error_RxFifo,             
    RCL_CommandStatus_Error_Synth,              
    RCL_CommandStatus_Error_UnknownOp,          
    RCL_CommandStatus_Error_AlreadySubmitted,   
} RCL_CommandStatus;
 
#define RCL_CommandStatus_isAnyStop(x)           (((x) == RCL_CommandStatus_Descheduled) || ((x) == RCL_CommandStatus_GracefulStop) || ((x) == RCL_CommandStatus_HardStop))
#define RCL_CommandStatus_isAnyDescheduled(x)    ((x) == RCL_CommandStatus_Descheduled)
#define RCL_CommandStatus_isAnyGracefulStop(x)   ((x) == RCL_CommandStatus_GracefulStop)
#define RCL_CommandStatus_isAnyHardStop(x)       ((x) == RCL_CommandStatus_HardStop)
 
typedef enum {
    RCL_StopType_None = 0,        
    RCL_StopType_DescheduleOnly,  
    RCL_StopType_Graceful,        
    RCL_StopType_Hard,            
} RCL_StopType;
 
 
typedef enum  {
    RCL_Schedule_Now = 0,               
    RCL_Schedule_AbsTime = 1,           
} RCL_ScheduleType;
 
typedef enum {
    RCL_ConflictPolicy_AlwaysInterrupt = 0, 
    RCL_ConflictPolicy_Polite = 1,          
    RCL_ConflictPolicy_NeverInterrupt = 2,  
} RCL_ConflictPolicy;
 
struct RCL_Command_s {
    uint16_t cmdId;                         
    uint16_t phyFeatures;                   
    RCL_ScheduleType scheduling : 8;        
    RCL_CommandStatus status    : 8;        
    RCL_ConflictPolicy conflictPolicy : 8;  
    bool allowDelay;                        
    RCL_CommandRuntime runtime;             
    RCL_CommandTiming timing;               
};
 
#define RCL_Command_Default(_id, _handler)                  \
{                                                           \
    .cmdId   = _id,                                         \
    .phyFeatures = 0,                                       \
    .scheduling = RCL_Schedule_Now,                         \
    .status  = RCL_CommandStatus_Idle,                      \
    .conflictPolicy = RCL_ConflictPolicy_AlwaysInterrupt,   \
    .allowDelay = false,                                    \
    .runtime = {                                            \
        .handler = _handler,                                \
    },                                                      \
    .timing = {                                             \
        .absStartTime = 0,                                  \
        .relGracefulStopTime = 0,                           \
        .relHardStopTime = 0,                               \
    },                                                      \
}
#define RCL_Command_DefaultRuntime(_id, _handler) (RCL_Command) RCL_Command_Default(_id, _handler)
 
typedef LRF_TxPowerTable_Index RCL_Command_TxPower;
 
static inline void RCL_Command_setRawTxPower(uint32_t registerSetting, uint32_t temperatureCoefficient)
{
    LRF_setRawTxPower(registerSetting, temperatureCoefficient);
}
 
#endif /* ti_drivers_RCL_Command_h__include */