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datatypes.h
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/*
Copyright 2016 - 2022 Benjamin Vedder [email protected]
This file is part of the VESC firmware.
The VESC firmware 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.
The VESC firmware 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 DATATYPES_H_
#define DATATYPES_H_
#include <stdint.h>
#include <stdbool.h>
#include "ch.h"
// Data types
typedef enum {
HW_TYPE_VESC = 0,
HW_TYPE_VESC_BMS,
HW_TYPE_CUSTOM_MODULE
} HW_TYPE;
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 {
FOC_SENSOR_MODE_SENSORLESS = 0,
FOC_SENSOR_MODE_ENCODER,
FOC_SENSOR_MODE_HALL,
FOC_SENSOR_MODE_HFI,
FOC_SENSOR_MODE_HFI_START,
FOC_SENSOR_MODE_HFI_V2,
FOC_SENSOR_MODE_HFI_V3,
FOC_SENSOR_MODE_HFI_V4,
FOC_SENSOR_MODE_HFI_V5
} mc_foc_sensor_mode;
// Auxiliary output mode
typedef enum {
OUT_AUX_MODE_OFF = 0,
OUT_AUX_MODE_ON_AFTER_2S,
OUT_AUX_MODE_ON_AFTER_5S,
OUT_AUX_MODE_ON_AFTER_10S,
OUT_AUX_MODE_UNUSED,
OUT_AUX_MODE_ON_WHEN_RUNNING,
OUT_AUX_MODE_ON_WHEN_NOT_RUNNING,
OUT_AUX_MODE_MOTOR_50,
OUT_AUX_MODE_MOSFET_50,
OUT_AUX_MODE_MOTOR_70,
OUT_AUX_MODE_MOSFET_70,
OUT_AUX_MODE_MOTOR_MOSFET_50,
OUT_AUX_MODE_MOTOR_MOSFET_70,
} out_aux_mode;
// Temperature sensor type
typedef enum {
TEMP_SENSOR_NTC_10K_25C = 0,
TEMP_SENSOR_PTC_1K_100C,
TEMP_SENSOR_KTY83_122,
TEMP_SENSOR_NTC_100K_25C,
TEMP_SENSOR_KTY84_130,
TEMP_SENSOR_NTCX,
TEMP_SENSOR_PTCX,
TEMP_SENSOR_PT1000
} temp_sensor_type;
// General purpose drive output mode
typedef enum {
GPD_OUTPUT_MODE_NONE = 0,
GPD_OUTPUT_MODE_MODULATION,
GPD_OUTPUT_MODE_VOLTAGE,
GPD_OUTPUT_MODE_CURRENT
} gpd_output_mode;
typedef enum {
MOTOR_TYPE_BLDC = 0,
MOTOR_TYPE_DC,
MOTOR_TYPE_FOC,
MOTOR_TYPE_GPD
} mc_motor_type;
// FOC current controller decoupling mode.
typedef enum {
FOC_CC_DECOUPLING_DISABLED = 0,
FOC_CC_DECOUPLING_CROSS,
FOC_CC_DECOUPLING_BEMF,
FOC_CC_DECOUPLING_CROSS_BEMF
} mc_foc_cc_decoupling_mode;
typedef enum {
FOC_OBSERVER_ORTEGA_ORIGINAL = 0,
FOC_OBSERVER_MXLEMMING,
FOC_OBSERVER_ORTEGA_LAMBDA_COMP,
FOC_OBSERVER_MXLEMMING_LAMBDA_COMP,
} mc_foc_observer_type;
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,
FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE,
FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE,
FAULT_CODE_MCU_UNDER_VOLTAGE,
FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET,
FAULT_CODE_ENCODER_SPI,
FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE,
FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE,
FAULT_CODE_FLASH_CORRUPTION,
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1,
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2,
FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3,
FAULT_CODE_UNBALANCED_CURRENTS,
FAULT_CODE_BRK,
FAULT_CODE_RESOLVER_LOT,
FAULT_CODE_RESOLVER_DOS,
FAULT_CODE_RESOLVER_LOS,
FAULT_CODE_FLASH_CORRUPTION_APP_CFG,
FAULT_CODE_FLASH_CORRUPTION_MC_CFG,
FAULT_CODE_ENCODER_NO_MAGNET,
