appUserOutputs.h

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/*!****************************************************************************
 *  @file       appUserOutputs.h
 *  @brief      Application Outputs Module
 *
 * 
 *  @anchor appUserOutputs
 *  # Overview
 *
 *  Handles the output variables for user to understand
 *
 *  <hr>
 ******************************************************************************/

#ifndef APPUSEROUTPUTS_H
#define APPUSEROUTPUTS_H

#include "stdint.h"
#include "mcLib.h"

#ifdef __cplusplus
extern "C" {
#endif

typedef enum
{
    MOTOR_IDLE = 0,
    MOTOR_ISD = 1,
    MOTOR_TRISTATE = 2,
    MOTOR_BRAKE_ON_START = 3,
    MOTOR_IPD = 4,
    MOTOR_SLOW_FIRST_CYCLE = 5,
    MOTOR_ALIGN = 6,
    MOTOR_OPEN_LOOP = 7,
    MOTOR_CLOSE_LOOP_UNALIGNED = 8,
    MOTOR_CLOSE_LOOP_ALIGNED = 9,
    MOTOR_CLOSE_LOOP_ACTIVE_BRAKING = 10,
    MOTOR_SOFT_STOP = 11,
    MOTOR_BRAKE_ON_STOP = 12,
    MOTOR_FAULT = 13,
    MOTOR_MAX = 0xFFFF,
}MOTOR_STATE_TYPES_T;

typedef enum
{
    NO_FAULTS = 0,
    FAULT_MOTOR_STALL = 1,
    FAULT_VOLTAGE_OUT_OF_BOUNDS = 2,
    FAULT_LOAD_STALL = 3,
    FAULT_HARDWARE_OVER_CURRENT = 4,
    FAULT_HV_DIE = 5,
    FAULT_NONE = 0xFFFF,
}USER_FAULT_TYPES;

typedef struct
{
    float     kp;
    float     ki;

}OUTPUTS_CURRENT_PI_T;

typedef struct
{
    int32_t        reference;
    int32_t        feedback;
}OUTPUTS_PI_T;

typedef struct
{
    int32_t d;
    int32_t q;

}OUTPUT_DQ_T;

typedef struct
{
    uint32_t
    patchVersion:       8,
    minorVersion:       8,
    majorVersion:       8,
    reserved:           8;
}appVersion;

typedef union
{
    appVersion b;
    uint32_t w;
}APP_VERSION_T;

typedef struct
{
    /*Field Length: 1*/
    USER_FAULT_TYPES systemFaultStatus;
    MOTOR_STATE_TYPES_T motorState;
    OUTPUT_DQ_T VdqFilt;
    OUTPUTS_CURRENT_PI_T currentPI;
    OUTPUTS_PI_T piSpeed;
    OUTPUTS_PI_T piPower;
    OUTPUTS_PI_T piId;
    OUTPUTS_PI_T piIq;
    int32_t estimatedSpeed;
    int32_t dcBusVoltage;
    int32_t torqueLimit;
    uint32_t gateDriverFaultStatus;
    uint32_t controllerFaultStatus;
    APP_VERSION_T appVersion;
}USER_STATUS_INTERFACE_T;

/* Extern parameter */

extern USER_STATUS_INTERFACE_T *pUserStatusRegs;

#ifdef __cplusplus
}
#endif
#endif /* APPUSEROUTPUTS_H */