mirror of https://github.com/rusefi/bldc.git
765 lines
16 KiB
C
765 lines
16 KiB
C
/*
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Copyright 2016 - 2019 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 DATATYPES_H_
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#define DATATYPES_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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// Data types
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typedef enum {
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MC_STATE_OFF = 0,
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MC_STATE_DETECTING,
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MC_STATE_RUNNING,
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MC_STATE_FULL_BRAKE,
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} mc_state;
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typedef enum {
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PWM_MODE_NONSYNCHRONOUS_HISW = 0, // This mode is not recommended
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PWM_MODE_SYNCHRONOUS, // The recommended and most tested mode
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PWM_MODE_BIPOLAR // Some glitches occasionally, can kill MOSFETs
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} mc_pwm_mode;
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typedef enum {
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COMM_MODE_INTEGRATE = 0,
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COMM_MODE_DELAY
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} mc_comm_mode;
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typedef enum {
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SENSOR_MODE_SENSORLESS = 0,
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SENSOR_MODE_SENSORED,
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SENSOR_MODE_HYBRID
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} mc_sensor_mode;
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typedef enum {
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FOC_SENSOR_MODE_SENSORLESS = 0,
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FOC_SENSOR_MODE_ENCODER,
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FOC_SENSOR_MODE_HALL
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} mc_foc_sensor_mode;
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// Auxiliary output mode
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typedef enum {
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OUT_AUX_MODE_OFF = 0,
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OUT_AUX_MODE_ON_AFTER_2S,
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OUT_AUX_MODE_ON_AFTER_5S,
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OUT_AUX_MODE_ON_AFTER_10S
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} out_aux_mode;
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// General purpose drive output mode
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typedef enum {
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GPD_OUTPUT_MODE_NONE = 0,
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GPD_OUTPUT_MODE_MODULATION,
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GPD_OUTPUT_MODE_VOLTAGE,
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GPD_OUTPUT_MODE_CURRENT
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} gpd_output_mode;
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typedef enum {
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MOTOR_TYPE_BLDC = 0,
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MOTOR_TYPE_DC,
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MOTOR_TYPE_FOC,
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MOTOR_TYPE_GPD
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} mc_motor_type;
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typedef enum {
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FAULT_CODE_NONE = 0,
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FAULT_CODE_OVER_VOLTAGE,
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FAULT_CODE_UNDER_VOLTAGE,
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FAULT_CODE_DRV,
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FAULT_CODE_ABS_OVER_CURRENT,
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FAULT_CODE_OVER_TEMP_FET,
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FAULT_CODE_OVER_TEMP_MOTOR,
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FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE,
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FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE,
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FAULT_CODE_MCU_UNDER_VOLTAGE,
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FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET,
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FAULT_CODE_ENCODER_SPI,
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FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE,
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FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE
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} mc_fault_code;
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typedef enum {
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CONTROL_MODE_DUTY = 0,
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CONTROL_MODE_SPEED,
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CONTROL_MODE_CURRENT,
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CONTROL_MODE_CURRENT_BRAKE,
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CONTROL_MODE_POS,
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CONTROL_MODE_HANDBRAKE,
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CONTROL_MODE_OPENLOOP,
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CONTROL_MODE_OPENLOOP_PHASE,
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CONTROL_MODE_OPENLOOP_DUTY,
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CONTROL_MODE_OPENLOOP_DUTY_PHASE,
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CONTROL_MODE_NONE
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} mc_control_mode;
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typedef enum {
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DISP_POS_MODE_NONE = 0,
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DISP_POS_MODE_INDUCTANCE,
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DISP_POS_MODE_OBSERVER,
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DISP_POS_MODE_ENCODER,
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DISP_POS_MODE_PID_POS,
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DISP_POS_MODE_PID_POS_ERROR,
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DISP_POS_MODE_ENCODER_OBSERVER_ERROR
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} disp_pos_mode;
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typedef enum {
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SENSOR_PORT_MODE_HALL = 0,
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SENSOR_PORT_MODE_ABI,
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SENSOR_PORT_MODE_AS5047_SPI,
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SENSOR_PORT_MODE_AD2S1205,
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SENSOR_PORT_MODE_SINCOS
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} sensor_port_mode;
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typedef struct {