FAULT_CODE_ENCODER_MAGNET_TOO_STRONG,
FAULT_CODE_PHASE_FILTER,
FAULT_CODE_ENCODER_FAULT,
} mc_fault_code;
typedef enum {
CONTROL_MODE_DUTY = 0,
CONTROL_MODE_SPEED,
CONTROL_MODE_CURRENT,
CONTROL_MODE_CURRENT_BRAKE,
CONTROL_MODE_POS,
CONTROL_MODE_HANDBRAKE,
CONTROL_MODE_OPENLOOP,
CONTROL_MODE_OPENLOOP_PHASE,
CONTROL_MODE_OPENLOOP_DUTY,
CONTROL_MODE_OPENLOOP_DUTY_PHASE,
CONTROL_MODE_NONE
} mc_control_mode;
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;
typedef enum {
SENSOR_PORT_MODE_HALL = 0,
SENSOR_PORT_MODE_ABI,
SENSOR_PORT_MODE_AS5047_SPI,
SENSOR_PORT_MODE_AD2S1205,
SENSOR_PORT_MODE_SINCOS,
SENSOR_PORT_MODE_TS5700N8501,
SENSOR_PORT_MODE_TS5700N8501_MULTITURN,
SENSOR_PORT_MODE_MT6816_SPI,
SENSOR_PORT_MODE_AS5x47U_SPI,
SENSOR_PORT_MODE_BISSC
} sensor_port_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;
float time_at_comm;
} mc_rpm_dep_struct;
typedef enum {
DRV8301_OC_LIMIT = 0,
DRV8301_OC_LATCH_SHUTDOWN,
DRV8301_OC_REPORT_ONLY,
DRV8301_OC_DISABLED
} drv8301_oc_mode;
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 {
CAN_BAUD_125K = 0,
CAN_BAUD_250K,
CAN_BAUD_500K,
CAN_BAUD_1M,
CAN_BAUD_10K,
CAN_BAUD_20K,
CAN_BAUD_50K,
CAN_BAUD_75K,
CAN_BAUD_100K
} CAN_BAUD;
typedef enum {
BATTERY_TYPE_LIION_3_0__4_2,
BATTERY_TYPE_LIIRON_2_6__3_6,
BATTERY_TYPE_LEAD_ACID
} BATTERY_TYPE;
typedef enum {
HFI_SAMPLES_8 = 0,
HFI_SAMPLES_16,
HFI_SAMPLES_32
} foc_hfi_samples;
typedef enum {
BMS_TYPE_NONE = 0,
BMS_TYPE_VESC
} BMS_TYPE;
typedef enum {
BMS_FWD_CAN_MODE_DISABLED = 0,
BMS_FWD_CAN_MODE_USB_ONLY,
BMS_FWD_CAN_MODE_ANY
} BMS_FWD_CAN_MODE;
typedef struct {
BMS_TYPE type;
uint8_t limit_mode;
float t_limit_start;
float t_limit_end;
float soc_limit_start;
float soc_limit_end;
BMS_FWD_CAN_MODE fwd_can_mode;
} bms_config;
typedef struct {
float v_tot;
float v_charge;
float i_in;
float i_in_ic;
float ah_cnt;
float wh_cnt;
int cell_num;
float v_cell[32];
bool bal_state[32];
int temp_adc_num;
float temps_adc[50];
float temp_ic;
float temp_hum;
float hum;
float temp_max_cell;
float soc;
float soh;
int can_id;
float ah_cnt_chg_total;
float wh_cnt_chg_total;
float ah_cnt_dis_total;
float wh_cnt_dis_total;
systime_t update_time;
} bms_values;
typedef struct {
int id;
systime_t rx_time;
float v_cell_min;
float v_cell_max;
float t_cell_max;
float soc;
float soh;
bool is_charging;
bool is_balancing;
bool is_charge_allowed;
} bms_soc_soh_temp_stat;
typedef enum {
PID_RATE_25_HZ = 0,
PID_RATE_50_HZ,
PID_RATE_100_HZ,
PID_RATE_250_HZ,
PID_RATE_500_HZ,
PID_RATE_1000_HZ,
PID_RATE_2500_HZ,
PID_RATE_5000_HZ,
PID_RATE_10000_HZ,
} PID_RATE;
typedef enum {
MTPA_MODE_OFF = 0,
MTPA_MODE_IQ_TARGET,
MTPA_MODE_IQ_MEASURED
} MTPA_MODE;
typedef enum {
SPEED_SRC_CORRECTED = 0,
SPEED_SRC_OBSERVER,
} SPEED_SRC;
typedef enum {
SAT_COMP_DISABLED = 0,
SAT_COMP_FACTOR,
SAT_COMP_LAMBDA,
SAT_COMP_LAMBDA_AND_FACTOR
} SAT_COMP_MODE;
typedef struct {
// 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_erpm_start;
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;
