datatypes.h

/*
	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se

	This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
    */

/*
 * datatypes.h
 *
 *  Created on: 14 sep 2014
 *      Author: benjamin
 */

#ifndef DATATYPES_H_
#define DATATYPES_H_

#include <stdint.h>
#include <stdbool.h>
#include "ch.h"

// Data types
typedef enum {
   MC_STATE_OFF = 0,
   MC_STATE_DETECTING,
   MC_STATE_RUNNING,
   MC_STATE_FULL_BRAKE,
} mc_state;

typedef enum {
	PWM_MODE_NONSYNCHRONOUS_HISW = 0, // This mode is not recommended
	PWM_MODE_SYNCHRONOUS, // The recommended and most tested mode
	PWM_MODE_BIPOLAR // Some glitches occasionally, can kill MOSFETs
} mc_pwm_mode;

typedef enum {
	COMM_MODE_INTEGRATE = 0,
	COMM_MODE_DELAY
} mc_comm_mode;

typedef enum {
	SENSOR_MODE_SENSORLESS = 0,
	SENSOR_MODE_SENSORED,
	SENSOR_MODE_HYBRID
} mc_sensor_mode;

typedef enum {
	FOC_SENSOR_MODE_SENSORLESS = 0,
	FOC_SENSOR_MODE_ENCODER,
	FOC_SENSOR_MODE_HALL
} mc_foc_sensor_mode;

typedef enum {
	MOTOR_TYPE_BLDC = 0,
	MOTOR_TYPE_DC,
	MOTOR_TYPE_FOC
} mc_motor_type;

typedef enum {
	FAULT_CODE_NONE = 0,
	FAULT_CODE_OVER_VOLTAGE,
	FAULT_CODE_UNDER_VOLTAGE,
	FAULT_CODE_DRV8302,
	FAULT_CODE_ABS_OVER_CURRENT,
	FAULT_CODE_OVER_TEMP_FET,
	FAULT_CODE_OVER_TEMP_MOTOR
} mc_fault_code;

typedef enum {
	CONTROL_MODE_DUTY = 0,
	CONTROL_MODE_SPEED,
	CONTROL_MODE_CURRENT,
	CONTROL_MODE_CURRENT_BRAKE,
	CONTROL_MODE_POS,
	CONTROL_MODE_NONE
} mc_control_mode;

typedef enum {
	DISP_POS_MODE_NONE = 0,
	DISP_POS_MODE_INDUCTANCE,
	DISP_POS_MODE_OBSERVER,
	DISP_POS_MODE_ENCODER,
	DISP_POS_MODE_PID_POS,
	DISP_POS_MODE_PID_POS_ERROR,
	DISP_POS_MODE_ENCODER_OBSERVER_ERROR
} disp_pos_mode;

typedef struct {
	float cycle_int_limit;
	float cycle_int_limit_running;
	float cycle_int_limit_max;
	float comm_time_sum;
	float comm_time_sum_min_rpm;
	int32_t comms;
	uint32_t time_at_comm;
} mc_rpm_dep_struct;