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float cycle_int_limit;
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float cycle_int_limit_running;
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float cycle_int_limit_max;
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float comm_time_sum;
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float comm_time_sum_min_rpm;
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int32_t comms;
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float time_at_comm;
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} mc_rpm_dep_struct;
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typedef enum {
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DRV8301_OC_LIMIT = 0,
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DRV8301_OC_LATCH_SHUTDOWN,
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DRV8301_OC_REPORT_ONLY,
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DRV8301_OC_DISABLED
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} drv8301_oc_mode;
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typedef enum {
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DEBUG_SAMPLING_OFF = 0,
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DEBUG_SAMPLING_NOW,
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DEBUG_SAMPLING_START,
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DEBUG_SAMPLING_TRIGGER_START,
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DEBUG_SAMPLING_TRIGGER_FAULT,
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DEBUG_SAMPLING_TRIGGER_START_NOSEND,
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DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND,
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DEBUG_SAMPLING_SEND_LAST_SAMPLES
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} debug_sampling_mode;
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typedef enum {
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CAN_BAUD_125K = 0,
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CAN_BAUD_250K,
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CAN_BAUD_500K,
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CAN_BAUD_1M
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} CAN_BAUD;
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typedef enum {
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BATTERY_TYPE_LIION_3_0__4_2,
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BATTERY_TYPE_LIIRON_2_6__3_6,
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BATTERY_TYPE_LEAD_ACID
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} BATTERY_TYPE;
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typedef struct {
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// Switching and drive
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mc_pwm_mode pwm_mode;
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mc_comm_mode comm_mode;
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mc_motor_type motor_type;
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mc_sensor_mode sensor_mode;
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// Limits
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float l_current_max;
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float l_current_min;
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float l_in_current_max;
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float l_in_current_min;
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float l_abs_current_max;
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float l_min_erpm;
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float l_max_erpm;
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float l_erpm_start;
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float l_max_erpm_fbrake;
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float l_max_erpm_fbrake_cc;
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float l_min_vin;
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float l_max_vin;
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float l_battery_cut_start;
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float l_battery_cut_end;
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bool l_slow_abs_current;
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float l_temp_fet_start;
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float l_temp_fet_end;
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float l_temp_motor_start;
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float l_temp_motor_end;
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float l_temp_accel_dec;
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float l_min_duty;
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float l_max_duty;
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float l_watt_max;
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float l_watt_min;
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float l_current_max_scale;
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float l_current_min_scale;
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// Overridden limits (Computed during runtime)
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float lo_current_max;
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float lo_current_min;
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float lo_in_current_max;
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float lo_in_current_min;
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float lo_current_motor_max_now;
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float lo_current_motor_min_now;
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// Sensorless (bldc)
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float sl_min_erpm;
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float sl_min_erpm_cycle_int_limit;
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float sl_max_fullbreak_current_dir_change;
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float sl_cycle_int_limit;
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float sl_phase_advance_at_br;
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float sl_cycle_int_rpm_br;
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float sl_bemf_coupling_k;
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// Hall sensor
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int8_t hall_table[8];
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float hall_sl_erpm;
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// FOC
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float foc_current_kp;
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float foc_current_ki;
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float foc_f_sw;
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float foc_dt_us;
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float foc_encoder_offset;
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bool foc_encoder_inverted;
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float foc_encoder_ratio;
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float foc_encoder_sin_offset;
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float foc_encoder_sin_gain;
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float foc_encoder_cos_offset;
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float foc_encoder_cos_gain;
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float foc_encoder_sincos_filter_constant;
