TMCDebugBridge.h

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/*
 * TMCDebugBridge.h
 *
 *  Created on: 23.01.2020
 *      Author: Yannick
 */
 
#ifndef TMCDebugBridge_H_
#define TMCDebugBridge_H_
 
#include "constants.h"
#ifdef TMCDEBUG
#include <FFBoardMain.h>
#include <vector>
#include "TMC4671.h"
 
extern "C"{
#include "main.h"
}
 
 
extern SPI_HandleTypeDef HSPIDRV;
 
class TMCDebugBridge: public FFBoardMain {
    enum class TMCDebugBridge_commands : uint32_t{
        torque,pos,openloopspeed,velocity,mode,reg,openloopspeedpwm
    };
public:
 
    TMCDebugBridge();
    virtual ~TMCDebugBridge();
 
    static ClassIdentifier info;
    const ClassIdentifier getInfo();
    static bool isCreatable() {return true;};
 
    void cdcRcv(char* Buf, uint32_t *Len);
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
    void registerCommands();
    std::string getHelpstring(){return "Compatible with TMCL-IDE. To use the FOC modes position, velocity and torque you first must manually select the encoder and wait for alignment.";}
 
 
private:
    const TMC4671PIDConf tmcpids = TMC4671PIDConf({
         .fluxI = 400,
         .fluxP = 400,
         .torqueI = 400,
         .torqueP = 300,
         .velocityI = 10,
         .velocityP = 500,
         .positionI = 0,
         .positionP = 40,
         .sequentialPI = true});
 
    const TMC4671Limits tmclimits = TMC4671Limits({
        .pid_torque_flux_ddt    = 32767,
        .pid_uq_ud              = 30000,
        .pid_torque_flux        = 32767,
        .pid_acc_lim            = 50, // Safety
        .pid_vel_lim            = 2147483647,
        .pid_pos_low                = -2147483647,
        .pid_pos_high           = 2147483647
    });
    static void sendCdc(char* dat, uint32_t len);
    std::unique_ptr<TMC4671> drv;
 
    uint8_t checksum(std::vector<uint8_t> *buffer,uint8_t len);
    HAL_StatusTypeDef SPI_transmit_receive(uint8_t *tx_data,uint8_t *rx_data,uint16_t len,uint32_t timeout);
};
 
#endif /* TMCDebugBridge_H_ */
#endif