RCL_Command.h

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/*
 * Copyright (c) 2020-2023, Texas Instruments Incorporated
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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_RejectedStart,                
    RCL_CommandStatus_UnexpectedMdrRx,              
    RCL_CommandStatus_DescheduledApi = 0x31,        
    RCL_CommandStatus_DescheduledScheduling,        
    RCL_CommandStatus_GracefulStopTimeout = 0x34,   
    RCL_CommandStatus_GracefulStopApi,              
    RCL_CommandStatus_GracefulStopScheduling,       
    RCL_CommandStatus_HardStopTimeout = 0x38,       
    RCL_CommandStatus_HardStopApi,                  
    RCL_CommandStatus_HardStopScheduling,           
    RCL_CommandStatus_Connect = 0x40,               
    RCL_CommandStatus_MaxNak,                       
    RCL_CommandStatus_MaxAuxWaitTimeExceeded,       
    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_DescheduledApi) && ((x) <= RCL_CommandStatus_HardStopScheduling))
#define RCL_CommandStatus_isAnyDescheduled(x)    (((x) >= RCL_CommandStatus_DescheduledApi) && ((x) <= RCL_CommandStatus_DescheduledScheduling))
#define RCL_CommandStatus_isAnyGracefulStop(x)   (((x) >= RCL_CommandStatus_GracefulStopTimeout) && ((x) <= RCL_CommandStatus_GracefulStopScheduling))
#define RCL_CommandStatus_isAnyHardStop(x)       (((x) >= RCL_CommandStatus_HardStopTimeout) && ((x) <= RCL_CommandStatus_HardStopScheduling))
#define RCL_CommandStatus_isAnyTimeoutStop(x)    (((x) == RCL_CommandStatus_GracefulStopTimeout) || ((x) == RCL_CommandStatus_HardStopTimeout))
#define RCL_CommandStatus_isAnyApiStop(x)        (((x) == RCL_CommandStatus_DescheduledApi) || ((x) == RCL_CommandStatus_GracefulStopApi) || ((x) == RCL_CommandStatus_HardStopApi))
#define RCL_CommandStatus_isAnySchedulingStop(x) (((x) == RCL_CommandStatus_DescheduledScheduling) || ((x) == RCL_CommandStatus_GracefulStopScheduling) || ((x) == RCL_CommandStatus_HardStopScheduling))

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 */