faults.h

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/*!****************************************************************************
 *  @file       faults.h
 *  @brief      faults Module
 *
 * 
 *  @anchor faults_h
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/


#ifndef ALGOLIB_FAULTSERVICE_INCLUDE_FAULTS_H_
#define ALGOLIB_FAULTSERVICE_INCLUDE_FAULTS_H_

#include "stdint.h"
#include "stallDetect.h"
#include "load.h"
#include "focHALInterface.h"
#include "sourceVoltageLimit.h"
#include "main.h"

#define CONTROLLER_FAULT_REPORT_DEFAULT         0x7FFFF800

#define CONTROLLER_FAULT_ACTION_DEFAULT         0x3BFF0000

#define CONTROLLER_FAULT_ACTION_LATCHED_DEFAULT 0x03000000

/* bit position for faults in fault status register for external communication and control */

#define HV_DIE_FAULT_INDEX          0x08000000

#define BUS_CURRENT_LIMIT_INDEX     0x04000000

#define ABN_SPEED_FAULT_INDEX       0x00800000

#define ABN_HALL_INDEX_FAULT_INDEX  0x00400000

#define NO_MOTOR_FAULT_INDEX        0x00200000

#define MTR_LOCK_FAULT_INDEX        0x00F00000

#define MTR_LOCK_FAULT_STATUS       0x00100000

#define HW_LOCK_ILIMIT_FAULT_INDEX  0x00040000

#define UNDER_VOLTAGE_FAULT_INDEX   0x00020000

#define OVER_VOLTAGE_FAULT_INDEX    0x00010000

typedef enum
{
    NO_FAULT = 0,
    MOTOR_STALL = 1,
    VOLTAGE_OUT_OF_BOUNDS = 2,
    LOAD_STALL = 3,
    HARDWARE_OVER_CURRENT = 4,
    HV_DIE_FAULT = 5,

}APP_FAULT_TYPES;

typedef union
{
    struct faultFlags
    {
        _Bool
            hardwareOverCurrentRetryEnable: 1,
            noMotorRetryEnable: 1,
            abnormalSpeedRetryEnable: 1,
            lowBemfRetryEnable: 1,
            clearFault: 1,
            retryEnable: 1,
            retryStatus: 1,
            actionTaken: 1;
    }
    b;
    uint16_t w;

}FAULT_FLAGS_T;

typedef enum
{
    FAULT_STOP_HI_Z = 0,
    FAULT_STOP_HIGH_BRAKE = 1,
    FAULT_STOP_LOW_BRAKE = 2,

}FAULT_STOP_TYPES;

typedef struct
{
    const APP_FAULT_TYPES
        *pFaultStatus;

    const STALL_TYPES
        *pMotorStallStatus;

    const SOURCE_VOLTAGE_FAULT_TYPES
        *pSourceVoltageFaultStatus;

    const LOAD_FAULT_TYPES
        *pLoadFaultStatus;

    LOAD_T
        *pLoad;

    FAULT_STOP_TYPES
        hardwareOverCurrent,
        noMotor,
        lowBemf,
        abnormalSpeed;

    FAULT_FLAGS_T
        flags;

    uint16_t
        count,
        countMax;

}

FAULT_SERVICE_T;

void faultServiceInit(FAULT_SERVICE_T *pFault);
void faultServiceRun(void *pFault);
void faultServiceLowPriorityRun(void *pFault);
void faultReportClear(FAULT_SERVICE_T *pFault);
void update_FOC_faultStatus(void *pFault);
inline _Bool getFaultRetryStatus(FAULT_SERVICE_T *pFault)
{
    return pFault->flags.b.retryStatus;
}
inline _Bool getFaultClearStatus(FAULT_SERVICE_T *pFault)
{
    return pFault->flags.b.clearFault;
}

extern uint32_t controllernFaultReport;
extern uint32_t controllerFaultAction;
extern uint32_t controllerFaultActionLatched;

#endif /* ALGOLIB_FAULTSERVICE_INCLUDE_FAULTS_H_ */