sts_servo.h

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#pragma once
#include "sts_protocol.h"
#include <stdint.h>
#include <stddef.h>
#include "sts_registers.h"
 
#define STS_ONLINE  1
#define STS_OFFLINE 0
 
#define STS_MAX_TX_BUFFER       128U
#define STS_MAX_RX_BUFFER       128U
#define STS_DEFAULT_TIMEOUT_MS  10U
 
 
 
/* Forward declaration of the bus for the function pointers */
typedef struct sts_bus_s sts_bus_t;
typedef struct sts_servo_t sts_servo_t;
typedef sts_result_t (*sts_hal_transmit_t)(sts_bus_t *bus, const uint8_t *data, uint16_t len);
typedef sts_result_t (*sts_hal_receive_t)(sts_bus_t *bus, uint8_t *data, uint16_t len, uint32_t timeout_ms);
typedef sts_result_t (*sts_hal_flush_rx_t)(sts_bus_t *bus);
 
struct sts_bus_s {
    void *port_handle;              
    sts_hal_transmit_t transmit;    
    sts_hal_receive_t receive;      
    sts_hal_flush_rx_t flush_rx;    
    uint8_t max_retries;            
    /* Error counters — never reset automatically; read via snapshot deltas.
     * Analogous to CAN TEC/REC: tolerance without counters is blindness. */
    uint32_t total_transactions; 
    uint32_t total_retries;      
    uint32_t retry_saves;        
    uint32_t hard_failures;      
    uint8_t tx_buf[STS_MAX_TX_BUFFER];
    uint8_t rx_buf[STS_MAX_RX_BUFFER];
};
 
typedef struct sts_servo_t {
    sts_bus_t *bus;    
    uint8_t id;        
    uint8_t is_online; 
    sts_operating_mode_t  current_mode;
} sts_servo_t;
 
sts_result_t STS_Bus_Init(sts_bus_t *bus, void *port_handle, sts_hal_transmit_t tx_func, sts_hal_receive_t rx_func);
 
sts_result_t STS_Servo_Init(sts_servo_t *servo, sts_bus_t *bus, uint8_t id);
 
sts_result_t STS_Bus_Transmit(sts_bus_t *bus, const uint8_t *data, uint16_t len);
 
sts_result_t STS_Bus_Receive(sts_bus_t *bus, uint8_t *data, uint16_t len, uint32_t timeout);
 
sts_result_t STS_Bus_FlushRx(sts_bus_t *bus);
 
 
sts_result_t STS_servo_ping(sts_servo_t *servo);
 
 
/* ==========================================================================
 * REGISTER ACCESS PRIMITIVES
 * ========================================================================== */
 
sts_result_t STS_Write8(sts_servo_t *servo, uint8_t reg_addr, uint8_t value);
 
sts_result_t STS_Write16(sts_servo_t *servo, uint8_t reg_addr, uint16_t value);
 
sts_result_t STS_Read8(sts_servo_t *servo, uint8_t reg_addr, uint8_t *value_out);
 
sts_result_t STS_Read16(sts_servo_t *servo, uint8_t reg_addr, uint16_t *value_out);
 
 
typedef struct {
    uint8_t instruction;
    const uint8_t *tx_params;
    uint16_t tx_param_len;
    uint16_t expected_rx_len;
    uint8_t *rx_params_out;
    uint16_t rx_params_size;
    uint16_t *rx_param_len_out;
    uint32_t timeout_ms;
} sts_cmd_t;