stmbl/shared/common.h

#pragma once
#include <stdint.h>

#if __GNUC__ < 5
   #error gcc to old (< 5.0)
#endif

#define DATABAUD 3000000 //baudrate used for communication

#define PWM_RES 4800

//data from f3 to f4
#pragma pack(1)
typedef struct{
   float d_fb;
   float q_fb;
   float dc_volt;
   float pwm_volt;
   float value;
   uint16_t addr;
   union {
      uint16_t fault : 1;
      uint16_t foo;
   } flags;
   uint32_t crc;
} packet_from_hv_t;

//data from f4 to f3
#pragma pack(1)
typedef struct{
   float d_cmd;
   float q_cmd;
   float pos;
   float vel;
   float value;
   uint16_t addr;
   union {
      uint16_t enable : 1;
      uint16_t foo;
   } flags;
   uint32_t crc;
} packet_to_hv_t;

#pragma pack(1)
typedef union {
   struct f3_config_data_temp{
      float mode;
      float r;
      float l;
      float psi;
      float cur_p;
      float cur_i;
      float cur_ff;
      float cur_ind;
      float max_y;
      float max_cur;
   } pins;
   float data[sizeof(struct f3_config_data_temp) / 4];
} f3_config_data_t;

#pragma pack(1)
typedef union {
   struct f3_state_data_temp{
      float u_fb;
      float v_fb;
      float w_fb;
      float hv_temp;
      float mot_temp;
      float core_temp;
      float fault;
      float y;
   } pins;
   float data[sizeof(struct f3_state_data_temp) / 4];
} f3_state_data_t;

//check if structs can be send at 5kHz using DATABAUD
_Static_assert(sizeof(packet_to_hv_t) <= DATABAUD / 11 / 5000 - 1 - 5, "to_hv struct to large");
_Static_assert(sizeof(packet_from_hv_t) <= DATABAUD / 11 / 5000 - 1 - 5, "from_hv struct to large");
_Static_assert(!(sizeof(packet_to_hv_t) % 4), "to_hv struct not word aligned");
_Static_assert(!(sizeof(packet_from_hv_t) % 4), "from_hv struct not word aligned");