2024-12-02 02:45:48 +08:00
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#ifndef __MC_TASKS_H__
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#define __MC_TASKS_H__
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2024-05-10 02:39:53 +08:00
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2024-12-02 02:45:48 +08:00
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#include "main.h"
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2024-05-10 02:39:53 +08:00
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2024-12-02 02:45:48 +08:00
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// Motor controler state
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typedef enum eFSMState {
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BOOT_UP = 0,
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IDLE = 1,
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RUN = 2,
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CALIBRATION = 3,
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ANTICOGGING = 4,
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} tFSMState;
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2024-05-10 02:39:53 +08:00
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2024-12-02 02:45:48 +08:00
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typedef struct sMCStatusword
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{
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union {
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uint32_t status_code;
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struct
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{
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uint32_t switched_on : 1;
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uint32_t target_reached : 1;
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uint32_t current_limit_active : 1;
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uint32_t PADDING : 29;
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};
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} status;
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union {
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uint32_t errors_code;
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struct
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{
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// FATAL
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uint32_t adc_selftest_fatal : 1; // 1<<0
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uint32_t encoder_offline : 1; // 1<<1
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uint32_t PADDING_1 : 14;
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// ERROR
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uint32_t over_voltage : 1; // 1<<16
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uint32_t under_voltage : 1; // 1<<17
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uint32_t over_current : 1; // 1<<18
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uint32_t PADDING_2 : 13;
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};
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} errors;
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} tMCStatusword;
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extern volatile tMCStatusword StatuswordNew;
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extern volatile tMCStatusword StatuswordOld;
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void MCT_init(void);
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void MCT_reset_error(void);
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tFSMState MCT_get_state(void);
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int MCT_set_state(tFSMState state);
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void MCT_high_frequency_task(void);
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void MCT_safety_task(void);
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void MCT_low_priority_task(void);
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#endif
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