servo_page.h

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#pragma once
 
#include <stdint.h>
 
#include "link_pages.h"
#include "outputs.h"
#include "servo_sweep.h"
 
#ifdef __cplusplus
extern "C" {
#endif

typedef struct {
    uint16_t regs[LINK_SV_COUNT];  
    sweep_t  sweep;                
    uint32_t heard_ms;   
    bool     finished;   
    bool     holding;    
    uint8_t  target_first; 
    uint8_t  target_n;     
    uint16_t ports;        
    uint16_t sliced;       
} servo_page_t;

void servo_page_init(servo_page_t *p);

uint8_t servo_page_write(servo_page_t *p, uint8_t off, uint8_t n,
                         const uint16_t *in, outputs_t *o, uint32_t now_ms);

void servo_page_read(servo_page_t *p, uint8_t off, uint8_t n, uint16_t *out);

bool servo_page_step(servo_page_t *p, outputs_t *o, uint32_t now_ms);

void servo_page_ports(servo_page_t *p, uint16_t channels, uint16_t sliced);

uint16_t servo_page_hz(const servo_page_t *p);

uint16_t servo_page_slots_hz(const servo_page_t *p);

bool servo_page_target(servo_page_t *p, outputs_t *o, uint8_t first,
                       uint8_t count);
 
/* ------------------------------------------------------- the host's side */

typedef enum {
    SERVO_RESUME_CURVE,      
    SERVO_RESUME_WRITE,      
    SERVO_RESUME_TOO_OLD,    
    SERVO_RESUME_REFUSED,    
    SERVO_RESUME_UNTIMED,    
} servo_resume_t;

servo_resume_t servo_page_resume_plan(bool asked, bool held, bool timed,
                                      uint16_t proto_minor, bool refused);

typedef struct {
    uint32_t start_ms;   
    uint32_t kept_ms;    
    bool     kept;       
} servo_phase_t;

void servo_phase_started(servo_phase_t *ph, uint32_t ack_ms);

uint32_t servo_phase_held(servo_phase_t *ph, uint32_t ack_ms);

void servo_phase_stopped(servo_phase_t *ph);

bool servo_phase_resumable(const servo_phase_t *ph);

bool servo_phase_resumed(servo_phase_t *ph, uint32_t ack_ms,
                         uint32_t *start_ms);
 
#ifdef __cplusplus
}
#endif