datatypes.h

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// Copyright 2020 F1TENTH Foundation
//
// Redistribution and use in source and binary forms, with or without modification, are permitted
// provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice, this list of conditions
//    and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice, this list
//    of conditions and the following disclaimer in the documentation and/or other materials
//    provided with the distribution.
//
// 3. Neither the name of the copyright holder nor the names of its contributors may be used
//    to endorse or promote products derived from this software without specific prior
//    written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
// IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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/*
    Copyright 2016 - 2017 Benjamin Vedder benjamin@vedder.se

    This file is part of VESC Tool.

    VESC Tool 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.

    VESC Tool 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/>.
    */

#ifndef VESC_DRIVER_DATATYPES_H
#define VESC_DRIVER_DATATYPES_H

#include <cstdint>

typedef struct
{
  bool isVesc;
}
VSerialInfo_t;

typedef enum
{
  CFG_T_UNDEFINED = 0,
  CFG_T_DOUBLE,
  CFG_T_INT,
  CFG_T_QSTRING,
  CFG_T_ENUM,
  CFG_T_BOOL
}
CFG_T;

typedef enum
{
  VESC_TX_UNDEFINED = 0,
  VESC_TX_UINT8,
  VESC_TX_INT8,
  VESC_TX_UINT16,
  VESC_TX_INT16,
  VESC_TX_UINT32,
  VESC_TX_INT32,
  VESC_TX_DOUBLE16,
  VESC_TX_DOUBLE32,
  VESC_TX_DOUBLE32_AUTO
}
VESC_TX_T;

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

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;

struct MC_VALUES
{
public:
  double v_in;
  double temp_mos;
  double temp_motor;
  double current_motor;
  double current_in;
  double id;
  double iq;
  double rpm;
  double duty_now;
  double amp_hours;
  double amp_hours_charged;
  double watt_hours;
  double watt_hours_charged;
  int tachometer;
  int tachometer_abs;
  double position;
  mc_fault_code fault_code;
};

typedef enum
{
  DEBUG_SAMPLING_OFF = 0,
  DEBUG_SAMPLING_NOW,
  DEBUG_SAMPLING_START,
  DEBUG_SAMPLING_TRIGGER_START,
  DEBUG_SAMPLING_TRIGGER_FAULT,
  DEBUG_SAMPLING_TRIGGER_START_NOSEND,
  DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND,
  DEBUG_SAMPLING_SEND_LAST_SAMPLES
}
debug_sampling_mode;

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_PACKET_ID;

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;

struct bldc_detect
{
public:
  double cycle_int_limit;
  double bemf_coupling_k;
  int hall_res;
};

typedef enum
{
  NRF_PAIR_STARTED = 0,
  NRF_PAIR_OK,
  NRF_PAIR_FAIL
}
NRF_PAIR_RES;

#endif  // VESC_DRIVER_DATATYPES_H