SummerSchool2-Controller/306-controller_interface.X/app/car.h

/**
 * @author R<EFBFBD>mi Heredero
 * @version. 0.0.0
 * @date August 2023
 * @file car.h
 */

#ifndef CAR_H
#define	CAR_H

/*************
 * MODULE ID *
 *************/
#define ID_CONTROL      1   // Control the three-wheeler
#define ID_JOYSTICK     2   // Inform control avout current joystick state
#define ID_DISPLAY      3   // User interface to display informations
#define ID_DRIVE        4   // Drive power motor of the three-wheeler
#define ID_STEERING     5   // Drive the direction motor og the three-wheeler
#define ID_SUPPLY       6   // Information about batteries, current, ...
#define ID_BROADCAST    0   // Message to and from any module
#define ID_DEBUG        0   // Message to and from any module

/*******************
 * MEMORY ADRESSES *
 *******************/
#define MEMADD_CONTROL_STEERING_MODE        0x01
#define MEMADD_CONTROL_ALIVE_TIME           0x02
#define MEMADD_CONTROL_SPEED_FACTOR         0x03
#define MEMADD_CONTROL_POWER_FACTOR         0x07
#define MEMADD_CONTROL_STEERING_FACTOR      0x0B
#define MEMADD_CONTROL_MAX_SPEED_FW         0x0F
#define MEMADD_CONTROL_MAX_SPEED_BW         0x10
#define MEMADD_JOYSTICK_MODE                0x11
#define MEMADD_JOYSTICK_PARAM1              0x12
#define MEMADD_JOYSTICK_PARAM2              0x13
#define MEMADD_JOYSTICK_ALIVE_TIME          0x14
#define MEMADD_DISPLAY_ALIVE_TIME           0x15
#define MEMADD_DRIVE_SPEED_TIME             0x16
#define MEMADD_DRIVE_STOP_TIME              0x17
#define MEMADD_DRIVE_ALIVE_TIME             0x18
#define MEMADD_STEERING_ALIVE_TIME          0x19
#define MEMADD_BATTERY_VOLT_TIME            0x1A
#define MEMADD_BATTERY_CURRENT_TIME         0x1B
#define MEMADD_BATTERY_ENERGY_TIME          0x1C
#define MEMADD_BATTERY_ALIVE_TIME           0x1D
#define MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING 0x1E
#define MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE 0x1F

const bool ALWAYSTRUE = true;
const bool ALWAYSFALSE = false;
const uint8_t ALWAYS0 = 0;
const uint8_t ALWAYS1 = 1;
const uint8_t ALWAYS2 = 2;
const uint8_t ALWAYS3 = 3;

typedef struct {
    uint8_t     CONTROL_STEERING_MODE;
    uint8_t     CONTROL_ALIVE_TIME;
    uint32_t    CONTROL_SPEED_FACTOR;
    uint32_t    CONTROL_POWER_FACTOR;
    uint32_t    CONTROL_STEERING_FACTOR;
    uint8_t     CONTROL_MAX_SPEED_FW;
    uint8_t     CONTROL_MAX_SPEED_BW;
    uint8_t     JOYSTICK_MODE;
    uint8_t     JOYSTICK_PARAM1;
    uint8_t     JOYSTICK_PARAM2;
    uint8_t     JOYSTICK_ALIVE_TIME;
    uint8_t     DISPLAY_ALIVE_TIME;
    uint8_t     DRIVE_SPEED_TIME;
    uint8_t     DRIVE_STOP_TIME;
    uint8_t     DRIVE_ALIVE_TIME;
    uint8_t     STEERING_ALIVE_TIME;
    uint8_t     BATTERY_VOLT_TIME;
    uint8_t     BATTERY_CURRENT_TIME;
    uint8_t     BATTERY_ENERGY_TIME;
    uint8_t     BATTERY_ALIVE_TIME;
    uint8_t     CONTROL_PARAM_MAX_CHANGE_STEERING;
    uint8_t     CONTROL_PARAM_MAX_CHANGE_DRIVE;

} KART_CST_TYPE;
KART_CST_TYPE KART_CST;

typedef struct {
    int16_t torque;     // 
    uint32_t center;    // 
    uint32_t position;  // 
    uint8_t speed;      // 100m/h
    bool brake;
    uint8_t powerMode; // 0: eco - 1: normal - 2: race
    /*
     * 0 - ECO MODE
     * Eco mod limit to 1/2 of the maximal current. 
     * Position is 1/2 of the maximal angle
     * 
     * 1 - NORMAL MODE
     * Standard ramp for normal mode
     * Position is limited to 3/4 of the maximal 
     * 
     * 2 - RACE MODE
     * 
     * 
     */
} KART_VAR_TYPE;
KART_VAR_TYPE eKart;

uint8_t rampTorque[101];
uint8_t rampPosition[101];



#endif	/* CAR_H */