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stmbl/shared/common.h

106 lines
2.1 KiB
C

#pragma once
#include <stdint.h>
//#define TROLLER
#define STATIC_ASSERT(COND, MSG) extern char MSG[(COND)?1:-1]
#define DATABAUD 2000000 //baudrate used for communication
//fixed point calculations
#define TOFIXED(a) ((int16_t)((a) * 64))
#define TOFLOAT(a) ((float)((a) / 64.0))
#define TOSFLOAT(a) (ABS(a) >= 4.0) ? (((int16_t)((a) * 64)) | 0x4000) : (((int16_t)((a) * 4096.0)) & 0xBFFFF)
#define TOFLOATS(a) ((a) & 0x4000) ? ((float)(((a) & 0xBFFFF) / 64.0)) : ((float)(((a) & 0xBFFFF) / 4096.0))
#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
#define PWM_RES 2400
typedef struct{
uint8_t start; // 255
uint8_t key;
} packet_header_t;
//data from f1 to f4
typedef struct{
int16_t dc_cur;
int16_t dc_volt;
int16_t hv_temp;
#ifdef TROLLER
int16_t a;
int16_t b;
int16_t c;
#endif
} from_hv_t;
//data from f4 to f1
typedef struct{
int16_t a;
int16_t b;
} to_hv_t;
typedef struct{
packet_header_t head;
to_hv_t data;
} packet_to_hv_t;
typedef struct{
packet_header_t head;
from_hv_t data;
} packet_from_hv_t;
void buff_packet(packet_header_t* p, uint8_t size);
void unbuff_packet(packet_header_t* p, uint8_t size);
//check if structs can be send at 5kHz using DATABAUD
STATIC_ASSERT(sizeof(to_hv_t) <= DATABAUD / 11 / 5000 - 1 - 5, to_hv_struct_to_large);
STATIC_ASSERT(sizeof(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;
// };