float l_temp_fet_start;
float l_temp_fet_end;
float l_temp_motor_start;
float l_temp_motor_end;
float l_temp_accel_dec;
float l_min_duty;
float l_max_duty;
float l_watt_max;
float l_watt_min;
float l_current_max_scale;
float l_current_min_scale;
float l_duty_start;
// Overridden limits (Computed during runtime)
float lo_current_max;
float lo_current_min;
float lo_in_current_max;
float lo_in_current_min;
float lo_current_motor_max_now;
float lo_current_motor_min_now;
// BLDC switching and drive
mc_pwm_mode pwm_mode;
mc_comm_mode comm_mode;
mc_motor_type motor_type;
mc_sensor_mode sensor_mode;
// Sensorless (bldc)
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;
// FOC
float foc_current_kp;
float foc_current_ki;
float foc_f_zv;
float foc_dt_us;
float foc_encoder_offset;
bool foc_encoder_inverted;
float foc_encoder_ratio;
float foc_encoder_sin_offset;
float foc_encoder_sin_gain;
float foc_encoder_cos_offset;
float foc_encoder_cos_gain;
float foc_encoder_sincos_filter_constant;
float foc_motor_l;
float foc_motor_ld_lq_diff;
float foc_motor_r;
float foc_motor_flux_linkage;
float foc_observer_gain;
float foc_observer_gain_slow;
float foc_observer_offset;
float foc_pll_kp;
float foc_pll_ki;
float foc_duty_dowmramp_kp;
float foc_duty_dowmramp_ki;
float foc_start_curr_dec;
float foc_start_curr_dec_rpm;
float foc_openloop_rpm;
float foc_openloop_rpm_low;
float foc_d_gain_scale_start;
float foc_d_gain_scale_max_mod;
float foc_sl_openloop_hyst;
float foc_sl_openloop_time;
float foc_sl_openloop_time_lock;
float foc_sl_openloop_time_ramp;
float foc_sl_openloop_boost_q;
float foc_sl_openloop_max_q;
mc_foc_sensor_mode foc_sensor_mode;
uint8_t foc_hall_table[8];
float foc_hall_interp_erpm;
float foc_sl_erpm;
bool foc_sample_v0_v7;
bool foc_sample_high_current;
SAT_COMP_MODE foc_sat_comp_mode;
float foc_sat_comp;
bool foc_temp_comp;
float foc_temp_comp_base_temp;
float foc_current_filter_const;
mc_foc_cc_decoupling_mode foc_cc_decoupling;
mc_foc_observer_type foc_observer_type;
float foc_hfi_voltage_start;
float foc_hfi_voltage_run;
float foc_hfi_voltage_max;
float foc_hfi_gain;
float foc_hfi_hyst;
float foc_sl_erpm_hfi;
uint16_t foc_hfi_start_samples;
float foc_hfi_obs_ovr_sec;
foc_hfi_samples foc_hfi_samples;
bool foc_offsets_cal_on_boot;
float foc_offsets_current[3];
float foc_offsets_voltage[3];
float foc_offsets_voltage_undriven[3];
bool foc_phase_filter_enable;
bool foc_phase_filter_disable_fault;
float foc_phase_filter_max_erpm;
MTPA_MODE foc_mtpa_mode;
// Field Weakening
float foc_fw_current_max;
float foc_fw_duty_start;
float foc_fw_ramp_time;
float foc_fw_q_current_factor;
SPEED_SRC foc_speed_soure;
// GPDrive
int gpd_buffer_notify_left;
int gpd_buffer_interpol;
float gpd_current_filter_const;
float gpd_current_kp;
float gpd_current_ki;
PID_RATE sp_pid_loop_rate;
// Speed PID
float s_pid_kp;
float s_pid_ki;
float s_pid_kd;
float s_pid_kd_filter;
float s_pid_min_erpm;
bool s_pid_allow_braking;
