ws22_motor_can.h

#pragma once
 
/************************************************************************************************
 * @file   motor_can.h
 *
 * @brief  Header file for Motor CAN interface
 *
 * @date   2025-06-29
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdint.h>
 
/* Inter-component Headers */
#include "can.h"
#include "can_hw.h"
#include "can_msg.h"
 
/* Intra-component Headers */
 
#define MOTOR_CAN_CONTROL_BASE 0x500
#define MOTOR_CAN_CONTROLLER_BASE 0x400
 
#define STATUS_INFO (MOTOR_CAN_CONTROLLER_BASE + 0X01)
#define BUS_MEASUREMENT (MOTOR_CAN_CONTROLLER_BASE + 0X02)
#define VELOCTIY_MEASUREMENT (MOTOR_CAN_CONTROLLER_BASE + 0X03)
#define PHASE_CURRENT (MOTOR_CAN_CONTROLLER_BASE + 0X04)
#define MOTOR_VOLTAGE (MOTOR_CAN_CONTROLLER_BASE + 0X05)
#define MOTOR_CURRENT (MOTOR_CAN_CONTROLLER_BASE + 0X06)
#define MOTOR_BACK_EMF (MOTOR_CAN_CONTROLLER_BASE + 0x07)
#define RAIL_15V (MOTOR_CAN_CONTROLLER_BASE + 0x08)
#define HEAT_SINK_MOTOR_TEMP (MOTOR_CAN_CONTROLLER_BASE + 0x0B)
 
typedef struct TxData {
  float current;      // Range: 0.0 to 1.0
  uint32_t velocity;  // Range: 0 to ~12000 rpm
} TxData;
 
typedef struct RxData {
  // Status Info - base address + 0x01
  uint16_t error_flags;
  uint16_t limit_flags;
 
  // Bus Measurement - base address + 0x02
  float bus_current;
  float bus_voltage;
 
  // Velocity Measurement - base address + 0x03
  float vehicle_velocity;
  float motor_velocity;
 
  // Phase Current - base address + 0x04
  float phase_c_current;
  float phase_b_current;
 
  // Motor Voltage - base address + 0x05
  float voltage_d;
  float voltage_q;
 
  // Motor Current - base address + 0x06
  float current_d;
  float current_q;
 
  // Motor BackEMF  - base address + 0x07
  float back_EMF_d;  // always zero
  float back_EMF_q;
 
  // 15V Voltage Rail Measurement - base address + 0x08
  float rail_15V_supply;
 
  // Heat-sink and Motor Temp - base address + 0x0B
  float heat_sink_temp;
  float motor_temp;
} RxData;
 
StatusCode motor_can_transmit(uint32_t id, bool extended, const uint8_t *msg, uint8_t dlc);
 
void tx_set_current(float current);
void tx_set_velocity(uint32_t velocity);
 
RxData get_rx_data(void);
 
void rx_set_limit_flags(uint16_t flags);
void rx_set_error_flags(uint16_t flags);
void rx_set_bus_current(float current);
void rx_set_bus_voltage(float voltage);
void rx_set_vehicle_velocity(float velocity);
void rx_set_motor_velocity(float velocity);
void rx_set_phase_c_current(float current);
void rx_set_phase_b_current(float current);
void rx_set_voltage_d(float voltage);
void rx_set_voltage_q(float voltage);
void rx_set_current_d(float current);
void rx_set_current_q(float current);
void rx_set_back_EMF_d(float voltage);
void rx_set_back_EMF_q(float voltage);
void rx_set_rail_15v_supply(float voltage);
void rx_set_heat_sink_temp(float degrees);
void rx_set_motor_temp(float degrees);