mirror of https://github.com/rusefi/bldc.git
307 lines
7.4 KiB
C
307 lines
7.4 KiB
C
/*
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Copyright 2022 Jakub Tomczak
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Copyright 2022 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef ENCODER_DATATYPE_H_
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#define ENCODER_DATATYPE_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "ch.h"
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#include "hal.h"
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#include "spi_bb.h"
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typedef enum {
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ENCODER_TYPE_NONE = 0,
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ENCODER_TYPE_AS504x,
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ENCODER_TYPE_MT6816,
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ENCODER_TYPE_TLE5012,
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ENCODER_TYPE_AD2S1205_SPI,
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ENCODER_TYPE_SINCOS,
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ENCODER_TYPE_TS5700N8501,
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ENCODER_TYPE_ABI,
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ENCODER_TYPE_AS5x47U,
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ENCODER_TYPE_BISSC,
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ENCODER_TYPE_CUSTOM
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} encoder_type_t;
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typedef struct {
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uint16_t spi_val;
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float resolver_loss_of_tracking_error_rate;
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float resolver_degradation_of_signal_error_rate;
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float resolver_loss_of_signal_error_rate;
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uint32_t resolver_loss_of_tracking_error_cnt;
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uint32_t resolver_degradation_of_signal_error_cnt;
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uint32_t resolver_loss_of_signal_error_cnt;
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uint32_t spi_error_cnt;
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float spi_error_rate;
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float last_enc_angle;
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uint32_t last_update_time;
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uint32_t resolver_void_packet_cnt;
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uint32_t resolver_vel_packet_cnt;
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float resolver_void_packet_error_rate;
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float resolver_vel_packet_error_rate;
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float resolver_LOT_peak_error_rate;
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float resolver_LOS_peak_error_rate;
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float resolver_DOS_peak_error_rate;
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float resolver_SPI_peak_error_rate;
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float resolver_VELread_peak_error_rate;
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float resolver_VOIDspi_peak_error_rate;
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} AD2S1205_state;
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typedef struct {
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spi_bb_state sw_spi;
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AD2S1205_state state;
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} AD2S1205_config_t;
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typedef struct {
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float spi_error_rate;
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float encoder_no_magnet_error_rate;
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uint32_t encoder_no_magnet_error_cnt;
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float last_enc_angle;
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uint32_t spi_error_cnt;
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uint32_t spi_val;
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uint32_t last_update_time;
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} MT6816_state;
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typedef struct {
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SPIDriver *spi_dev;
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SPIConfig hw_spi_cfg;
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uint8_t spi_af;
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stm32_gpio_t *nss_gpio;
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int nss_pin;
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stm32_gpio_t *sck_gpio;
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int sck_pin;
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stm32_gpio_t *mosi_gpio;
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int mosi_pin;
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stm32_gpio_t *miso_gpio;
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int miso_pin;
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MT6816_state state;
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} MT6816_config_t;
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typedef struct {
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float spi_error_rate;
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float encoder_no_magnet_error_rate;
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uint32_t encoder_no_magnet_error_cnt;
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float last_enc_angle;
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uint32_t spi_error_cnt;
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uint8_t last_status_error;
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uint32_t spi_val;
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uint32_t last_update_time;
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} TLE5012_state;
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typedef struct { // sw ssc
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spi_bb_state sw_spi;
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TLE5012_state state;
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} TLE5012_config_t;
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typedef enum tle5012_errortypes {
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NO_ERROR = 0x00, //!< NO_ERROR = Safety word was OK
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SYSTEM_ERROR = 0x01, //!< SYSTEM_ERROR = over/under voltage, VDD negative, GND off, ROM defect, no magnet
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INTERFACE_ACCESS_ERROR = 0x02, //!< INTERFACE_ACCESS_ERROR = wrong address or wrong lock
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INVALID_ANGLE_ERROR = 0x04, //!< INVALID_ANGLE_ERROR = NO_GMR_A = 1 or NO_GMR_XY = 1
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ANGLE_SPEED_ERROR = 0x08, //!< ANGLE_SPEED_ERROR = combined error, angular speed calculation wrong
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CRC_ERROR = 0xFF //!< CRC_ERROR = Cyclic Redundancy Check (CRC), which includes the STAT and RESP bits wrong
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} tle5012_errortypes;
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typedef struct {
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volatile bool index_found;
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volatile int bad_pulses;
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} ABI_state;
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typedef struct {
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uint32_t counts;
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stm32_gpio_t *A_gpio; uint8_t A_pin;
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stm32_gpio_t *B_gpio; uint8_t B_pin;
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stm32_gpio_t *I_gpio; uint8_t I_pin;
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TIM_TypeDef *timer;
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uint8_t tim_af;
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uint8_t exti_portsrc;
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uint8_t exti_pinsrc;
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uint32_t exti_line;
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uint32_t exti_ch;
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ABI_state state;
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} ABI_config_t;
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typedef struct {
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uint32_t signal_below_min_error_cnt;
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uint32_t signal_above_max_error_cnt;
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float signal_low_error_rate;
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float signal_above_max_error_rate;
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float last_enc_angle;
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float sin_filter;
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float cos_filter;
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uint32_t last_update_time;
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} ENCSINCOS_state;
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typedef struct {
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uint32_t refresh_rate_hz;
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// The gain is 1/amplutide. The reason it is stored like that
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// is to avoid two divisions when reading the encoder.
