global_enums.h

#pragma once
 
/************************************************************************************************
 * @file   global_enums.h
 *
 * @brief  Header file for global enums which are exported between projects with CAN
 *
 * @date   2025-01-12
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <assert.h>
#include <stdint.h>
 
/* Inter-component Headers */
 
/* Intra-component Headers */
 
/************************************************************************************************
 * Shared Global definitions
 ************************************************************************************************/
 
typedef enum {
  VEHICLE_DRIVE_STATE_INVALID = 0, 
  VEHICLE_DRIVE_STATE_NEUTRAL = 1, 
  VEHICLE_DRIVE_STATE_DRIVE = 2,   
  VEHICLE_DRIVE_STATE_REVERSE = 3, 
  VEHICLE_DRIVE_STATE_CRUISE = 4,  
  VEHICLE_DRIVE_STATE_BRAKE = 5,   
  VEHICLE_DRIVE_STATE_REGEN = 6,   
  VEHICLE_DRIVE_STATE_FAULT = 7,   
  VEHICLE_DRIVE_NUM_STATES,
} VehicleDriveState;
 
static const char *vehicle_drive_state_strings[VEHICLE_DRIVE_NUM_STATES] = {
  [VEHICLE_DRIVE_STATE_INVALID] = "INVALID", [VEHICLE_DRIVE_STATE_NEUTRAL] = "NEUTRAL", [VEHICLE_DRIVE_STATE_DRIVE] = "DRIVE", [VEHICLE_DRIVE_STATE_REVERSE] = "REVERSE",
  [VEHICLE_DRIVE_STATE_CRUISE] = "CRUISE",   [VEHICLE_DRIVE_STATE_BRAKE] = "BRAKE",     [VEHICLE_DRIVE_STATE_REGEN] = "REGEN",
};
 
#define VEHICLE_DRIVE_STATE_TO_STR(s) (((s) < VEHICLE_DRIVE_NUM_STATES) ? vehicle_drive_state_strings[(s)] : "UNKNOWN")
 
typedef enum {
  VEHICLE_POWER_STATE_IDLE,   
  VEHICLE_POWER_STATE_DRIVE,  
  VEHICLE_POWER_STATE_CHARGE, 
  VEHICLE_POWER_STATE_FAULT   
} VehiclePowerStates;
 
#define GLOBAL_LIGHTS_BLINK_FREQUENCY_HZ 1.5f
#define GLOBAL_LIGHTS_BLINK_PERIOD_MS ((uint32_t)(1000.0f / (2.0f * GLOBAL_LIGHTS_BLINK_FREQUENCY_HZ)))
 
/* Both signal and BPS lights share the one in-spec rate above */
#define GLOBAL_SIGNAL_LIGHTS_BLINK_PERIOD_MS GLOBAL_LIGHTS_BLINK_PERIOD_MS
#define GLOBAL_BPS_LIGHTS_BLINK_PERIOD_MS GLOBAL_LIGHTS_BLINK_PERIOD_MS
 
typedef enum {
  ERROR_FLAG_HARDWARE_OVERCURRENT = 0,
  ERROR_FLAG_SOFTWARE_OVERCURRENT = 1,
  ERROR_FLAG_DC_BUS_OV = 2,
  ERROR_FLAG_BAD_HALL_SEQUENCE = 3,
  ERROR_FLAG_WATCHDOG_CAUSED_RESET = 4,
  ERROR_FLAG_CFG_READ_ERROR = 6,
  ERROR_FLAG_UVLO = 6,
  ERROR_FLAG_DESATURATION_FAULT = 7,
  ERROR_FLAG_MOTOR_OVER_SPEED = 8,
  LIMIT_FLAG_OUTPUT_VOLTAGE_PWM = 9,
  LIMIT_FLAG_MOTOR_CURRENT = 10,
  LIMIT_FLAG_VELOCITY = 11,
  LIMIT_FLAG_BUS_CURRENT = 12,
  LIMIT_FLAG_BUS_VOLTAGE_UPPER = 13,
  LIMIT_FLAG_BUS_VOLTAGE_LOWER = 14,
  LIMIT_FLAG_TEMPERATURE = 15,
  NUM_WS22_MOTOR_FLAGS,
} Ws22MotorFlags;
 