typedef struct {
	// Switching and drive
	mc_pwm_mode pwm_mode;
	mc_comm_mode comm_mode;
	mc_motor_type motor_type;
	mc_sensor_mode sensor_mode;
	// Limits
	float l_current_max;
	float l_current_min;
	float l_in_current_max;
	float l_in_current_min;
	float l_abs_current_max;
	float l_min_erpm;
	float l_max_erpm;
	float l_max_erpm_fbrake;
	float l_max_erpm_fbrake_cc;
	float l_min_vin;
	float l_max_vin;
	float l_battery_cut_start;
	float l_battery_cut_end;
	bool l_slow_abs_current;
	bool l_rpm_lim_neg_torque;
	float l_temp_fet_start;
	float l_temp_fet_end;
	float l_temp_motor_start;
	float l_temp_motor_end;
	float l_min_duty;
	float l_max_duty;
	// Overridden limits (Computed during runtime)
	float lo_current_max;
	float lo_current_min;
	float lo_in_current_max;
	float lo_in_current_min;
	// Sensorless
	float sl_min_erpm;
	float sl_min_erpm_cycle_int_limit;
	float sl_max_fullbreak_current_dir_change;
	float sl_cycle_int_limit;
	float sl_phase_advance_at_br;
	float sl_cycle_int_rpm_br;
	float sl_bemf_coupling_k;
	// Hall sensor
	int8_t hall_table[8];
	float hall_sl_erpm;
	// FOC
	float foc_current_kp;
	float foc_current_ki;
	float foc_f_sw;
	float foc_dt_us;
	float foc_encoder_offset;
	bool foc_encoder_inverted;
	float foc_encoder_ratio;
	float foc_motor_l;
	float foc_motor_r;
	float foc_motor_flux_linkage;
	float foc_observer_gain;
	float foc_pll_kp;
	float foc_pll_ki;
	float foc_duty_dowmramp_kp;
	float foc_duty_dowmramp_ki;
	float foc_openloop_rpm;
	float foc_sl_openloop_hyst;
	float foc_sl_openloop_time;
	float foc_sl_d_current_duty;
	float foc_sl_d_current_factor;
	mc_foc_sensor_mode foc_sensor_mode;
	uint8_t foc_hall_table[8];
	float foc_hall_sl_erpm;
	// Speed PID
	float s_pid_kp;
	float s_pid_ki;
	float s_pid_kd;
	float s_pid_min_erpm;
	// Pos PID
	float p_pid_kp;
	float p_pid_ki;
	float p_pid_kd;
	float p_pid_ang_div;
	// Current controller
	float cc_startup_boost_duty;
	float cc_min_current;
	float cc_gain;
	float cc_ramp_step_max;
	// Misc
	int32_t m_fault_stop_time_ms;
	float m_duty_ramp_step;
	float m_duty_ramp_step_rpm_lim;
	float m_current_backoff_gain;
	uint32_t m_encoder_counts;
} mc_configuration;

// Applications to use
typedef enum {
	APP_NONE = 0,
	APP_PPM,
	APP_ADC,
	APP_UART,
	APP_PPM_UART,
	APP_ADC_UART,
	APP_NUNCHUK,
	APP_NRF,
	APP_CUSTOM
} app_use;

// PPM control types
typedef enum {
	PPM_CTRL_TYPE_NONE = 0,
	PPM_CTRL_TYPE_CURRENT,
	PPM_CTRL_TYPE_CURRENT_NOREV,
	PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE,
	PPM_CTRL_TYPE_DUTY,
	PPM_CTRL_TYPE_DUTY_NOREV,
	PPM_CTRL_TYPE_PID,
	PPM_CTRL_TYPE_PID_NOREV
} ppm_control_type;

typedef struct {
	ppm_control_type ctrl_type;
	float pid_max_erpm;
	float hyst;
	float pulse_start;
	float pulse_end;
	bool median_filter;
	bool safe_start;
	float rpm_lim_start;
	float rpm_lim_end;
	bool multi_esc;
	bool tc;
	float tc_max_diff;
} ppm_config;

// ADC control types
typedef enum {
	ADC_CTRL_TYPE_NONE = 0,
	ADC_CTRL_TYPE_CURRENT,
	ADC_CTRL_TYPE_CURRENT_REV_CENTER,
	ADC_CTRL_TYPE_CURRENT_REV_BUTTON,
	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER,
	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON,
	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC,
	ADC_CTRL_TYPE_DUTY,
	ADC_CTRL_TYPE_DUTY_REV_CENTER,
	ADC_CTRL_TYPE_DUTY_REV_BUTTON
} adc_control_type;

typedef struct {
	adc_control_type ctrl_type;
	float hyst;
	float voltage_start;
	float voltage_end;
	bool use_filter;
	bool safe_start;
	bool cc_button_inverted;
	bool rev_button_inverted;
	bool voltage_inverted;
	float rpm_lim_start;
	float rpm_lim_end;
	bool multi_esc;
	bool tc;
	float tc_max_diff;
	uint32_t update_rate_hz;
} adc_config;

