mirror of https://github.com/rusefi/bldc.git
122 lines
2.7 KiB
C
122 lines
2.7 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_ENCODER_DATATYPE_H_
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#define ENCODER_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_OK = 0, ENCODER_NONE, ENCODER_ERROR
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} encoder_ret_t;
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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_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_t;
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typedef struct {
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spi_bb_state sw_spi;
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} AD2S1205_config_t;
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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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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_config_t;
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typedef struct {
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uint32_t counts;
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stm32_gpio_t *A_gpio;
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uint8_t A_pin;
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stm32_gpio_t *B_gpio;
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uint8_t B_pin;
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stm32_gpio_t *I_gpio;
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uint8_t I_pin;
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} ABI_config_t;
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typedef struct {
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uint32_t refresh_rate_hz;
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float s_gain;
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float s_offset;
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float c_gain;
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float c_offset;
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float filter_constant;
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} ENCSINCOS_config_t;
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typedef struct {
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SerialDriver *sd;
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stm32_gpio_t *TX_gpio;
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uint8_t TX_pin;
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stm32_gpio_t *RX_gpio;
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uint8_t RX_pin;
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stm32_gpio_t *EXT_gpio;
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uint8_t EXT_pin;
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SerialConfig uart_param;
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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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} 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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#endif /* ENCODER_ENCODER_DATATYPE_H_ */
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