mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
352 lines
8.9 KiB
C
352 lines
8.9 KiB
C
/*
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* agilex_message.h
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*
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* Created on: Dec 10, 2020 11:47
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* Description:
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* all values are using SI units (e.g. meter/second/radian)
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*
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* Copyright (c) 2020 Ruixiang Du (rdu)
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*/
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#ifndef AGILEX_MESSAGE_H
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#define AGILEX_MESSAGE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "ugv_sdk/details/interface/agilex_types.h"
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/***************** Control messages *****************/
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typedef struct {
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float linear_velocity;
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float angular_velocity;
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float lateral_velocity;
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float steering_angle;
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} MotionCommandMessage;
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typedef struct {
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bool enable_cmd_ctrl;
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LightOperation front_light;
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LightOperation rear_light;
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} LightCommandMessage;
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typedef struct {
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bool enable_braking;
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} BrakingCommandMessage;
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typedef struct {
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uint8_t motion_mode;
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} MotionModeCommandMessage;
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// V1-only messages
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typedef struct {
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ControlMode control_mode;
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bool clear_all_error;
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float linear;
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float angular;
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float lateral;
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} MotionCommandMessageV1;
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typedef struct {
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bool set_neutral;
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} ValueSetCommandMessageV1;
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typedef ValueSetCommandMessageV1 ValueSetStateMessageV1;
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/**************** Feedback messages *****************/
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#define SYSTEM_ERROR_MOTOR_DRIVER_MASK ((uint16_t)0x0100)
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#define SYSTEM_ERROR_HL_COMM_MASK ((uint16_t)0x0200)
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#define SYSTEM_ERROR_BATTERY_FAULT_MASK ((uint16_t)0x0001)
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#define SYSTEM_ERROR_BATTERY_WARNING_MASK ((uint16_t)0x0002)
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#define SYSTEM_ERROR_RC_SIGNAL_LOSS_MASK ((uint16_t)0x0004)
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#define SYSTEM_ERROR_MOTOR1_COMM_MASK ((uint16_t)0x0008)
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#define SYSTEM_ERROR_MOTOR2_COMM_MASK ((uint16_t)0x0010)
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#define SYSTEM_ERROR_MOTOR3_COMM_MASK ((uint16_t)0x0020)
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#define SYSTEM_ERROR_MOTOR4_COMM_MASK ((uint16_t)0x0040)
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#define SYSTEM_ERROR_STEER_ENCODER_MASK ((uint16_t)0x0080)
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typedef struct {
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VehicleState vehicle_state;
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ControlMode control_mode;
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float battery_voltage;
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uint16_t error_code;
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} SystemStateMessage;
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typedef struct {
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float linear_velocity;
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float angular_velocity; // only valid for differential drivering
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float lateral_velocity;
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float steering_angle; // only valid for ackermann steering
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} MotionStateMessage;
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typedef LightCommandMessage LightStateMessage;
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typedef struct {
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RcSwitchState swa;
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RcSwitchState swb;
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RcSwitchState swc;
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RcSwitchState swd;
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int8_t stick_right_v;
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int8_t stick_right_h;
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int8_t stick_left_v;
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int8_t stick_left_h;
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int8_t var_a;
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} RcStateMessage;
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typedef struct {
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uint8_t motor_id;
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int16_t rpm;
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float current;
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int32_t pulse_count;
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} ActuatorHSStateMessage;
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#define DRIVER_STATE_INPUT_VOLTAGE_LOW_MASK ((uint8_t)0x01)
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#define DRIVER_STATE_MOTOR_OVERHEAT_MASK ((uint8_t)0x02)
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#define DRIVER_STATE_DRIVER_OVERLOAD_MASK ((uint8_t)0x04)
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#define DRIVER_STATE_DRIVER_OVERHEAT_MASK ((uint8_t)0x08)
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#define DRIVER_STATE_SENSOR_FAULT_MASK ((uint8_t)0x10)
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#define DRIVER_STATE_DRIVER_FAULT_MASK ((uint8_t)0x20)
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#define DRIVER_STATE_DRIVER_ENABLED_MASK ((uint8_t)0x40)
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#define DRIVER_STATE_DRIVER_RESET_MASK ((uint8_t)0x80)
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typedef struct {
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uint8_t motor_id;
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float driver_voltage;
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float driver_temp;
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float motor_temp;
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uint8_t driver_state;
