RCL_Scheduler.h

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#ifndef ti_drivers_rcl_RCL_Scheduler__include
#define ti_drivers_rcl_RCL_Scheduler__include

#include <stdint.h>
#include <stddef.h>

#include <ti/drivers/rcl/RCL_Command.h>
#include <ti/drivers/rcl/hal/RCL_Hal.h>
#include <ti/drivers/rcl/LRF.h>

#define RCL_SCHEDULER_SYSTIM_US(x) (((uint32_t) (x)) * 4U)

#define RCL_SCHEDULER_SYSTIM_MS(x) (((uint32_t) (x)) * 4U * 1000U)


/* Timing constants */
#define ABS_START_TIME_OFFSET            RCL_SCHEDULER_SYSTIM_US(100U) 
#define IMM_START_TIME_OFFSET            RCL_SCHEDULER_SYSTIM_US(90U)  
#define RCL_SCHEDULER_MARGIN_ARM         RCL_SCHEDULER_SYSTIM_US(40U)  
#define RCL_SCHEDULER_MARGIN_CONFIGURE   RCL_SCHEDULER_SYSTIM_US(76U)  
#define RCL_SCHEDULER_MARGIN_LOAD        RCL_SCHEDULER_SYSTIM_US(460U) 
#define RCL_SCHEDULER_SLEEP_CUTOFF       RCL_SCHEDULER_SYSTIM_MS(5U)  
#define RCL_SCHEDULER_TRIG_NOW_DELAY     RCL_SCHEDULER_SYSTIM_US(50U)  
#if (DeviceFamily_LRF_PARENT == DeviceFamily_PARENT_CC23X0)
#define RCL_SCHEDULER_WAKEUP_MARGIN      RCL_SCHEDULER_SYSTIM_US(390U) 
#elif (DeviceFamily_LRF_PARENT == DeviceFamily_PARENT_CC27XX)
#define RCL_SCHEDULER_WAKEUP_MARGIN      RCL_SCHEDULER_SYSTIM_US(150U) 
#else
#define RCL_SCHEDULER_WAKEUP_MARGIN      RCL_SCHEDULER_SYSTIM_US(1000U)
#endif

typedef enum RCL_SchedulerStopReason_e {
    RCL_SchedulerStopReason_None = 0,       
    RCL_SchedulerStopReason_Timeout = 1,    
    RCL_SchedulerStopReason_Scheduling = 2, 
    RCL_SchedulerStopReason_Api = 3,        
} RCL_SchedulerStopReason;

typedef enum RCL_SchedulerStopTimeState_e {
    RCL_SchedulerStopTimeState_Init = 0,       
    RCL_SchedulerStopTimeState_Found = 1,      
    RCL_SchedulerStopTimeState_Programmed = 2, 
} RCL_SchedulerStopTimeState;

typedef struct RCL_SchedulerStopInfo_s {
    uint32_t cmdStopEnabled                     : 1;
    uint32_t schedStopEnabled                   : 1;
    uint32_t apiStopEnabled                     : 1;
    RCL_SchedulerStopReason stopReason          : 2;
    uint32_t cmdStopTime;
    uint32_t schedStopTime;
} RCL_SchedulerStopInfo;

typedef struct RCL_SchedulerState_s {
    RCL_Command  *currCmd;
    RCL_Command  *stopCmd;
    uint32_t nextWantsStop                      : 1;
    RCL_SchedulerStopTimeState stopTimeState    : 2;
    RCL_SchedulerStopReason descheduleReason    : 2;
    RCL_Events postedRclEvents; /* Events to be handled by the command handler */
    uint32_t actualStartTime;
    RCL_SchedulerStopInfo hardStopInfo;
    RCL_SchedulerStopInfo gracefulStopInfo;
    uint16_t requestedPhyFeatures;
} RCL_SchedulerState;

extern RCL_SchedulerState rclSchedulerState;

RCL_CommandStatus RCL_Scheduler_findStopStatus(RCL_StopType stopType);

RCL_CommandStatus RCL_Scheduler_updateStopStatus(RCL_StopType stopType, RCL_SchedulerStopReason stopReason);

RCL_CommandStatus RCL_Scheduler_setStartStopTime(const RCL_Command *cmd);

RCL_CommandStatus RCL_Scheduler_setStartStopTimeEarliestStart(const RCL_Command *cmd, uint32_t earliestStartTime);

RCL_CommandStatus RCL_Scheduler_setCustomStartStopTime(const RCL_CommandTiming *timing, RCL_ScheduleType scheduling, bool allowDelay);

RCL_CommandStatus RCL_Scheduler_setCustomStartStopTimeEarliestStart(const RCL_CommandTiming *timing, RCL_ScheduleType scheduling, bool allowDelay, uint32_t earliestStartTime);

RCL_CommandStatus RCL_Scheduler_setCmdStopTimeNoStartTrigger(const RCL_Command *cmd);

RCL_CommandStatus RCL_Scheduler_setNewStartNow(void);

RCL_CommandStatus RCL_Scheduler_setNewStartAbsTime(uint32_t startTime, bool allowDelay);

RCL_CommandStatus RCL_Scheduler_setNewStartRelTime(uint32_t relStartTime);

RCL_StopType RCL_Scheduler_setStopTimes(void);

bool               RCL_Scheduler_isLater(uint32_t refTime, uint32_t chkTime);

int32_t            RCL_Scheduler_delta(uint32_t refTime, uint32_t chkTime);

static inline uint32_t RCL_Scheduler_getCurrentTime(void)
{
    return RCL_Hal_getCurrentTime();
}

RCL_StopType RCL_Scheduler_setSchedStopTime(RCL_SchedulerStopInfo *stopInfo, uint32_t schedStopTime);

RCL_StopType RCL_Scheduler_setCmdStopTime(RCL_SchedulerStopInfo *stopInfo, uint32_t cmdStopTime);

RCL_StopType RCL_Scheduler_cancelSchedStopTime(RCL_SchedulerStopInfo *stopInfo);

RCL_StopType RCL_Scheduler_cancelCmdStopTime(RCL_SchedulerStopInfo *stopInfo);

bool RCL_Scheduler_postEvent(RCL_Command_Handle c, RCL_Events e);

#endif /* ti_drivers_rcl_RCL_Scheduler__include */