#define ERROR_FLAG_HARDWARE_OVERCURRENT_MASK (1U << ERROR_FLAG_HARDWARE_OVERCURRENT)
#define ERROR_FLAG_SOFTWARE_OVERCURRENT_MASK (1U << ERROR_FLAG_SOFTWARE_OVERCURRENT)
#define ERROR_FLAG_DC_BUS_OV_MASK (1U << ERROR_FLAG_DC_BUS_OV)
#define ERROR_FLAG_BAD_HALL_SEQUENCE_MASK (1U << ERROR_FLAG_BAD_HALL_SEQUENCE)
#define ERROR_FLAG_WATCHDOG_CAUSED_RESET_MASK (1U << ERROR_FLAG_WATCHDOG_CAUSED_RESET)
#define ERROR_FLAG_CFG_READ_ERROR_MASK (1U << ERROR_FLAG_CFG_READ_ERROR)
#define ERROR_FLAG_UVLO_MASK (1U << ERROR_FLAG_UVLO)
#define ERROR_FLAG_DESATURATION_FAULT_MASK (1U << ERROR_FLAG_DESATURATION_FAULT)
#define ERROR_FLAG_MOTOR_OVER_SPEED_MASK (1U << ERROR_FLAG_MOTOR_OVER_SPEED)
#define LIMIT_FLAG_OUTPUT_VOLTAGE_PWM_MASK (1U << LIMIT_FLAG_OUTPUT_VOLTAGE_PWM)
#define LIMIT_FLAG_MOTOR_CURRENT_MASK (1U << LIMIT_FLAG_MOTOR_CURRENT)
#define LIMIT_FLAG_VELOCITY_MASK (1U << LIMIT_FLAG_VELOCITY)
#define LIMIT_FLAG_BUS_CURRENT_MASK (1U << LIMIT_FLAG_BUS_CURRENT)
#define LIMIT_FLAG_BUS_VOLTAGE_UPPER_MASK (1U << LIMIT_FLAG_BUS_VOLTAGE_UPPER)
#define LIMIT_FLAG_BUS_VOLTAGE_LOWER_MASK (1U << LIMIT_FLAG_BUS_VOLTAGE_LOWER)
#define LIMIT_FLAG_TEMPERATURE_MASK (1U << LIMIT_FLAG_TEMPERATURE)
 
/************************************************************************************************
 * Front Controller Global Definitions
 ************************************************************************************************/
 
typedef struct PedalCalibrationData {
  uint16_t lower_value; 
  uint16_t upper_value; 
} PedalCalibrationData;
 
typedef struct __attribute__((aligned(4))) PedalPersistData {
  PedalCalibrationData accel_pedal_data_raw;
  PedalCalibrationData accel_pedal_data_amplified;
  PedalCalibrationData brake_pedal_data;
} PedalPersistData;
 
/************************************************************************************************
 * Rear Controller Global Definitions
 ************************************************************************************************/
 
typedef enum {
  BPS_FAULT_OVERVOLTAGE,           
  BPS_FAULT_UNBALANCE,             
  BPS_FAULT_OVERTEMP_AMBIENT,      
  BPS_FAULT_COMMS_LOSS_AFE,        
  BPS_FAULT_COMMS_LOSS_CURR_SENSE, 
  BPS_FAULT_OVERTEMP_CELL,         
  BPS_FAULT_OVERCURRENT,           
  BPS_FAULT_UNDERVOLTAGE,          
  BPS_FAULT_KILLSWITCH,            
  BPS_FAULT_RELAY_CLOSE_FAILED,    
  BPS_FAULT_DISCONNECTED,          
  NUM_BPS_FAULTS
} BpsFault;
 
#define BPS_FAULT_OVERVOLTAGE_MASK (1U << BPS_FAULT_OVERVOLTAGE)
#define BPS_FAULT_UNBALANCE_MASK (1U << BPS_FAULT_UNBALANCE)
#define BPS_FAULT_OVERTEMP_AMBIENT_MASK (1U << BPS_FAULT_OVERTEMP_AMBIENT)
#define BPS_FAULT_COMMS_LOSS_AFE_MASK (1U << BPS_FAULT_COMMS_LOSS_AFE)
#define BPS_FAULT_COMMS_LOSS_CURR_SENSE_MASK (1U << BPS_FAULT_COMMS_LOSS_CURR_SENSE)
#define BPS_FAULT_OVERTEMP_CELL_MASK (1U << BPS_FAULT_OVERTEMP_CELL)
#define BPS_FAULT_OVERCURRENT_MASK (1U << BPS_FAULT_OVERCURRENT)
#define BPS_FAULT_UNDERVOLTAGE_MASK (1U << BPS_FAULT_UNDERVOLTAGE)
#define BPS_FAULT_KILLSWITCH_MASK (1U << BPS_FAULT_KILLSWITCH)
#define BPS_FAULT_RELAY_CLOSE_FAILED_MASK (1U << BPS_FAULT_RELAY_CLOSE_FAILED)
#define BPS_FAULT_DISCONNECTED_MASK (1U << BPS_FAULT_DISCONNECTED)
 