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} ActuatorLSStateMessage;
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typedef struct {
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uint8_t motion_mode;
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uint8_t mode_changing;
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} MotionModeStateMessage;
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// V1-only messages
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typedef struct {
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uint8_t motor_id;
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float current;
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int16_t rpm;
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float driver_temp;
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float motor_temp;
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} ActuatorStateMessageV1;
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/***************** Sensor messages ******************/
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typedef struct {
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float left_wheel;
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float right_wheel;
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} OdometryMessage;
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typedef struct {
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float accel_x;
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float accel_y;
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float accel_z;
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} ImuAccelMessage;
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typedef struct {
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float gyro_x;
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float gyro_y;
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float gyro_z;
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} ImuGyroMessage;
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typedef struct {
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float yaw;
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float pitch;
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float roll;
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} ImuEulerMessage;
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typedef struct {
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uint8_t trigger_state;
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} SafetyBumperMessage;
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typedef struct {
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uint8_t sensor_id;
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uint8_t distance[8];
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} UltrasonicMessage;
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typedef struct {
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uint8_t sensor_id;
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float relative_distance;
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float relative_angle;
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bool is_normal;
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int8_t channels[3];
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} UwbMessage;
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typedef struct {
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uint8_t battery_soc;
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uint8_t battery_soh;
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float voltage;
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float current;
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float temperature;
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} BmsBasicMessage;
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#define BMS_PROT1_CHARGING_CURRENT_NONZERO_MASK ((uint8_t)0x01)
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#define BMS_PROT1_CHARGING_OVERCURRENT_SET_MASK ((uint8_t)0x02)
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#define BMS_PROT1_DISCHARGING_CURRENT_NONZERO_MASK ((uint8_t)0x10)
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#define BMS_PROT1_DISCHARGING_OVERCURRENT_SET_MASK ((uint8_t)0x20)
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#define BMS_PROT1_DISCHARGING_SHORTCIRCUIT_SET_MASK ((uint8_t)0x40)
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#define BMS_PROT2_CORE_OPENCIRCUIT_SET_MASK ((uint8_t)0x01)
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#define BMS_PROT2_TEMP_SENSOR_OPENCIRCUIT_SET_MASK ((uint8_t)0x02)
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#define BMS_PROT2_CORE_OVERVOLTAGE_SET_MASK ((uint8_t)0x10)
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#define BMS_PROT2_CORE_UNDERVOLTAGE_SET_MASK ((uint8_t)0x20)
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#define BMS_PROT2_TOTAL_OVERVOLTAGE_SET_MASK ((uint8_t)0x40)
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#define BMS_PROT2_TOTAL_UNDERVOLTAGE_SET_MASK ((uint8_t)0x80)
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#define BMS_PROT3_CHARGING_OVERTEMP_SET_MASK ((uint8_t)0x04)
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#define BMS_PROT3_DISCHARGING_OVERTEMP_SET_MASK ((uint8_t)0x08)
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#define BMS_PROT3_CHARGING_UNDERTEMP_SET_MASK ((uint8_t)0x10)
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#define BMS_PROT3_DISCHARGING_UNDERTEMP_SET_MASK ((uint8_t)0x20)
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#define BMS_PROT3_CHARGING_TEMPDIFF_SET_MASK ((uint8_t)0x40)
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#define BMS_PROT3_DISCHARGING_TEMPDIFF_SET_MASK ((uint8_t)0x80)
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#define BMS_PROT4_CHARGING_MOS_STATE_SET_MASK ((uint8_t)0x01)
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#define BMS_PROT4_DISCHARGING_MOS_STATE_SET_MASK ((uint8_t)0x02)
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#define BMS_PROT4_CHARGING_MOS_FAILURE_SET_MASK ((uint8_t)0x04)
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#define BMS_PROT4_DISCHARGING_MOS_FAILURE_SET_MASK ((uint8_t)0x08)
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#define BMS_PROT4_WEAK_SIGNAL_SWITCH_OPEN_SET_MASK ((uint8_t)0x10)
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typedef struct {
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uint8_t protection_code1;
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uint8_t protection_code2;
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uint8_t protection_code3;
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uint8_t protection_code4;
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uint8_t battery_max_teperature;
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uint8_t battery_min_teperature;
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} BmsExtendedMessage;
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/************ Query/config messages ****************/
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typedef struct {
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bool request;
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} VersionRequestMessage;
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typedef struct {
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uint16_t controller_hw_version;
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uint16_t motor_driver_hw_version;
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uint16_t controller_sw_version;
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uint16_t motor_driver_sw_version;
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} VersionResponseMessage;
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typedef struct {
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ControlMode mode;
