mirror of https://github.com/rene-dev/stmbl.git
118 lines
2.4 KiB
C
118 lines
2.4 KiB
C
#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 TROLLER
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#define DATABAUD 2250000 //baudrate used for communication
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//fixed point calculations signed bit, 9 bit predecimal, 6 bit decimal
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#define TOFIXED(a) ((int16_t)((a)*64))
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#define TOFLOAT(a) ((float)((a) / 64.0))
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#define PWM_RES 2400
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//TODO: CRC
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typedef struct {
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uint8_t start; // 255
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uint8_t key;
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} packet_header_t;
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//data from f1 to f4
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#pragma pack(1)
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typedef struct {
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int16_t dc_cur;
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int16_t dc_volt;
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int16_t hv_temp;
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uint8_t high_volt : 1; //hardware hi limit
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uint8_t low_volt : 1; //hardware low limit
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uint8_t over_cur : 1; //hardware cur limit
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uint8_t over_temp : 1; //hardware temp limit
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uint8_t hv_fault : 1; //iramx fault
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uint8_t sys_fault : 1; //sys fault, crc error, clock error, watchdog bit, startup failure...
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uint8_t padding : 2;
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#ifdef TROLLER
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int16_t a;
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int16_t b;
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int16_t c;
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#endif
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} from_hv_t;
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//data from f4 to f1
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#pragma pack(1)
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typedef struct {
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float a;
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float b;
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float pos;
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uint8_t mode : 4; //TODO: change to enum
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uint8_t enable : 1;
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uint8_t padding : 3;
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} to_hv_t;
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#pragma pack(1)
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typedef struct {
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packet_header_t head;
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to_hv_t data;
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} packet_to_hv_t;
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#pragma pack(1)
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typedef struct {
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packet_header_t head;
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from_hv_t data;
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} packet_from_hv_t;
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void buff_packet(packet_header_t *p, uint8_t size);
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void unbuff_packet(packet_header_t *p, uint8_t size);
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//check if structs can be send at 5kHz using 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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// struct f1tof4{
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// int16 a;
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// int16 b;
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// int16 udc;
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// int16 value;
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// struct {
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// bool enabled;
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// bool temp_limit;
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// bool current_limit;
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// bool watchdog; // toggle
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// int4 misc;
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// }flags;
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// int8 crc;
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// };
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//
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// struct f4tof1{
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// int16 a; // u/i
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// int16 b; // u/i
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// int16 value;
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// int6 address;
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// /*
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// rw:
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// r
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// l
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// max_i
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// max_temp
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// max_pwm
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// phase_offset_uv
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// phase_offset_vw
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// svm_mode (centered, svm, bottom low)
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// u/i cmd mode
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// u/i fb mode
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//
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// r:
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// temp0
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// temp1
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// temp2
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// temp3
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// hw version
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// */
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// bool enable;
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// bool watchdog; // toggle in hal
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// int8 crc;
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// };
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