ws22_motor_can.h

#pragma once
 
/************************************************************************************************
 * @file   ws22_motor_can.h
 *
 * @brief  Header file for Wavesculptor 22 CAN interface
 *
 * @date   2025-06-29
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdbool.h>
#include <stdint.h>
 
/* Inter-component Headers */
#include "can.h"
#include "status.h"
 
/* Intra-component Headers */
#include "front_controller.h"
 
/* CAN Message Base Addresses */
#define WS22_CAN_BASE_CONTROL 0x500U 
#define WS22_CAN_BASE_STATUS 0x400U  
/* CAN Message IDs */
#define WS22_CAN_ID_DRIVE_CMD (WS22_CAN_BASE_CONTROL + 0x01U)
#define WS22_CAN_ID_STATUS_INFO (WS22_CAN_BASE_STATUS + 0x01U)
#define WS22_CAN_ID_BUS_MEASUREMENT (WS22_CAN_BASE_STATUS + 0x02U)
#define WS22_CAN_ID_VELOCITY_MEASUREMENT (WS22_CAN_BASE_STATUS + 0x03U)
#define WS22_CAN_ID_PHASE_CURRENT (WS22_CAN_BASE_STATUS + 0x04U)
#define WS22_CAN_ID_MOTOR_VOLTAGE (WS22_CAN_BASE_STATUS + 0x05U)
#define WS22_CAN_ID_MOTOR_CURRENT (WS22_CAN_BASE_STATUS + 0x06U)
#define WS22_CAN_ID_MOTOR_BACK_EMF (WS22_CAN_BASE_STATUS + 0x07U)
#define WS22_CAN_ID_RAIL_15V (WS22_CAN_BASE_STATUS + 0x08U)
#define WS22_CAN_ID_TEMPERATURE (WS22_CAN_BASE_STATUS + 0x0BU)
 
typedef struct {
  float current;     
  uint32_t velocity; 
} Ws22MotorControlData;
 
typedef struct {
  /* Status Information (0x401) */
  uint16_t error_flags; 
  uint16_t limit_flags; 
  /* Bus Measurements (0x402) */
  float bus_current; 
  float bus_voltage; 
  /* Velocity Measurements (0x403) */
  float vehicle_velocity; 
  float motor_velocity;   
  /* Phase Currents (0x404) */
  float phase_b_current; 
  float phase_c_current; 
  /* Motor Voltages (0x405) */
  float voltage_d; 
  float voltage_q; 
  /* Motor Currents (0x406) */
  float current_d; 
  float current_q; 
  /* Motor Back EMF (0x407) */
  float back_emf_d; 
  float back_emf_q; 
  /* Power Rail (0x408) */
  float rail_15v_supply; 
  /* Temperature Measurements (0x40B) */
  float heat_sink_temp; 
  float motor_temp;     
} Ws22MotorTelemetryData;
 
typedef struct Ws22MotorCanStorage {
  Ws22MotorControlData control;     
  Ws22MotorTelemetryData telemetry; 
} Ws22MotorCanStorage;
 
StatusCode ws22_motor_can_init(FrontControllerStorage *storage);
 
StatusCode ws22_motor_can_set_current(float current);
 
StatusCode ws22_motor_can_set_velocity(uint32_t velocity);
 
StatusCode ws22_motor_can_transmit_drive_command(void);
 
StatusCode ws22_motor_can_process_rx(CanMessage *msg);
 
Ws22MotorControlData *ws22_motor_can_get_control_data(void);
 
Ws22MotorTelemetryData *ws22_motor_can_get_telemetry_data(void);