mct8316a eeprom programming

flight/src/hardware/mct8316a/fault_config.rs

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+#![allow(dead_code)]
+
+#[derive(Debug, Clone)]
+pub struct FaultConfig1 {
+    pub no_motor_detect_deglitch_time: NoMotorDetectDeglitchTime,
+    pub cycle_by_cycle_current_limit: CycleByCycleCurrentLimit,
+    pub lock_detection_current_limit: LockDetectionCurrentLimit,
+    pub lock_detection_current_limit_mode: LockMode,
+    pub lock_detection_current_limit_deglitch_time: LockDetectionCurrentLimitDeglitchTime,
+    /// Max of 0x7
+    pub cycle_by_cycle_pwm_limit: u8,
+    pub motor_lock_mode: LockMode,
+    pub lock_retry_time: LockRetryTime,
+}
+
+impl Default for FaultConfig1 {
+    fn default() -> Self {
+        Self {
+            no_motor_detect_deglitch_time: NoMotorDetectDeglitchTime::Milliseconds1,
+            cycle_by_cycle_current_limit: CycleByCycleCurrentLimit::RecoverNextPwmFaultActiveRecirculation,
+            lock_detection_current_limit: LockDetectionCurrentLimit::NotApplicable,
+            lock_detection_current_limit_mode: LockMode::LatchFaultTristated,
+            lock_detection_current_limit_deglitch_time: LockDetectionCurrentLimitDeglitchTime::Milliseconds1,
+            cycle_by_cycle_pwm_limit: 0,
+            motor_lock_mode: LockMode::LatchFaultTristated,
+            lock_retry_time: LockRetryTime::Milliseconds100,
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum NoMotorDetectDeglitchTime {
+    Milliseconds1 = 0x0,
+    Milliseconds10 = 0x1,
+    Milliseconds25 = 0x2,
+    Milliseconds50 = 0x3,
+    Milliseconds100 = 0x4,
+    Milliseconds250 = 0x5,
+    Milliseconds500 = 0x6,
+    Milliseconds1000 = 0x7,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum CycleByCycleCurrentLimit {
+    RecoverNextPwmFaultActiveRecirculation = 0x0,
+    RecoverNextPwmFaultInactiveRecirculation = 0x1,
+    RecoverVsoxFaultActiveRecirculation = 0x2,
+    RecoverVsoxFaultInactiveRecirculation = 0x3,
+    RecoverRetryFaultActiveRecirculation = 0x4,
+    RecoverRetryFaultInactiveRecirculation = 0x5,
+    ReportOnly = 0x6,
+    Disabled = 0xF,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum LockDetectionCurrentLimit {
+    NotApplicable = 0x0,
+    Volts0_1 = 0x1,
+    Volts0_2 = 0x2,
+    Volts0_3 = 0x3,
+    Volts0_4 = 0x4,
+    Volts0_5 = 0x5,
+    Volts0_6 = 0x6,
+    Volts0_7 = 0x7,
+    Volts0_8 = 0x8,
+    Volts0_9 = 0x9,
+    Volts1_0 = 0xA,
+    Volts1_1 = 0xB,
+    Volts1_2 = 0xC,
+    Volts1_3 = 0xD,
+    Volts1_4 = 0xE,
+    Volts1_5 = 0xF,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum LockMode {
+    LatchFaultTristated = 0x0,
+    LatchFaultRecirculation = 0x1,
+    LatchFaultHighSideBrake = 0x2,
+    LatchFaultLowSideBrake = 0x3,
+    RecoverRetryTristated = 0x4,
+    RecoverRetryRecirculation = 0x5,
+    RecoverRetryHighSideBrake = 0x6,
+    RecoverRetryLowSideBrake = 0x7,
+    ReportOnly = 0x8,
+    Disabled = 0xF,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum LockDetectionCurrentLimitDeglitchTime {
+    Milliseconds1 = 0x0,
+    Milliseconds2 = 0x1,
+    Milliseconds5 = 0x2,
+    Milliseconds10 = 0x3,
+    Milliseconds25 = 0x4,
+    Milliseconds50 = 0x5,
+    Milliseconds75 = 0x6,
+    Milliseconds100 = 0x7,
+    Milliseconds250 = 0x8,
+    Milliseconds500 = 0x9,
+    Seconds1 = 0xA,
+    Seconds2_5 = 0xB,
+    Seconds5 = 0xC,
+    Seconds10 = 0xD,
+    Seconds25 = 0xE,
+    Seconds50 = 0xF,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum LockRetryTime {
+    Milliseconds100 = 0x0,
+    Milliseconds500 = 0x1,
+    Milliseconds1000 = 0x2,
+    Milliseconds2000 = 0x3,
+    Milliseconds3000 = 0x4,
+    Milliseconds5000 = 0x5,
+    Milliseconds7500 = 0x6,
+    Milliseconds10000 = 0x7,
+}
+
+#[derive(Debug, Clone)]
+pub struct FaultConfig2 {
+    /// Lock 1
