datatypes.h

/*
	Copyright 2012-2016 Benjamin Vedder	benjamin@vedder.se

	This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
    */

#ifndef DATATYPES_H_
#define DATATYPES_H_

#include <stdint.h>
#include <stdbool.h>
//#include "ch.h"

/*
typedef enum {
    PWM_MODE_NONSYNCHRONOUS_HISW = 0, // This mode is not recommended
    PWM_MODE_SYNCHRONOUS, // The recommended and most tested mode
    PWM_MODE_BIPOLAR // Some glitches occasionally, can kill MOSFETs
} mc_pwm_mode;

typedef enum {
    COMM_MODE_INTEGRATE = 0,
    COMM_MODE_DELAY
} mc_comm_mode;

typedef enum {
    SENSOR_MODE_SENSORLESS = 0,
    SENSOR_MODE_SENSORED,
    SENSOR_MODE_HYBRID
} mc_sensor_mode;

typedef enum {
    FOC_SENSOR_MODE_SENSORLESS = 0,
    FOC_SENSOR_MODE_ENCODER,
    FOC_SENSOR_MODE_HALL
} mc_foc_sensor_mode;

typedef enum {
    MOTOR_TYPE_BLDC = 0,
    MOTOR_TYPE_DC,
    MOTOR_TYPE_FOC
} mc_motor_type;
*/
typedef enum {
    FAULT_CODE_NONE = 0,
    FAULT_CODE_OVER_VOLTAGE,
    FAULT_CODE_UNDER_VOLTAGE,
    FAULT_CODE_DRV8302,
    FAULT_CODE_ABS_OVER_CURRENT,
    FAULT_CODE_OVER_TEMP_FET,
    FAULT_CODE_OVER_TEMP_MOTOR
} mc_fault_code;


// VESC Types
struct mc_values {
    float v_in;
    float temp_mos1;
    float temp_mos2;
    float temp_mos3;
    float temp_mos4;
    float temp_mos5;
    float temp_mos6;
    float temp_pcb;
    float current_motor;
    float current_in;
    float rpm;
    float duty_now;
    float amp_hours;
    float amp_hours_charged;
    float watt_hours;
    float watt_hours_charged;
    int32_t tachometer;
    int tachometer_abs;
    mc_fault_code fault_code;
};

// Communication commands
typedef enum {
    COMM_FW_VERSION = 0,
    COMM_JUMP_TO_BOOTLOADER,
    COMM_ERASE_NEW_APP,
    COMM_WRITE_NEW_APP_DATA,
    COMM_GET_VALUES,
    COMM_SET_DUTY,
    COMM_SET_CURRENT,
    COMM_SET_CURRENT_BRAKE,
    COMM_SET_RPM,
    COMM_SET_POS,
    COMM_SET_DETECT,
    COMM_SET_SERVO_POS,
    COMM_SET_MCCONF,
    COMM_GET_MCCONF,
    COMM_GET_MCCONF_DEFAULT,
    COMM_SET_APPCONF,
    COMM_GET_APPCONF,
    COMM_GET_APPCONF_DEFAULT,
    COMM_SAMPLE_PRINT,
    COMM_TERMINAL_CMD,
    COMM_PRINT,
    COMM_ROTOR_POSITION,
    COMM_EXPERIMENT_SAMPLE,
    COMM_DETECT_MOTOR_PARAM,
    COMM_DETECT_MOTOR_R_L,
    COMM_DETECT_MOTOR_FLUX_LINKAGE,
    COMM_DETECT_ENCODER,
    COMM_DETECT_HALL_FOC,
    COMM_REBOOT,
    COMM_ALIVE,
    COMM_GET_DECODED_PPM,
    COMM_GET_DECODED_ADC,
    COMM_GET_DECODED_CHUK,
    COMM_FORWARD_CAN,
    COMM_SET_CHUCK_DATA,
    COMM_CUSTOM_APP_DATA
} COMM_PACKET_ID;

#endif /* DATATYPES_H_ */