hoverboard-firmware-hack-foc-serial-esc/Inc/util.h

/**
  * This file is part of the hoverboard-firmware-hack project.
  *
  * Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
  *
  * 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, either version 3 of the License, or
  * (at your option) any later version.
  *
  * 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/>.
*/

// Define to prevent recursive inclusion
#ifndef UTIL_H
#define UTIL_H

#include <stdint.h>


// Rx Structures USART
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
  #ifdef CONTROL_IBUS
    typedef struct{
      uint8_t  start;
      uint8_t  type; 
      uint8_t  channels[IBUS_NUM_CHANNELS*2];
      uint8_t  checksuml;
      uint8_t  checksumh;
    } SerialCommand;
  #else
    typedef struct{
      uint16_t  start;
      int16_t   steer;
      int16_t   speed;
      uint16_t  checksum;
    } SerialCommand;
  #endif
#endif
#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
    typedef struct{
      uint16_t  start;
      int16_t   pitch;      // Angle
      int16_t   dPitch;     // Angle derivative
      int16_t   cmd1;       // RC Channel 1
      int16_t   cmd2;       // RC Channel 2
      uint16_t  sensors;    // RC Switches and Optical sideboard sensors
      uint16_t  checksum;
    } SerialSideboard;
#endif

// Input Structure
typedef struct {
  int16_t   raw;    // raw input
  int16_t   cmd;    // command
  uint8_t   typ;    // type
  uint8_t   typDef; // type Defined
  int16_t   min;    // minimum
  int16_t   mid;    // middle
  int16_t   max;    // maximum
  int16_t   dband;  // deadband
} InputStruct;

// Initialization Functions
void BLDC_Init(void);
void Input_Lim_Init(void);
void Input_Init(void);
void UART_DisableRxErrors(UART_HandleTypeDef *huart);

// General Functions
void poweronMelody(void);
void beepCount(uint8_t cnt, uint8_t freq, uint8_t pattern);
void beepLong(uint8_t freq);
void beepShort(uint8_t freq);
void beepShortMany(uint8_t cnt, int8_t dir);
void calcAvgSpeed(void);
void adcCalibLim(void);
void updateCurSpdLim(void);
void standstillHold(void);
void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
void cruiseControl(uint8_t button);
int  checkInputType(int16_t min, int16_t mid, int16_t max);

// Input Functions
void calcInputCmd(InputStruct *in, int16_t out_min, int16_t out_max);
void readInputRaw(void);
void handleTimeout(void);
void readCommand(void);
void usart2_rx_check(void);
void usart3_rx_check(void);
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
void usart_process_debug(uint8_t *userCommand, uint32_t len);
#endif
#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
void usart_process_command(SerialCommand *command_in, SerialCommand *command_out, uint8_t usart_idx);
#endif
#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sideboard_out, uint8_t usart_idx);
#endif

// Sideboard functions
void sideboardLeds(uint8_t *leds);
void sideboardSensors(uint8_t sensors);

// Poweroff Functions
void saveConfig(void);
void poweroff(void);
void poweroffPressCheck(void);

// Filtering Functions
void filtLowPass32(int32_t u, uint16_t coef, int32_t *y);
void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);

// Multiple Tap Function
typedef struct {
  uint32_t  t_timePrev;
  uint8_t   z_pulseCntPrev;
  uint8_t   b_hysteresis;
  uint8_t   b_multipleTap;
} MultipleTap;
void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);

#define SIZEP(x) ((char*)(&(x) + 1) - (char*)&(x))


enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
#define typename(x) _Generic((x), \
    uint8_t:    UINT8_T, \
    uint16_t:   UINT16_T, \
    uint32_t:   UINT32_T, \
    int8_t:     INT8_T, \
    int16_t:    INT16_T, \
    int32_t:    INT32_T, \
	  int:	    	INT, \
    float:      FLOAT)

#define PARAM_SIZE(param) sizeof(param) / sizeof(parameter_entry)
#define ADD_PARAM(var) typename(var),&var

uint8_t setParamVal(uint8_t index, int32_t newValue);
uint8_t initParamVal(uint8_t index);
uint32_t getParamVal(uint8_t index);
uint8_t incrParamVal(uint8_t index);
uint8_t saveParamVal(uint8_t index);
void saveAllParamVal();
void dumpParamVal();
void dumpParamDef();

typedef struct parameter_entry_struct parameter_entry;
struct parameter_entry_struct {
  const uint8_t type;
  const char *name;
	const uint8_t datatype;
  void *valueL;
  void *valueR;
  const int32_t addr;
	const int32_t init;
  const int32_t min;
	const int32_t max;
  const uint8_t div;
  const uint8_t fix;
	void (*callback_function)();
	const char *help;
};

#endif