defines.h

Go to the documentation of this file.

#ifndef DEFINES_H
#define DEFINES_H
 
#include "master_board_sdk/protocol.h"
#define N_SLAVES 6
 
struct dual_motor_driver_sensor_packet_t
{
    uint16_t status;
    uint16_t timestamp;
    int32_t position[2];
    int16_t velocity[2];
    int16_t current[2];
    uint16_t coil_resistance[2];
    uint16_t adc[2];
} __attribute__((packed));
 
struct dual_motor_driver_command_packet_t
{
    uint16_t mode;
    int32_t position_ref[2];
    int16_t velocity_ref[2];
    int16_t current_ref[2];
    int16_t kp[2];
    int16_t kd[2];
    int8_t i_sat[2];
} __attribute__((packed));
 
struct imu_packet_t
{
    int16_t accelerometer[3];
    int16_t gyroscope[3];
    int16_t attitude[3];
    int16_t linear_acceleration[3];
} __attribute__((packed));
 
struct imu_data_t
{
    float accelerometer[3];
    float gyroscope[3];
    float attitude[3];
    float linear_acceleration[3];
} __attribute__((packed));
 
struct powerboard_packet_t
{
    uint16_t vbus;
    int16_t vshunt;
    float energy;
} __attribute__((packed));
 
struct powerboard_data_t {
    float current_bus;
    float voltage_bus;
    float energy_bus;
} __attribute__((packed));
 
struct dual_motor_driver_sensor_data_t
{
    uint16_t status;
    uint16_t timestamp; // to be removed
    bool is_system_enabled;
    bool is_motor_enabled[2];
    bool is_motor_ready[2];
    bool has_index_been_detected[2];
    bool index_toggle_bit[2];
    uint8_t error_code;
    float position[2];
    float velocity[2];
    float current[2];
    float coil_resistance[2];
    float adc[2];
} __attribute__((packed));
 
struct sensor_packet_t
{
    uint16_t session_id;
    struct dual_motor_driver_sensor_packet_t dual_motor_driver_sensor_packets[N_SLAVES];
    struct imu_packet_t imu;
    struct powerboard_packet_t powerboard;
    uint16_t sensor_index;
    uint16_t packet_loss;
    uint16_t last_cmd_index;
} __attribute__((packed));
 
struct command_packet_t
{
    //uint16_t command[N_SLAVES][UD_LENGTH];
    uint16_t session_id;
    struct dual_motor_driver_command_packet_t dual_motor_driver_command_packets[N_SLAVES];
    uint16_t command_index;
} __attribute__((packed));
 
struct init_packet_t
{
    uint16_t protocol_version; // used to ensure both the interface and the firmware use the same protocol
    uint16_t session_id;
} __attribute__((packed));
 
struct ack_packet_t {
    uint16_t protocol_version;
    uint16_t session_id;
    uint8_t spi_connected; // least significant bit: SPI0 - most significant bit: SPI7
} __attribute__ ((packed));
#endif