mirror of
https://github.com/rene-dev/stmbl.git
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114 lines
2.9 KiB
C
114 lines
2.9 KiB
C
/*
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* This file is part of the stmbl project.
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*
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* Copyright (C) 2013-2017 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2013-2017 Nico Stute <crinq@crinq.de>
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*
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* This program 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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*
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* This program 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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*
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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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#pragma once
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#include <stdint.h>
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#if __GNUC__ < 5
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#error gcc to old (< 5.0)
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#endif
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#define DATABAUD 3000000 //baudrate used for communication
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//process data from f3 to f4
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#pragma pack(1)
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typedef struct {
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float d_fb;
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float q_fb;
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float dc_volt;
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float pwm_volt;
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float value; //config data value
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uint16_t addr; //config data address from f3_state_data_t
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union {
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uint16_t fault : 1;
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uint16_t padding;
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} flags;
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uint32_t crc;
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} packet_from_hv_t;
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//process data from f4 to f3
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#pragma pack(1)
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typedef struct {
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float d_cmd;
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float q_cmd;
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float pos;
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float vel;
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float value; //status data value
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uint16_t addr; //status data address from f3_config_data_t
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union {
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struct {
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uint16_t enable : 1;
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enum packet_to_hv_cmd_type_t {
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VOLT_MODE = 0,
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CURRENT_MODE,
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} cmd_type : 1;
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enum packet_to_hv_phase_type_t {
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PHASE_90_3PH = 0,
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PHASE_90_4PH,
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PHASE_120_3PH,
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PHASE_180_2PH,
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PHASE_180_3PH,
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} phase_type : 3;
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} flags;
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uint16_t padding;
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};
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uint32_t crc;
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} packet_to_hv_t;
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//config data for f3
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#pragma pack(1)
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typedef union {
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struct f3_config_data_temp {
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float r;
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float l;
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float psi;
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float cur_p;
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float cur_i;
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float cur_ff;
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float cur_ind;
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float max_y;
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float max_cur;
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} pins;
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float data[sizeof(struct f3_config_data_temp) / 4];
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} f3_config_data_t;
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//status reply from f3
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#pragma pack(1)
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typedef union {
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struct f3_state_data_temp {
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float u_fb;
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float v_fb;
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float w_fb;
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float hv_temp;
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float mot_temp;
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float core_temp;
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float fault;
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float y;
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} pins;
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float data[sizeof(struct f3_state_data_temp) / 4];
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} f3_state_data_t;
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//check if structs can be send at 5kHz with DATABAUD
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_Static_assert(sizeof(packet_to_hv_t) <= DATABAUD / 11 / 5000 - 1 - 5, "to_hv struct to large");
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_Static_assert(sizeof(packet_from_hv_t) <= DATABAUD / 11 / 5000 - 1 - 5, "from_hv struct to large");
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//check if structs are word aligned
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_Static_assert(!(sizeof(packet_to_hv_t) % 4), "to_hv struct not word aligned");
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_Static_assert(!(sizeof(packet_from_hv_t) % 4), "from_hv struct not word aligned");
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