float s_pid_ramp_erpms_s;
// Pos PID
float p_pid_kp;
float p_pid_ki;
float p_pid_kd;
float p_pid_kd_proc;
float p_pid_kd_filter;
float p_pid_ang_div;
float p_pid_gain_dec_angle;
float p_pid_offset;
// 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_current_backoff_gain;
uint32_t m_encoder_counts;
sensor_port_mode m_sensor_port_mode;
bool m_invert_direction;
drv8301_oc_mode m_drv8301_oc_mode;
int m_drv8301_oc_adj;
float m_bldc_f_sw_min;
float m_bldc_f_sw_max;
float m_dc_f_sw;
float m_ntc_motor_beta;
out_aux_mode m_out_aux_mode;
temp_sensor_type m_motor_temp_sens_type;
float m_ptc_motor_coeff;
int m_hall_extra_samples;
float m_ntcx_ptcx_temp_base;
float m_ntcx_ptcx_res;
// Setup info
uint8_t si_motor_poles;
float si_gear_ratio;
float si_wheel_diameter;
BATTERY_TYPE si_battery_type;
int si_battery_cells;
float si_battery_ah;
float si_motor_nl_current;
// BMS Configuration
bms_config bms;
// Protect from flash corruption.
uint16_t crc;
} 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_BALANCE,
APP_PAS,
APP_ADC_PAS
} app_use;
// Throttle curve mode
typedef enum {
THR_EXP_EXPO = 0,
THR_EXP_NATURAL,
THR_EXP_POLY
} thr_exp_mode;
typedef enum {
SAFE_START_DISABLED = 0,
SAFE_START_REGULAR,
SAFE_START_NO_FAULT
} SAFE_START_MODE;
// 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_CTRL_TYPE_CURRENT_BRAKE_REV_HYST,
PPM_CTRL_TYPE_CURRENT_SMART_REV,
PPM_CTRL_TYPE_PID_POSITION_180,
PPM_CTRL_TYPE_PID_POSITION_360,
} ppm_control_type;
typedef struct {
ppm_control_type ctrl_type;
float pid_max_erpm;
float hyst;
float pulse_start;
float pulse_end;
float pulse_center;
bool median_filter;
SAFE_START_MODE safe_start;
float throttle_exp;
float throttle_exp_brake;
thr_exp_mode throttle_exp_mode;
float ramp_time_pos;
float ramp_time_neg;
bool multi_esc;
bool tc;
float tc_max_diff;
float max_erpm_for_dir;
float smart_rev_max_duty;
float smart_rev_ramp_time;
} 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_REV_BUTTON_BRAKE_ADC,
ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER,
ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER,
ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON,
ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC,
ADC_CTRL_TYPE_DUTY,
ADC_CTRL_TYPE_DUTY_REV_CENTER,
ADC_CTRL_TYPE_DUTY_REV_BUTTON,
ADC_CTRL_TYPE_PID,
ADC_CTRL_TYPE_PID_REV_CENTER,
ADC_CTRL_TYPE_PID_REV_BUTTON
} adc_control_type;
// PAS control types
typedef enum {
PAS_CTRL_TYPE_NONE = 0,
PAS_CTRL_TYPE_CADENCE,
PAS_CTRL_TYPE_TORQUE,
PAS_CTRL_TYPE_TORQUE_WITH_CADENCE_TIMEOUT
} pas_control_type;
// PAS sensor types
typedef enum {
PAS_SENSOR_TYPE_QUADRATURE = 0
} pas_sensor_type;
typedef struct {
adc_control_type ctrl_type;
float hyst;
float voltage_start;
float voltage_end;
float voltage_min;
float voltage_max;
float voltage_center;
float voltage2_start;
float voltage2_end;
bool use_filter;
SAFE_START_MODE safe_start;
uint8_t buttons;
bool voltage_inverted;
bool voltage2_inverted;
float throttle_exp;
float throttle_exp_brake;