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float foc_motor_l;
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float foc_motor_r;
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float foc_motor_flux_linkage;
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float foc_observer_gain;
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float foc_observer_gain_slow;
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float foc_pll_kp;
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float foc_pll_ki;
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float foc_duty_dowmramp_kp;
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float foc_duty_dowmramp_ki;
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float foc_openloop_rpm;
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float foc_sl_openloop_hyst;
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float foc_sl_openloop_time;
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float foc_sl_d_current_duty;
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float foc_sl_d_current_factor;
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mc_foc_sensor_mode foc_sensor_mode;
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uint8_t foc_hall_table[8];
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float foc_sl_erpm;
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bool foc_sample_v0_v7;
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bool foc_sample_high_current;
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float foc_sat_comp;
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bool foc_temp_comp;
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float foc_temp_comp_base_temp;
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float foc_current_filter_const;
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// GPDrive
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int gpd_buffer_notify_left;
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int gpd_buffer_interpol;
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float gpd_current_filter_const;
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float gpd_current_kp;
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float gpd_current_ki;
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// Speed PID
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float s_pid_kp;
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float s_pid_ki;
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float s_pid_kd;
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float s_pid_kd_filter;
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float s_pid_min_erpm;
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bool s_pid_allow_braking;
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// Pos PID
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float p_pid_kp;
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float p_pid_ki;
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float p_pid_kd;
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float p_pid_kd_filter;
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float p_pid_ang_div;
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// Current controller
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float cc_startup_boost_duty;
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float cc_min_current;
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float cc_gain;
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float cc_ramp_step_max;
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// Misc
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int32_t m_fault_stop_time_ms;
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float m_duty_ramp_step;
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float m_current_backoff_gain;
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uint32_t m_encoder_counts;
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sensor_port_mode m_sensor_port_mode;
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bool m_invert_direction;
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drv8301_oc_mode m_drv8301_oc_mode;
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int m_drv8301_oc_adj;
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float m_bldc_f_sw_min;
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float m_bldc_f_sw_max;
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float m_dc_f_sw;
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float m_ntc_motor_beta;
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out_aux_mode m_out_aux_mode;
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// Setup info
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uint8_t si_motor_poles;
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float si_gear_ratio;
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float si_wheel_diameter;
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BATTERY_TYPE si_battery_type;
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int si_battery_cells;
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float si_battery_ah;
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} mc_configuration;
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// Applications to use
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typedef enum {
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APP_NONE = 0,
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APP_PPM,
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APP_ADC,
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APP_UART,
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APP_PPM_UART,
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APP_ADC_UART,
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APP_NUNCHUK,
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APP_NRF,
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APP_CUSTOM
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} app_use;
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// Throttle curve mode
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typedef enum {
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THR_EXP_EXPO = 0,
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THR_EXP_NATURAL,
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THR_EXP_POLY
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} thr_exp_mode;
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// PPM control types
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typedef enum {
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PPM_CTRL_TYPE_NONE = 0,
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PPM_CTRL_TYPE_CURRENT,
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PPM_CTRL_TYPE_CURRENT_NOREV,
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PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE,
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PPM_CTRL_TYPE_DUTY,
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PPM_CTRL_TYPE_DUTY_NOREV,
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PPM_CTRL_TYPE_PID,
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PPM_CTRL_TYPE_PID_NOREV
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} ppm_control_type;
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typedef struct {
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ppm_control_type ctrl_type;
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float pid_max_erpm;
