REQ-F-PEV2-008: PoKeysLib Async Function Call Sequence for PEv2

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Functional Requirement

Parent Stakeholder Requirement: Traces to: #33 (HAL Interface: PEv2)

Requirement Description

The PEv2 HAL component shall call the correct PoKeysLib functions in the correct order
each servo cycle, using the async (non-blocking) variants:

Per-cycle read sequence (device → HAL):

1. PK_PEv2_StatusGetAsync(device) — updates AxesState[], CurrentPosition[],
   ExternalRelayOutputs, ExternalOCOutputs, ProbeStatus, BacklashRegister[],
   pulse engine status fields
2. PK_PEv2_Status2GetAsync(device) — updates DedicatedLimitNInputs,
   DedicatedLimitPInputs, DedicatedHomeInputs
3. PK_PEv2_AdditionalParametersGetAsync(device) — updates EmergencyInputPin

Per-cycle write sequence (HAL → device):

1. PK_PEv2_PulseEngineSetupAsync(device) — sends PulseEngineEnabled,
   ChargePumpEnabled, PulseGeneratorType, EmergencySwitchPolarity
2. PK_PEv2_AxisConfigurationSetAsync(device) — sends per-axis configuration for any
   axis whose configuration HAL inputs have changed
3. PK_PEv2_ExternalOutputsSetAsync(device) — sends ExternalRelayOutputs,
   ExternalOCOutputs

On-demand operations (triggered by HAL pins):

• PK_PEv2_HomingStartAsync(device) — triggered when HomingStartMaskSetup changes from 0
• PK_PEv2_PulseEngineMovePVAsync(device) — triggered each cycle when motion is active
• PK_PEv2_BufferFillAsync(device) — triggered when motion buffer mode is active

All device function calls shall use the async non-blocking variants (ending in Async)
to maintain RT compatibility.

Acceptance Criteria

Scenario 1 — Status get called each cycle

Given the RT servo thread is active
When 100 servo cycles elapse
Then PK_PEv2_StatusGetAsync() has been scheduled via register_async_task() at the
configured frequency (default: 1 kHz)

Scenario 2 — Correct command sequence on startup

Given the HAL component starts successfully
When the first 3 servo cycles execute
Then PK_PEv2_PulseEngineSetupAsync() has been called at least once

Scenario 3 — No blocking calls in RT path

Given the RT servo thread is running
When the PEv2 update function is called
Then no SendRequest() (blocking) calls are present in the call chain (verified by
code inspection)

Verification Method

Inspection + Test

Priority

P0 – Critical

Traceability

• Traces to: HAL Interface: PEv2 #33
• Refined by: (ADR issues — see comment)
• Implemented in: PoKeysLibPulseEngine_v2Async.c
• Verified by: (TEST issues — add when created)