thr_exp_mode throttle_exp_mode;
float ramp_time_pos;
float ramp_time_neg;
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_CTRL_TYPE_CURRENT_BIDIRECTIONAL
} chuk_control_type;
typedef struct {
chuk_control_type ctrl_type;
float hyst;
float ramp_time_pos;
float ramp_time_neg;
float stick_erpm_per_s_in_cc;
float throttle_exp;
float throttle_exp_brake;
thr_exp_mode throttle_exp_mode;
bool multi_esc;
bool tc;
float tc_max_diff;
bool use_smart_rev;
float smart_rev_max_duty;
float smart_rev_ramp_time;
} chuk_config;
typedef struct {
pas_control_type ctrl_type;
pas_sensor_type sensor_type;
float current_scaling;
float pedal_rpm_start;
float pedal_rpm_end;
bool invert_pedal_direction;
uint8_t magnets;
bool use_filter;
float ramp_time_pos;
float ramp_time_neg;
uint32_t update_rate_hz;
} pas_config;
// NRF Datatypes
typedef enum {
NRF_SPEED_250K = 0,
NRF_SPEED_1M,
NRF_SPEED_2M
} NRF_SPEED;
typedef enum {
NRF_POWER_M18DBM = 0,
NRF_POWER_M12DBM,
NRF_POWER_M6DBM,
NRF_POWER_0DBM,
NRF_POWER_OFF
} NRF_POWER;
typedef enum {
NRF_AW_3 = 0,
NRF_AW_4,
NRF_AW_5
} NRF_AW;
typedef enum {
NRF_CRC_DISABLED = 0,
NRF_CRC_1B,
NRF_CRC_2B
} NRF_CRC;
typedef enum {
NRF_RETR_DELAY_250US = 0,
NRF_RETR_DELAY_500US,
NRF_RETR_DELAY_750US,
NRF_RETR_DELAY_1000US,
NRF_RETR_DELAY_1250US,
NRF_RETR_DELAY_1500US,
NRF_RETR_DELAY_1750US,
NRF_RETR_DELAY_2000US,
NRF_RETR_DELAY_2250US,
NRF_RETR_DELAY_2500US,
NRF_RETR_DELAY_2750US,
NRF_RETR_DELAY_3000US,
NRF_RETR_DELAY_3250US,
NRF_RETR_DELAY_3500US,
NRF_RETR_DELAY_3750US,
NRF_RETR_DELAY_4000US
} NRF_RETR_DELAY;
typedef struct {
NRF_SPEED speed;
NRF_POWER power;
NRF_CRC crc_type;
NRF_RETR_DELAY retry_delay;
unsigned char retries;
unsigned char channel;
unsigned char address[3];
bool send_crc_ack;
} nrf_config;
typedef enum {
BALANCE_PID_MODE_ANGLE = 0,
BALANCE_PID_MODE_ANGLE_RATE_CASCADE
} BALANCE_PID_MODE;
typedef struct {
BALANCE_PID_MODE pid_mode;
float kp;
float ki;
float kd;
float kp2;
float ki2;
float kd2;
uint16_t hertz;
uint16_t loop_time_filter;
float fault_pitch;
float fault_roll;
float fault_duty;
float fault_adc1;
float fault_adc2;
uint16_t fault_delay_pitch;
uint16_t fault_delay_roll;
uint16_t fault_delay_duty;
uint16_t fault_delay_switch_half;
uint16_t fault_delay_switch_full;
uint16_t fault_adc_half_erpm;
bool fault_is_dual_switch;
float tiltback_duty_angle;
float tiltback_duty_speed;
float tiltback_duty;
float tiltback_hv_angle;
float tiltback_hv_speed;
float tiltback_hv;
float tiltback_lv_angle;
float tiltback_lv_speed;
float tiltback_lv;
float tiltback_return_speed;
float tiltback_constant;
uint16_t tiltback_constant_erpm;
float tiltback_variable;
float tiltback_variable_max;
float noseangling_speed;
float startup_pitch_tolerance;
float startup_roll_tolerance;
float startup_speed;
float deadzone;
bool multi_esc;
float yaw_kp;
float yaw_ki;
float yaw_kd;
float roll_steer_kp;
float roll_steer_erpm_kp;
float brake_current;
uint16_t brake_timeout;
float yaw_current_clamp;
