vesc_datatypes.h

/*
	Copyright 2016 - 2019 Benjamin Vedder	benjamin@vedder.se

	This file is part of the VESC firmware.

	The VESC firmware 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.

	The VESC firmware 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 VESC_DATATYPES_H
#define VESC_DATATYPES_H


#include <Arduino.h>


// Fault codes
typedef enum {
	FAULT_CODE_NONE = 0,
	FAULT_CODE_OVER_VOLTAGE,
	FAULT_CODE_UNDER_VOLTAGE,
	FAULT_CODE_DRV,
	FAULT_CODE_ABS_OVER_CURRENT,
	FAULT_CODE_OVER_TEMP_FET,
	FAULT_CODE_OVER_TEMP_MOTOR,
	FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE,
	FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE,
	FAULT_CODE_MCU_UNDER_VOLTAGE,
	FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET,
	FAULT_CODE_ENCODER_SPI,
	FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE,
	FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE,
	FAULT_CODE_FLASH_CORRUPTION,
	FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1,
	FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2,
	FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3,
	FAULT_CODE_UNBALANCED_CURRENTS,
	FAULT_CODE_BRK,
	FAULT_CODE_RESOLVER_LOT,
	FAULT_CODE_RESOLVER_DOS,
	FAULT_CODE_RESOLVER_LOS,
	FAULT_CODE_FLASH_CORRUPTION_APP_CFG,
	FAULT_CODE_FLASH_CORRUPTION_MC_CFG,
	FAULT_CODE_ENCODER_NO_MAGNET,
	NUM_VESC_FAULT_CODE
} vesc_fault_code_t;

// 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_HANDBRAKE,
	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_NRF_START_PAIRING,
	COMM_GPD_SET_FSW,
	COMM_GPD_BUFFER_NOTIFY,
	COMM_GPD_BUFFER_SIZE_LEFT,
	COMM_GPD_FILL_BUFFER,
	COMM_GPD_OUTPUT_SAMPLE,
	COMM_GPD_SET_MODE,
	COMM_GPD_FILL_BUFFER_INT8,
	COMM_GPD_FILL_BUFFER_INT16,
	COMM_GPD_SET_BUFFER_INT_SCALE,
	COMM_GET_VALUES_SETUP,
	COMM_SET_MCCONF_TEMP,
	COMM_SET_MCCONF_TEMP_SETUP,
	COMM_GET_VALUES_SELECTIVE,
	COMM_GET_VALUES_SETUP_SELECTIVE,
	COMM_EXT_NRF_PRESENT,
	COMM_EXT_NRF_ESB_SET_CH_ADDR,
	COMM_EXT_NRF_ESB_SEND_DATA,
	COMM_EXT_NRF_ESB_RX_DATA,
	COMM_EXT_NRF_SET_ENABLED,
	COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP,
	COMM_DETECT_APPLY_ALL_FOC,
	COMM_JUMP_TO_BOOTLOADER_ALL_CAN,
	COMM_ERASE_NEW_APP_ALL_CAN,
	COMM_WRITE_NEW_APP_DATA_ALL_CAN,
	COMM_PING_CAN,
	COMM_APP_DISABLE_OUTPUT,
	COMM_TERMINAL_CMD_SYNC,
	COMM_GET_IMU_DATA,
	COMM_BM_CONNECT,
	COMM_BM_ERASE_FLASH_ALL,
	COMM_BM_WRITE_FLASH,
	COMM_BM_REBOOT,
	COMM_BM_DISCONNECT,
	COMM_BM_MAP_PINS_DEFAULT,
	COMM_BM_MAP_PINS_NRF5X,
	COMM_ERASE_BOOTLOADER,
	COMM_ERASE_BOOTLOADER_ALL_CAN,
	COMM_PLOT_INIT,
	COMM_PLOT_DATA,
	COMM_PLOT_ADD_GRAPH,
	COMM_PLOT_SET_GRAPH,
	COMM_GET_DECODED_BALANCE,
	COMM_BM_MEM_READ,
	COMM_WRITE_NEW_APP_DATA_LZO,
	COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO,
	COMM_BM_WRITE_FLASH_LZO,
	COMM_SET_CURRENT_REL,
	COMM_CAN_FWD_FRAME,
	COMM_SET_BATTERY_CUT,
	COMM_SET_BLE_NAME,
	COMM_SET_BLE_PIN,
	COMM_SET_CAN_MODE,
	COMM_GET_IMU_CALIBRATION,
	COMM_GET_MCCONF_TEMP,