// Nunchuk control types
typedef enum {
	CHUK_CTRL_TYPE_NONE = 0,
	CHUK_CTRL_TYPE_CURRENT,
	CHUK_CTRL_TYPE_CURRENT_NOREV
} chuk_control_type;

typedef struct {
	chuk_control_type ctrl_type;
	float hyst;
	float rpm_lim_start;
	float rpm_lim_end;
	float ramp_time_pos;
	float ramp_time_neg;
	float stick_erpm_per_s_in_cc;
	bool multi_esc;
	bool tc;
	float tc_max_diff;
} chuk_config;

// NRF Datatypes
typedef enum {
	NRF_SPEED_250K = 0,
	NRF_SPEED_1M,
	NRF_SPEED_2M
} NRF_SPEED;

typedef enum {
	NRF_POWER_M18DBM = 0,
	NRF_POWER_M12DBM,
	NRF_POWER_M6DBM,
	NRF_POWER_0DBM
} NRF_POWER;

typedef enum {
	NRF_AW_3 = 0,
	NRF_AW_4,
	NRF_AW_5
} NRF_AW;

typedef enum {
	NRF_CRC_DISABLED = 0,
	NRF_CRC_1B,
	NRF_CRC_2B
} NRF_CRC;

typedef enum {
	NRF_RETR_DELAY_250US = 0,
	NRF_RETR_DELAY_500US,
	NRF_RETR_DELAY_750US,
	NRF_RETR_DELAY_1000US,
	NRF_RETR_DELAY_1250US,
	NRF_RETR_DELAY_1500US,
	NRF_RETR_DELAY_1750US,
	NRF_RETR_DELAY_2000US,
	NRF_RETR_DELAY_2250US,
	NRF_RETR_DELAY_2500US,
	NRF_RETR_DELAY_2750US,
	NRF_RETR_DELAY_3000US,
	NRF_RETR_DELAY_3250US,
	NRF_RETR_DELAY_3500US,
	NRF_RETR_DELAY_3750US,
	NRF_RETR_DELAY_4000US
} NRF_RETR_DELAY;

typedef struct {
	NRF_SPEED speed;
	NRF_POWER power;
	NRF_CRC crc_type;
	NRF_RETR_DELAY retry_delay;
	unsigned char retries;
	unsigned char channel;
	unsigned char address[3];
	bool send_crc_ack;
} nrf_config;

typedef struct {
	// Settings
	uint8_t controller_id;
	uint32_t timeout_msec;
	float timeout_brake_current;
	bool send_can_status;
	uint32_t send_can_status_rate_hz;

	// Application to use
	app_use app_to_use;

	// PPM application settings
	ppm_config app_ppm_conf;

	// ADC application settings
	adc_config app_adc_conf;

	// UART application settings
	uint32_t app_uart_baudrate;

	// Nunchuk application settings
	chuk_config app_chuk_conf;

	// NRF application settings
	nrf_config app_nrf_conf;
} app_configuration;

