d2/d74/vesc__types_8h_source.html

/*

 * This file is part of the arduino vesc library (https://github.com/arduino_vesc)

 *

 * Copyright (c) 2019 Gianmarco Vitelli

 *

 * 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, version 3.

 *

 * 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/>.

 */


typedef struct {

  uint8_t major;

  uint8_t minor;

  char hw_name[20];

  uint8_t stm32_uid[12];

  bool pairing_done;

} vesc_version;


typedef struct {

  float fet_temp ;

  float motor_temp;

  float avg_motor_current;

  float avg_input_current;

  float reset_avg_id;

  float reset_avg_iq;

  float duty_cycle_now;

  float rpm;

  float input_voltage;

  float amp_hours;

  float amp_hours_charged;

  float watt_hours;

  float watt_hours_charged;

  int32_t tachometer_value;

  int32_t tachometer_abs_value;

  float fault;

  float pid_pos_now;

  uint8_t controller_id;

  float mos1_temp;

  float mos2_temp;

  float mos3_temp;

  float reset_avg_vd;

  float reset_avg_vq;

} vesc_values;


typedef struct {

        uint32_t signature;

        // Switching and drive

        uint8_t pwm_mode;

        uint8_t comm_mode;

        uint8_t motor_type;

        uint8_t sensor_mode;

        // Limits

        float l_current_max;

        float l_current_min;

        float l_in_current_max;

        float l_in_current_min;

        float l_abs_current_max;

        float l_min_erpm;

        float l_max_erpm;

        float l_erpm_start;

        float l_max_erpm_fbrake;

        float l_max_erpm_fbrake_cc;

        float l_min_vin;

        float l_max_vin;

        float l_battery_cut_start;

        float l_battery_cut_end;

        bool l_slow_abs_current;

        float l_temp_fet_start;

        float l_temp_fet_end;

        float l_temp_motor_start;

        float l_temp_motor_end;

        float l_temp_accel_dec;

        float l_min_duty;

        float l_max_duty;

        float l_watt_max;

        float l_watt_min;

        float l_current_max_scale;

        float l_current_min_scale;

        // Overridden limits (Computed during runtime)

        float lo_current_max;

        float lo_current_min;

        float lo_in_current_max;

        float lo_in_current_min;

        float lo_current_motor_max_now;

        float lo_current_motor_min_now;

        // Sensorless (bldc)

        float sl_min_erpm;

        float sl_min_erpm_cycle_int_limit;

        float sl_max_fullbreak_current_dir_change;

        float sl_cycle_int_limit;

        float sl_phase_advance_at_br;

        float sl_cycle_int_rpm_br;

        float sl_bemf_coupling_k;

        // Hall sensor

        int8_t hall_table[8];

        float hall_sl_erpm;

        // FOC

        float foc_current_kp;

        float foc_current_ki;

        float foc_f_sw;

        float foc_dt_us;

        float foc_encoder_offset;

        bool foc_encoder_inverted;

        float foc_encoder_ratio;

        float foc_encoder_sin_offset;

        float foc_encoder_sin_gain;

        float foc_encoder_cos_offset;

        float foc_encoder_cos_gain;

        float foc_encoder_sincos_filter_constant;

        float foc_motor_l;

        float foc_motor_r;

        float foc_motor_flux_linkage;

        float foc_observer_gain;

        float foc_observer_gain_slow;

        float foc_pll_kp;

        float foc_pll_ki;

        float foc_duty_dowmramp_kp;

        float foc_duty_dowmramp_ki;

        float foc_openloop_rpm;

        float foc_sl_openloop_hyst;

        float foc_sl_openloop_time;

        float foc_sl_d_current_duty;

        float foc_sl_d_current_factor;

        uint8_t foc_sensor_mode;

        uint8_t foc_hall_table[8];

        float foc_sl_erpm;

        bool foc_sample_v0_v7;

        bool foc_sample_high_current;

        float foc_sat_comp;

        bool foc_temp_comp;

        float foc_temp_comp_base_temp;

        float foc_current_filter_const;

        // GPDrive

        int gpd_buffer_notify_left;

        int gpd_buffer_interpol;

        float gpd_current_filter_const;

        float gpd_current_kp;

        float gpd_current_ki;

        // Speed PID

        float s_pid_kp;

        float s_pid_ki;

        float s_pid_kd;

        float s_pid_kd_filter;

        float s_pid_min_erpm;

        bool s_pid_allow_braking;

        // Pos PID

        float p_pid_kp;

        float p_pid_ki;

        float p_pid_kd;

        float p_pid_kd_filter;

        float p_pid_ang_div;

        // Current controller

        float cc_startup_boost_duty;

        float cc_min_current;

        float cc_gain;

        float cc_ramp_step_max;

        // Misc

        int32_t m_fault_stop_time_ms;

        float m_duty_ramp_step;

        float m_current_backoff_gain;

        uint32_t m_encoder_counts;

        uint8_t m_sensor_port_mode;

        bool m_invert_direction;

        uint8_t m_drv8301_oc_mode;

        int m_drv8301_oc_adj;

        float m_bldc_f_sw_min;

        float m_bldc_f_sw_max;

        float m_dc_f_sw;

        float m_ntc_motor_beta;

        uint8_t m_out_aux_mode;

        // Setup info

        uint8_t si_motor_poles;

        float si_gear_ratio;

        float si_wheel_diameter;

        uint8_t si_battery_type;

        int si_battery_cells;

        float si_battery_ah;

} mc_configuration;


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_PACKET_ID;