kst_reg.h

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#ifndef KST_REG_H
#define KST_REG_H
 
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
 
#include "kst_wire.h"
 
#ifdef __cplusplus
extern "C" {
#endif

typedef struct {
    uint8_t r[KST_REG_COUNT];
} kst_image_t;

#define KST_REG_DUTY_COPY 0x01u
#define KST_REG_DUTY      0x02u
#define KST_REG_NODE_ADDR 0x1Du

typedef enum {
    KST_F_R00 = 0,  
    KST_F_DUTY_COPY,     
    KST_F_DUTY,          
    KST_F_BOOST,         
    KST_F_STRETCH,       
    KST_F_SOFT_START,    
    KST_F_R04_B54,  
    KST_F_20K_SEL,       
    KST_F_SPD_SEL,       
    KST_F_DEAD_BAND,     
    KST_F_LOCK,          
    KST_F_ALLOW_UNCONT,  
    KST_F_R06,  
    KST_F_PULSE_LOWER,   
    KST_F_PULSE_UPPER,   
    KST_F_NEUTRAL,       
    KST_F_R0A_B5,  
    KST_F_REVERSION,     
    KST_F_R0A_B7,  
    KST_F_UNCONT_POS,    
    KST_F_R0D_B76,  
    KST_F_UNCONT_TIME,   
    KST_F_R0F,  
    KST_F_LEFT_ANGLE,    
    KST_F_RIGHT_ANGLE,   
    KST_F_R12_B20,  
    KST_F_PROT1_CANCLE,  
    KST_F_R12_B54,  
    KST_F_PROT1_EN,      
    KST_F_R12_B7,  
    KST_F_PROT1_TIME,    
    KST_F_R14,  
    KST_F_PROT1_PWM,     
    KST_F_R16,  
    KST_F_PROT_POT_ERR,  
    KST_F_R18_B74,  
    KST_F_POT_SAM_TIMES, 
    KST_F_PROT_PWM_ERR,  
    KST_F_SPD,           
    KST_F_R1C_B74,  
    KST_F_NODE_ADDR,     
    KST_F_R1E,  
    KST_F_GYRO,          
    KST_F_R1F_B71,  
    KST_F_COUNT
} kst_field_id_t;

typedef uint64_t kst_field_set_t;
#define KST_FIELD_BIT(id) ((kst_field_set_t)1 << (id))

typedef enum {
    KST_ACCESS_EDITABLE = 0, 
    KST_ACCESS_LOCKED,       
    KST_ACCESS_NEVER,        
} kst_access_t;

typedef enum {
    KST_UNIT_RAW = 0,        
    KST_UNIT_BOOL,           
    KST_UNIT_TENTH_US,       
    KST_UNIT_PERCENT,        
    KST_UNIT_TENTH_PERCENT,  
    KST_UNIT_TENTH_S,        
    KST_UNIT_FACTOR,         
    KST_UNIT_COUNT_OF,       
} kst_unit_t;

typedef struct {
    const char *name;   
    uint8_t lo_reg;     
    uint8_t lo_shift;   
    uint8_t lo_bits;    
    uint8_t hi_reg;     
    uint8_t hi_shift;   
    uint8_t hi_bits;    
    uint8_t access;     
    uint8_t unit;       
    uint8_t conv;       
} kst_field_t;

const kst_field_t *kst_field(kst_field_id_t id);

uint16_t kst_field_raw_max(kst_field_id_t id);

uint8_t kst_field_reg_mask(kst_field_id_t id, uint8_t reg);

uint16_t kst_field_get(const kst_image_t *img, kst_field_id_t id);

bool kst_field_set(kst_image_t *img, kst_field_id_t id, uint16_t raw);

bool kst_field_edit(kst_image_t *img, kst_field_id_t id, uint16_t raw);

bool kst_field_display(kst_field_id_t id, uint16_t raw, int32_t *display);

bool kst_field_raw_from_display(kst_field_id_t id, int32_t display,
                                uint16_t *raw);
 
/* --- servo type ----------------------------------------------------------- */

typedef enum {
    KST_TYPE_V8 = 0,   
    KST_TYPE_V6 = 1,   
    KST_TYPE_NONE = 2, 
} kst_type_t;

kst_type_t kst_type(const kst_image_t *img);

const char *kst_type_name(kst_type_t type);
 
/* --- layout fingerprint --------------------------------------------------- */

typedef enum {
    KST_FP_R00 = 0,         
    KST_FP_DUTY_COPY,       
    KST_FP_R06,             
    KST_FP_R1E,             
    KST_FP_R04_B54,         
    KST_FP_R0A_B5_B7,       
    KST_FP_R12_UNNAMED,     
    KST_FP_R1F_B71,         
    KST_FP_STRETCH_INDEX,   
    KST_FP_COUNT
} kst_fp_rule_t;

typedef struct {
    uint16_t rules;   
    uint32_t regs;    
} kst_fingerprint_t;

bool kst_fingerprint(const kst_image_t *img, kst_fingerprint_t *out);
 
#ifdef __cplusplus
}
#endif
 
#endif /* KST_REG_H */