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} ControlModeConfigMessage;
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typedef struct {
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bool set_as_neutral;
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} SteerNeutralRequestMessage;
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typedef struct {
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bool neutral_set_successful;
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} SteerNeutralResponseMessage;
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typedef enum {
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CLEAR_ALL_FAULT = 0x00,
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CLEAR_MOTOR1_FAULT = 0x01,
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CLEAR_MOTOR2_FAULT = 0x02,
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CLEAR_MOTOR3_FAULT = 0x03,
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CLEAR__MOTOR4_FAULT = 0x04
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} FaultClearCode;
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typedef struct {
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uint8_t error_clear_byte;
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} StateResetConfigMessage;
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//////////////////////////////////////////////////////
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typedef enum {
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AgxMsgUnkonwn = 0x00,
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// command
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AgxMsgMotionCommand,
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AgxMsgLightCommand,
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AgxMsgBrakingCommand,
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AgxMsgSetMotionModeCommand,
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// state feedback
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AgxMsgSystemState,
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AgxMsgMotionState,
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AgxMsgLightState,
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AgxMsgMotionModeState,
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AgxMsgRcState,
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// actuator feedback
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AgxMsgActuatorHSState,
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AgxMsgActuatorLSState,
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// sensor
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AgxMsgOdometry,
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AgxMsgImuAccel,
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AgxMsgImuGyro,
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AgxMsgImuEuler,
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AgxMsgSafetyBumper,
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AgxMsgUltrasonic,
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AgxMsgUwb,
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AgxMsgBmsBasic,
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AgxMsgBmsExtended,
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// query/config
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AgxMsgVersionRequest,
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AgxMsgVersionResponse,
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AgxMsgControlModeConfig,
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AgxMsgSteerNeutralRequest,
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AgxMsgSteerNeutralResponse,
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AgxMsgStateResetConfig,
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// V1-only messages
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AgxMsgMotionCommandV1,
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AgxMsgValueSetCommandV1,
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AgxMsgValueSetStateV1,
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AgxMsgActuatorStateV1
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} MsgType;
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typedef struct {
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MsgType type;
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union {
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// command
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MotionCommandMessage motion_command_msg;
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LightCommandMessage light_command_msg;
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BrakingCommandMessage braking_command_msg;
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MotionModeCommandMessage motion_mode_msg;
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// core state feedback
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SystemStateMessage system_state_msg;
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MotionStateMessage motion_state_msg;
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LightStateMessage light_state_msg;
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MotionModeStateMessage motion_mode_state_msg;
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RcStateMessage rc_state_msg;
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// actuator feedback
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ActuatorHSStateMessage actuator_hs_state_msg;
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ActuatorLSStateMessage actuator_ls_state_msg;
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// sensor
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OdometryMessage odometry_msg;
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ImuAccelMessage imu_accel_msg;
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ImuGyroMessage imu_gyro_msg;
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ImuEulerMessage imu_euler_msg;
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SafetyBumperMessage safety_bumper_msg;
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UltrasonicMessage ultrasonic_msg;
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UwbMessage uwb_msg;
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BmsBasicMessage bms_basic_msg;
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BmsExtendedMessage bms_extended_msg;
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// query/config
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VersionRequestMessage version_request_msg;
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VersionResponseMessage version_response_msg;
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ControlModeConfigMessage control_mode_config_msg;
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SteerNeutralRequestMessage steer_neutral_request_msg;
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SteerNeutralResponseMessage steer_neutral_response_msg;
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StateResetConfigMessage state_reset_config_msg;
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// V1-only messages
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MotionCommandMessageV1 v1_motion_command_msg;
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ValueSetCommandMessageV1 v1_value_set_command_msg;
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ValueSetStateMessageV1 v1_value_set_state_msg;
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ActuatorStateMessageV1 v1_actuator_state_msg;
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} body;
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} AgxMessage;
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#ifdef __cplusplus
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}
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#endif
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#endif /* AGILEX_MESSAGE_H */
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