#define BPS_FAULT_HIGH_PRIORITY_MASK (1U << 15U)
#define BPS_FAULT_LOW_PRIORITY_MASK (1U << 14U)
 
typedef struct {
  uint8_t cell_index; 
  uint8_t reserved0;
  uint16_t cell_voltage; 
  uint32_t reserved1;
} __attribute__((packed)) BpsCellFaultData; 
typedef struct {
  uint8_t max_cell_index;    
  uint8_t min_cell_index;    
  uint16_t max_cell_voltage; 
  uint16_t min_cell_voltage; 
  uint16_t reserved;
} __attribute__((packed)) BpsUnbalanceFaultData; 
typedef struct {
  uint8_t cell_index; 
  uint8_t reserved0;
  int16_t temperature_c; 
  uint32_t reserved1;
} __attribute__((packed)) BpsTempFaultData; 
typedef struct {
  float current_a; 
  uint32_t reserved;
} __attribute__((packed)) BpsCurrentFaultData; 
typedef union {
  uint64_t raw;                    
  BpsCellFaultData cell;           
  BpsUnbalanceFaultData unbalance; 
  BpsTempFaultData temp;           
  BpsCurrentFaultData current;     
} BpsFaultData;
static_assert(sizeof(BpsFaultData) == 8, "BpsFaultData must be 8 bytes");
 
typedef struct {
  uint32_t fault_code;     
  BpsFaultData extra_info; 
} BpsFaultRecord;
static_assert(sizeof(BpsFaultRecord) == 16, "BpsFaultRecord must be 16 bytes");
 
/************************************************************************************************
 * Steering Global Definitions
 ************************************************************************************************/
 
typedef enum {
  STEERING_LIGHTS_OFF_STATE = 0,    
  STEERING_LIGHTS_LEFT_STATE = 1,   
  STEERING_LIGHTS_RIGHT_STATE = 2,  
  STEERING_LIGHTS_HAZARD_STATE = 3, 
  STEERING_LIGHTS_NUM_STATES,       
} SteeringLightState;
 
static const char *steering_light_state_strings[STEERING_LIGHTS_NUM_STATES] = { "OFF", "LEFT", "RIGHT", "HAZARD" };
 
#define STEERING_LIGHT_STATE_TO_STR(s) (((s) < STEERING_LIGHTS_NUM_STATES) ? steering_light_state_strings[(s)] : "UNKNOWN")
 
typedef enum {
  BPS_LIGHT_ON_STATE,   
  BPS_LIGHT_OFF_STATE,  
  NUM_BPS_LIGHT_STATES, 
} BpsLightState;
 
typedef enum {
  STEERING_CRUISE_CONTROL_DECREASE_BIT = 0, 
  STEERING_CRUISE_CONTROL_INCREASE_BIT,     
  STEERING_CRUISE_CONTROL_TOGGLE_BIT,       
} SteeringCruiseControl;
 
#define STEERING_CC_INCREASE_MASK (1U << EE_STEERING_CC_INCREASE_BIT)
#define STEERING_CC_DECREASE_MASK (1U << EE_STEERING_CC_DECREASE_BIT)
#define STEERING_CC_TOGGLE_MASK (1U << EE_STEERING_CC_TOGGLE_BIT)
 
/************************************************************************************************
 * WS22 Motor Controller Global Definitions
 ************************************************************************************************/
 
#define IS_WS22_CAN_ID(x) (((x) >= 0x80U && (x) <= 0x8BU) || (x) == 0x501U)
 
/************************************************************************************************
 * Power Distribution Global Definitions
 ************************************************************************************************/
 
typedef enum {
  EE_POWER_OFF_STATE,       
  EE_POWER_PRECHARGE_STATE, 
  EE_POWER_DRIVE_STATE,     
  EE_POWER_FAULT_STATE      
} PDPowerState;