datatypes.h

/*
	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se
	Adapted by Andreas Chaitidis for the VescUartControl Arduino Library

	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 {
//	MOTOR_TYPE_BLDC = 0,
//	MOTOR_TYPE_DC,
//} 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 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;
//	// 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;
//	// 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;
//} 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_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;
//
//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;
//} 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_SET_APPCONF,
	COMM_GET_APPCONF,
	COMM_SAMPLE_PRINT,
	COMM_TERMINAL_CMD,
	COMM_PRINT,
	COMM_ROTOR_POSITION,
	COMM_EXPERIMENT_SAMPLE,
	COMM_DETECT_MOTOR_PARAM,
	COMM_REBOOT,
	COMM_ALIVE,
	COMM_GET_DECODED_PPM,
	COMM_GET_DECODED_ADC,
	COMM_GET_DECODED_CHUK,
	COMM_FORWARD_CAN,
	COMM_SET_CHUCK_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 pwm_cycles;
//	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;
//

// Added by AC to store measured values
struct bldcMeasure {
	//7 Values int16_t not read(14 byte)
	float avgMotorCurrent;
	float avgInputCurrent;
	float dutyCycleNow;
	long rpm;
	float inpVoltage;
	float ampHours;
	float ampHoursCharged;
	//2 values int32_t not read (8 byte)
	long tachometer;
	long tachometerAbs;
}	;

//Define remote Package
/*
struct remotePackage {

	int		valXJoy;
	int		valYJoy;
	boolean	valUpperButton;
	boolean	valLowerButton;

};
*/

#endif /* DATATYPES_H_ */