mirror of https://github.com/rene-dev/stmbl.git
144 lines
2.7 KiB
C
144 lines
2.7 KiB
C
#pragma once
|
|
#include <stdint.h>
|
|
|
|
#if __GNUC__ < 5
|
|
#error gcc to old (< 5.0)
|
|
#endif
|
|
|
|
#define DATABAUD 3000000 //baudrate used for communication
|
|
|
|
//fixed point calculations signed bit, 9 bit predecimal, 6 bit decimal
|
|
#define TOFIXED(a) ((int16_t)((a) * 64))
|
|
#define TOFLOAT(a) ((float)((a) / 64.0))
|
|
|
|
#define PWM_RES 4800
|
|
|
|
#pragma pack(1)
|
|
typedef struct{
|
|
uint8_t start; // 255
|
|
uint8_t key;
|
|
uint16_t crc;
|
|
} packet_header_t;
|
|
|
|
//data from f1 to f4
|
|
#pragma pack(1)
|
|
typedef struct{
|
|
float d_fb;
|
|
float q_fb;
|
|
float dc_volt;
|
|
float pwm_volt;
|
|
float value;
|
|
uint8_t addr : 7;
|
|
uint8_t fault : 1;
|
|
} from_hv_t;
|
|
|
|
//data from f4 to f1
|
|
#pragma pack(1)
|
|
typedef struct{
|
|
float d_cmd;
|
|
float q_cmd;
|
|
float pos;
|
|
float vel;
|
|
float value;
|
|
uint8_t addr : 7;
|
|
uint8_t enable : 1;
|
|
} 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;
|
|
|
|
|
|
#pragma pack(1)
|
|
typedef struct{
|
|
packet_header_t head;
|
|
to_hv_t data;
|
|
} packet_to_hv_t;
|
|
|
|
#pragma pack(1)
|
|
typedef struct{
|
|
packet_header_t head;
|
|
from_hv_t data;
|
|
} packet_from_hv_t;
|
|
|
|
void buff_packet(packet_header_t* p, uint8_t size);
|
|
int unbuff_packet(packet_header_t* p, uint8_t size);
|
|
|
|
//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");
|
|
|
|
|
|
// struct f1tof4{
|
|
// int16 a;
|
|
// int16 b;
|
|
// int16 udc;
|
|
// int16 value;
|
|
// struct {
|
|
// bool enabled;
|
|
// bool temp_limit;
|
|
// bool current_limit;
|
|
// bool watchdog; // toggle
|
|
// int4 misc;
|
|
// }flags;
|
|
// int8 crc;
|
|
// };
|
|
//
|
|
// struct f4tof1{
|
|
// int16 a; // u/i
|
|
// int16 b; // u/i
|
|
// int16 value;
|
|
// int6 address;
|
|
// /*
|
|
// rw:
|
|
// r
|
|
// l
|
|
// max_i
|
|
// max_temp
|
|
// max_pwm
|
|
// phase_offset_uv
|
|
// phase_offset_vw
|
|
// svm_mode (centered, svm, bottom low)
|
|
// u/i cmd mode
|
|
// u/i fb mode
|
|
//
|
|
// r:
|
|
// temp0
|
|
// temp1
|
|
// temp2
|
|
// temp3
|
|
// hw version
|
|
// */
|
|
// bool enable;
|
|
// bool watchdog; // toggle in hal
|
|
// int8 crc;
|
|
// };
|