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float hyst;
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float pulse_start;
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float pulse_end;
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float pulse_center;
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bool median_filter;
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bool safe_start;
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float throttle_exp;
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float throttle_exp_brake;
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thr_exp_mode throttle_exp_mode;
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float ramp_time_pos;
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float ramp_time_neg;
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bool multi_esc;
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bool tc;
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float tc_max_diff;
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} ppm_config;
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// ADC control types
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typedef enum {
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ADC_CTRL_TYPE_NONE = 0,
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ADC_CTRL_TYPE_CURRENT,
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ADC_CTRL_TYPE_CURRENT_REV_CENTER,
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ADC_CTRL_TYPE_CURRENT_REV_BUTTON,
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ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_ADC,
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ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER,
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ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER,
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ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON,
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ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC,
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ADC_CTRL_TYPE_DUTY,
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ADC_CTRL_TYPE_DUTY_REV_CENTER,
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ADC_CTRL_TYPE_DUTY_REV_BUTTON,
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ADC_CTRL_TYPE_PID,
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ADC_CTRL_TYPE_PID_REV_CENTER,
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ADC_CTRL_TYPE_PID_REV_BUTTON
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} adc_control_type;
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typedef struct {
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adc_control_type ctrl_type;
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float hyst;
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float voltage_start;
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float voltage_end;
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float voltage_center;
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float voltage2_start;
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float voltage2_end;
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bool use_filter;
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bool safe_start;
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bool cc_button_inverted;
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bool rev_button_inverted;
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bool voltage_inverted;
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bool voltage2_inverted;
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float throttle_exp;
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float throttle_exp_brake;
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thr_exp_mode throttle_exp_mode;
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float ramp_time_pos;
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float ramp_time_neg;
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bool multi_esc;
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bool tc;
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float tc_max_diff;
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uint32_t update_rate_hz;
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} adc_config;
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// Nunchuk control types
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typedef enum {
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CHUK_CTRL_TYPE_NONE = 0,
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CHUK_CTRL_TYPE_CURRENT,
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CHUK_CTRL_TYPE_CURRENT_NOREV
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} chuk_control_type;
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typedef struct {
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chuk_control_type ctrl_type;
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float hyst;
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float ramp_time_pos;
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float ramp_time_neg;
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float stick_erpm_per_s_in_cc;
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float throttle_exp;
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float throttle_exp_brake;
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thr_exp_mode throttle_exp_mode;
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bool multi_esc;
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bool tc;
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float tc_max_diff;
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} chuk_config;
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// NRF Datatypes
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typedef enum {
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NRF_SPEED_250K = 0,
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NRF_SPEED_1M,
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NRF_SPEED_2M
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} NRF_SPEED;
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typedef enum {
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NRF_POWER_M18DBM = 0,
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NRF_POWER_M12DBM,
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NRF_POWER_M6DBM,
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NRF_POWER_0DBM,
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NRF_POWER_OFF
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} NRF_POWER;
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typedef enum {
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NRF_AW_3 = 0,
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NRF_AW_4,
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NRF_AW_5
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} NRF_AW;
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typedef enum {
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NRF_CRC_DISABLED = 0,
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NRF_CRC_1B,
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NRF_CRC_2B
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} NRF_CRC;
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typedef enum {
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NRF_RETR_DELAY_250US = 0,
