servo_limrun_int.h

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#pragma once
 
#include "servo_limrun.h"
 
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include <string.h>

typedef enum {
    ST_NONE = 0,      
    ST_OVERSET,       
    ST_OVERSET_SEARCH,
    ST_FINAL,         
    ST_DONE,          
} limrun_stage_t;

static inline int32_t limrun_span(const servo_limrun_servo_t *sv,
                                  uint8_t side)
{
    const int32_t n = (int32_t)sv->pulse_dus[SERVO_LIMRUN_P_NEUTRAL];
    return side == SERVO_LIMRUN_HI
               ? (int32_t)sv->pulse_dus[SERVO_LIMRUN_P_UPPER] - n
               : n - (int32_t)sv->pulse_dus[SERVO_LIMRUN_P_LOWER];
}

static inline bool limrun_restore(const servo_limrun_t *r)
{
    return r != NULL && r->state == SERVO_LIMRUN_DONE && r->programmed
        && (r->verdict == SERVO_LIMRUN_FAIL
            || r->verdict == SERVO_LIMRUN_ABORTED);
}

static inline int32_t span_now(const servo_limrun_t *r, uint8_t side)
{
    servo_limrun_servo_t sv;
    memset(&sv, 0, sizeof(sv));
    memcpy(sv.pulse_dus, r->pulse_now, sizeof(sv.pulse_dus));
    return limrun_span(&sv, side);
}