+    pub lock_abnormal_speed_enable: bool,
+    /// Lock 2
+    pub lock_loss_of_sync_enable: bool,
+    /// Lock 3
+    pub lock_no_motor_enable: bool,
+    pub abnormal_speed_lock_threshold: AbnormalSpeedLockThreshold,
+    pub loss_sync_times: LossSyncTimes,
+    pub no_motor_threshold: NoMotorThreshold,
+    pub max_motor_voltage_mode: MotorVoltageMode,
+    pub max_motor_voltage: MaxMotorVoltage,
+    pub min_motor_voltage_mode: MotorVoltageMode,
+    pub min_motor_voltage: MinMotorVoltage,
+    pub automatic_retries: AutomaticRetries,
+    pub lock_min_speed: LockMinSpeed,
+    pub abnormal_speed_lock: AbnormalSpeedLock,
+    pub zero_duty_threshold: ZeroDutyThreshold,
+}
+
+impl Default for FaultConfig2 {
+    fn default() -> Self {
+        Self {
+            lock_abnormal_speed_enable: false,
+            lock_loss_of_sync_enable: false,
+            lock_no_motor_enable: false,
+            abnormal_speed_lock_threshold: AbnormalSpeedLockThreshold::Hertz250,
+            loss_sync_times: LossSyncTimes::Count2,
+            no_motor_threshold: NoMotorThreshold::Volts0_005,
+            max_motor_voltage_mode: MotorVoltageMode::Latch,
+            max_motor_voltage: MaxMotorVoltage::NoLimit,
+            min_motor_voltage_mode: MotorVoltageMode::Latch,
+            min_motor_voltage: MinMotorVoltage::NoLimit,
+            automatic_retries: AutomaticRetries::NoLimit,
+            lock_min_speed: LockMinSpeed::Hertz0_5,
+            abnormal_speed_lock: AbnormalSpeedLock::Ratio2,
+            zero_duty_threshold: ZeroDutyThreshold::Percent1,
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum AbnormalSpeedLockThreshold {
+    Hertz250 = 0x0,
+    Hertz500 = 0x1,
+    Hertz750 = 0x2,
+    Hertz1000 = 0x3,
+    Hertz1250 = 0x4,
+    Hertz1500 = 0x5,
+    Hertz1750 = 0x6,
+    Hertz2000 = 0x7,
+    Hertz2250 = 0x8,
+    Hertz2500 = 0x9,
+    Hertz2750 = 0xA,
+    Hertz3000 = 0xB,
+    Hertz3250 = 0xC,
+    Hertz3500 = 0xD,
+    Hertz3750 = 0xE,
+    Hertz4000 = 0xF,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum LossSyncTimes {
+    Count2 = 0x0,
+    Count3 = 0x1,
+    Count4 = 0x2,
+    Count5 = 0x3,
+    Count6 = 0x4,
+    Count7 = 0x5,
+    Count8 = 0x6,
+    Count9 = 0x7,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum NoMotorThreshold {
+    Volts0_005 = 0x0,
+    Volts0_0075 = 0x1,
+    Volts0_010 = 0x2,
+    Volts0_0125 = 0x3,
+    Volts0_020 = 0x4,
+    Volts0_025 = 0x5,
+    Volts0_030 = 0x6,
+    Volts0_04 = 0x7,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum MotorVoltageMode {
+    Latch = 0x0,
+    AutomaticClear = 0x1,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum MaxMotorVoltage {
+    NoLimit = 0x0,
+    Volts20 = 0x1,
+    Volts25 = 0x2,
+    Volts30 = 0x3,
+    Volts35 = 0x4,
+    Volts40 = 0x5,
+    Volts50 = 0x6,
+    Volts60 = 0x7,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum MinMotorVoltage {
+    NoLimit = 0x0,
+    Volts6 = 0x1,
+    Volts7 = 0x2,
+    Volts8 = 0x3,
+    Volts9 = 0x4,
+    Volts10 = 0x5,
+    Volts12 = 0x6,
+    Volts15 = 0x7,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum AutomaticRetries {
+    NoLimit = 0x0,
+    Count2 = 0x1,
+    Count3 = 0x2,
+    Count5 = 0x3,
+    Count7 = 0x4,
+    Count10 = 0x5,
+    Count15 = 0x6,
+    Count20 = 0x7,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum LockMinSpeed {
+    Hertz0_5 = 0x0,
+    Hertz1 = 0x1,
+    Hertz2 = 0x2,
+    Hertz3 = 0x3,
+    Hertz5 = 0x4,
+    Hertz10 = 0x5,
+    Hertz15 = 0x6,
+    Hertz20 = 0x7,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum AbnormalSpeedLock {
+    Ratio2 = 0x0,
+    Ratio4 = 0x1,
+    Ratio6 = 0x2,
+    Ratio8 = 0x3,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum ZeroDutyThreshold {
+    Percent1 = 0x0,
+    Percent1_5 = 0x1,
+    Percent2 = 0x2,
+    Percent2_5 = 0x3,
+}