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NRF_RETR_DELAY_500US,
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NRF_RETR_DELAY_750US,
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NRF_RETR_DELAY_1000US,
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NRF_RETR_DELAY_1250US,
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NRF_RETR_DELAY_1500US,
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NRF_RETR_DELAY_1750US,
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NRF_RETR_DELAY_2000US,
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NRF_RETR_DELAY_2250US,
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NRF_RETR_DELAY_2500US,
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NRF_RETR_DELAY_2750US,
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NRF_RETR_DELAY_3000US,
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NRF_RETR_DELAY_3250US,
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NRF_RETR_DELAY_3500US,
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NRF_RETR_DELAY_3750US,
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NRF_RETR_DELAY_4000US
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} NRF_RETR_DELAY;
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typedef struct {
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NRF_SPEED speed;
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NRF_POWER power;
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NRF_CRC crc_type;
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NRF_RETR_DELAY retry_delay;
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unsigned char retries;
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unsigned char channel;
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unsigned char address[3];
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bool send_crc_ack;
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} nrf_config;
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// CAN status modes
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typedef enum {
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CAN_STATUS_DISABLED = 0,
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CAN_STATUS_1,
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CAN_STATUS_1_2,
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CAN_STATUS_1_2_3,
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CAN_STATUS_1_2_3_4
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} CAN_STATUS_MODE;
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typedef struct {
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// Settings
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uint8_t controller_id;
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uint32_t timeout_msec;
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float timeout_brake_current;
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CAN_STATUS_MODE send_can_status;
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uint32_t send_can_status_rate_hz;
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CAN_BAUD can_baud_rate;
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bool pairing_done;
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bool permanent_uart_enabled;
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// UAVCAN
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bool uavcan_enable;
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uint8_t uavcan_esc_index;
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// Application to use
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app_use app_to_use;
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// PPM application settings
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ppm_config app_ppm_conf;
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// ADC application settings
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adc_config app_adc_conf;
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// UART application settings
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uint32_t app_uart_baudrate;
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// 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_HANDBRAKE,
|
|
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_NRF_START_PAIRING,
|
|
COMM_GPD_SET_FSW,
|
|
COMM_GPD_BUFFER_NOTIFY,
|
|
COMM_GPD_BUFFER_SIZE_LEFT,
|
|
COMM_GPD_FILL_BUFFER,
|
|
COMM_GPD_OUTPUT_SAMPLE,
|
|
COMM_GPD_SET_MODE,
|
|
COMM_GPD_FILL_BUFFER_INT8,
|
|
COMM_GPD_FILL_BUFFER_INT16,
|
|
COMM_GPD_SET_BUFFER_INT_SCALE,
|
|
COMM_GET_VALUES_SETUP,
|
|
COMM_SET_MCCONF_TEMP,
|
|
COMM_SET_MCCONF_TEMP_SETUP,
|
|
COMM_GET_VALUES_SELECTIVE,
|
|
COMM_GET_VALUES_SETUP_SELECTIVE,
|
|
COMM_EXT_NRF_PRESENT,
|
|
COMM_EXT_NRF_ESB_SET_CH_ADDR,
|
|
COMM_EXT_NRF_ESB_SEND_DATA,
|
|
COMM_EXT_NRF_ESB_RX_DATA,
|
|
COMM_EXT_NRF_SET_ENABLED,
|
|
COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP,
|
|
COMM_DETECT_APPLY_ALL_FOC,
|
|
COMM_JUMP_TO_BOOTLOADER_ALL_CAN,
|
|
COMM_ERASE_NEW_APP_ALL_CAN,
|
|
COMM_WRITE_NEW_APP_DATA_ALL_CAN,
|
|
COMM_PING_CAN,
|
|
COMM_APP_DISABLE_OUTPUT,
|
|
COMM_TERMINAL_CMD_SYNC,
|
|
COMM_GET_IMU_DATA,
|
|
COMM_BM_CONNECT,
|
|
COMM_BM_ERASE_FLASH_ALL,
|
|
COMM_BM_WRITE_FLASH,
|
|
COMM_BM_REBOOT,
|
|
COMM_BM_DISCONNECT
|
|
} 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_SET_CURRENT_REL,
|
|
CAN_PACKET_SET_CURRENT_BRAKE_REL,
|
|
CAN_PACKET_SET_CURRENT_HANDBRAKE,
|
|
CAN_PACKET_SET_CURRENT_HANDBRAKE_REL,
|
|
CAN_PACKET_STATUS_2,
|
|
CAN_PACKET_STATUS_3,
|
|
CAN_PACKET_STATUS_4,
|
|
CAN_PACKET_PING,
|
|
CAN_PACKET_PONG,
|
|
CAN_PACKET_DETECT_APPLY_ALL_FOC,
|
|
CAN_PACKET_DETECT_APPLY_ALL_FOC_RES,
|
|
CAN_PACKET_CONF_CURRENT_LIMITS,
|
|
CAN_PACKET_CONF_STORE_CURRENT_LIMITS,
|
|
CAN_PACKET_CONF_CURRENT_LIMITS_IN,
|
|
CAN_PACKET_CONF_STORE_CURRENT_LIMITS_IN,
|
|
CAN_PACKET_CONF_FOC_ERPMS,
|
|
CAN_PACKET_CONF_STORE_FOC_ERPMS
|
|
} CAN_PACKET_ID;
|
|
|
|
// Logged fault data
|
|
typedef struct {
|
|
mc_fault_code fault;
|
|
float current;
|
|
float current_filtered;
|
|
float voltage;
|
|
float gate_driver_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;
|
|
int drv8301_faults;
|
|
} 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;
|
|
bool rev_has_state;
|
|
bool is_rev;
|
|
} chuck_data;
|
|
|
|
typedef struct {
|
|
int id;
|
|
systime_t rx_time;
|
|
float rpm;
|
|
float current;
|
|
float duty;
|
|
} can_status_msg;
|
|
|
|
typedef struct {
|
|
int id;
|
|
systime_t rx_time;
|
|
float amp_hours;
|
|
float amp_hours_charged;
|
|
} can_status_msg_2;
|
|
|
|
typedef struct {
|
|
int id;
|
|
systime_t rx_time;
|
|
float watt_hours;
|
|
float watt_hours_charged;
|
|
} can_status_msg_3;
|
|
|
|
typedef struct {
|
|
int id;
|
|
systime_t rx_time;
|
|
float temp_fet;
|
|
float temp_motor;
|
|
float current_in;
|
|
float pid_pos_now;
|
|
} can_status_msg_4;
|
|
|
|
typedef struct {
|
|
uint8_t js_x;
|
|
uint8_t js_y;
|
|
bool bt_c;
|
|
bool bt_z;
|
|
bool bt_push;
|
|
bool rev_has_state;
|
|
bool is_rev;
|
|
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_PAIRING_INFO
|
|
} 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;
|
|
|
|
typedef enum {
|
|
NRF_PAIR_STARTED = 0,
|
|
NRF_PAIR_OK,
|
|
NRF_PAIR_FAIL
|
|
} NRF_PAIR_RES;
|
|
|
|
// Orientation data
|
|
typedef struct {
|
|
float q0;
|
|
float q1;
|
|
float q2;
|
|
float q3;
|
|
float integralFBx;
|
|
float integralFBy;
|
|
float integralFBz;
|
|
float accMagP;
|
|
int initialUpdateDone;
|
|
} ATTITUDE_INFO;
|
|
|
|
#endif /* DATATYPES_H_ */
|