vesc_comms.h

/*
    Copyright 2018 Jan Pomikalek <jan.pomikalek@gmail.com>

    This file is part of the DAVEga firmware.

    DAVEga 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.

    DAVEga 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 DAVEga firmware.  If not, see <https://www.gnu.org/licenses/>.
*/
#ifndef vesc_comms_h
#define vesc_comms_h

#include <Arduino.h>

#define PACKET_MAX_LENGTH 70

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_PACKET_ID;

class vesc_comms
{
public:
    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;

    void init(uint32_t baud);
    uint8_t fetch_packet(uint8_t *vesc_packet, uint16_t timeout = 100);
    void setNunchuckValues(int x, int y, bool lowerButton, bool upperButton);
    void setCurrent(float currentInAmps);
    float get_temp_mosfet(uint8_t *vesc_packet);
    float get_temp_motor(uint8_t *vesc_packet);
    float get_motor_current(uint8_t *vesc_packet);
    float get_battery_current(uint8_t *vesc_packet);
    float get_duty_cycle(uint8_t *vesc_packet);
    int32_t get_rpm(uint8_t *vesc_packet);
    float get_voltage(uint8_t *vesc_packet);
    float get_amphours_discharged(uint8_t *vesc_packet);
    float get_amphours_charged(uint8_t *vesc_packet);
    int32_t get_tachometer(uint8_t *vesc_packet);
    int32_t get_tachometer_abs(uint8_t *vesc_packet);

private:
    unsigned short crc16(unsigned char *buf, unsigned int len);
    int packSendPayload(uint8_t *payload, int lenPay);
    uint8_t receive_packet(uint8_t *vesc_packet, uint16_t timeout);
    bool is_expected_packet(uint8_t *vesc_packet, uint8_t packet_length);
    void buffer_append_bool(uint8_t *buffer, bool value, int32_t *index);
    void buffer_append_int32(uint8_t *buffer, int32_t number, int32_t *index);

    // fault_code get_fault_code(uint8_t *vesc_packet);
    uint8_t expected_packet_length(uint8_t payload_length);
    uint16_t get_word(uint8_t *packet, uint8_t index);
    uint32_t get_long(uint8_t *packet, uint8_t index);
};
#endif //vesc_comms_h