float ki_limit;
uint16_t kd_pt1_lowpass_frequency;
uint16_t kd_pt1_highpass_frequency;
float booster_angle;
float booster_ramp;
float booster_current;
float torquetilt_start_current;
float torquetilt_angle_limit;
float torquetilt_on_speed;
float torquetilt_off_speed;
float torquetilt_strength;
float torquetilt_filter;
float turntilt_strength;
float turntilt_angle_limit;
float turntilt_start_angle;
uint16_t turntilt_start_erpm;
float turntilt_speed;
uint16_t turntilt_erpm_boost;
uint16_t turntilt_erpm_boost_end;
} balance_config;
typedef enum {
SHUTDOWN_MODE_ALWAYS_OFF = 0,
SHUTDOWN_MODE_ALWAYS_ON,
SHUTDOWN_MODE_TOGGLE_BUTTON_ONLY,
SHUTDOWN_MODE_OFF_AFTER_10S,
SHUTDOWN_MODE_OFF_AFTER_1M,
SHUTDOWN_MODE_OFF_AFTER_5M,
SHUTDOWN_MODE_OFF_AFTER_10M,
SHUTDOWN_MODE_OFF_AFTER_30M,
SHUTDOWN_MODE_OFF_AFTER_1H,
SHUTDOWN_MODE_OFF_AFTER_5H,
} SHUTDOWN_MODE;
typedef enum {
IMU_TYPE_OFF = 0,
IMU_TYPE_INTERNAL,
IMU_TYPE_EXTERNAL_MPU9X50,
IMU_TYPE_EXTERNAL_ICM20948,
IMU_TYPE_EXTERNAL_BMI160,
IMU_TYPE_EXTERNAL_LSM6DS3
} IMU_TYPE;
typedef enum {
AHRS_MODE_MADGWICK = 0,
AHRS_MODE_MAHONY,
AHRS_MODE_MADGWICK_FUSION
} AHRS_MODE;
typedef enum {
IMU_FILTER_LOW = 0,
IMU_FILTER_MEDIUM,
IMU_FILTER_HIGH
} IMU_FILTER;
typedef struct {
IMU_TYPE type;
AHRS_MODE mode;
IMU_FILTER filter;
float accel_lowpass_filter;
int sample_rate_hz;
bool use_magnetometer;
float accel_confidence_decay;
float mahony_kp;
float mahony_ki;
float madgwick_beta;
float rot_roll;
float rot_pitch;
float rot_yaw;
float accel_offsets[3];
float gyro_offsets[3];
} imu_config;
typedef enum {
CAN_MODE_VESC = 0,
CAN_MODE_UAVCAN,
CAN_MODE_COMM_BRIDGE,
CAN_MODE_UNUSED,
} CAN_MODE;
typedef enum {
UAVCAN_RAW_MODE_CURRENT = 0,
UAVCAN_RAW_MODE_CURRENT_NO_REV_BRAKE,
UAVCAN_RAW_MODE_DUTY,
UAVCAN_RAW_MODE_RPM
} UAVCAN_RAW_MODE;
typedef enum {
UAVCAN_STATUS_CURRENT_MODE_MOTOR = 0,
UAVCAN_STATUS_CURRENT_MODE_INPUT
} UAVCAN_STATUS_CURRENT_MODE;
typedef enum {
KILL_SW_MODE_DISABLED = 0,
KILL_SW_MODE_PPM_LOW,
KILL_SW_MODE_PPM_HIGH,
KILL_SW_MODE_ADC2_LOW,
KILL_SW_MODE_ADC2_HIGH
} KILL_SW_MODE;
typedef struct {
// Settings
uint8_t controller_id;
uint32_t timeout_msec;
float timeout_brake_current;
uint32_t can_status_rate_1;
uint8_t can_status_msgs_r1;
uint32_t can_status_rate_2;
uint8_t can_status_msgs_r2;
CAN_BAUD can_baud_rate;
bool pairing_done;
bool permanent_uart_enabled;
SHUTDOWN_MODE shutdown_mode;
bool servo_out_enable;
KILL_SW_MODE kill_sw_mode;
// CAN modes
CAN_MODE can_mode;
uint8_t uavcan_esc_index;
UAVCAN_RAW_MODE uavcan_raw_mode;
float uavcan_raw_rpm_max;
UAVCAN_STATUS_CURRENT_MODE uavcan_status_current_mode;
// 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;
// NRF application settings
nrf_config app_nrf_conf;
// Balance application settings
balance_config app_balance_conf;
// Pedal Assist application settings
pas_config app_pas_conf;
// IMU Settings
imu_config imu_conf;
// Protect from flash corruption
uint16_t crc;
} 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,