servo_sweep.h

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#pragma once
 
#include <stdbool.h>
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum {
    SWEEP_OFF = 0,
    SWEEP_SQUARE,
    SWEEP_SINE,
    SWEEP_TRIANGLE,
    SWEEP_KIND_COUNT
} sweep_kind_t;

#define SWEEP_MHZ_MIN      50u
#define SWEEP_MHZ_MAX    5000u
#define SWEEP_AMPLITUDE_MAX 500u
#define SWEEP_DWELL_MAX_MS 5000u
#define SWEEP_CENTRE        500u
 
typedef struct {
    sweep_kind_t kind;
    uint16_t     mhz;        
    uint16_t     amplitude;  
    uint16_t     dwell_ms;   
    uint16_t     moves;      
} sweep_cfg_t;
 
typedef struct {
    sweep_cfg_t cfg;
    uint32_t    start_ms;
    bool        running;
    bool        paused;      
    uint32_t    paused_ms;   
} sweep_t;

bool sweep_cfg_valid(const sweep_cfg_t *cfg);

bool sweep_start(sweep_t *w, const sweep_cfg_t *cfg, uint32_t now_ms);

void sweep_stop(sweep_t *w);

void sweep_pause(sweep_t *w, uint32_t now_ms);

bool sweep_resume(sweep_t *w, uint32_t now_ms);

bool sweep_step(sweep_t *w, uint32_t now_ms, uint16_t *command);

uint32_t sweep_moves(const sweep_t *w, uint32_t now_ms);

bool sweep_slew_limited(const sweep_cfg_t *cfg, uint16_t slew_per_s);
 
#ifdef __cplusplus
}
#endif