// Communication commands
typedef enum {
	COMM_FW_VERSION = 0,
	COMM_JUMP_TO_BOOTLOADER,
	COMM_ERASE_NEW_APP,
	COMM_WRITE_NEW_APP_DATA,
	COMM_GET_VALUES,
	COMM_SET_DUTY,
	COMM_SET_CURRENT,
	COMM_SET_CURRENT_BRAKE,
	COMM_SET_RPM,
	COMM_SET_POS,
	COMM_SET_DETECT,
	COMM_SET_SERVO_POS,
	COMM_SET_MCCONF,
	COMM_GET_MCCONF,
	COMM_GET_MCCONF_DEFAULT,
	COMM_SET_APPCONF,
	COMM_GET_APPCONF,
	COMM_GET_APPCONF_DEFAULT,
	COMM_SAMPLE_PRINT,
	COMM_TERMINAL_CMD,
	COMM_PRINT,
	COMM_ROTOR_POSITION,
	COMM_EXPERIMENT_SAMPLE,
	COMM_DETECT_MOTOR_PARAM,
	COMM_DETECT_MOTOR_R_L,
	COMM_DETECT_MOTOR_FLUX_LINKAGE,
	COMM_DETECT_ENCODER,
	COMM_DETECT_HALL_FOC,
	COMM_REBOOT,
	COMM_ALIVE,
	COMM_GET_DECODED_PPM,
	COMM_GET_DECODED_ADC,
	COMM_GET_DECODED_CHUK,
	COMM_FORWARD_CAN,
	COMM_SET_CHUCK_DATA,
	COMM_CUSTOM_APP_DATA
} COMM_PACKET_ID;

// CAN commands
typedef enum {
	CAN_PACKET_SET_DUTY = 0,
	CAN_PACKET_SET_CURRENT,
	CAN_PACKET_SET_CURRENT_BRAKE,
	CAN_PACKET_SET_RPM,
	CAN_PACKET_SET_POS,
	CAN_PACKET_FILL_RX_BUFFER,
	CAN_PACKET_FILL_RX_BUFFER_LONG,
	CAN_PACKET_PROCESS_RX_BUFFER,
	CAN_PACKET_PROCESS_SHORT_BUFFER,
	CAN_PACKET_STATUS
} CAN_PACKET_ID;

// Logged fault data
typedef struct {
	mc_fault_code fault;
	float current;
	float current_filtered;
	float voltage;
	float duty;
	float rpm;
	int tacho;
	int cycles_running;
	int tim_val_samp;
	int tim_current_samp;
	int tim_top;
	int comm_step;
	float temperature;
} fault_data;

// External LED state
typedef enum {
	LED_EXT_OFF = 0,
	LED_EXT_NORMAL,
	LED_EXT_BRAKE,
	LED_EXT_TURN_LEFT,
	LED_EXT_TURN_RIGHT,
	LED_EXT_BRAKE_TURN_LEFT,
	LED_EXT_BRAKE_TURN_RIGHT,
	LED_EXT_BATT
} LED_EXT_STATE;

typedef struct {
	int js_x;
	int js_y;
	int acc_x;
	int acc_y;
	int acc_z;
	bool bt_c;
	bool bt_z;
} chuck_data;

typedef struct {
	int id;
	systime_t rx_time;
	float rpm;
	float current;
	float duty;
} can_status_msg;

typedef struct {
	uint8_t js_x;
	uint8_t js_y;
	bool bt_c;
	bool bt_z;
	bool bt_push;
	float vbat;
} mote_state;

typedef enum {
	MOTE_PACKET_BATT_LEVEL = 0,
	MOTE_PACKET_BUTTONS,
	MOTE_PACKET_ALIVE,
	MOTE_PACKET_FILL_RX_BUFFER,
	MOTE_PACKET_FILL_RX_BUFFER_LONG,
	MOTE_PACKET_PROCESS_RX_BUFFER,
	MOTE_PACKET_PROCESS_SHORT_BUFFER,
} MOTE_PACKET;

typedef struct {
	float v_in;
	float temp_mos1;
	float temp_mos2;
	float temp_mos3;
	float temp_mos4;
    float temp_mos5;
    float temp_mos6;
    float temp_pcb;
    float current_motor;
    float current_in;
    float rpm;
    float duty_now;
    float amp_hours;
    float amp_hours_charged;
    float watt_hours;
    float watt_hours_charged;
    int tachometer;
    int tachometer_abs;
    mc_fault_code fault_code;
} mc_values;

#endif /* DATATYPES_H_ */