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float s_gain;
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float c_gain;
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float s_offset;
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float c_offset;
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float filter_constant;
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float phase_correction; //phase angle correction (in deg) when encoder outputs sin(anle)/cos(angle+pase_correction)
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float sph; // sin of the phase_correction angle
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float cph; // cos of the phase_correction angle
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ENCSINCOS_state state;
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} ENCSINCOS_config_t;
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typedef struct {
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volatile bool stop_now;
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volatile bool is_running;
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volatile uint8_t raw_status[8];
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volatile bool reset_errors;
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volatile bool reset_multiturn;
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float spi_error_rate;
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uint32_t spi_error_cnt;
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uint32_t spi_val;
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float last_enc_angle;
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} TS5700N8501_state;
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typedef struct {
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SerialDriver *sd;
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uint8_t sd_af;
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stm32_gpio_t *TX_gpio; uint8_t TX_pin;
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stm32_gpio_t *RX_gpio; uint8_t RX_pin;
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stm32_gpio_t *EXT_gpio; uint8_t EXT_pin;
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SerialConfig uart_param;
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stkalign_t *thread_wa;
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uint32_t thread_wa_size;
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TS5700N8501_state state;
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} TS5700N8501_config_t;
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typedef struct {
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uint8_t is_connected;
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uint8_t AGC_value;
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uint16_t magnitude;
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uint8_t is_OCF;
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uint8_t is_COF;
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uint8_t is_Comp_low;
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uint8_t is_Comp_high;
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uint16_t serial_diag_flgs;
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uint16_t serial_magnitude;
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uint16_t serial_error_flags;
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} AS504x_diag;
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typedef struct {
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uint16_t diag_fetch_now_count;
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uint32_t data_last_invalid_counter;
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uint32_t spi_communication_error_count;
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uint8_t spi_data_err_raised;
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AS504x_diag sensor_diag;
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uint16_t spi_val;
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float last_enc_angle;
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uint32_t spi_error_cnt;
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float spi_error_rate;
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uint32_t last_update_time;
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} AS504x_state;
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typedef struct {
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spi_bb_state sw_spi;
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AS504x_state state;
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} AS504x_config_t;
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typedef struct {
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uint8_t is_connected;
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uint8_t is_broken_hall;
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uint8_t is_error;
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uint8_t is_COF;
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uint8_t is_Comp_low;
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uint8_t is_Comp_high;
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uint8_t is_wdtst;
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uint8_t is_crc_error;
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uint8_t is_mag_half;
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uint8_t AGC_value;
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uint16_t magnitude;
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uint16_t serial_AGC_value;
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uint16_t serial_diag_flgs;
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uint16_t serial_magnitude;
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uint16_t serial_error_flgs;
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} AS5x47U_diag;
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typedef struct {
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uint16_t spi_seq;
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uint32_t spi_communication_error_count;
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AS5x47U_diag sensor_diag;
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uint16_t spi_val;
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float last_enc_angle;
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uint32_t spi_error_cnt;
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float spi_error_rate;
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uint32_t last_update_time;
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uint8_t rx_buf[4];
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uint8_t tx_buf[4];
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} AS5x47U_state;
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typedef struct {
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SPIDriver *spi_dev;
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SPIConfig hw_spi_cfg;
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uint8_t spi_af;
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stm32_gpio_t *nss_gpio;
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int nss_pin;
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stm32_gpio_t *sck_gpio;
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int sck_pin;
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stm32_gpio_t *mosi_gpio;
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int mosi_pin;
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stm32_gpio_t *miso_gpio;
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int miso_pin;
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AS5x47U_state state;
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} AS5x47U_config_t;
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typedef struct {
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float spi_data_error_rate;
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uint32_t spi_data_error_cnt;
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float spi_comm_error_rate;
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uint32_t spi_comm_error_cnt;
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float last_enc_angle;
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uint32_t spi_val;
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uint32_t last_update_time;
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uint8_t decod_buf[8];
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} BISSC_state;
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typedef struct {
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SPIDriver *spi_dev;
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SPIConfig hw_spi_cfg;
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uint8_t spi_af;
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stm32_gpio_t *nss_gpio;
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int nss_pin;
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stm32_gpio_t *sck_gpio;
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int sck_pin;
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stm32_gpio_t *mosi_gpio;
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int mosi_pin;
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stm32_gpio_t *miso_gpio;
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int miso_pin;
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uint32_t enc_res;
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uint8_t tableCRC6n[64];
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BISSC_state state;
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} BISSC_config_t;
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#endif /* ENCODER_DATATYPE_H_ */
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