	// Custom configuration for hardware
	COMM_GET_CUSTOM_CONFIG_XML,
	COMM_GET_CUSTOM_CONFIG,
	COMM_GET_CUSTOM_CONFIG_DEFAULT,
	COMM_SET_CUSTOM_CONFIG,

	// BMS commands
	COMM_BMS_GET_VALUES,
	COMM_BMS_SET_CHARGE_ALLOWED,
	COMM_BMS_SET_BALANCE_OVERRIDE,
	COMM_BMS_RESET_COUNTERS,
	COMM_BMS_FORCE_BALANCE,
	COMM_BMS_ZERO_CURRENT_OFFSET,

	// FW updates commands for different HW types
	COMM_JUMP_TO_BOOTLOADER_HW,
	COMM_ERASE_NEW_APP_HW,
	COMM_WRITE_NEW_APP_DATA_HW,
	COMM_ERASE_BOOTLOADER_HW,
	COMM_JUMP_TO_BOOTLOADER_ALL_CAN_HW,
	COMM_ERASE_NEW_APP_ALL_CAN_HW,
	COMM_WRITE_NEW_APP_DATA_ALL_CAN_HW,
	COMM_ERASE_BOOTLOADER_ALL_CAN_HW,

	COMM_SET_ODOMETER,
} vesc_comm_cmd_t;

// CAN commands
typedef enum {
	CAN_PACKET_SET_DUTY = 0,
	CAN_PACKET_SET_CURRENT,
	CAN_PACKET_SET_CURRENT_BRAKE,
	CAN_PACKET_SET_RPM,
	CAN_PACKET_SET_POS,
	CAN_PACKET_FILL_RX_BUFFER,
	CAN_PACKET_FILL_RX_BUFFER_LONG,
	CAN_PACKET_PROCESS_RX_BUFFER,
	CAN_PACKET_PROCESS_SHORT_BUFFER,
	CAN_PACKET_STATUS,
	CAN_PACKET_SET_CURRENT_REL,
	CAN_PACKET_SET_CURRENT_BRAKE_REL,
	CAN_PACKET_SET_CURRENT_HANDBRAKE,
	CAN_PACKET_SET_CURRENT_HANDBRAKE_REL,
	CAN_PACKET_STATUS_2,
	CAN_PACKET_STATUS_3,
	CAN_PACKET_STATUS_4,
	CAN_PACKET_PING,
	CAN_PACKET_PONG,
	CAN_PACKET_DETECT_APPLY_ALL_FOC,
	CAN_PACKET_DETECT_APPLY_ALL_FOC_RES,
	CAN_PACKET_CONF_CURRENT_LIMITS,
	CAN_PACKET_CONF_STORE_CURRENT_LIMITS,
	CAN_PACKET_CONF_CURRENT_LIMITS_IN,
	CAN_PACKET_CONF_STORE_CURRENT_LIMITS_IN,
	CAN_PACKET_CONF_FOC_ERPMS,
	CAN_PACKET_CONF_STORE_FOC_ERPMS,
	CAN_PACKET_STATUS_5,
	CAN_PACKET_POLL_TS5700N8501_STATUS,
	CAN_PACKET_CONF_BATTERY_CUT,
	CAN_PACKET_CONF_STORE_BATTERY_CUT,
	CAN_PACKET_SHUTDOWN,
	CAN_PACKET_IO_BOARD_ADC_1_TO_4,
	CAN_PACKET_IO_BOARD_ADC_5_TO_8,
	CAN_PACKET_IO_BOARD_ADC_9_TO_12,
	CAN_PACKET_IO_BOARD_DIGITAL_IN,
	CAN_PACKET_IO_BOARD_SET_OUTPUT_DIGITAL,
	CAN_PACKET_IO_BOARD_SET_OUTPUT_PWM,
	CAN_PACKET_BMS_V_TOT,
	CAN_PACKET_BMS_I,
	CAN_PACKET_BMS_AH_WH,
	CAN_PACKET_BMS_V_CELL,
	CAN_PACKET_BMS_BAL,
	CAN_PACKET_BMS_TEMPS,
	CAN_PACKET_BMS_HUM,
	CAN_PACKET_BMS_SOC_SOH_TEMP_STAT,
	NUM_VESC_CAN_CMD
} vesc_can_cmd_t;


const String VESC_CAN_CMD_STR[NUM_VESC_CAN_CMD] = {
	"SET_DUTY",
	"SET_CURRENT",
	"SET_CURRENT_BRAKE",
	"SET_RPM",
	"SET_POS",
	"FILL_RX_BUFFER",
	"FILL_RX_BUFFER_LONG",
	"PROCESS_RX_BUFFER",
	"PROCESS_SHORT_BUFFER",
	"STATUS",
	"SET_CURRENT_REL",
	"SET_CURRENT_BRAKE_REL",
	"SET_CURRENT_HANDBRAKE",
	"SET_CURRENT_HANDBRAKE_REL",
	"STATUS_2",
	"STATUS_3",
	"STATUS_4",
	"PING",
	"PONG",
	"DETECT_APPLY_ALL_FOC",
	"DETECT_APPLY_ALL_FOC_RES",
	"CONF_CURRENT_LIMITS",
	"CONF_STORE_CURRENT_LIMITS",
	"CONF_CURRENT_LIMITS_IN",
	"CONF_STORE_CURRENT_LIMITS_IN",
	"CONF_FOC_ERPMS",
	"CONF_STORE_FOC_ERPMS",
	"STATUS_5",
	"POLL_TS5700N8501_STATUS",
	"CONF_BATTERY_CUT",
	"CONF_STORE_BATTERY_CUT",
	"SHUTDOWN",
	"IO_BOARD_ADC_1_TO_4",
	"IO_BOARD_ADC_5_TO_8",
	"IO_BOARD_ADC_9_TO_12",
	"IO_BOARD_DIGITAL_IN",
	"IO_BOARD_SET_OUTPUT_DIGITAL",
	"IO_BOARD_SET_OUTPUT_PWM",
	"BMS_V_TOT",
	"BMS_I",
	"BMS_AH_WH",
	"BMS_V_CELL",
	"BMS_BAL",
	"BMS_TEMPS",
	"BMS_HUM",
	"BMS_SOC_SOH_TEMP_STAT"
};

const String VESC_FAULT_CODE_STR[NUM_VESC_FAULT_CODE] = {
	"FAULT_NONE",
	"FAULT_OVER_VOLTAGE",
	"FAULT_UNDER_VOLTAGE",
	"FAULT_DRV",
	"FAULT_ABS_OVER_CURRENT",
	"FAULT_OVER_TEMP_FET",
	"FAULT_OVER_TEMP_MOTOR",
	"FAULT_GATE_DRIVER_OVER_VOLTAGE",
	"FAULT_GATE_DRIVER_UNDER_VOLTAGE",
	"FAULT_MCU_UNDER_VOLTAGE",
	"FAULT_BOOTING_FROM_WATCHDOG_RESET",
	"FAULT_ENCODER_SPI",
	"FAULT_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE",
	"FAULT_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE",
	"FAULT_FLASH_CORRUPTION",
	"FAULT_HIGH_OFFSET_CURRENT_SENSOR_1",
	"FAULT_HIGH_OFFSET_CURRENT_SENSOR_2",
	"FAULT_HIGH_OFFSET_CURRENT_SENSOR_3",
	"FAULT_UNBALANCED_CURRENTS",
	"FAULT_BRK",
	"FAULT_RESOLVER_LOT",
	"FAULT_RESOLVER_DOS",
	"FAULT_RESOLVER_LOS",
	"FAULT_FLASH_CORRUPTION_APP_CFG",
	"FAULT_FLASH_CORRUPTION_MC_CFG",
	"FAULT_ENCODER_NO_MAGNET"
};


#endif // VESC_DATATYPES_H