initial work on mct8316a

flight/src/hardware/mct8316a/trap_config.rs

@@ -0,0 +1,140 @@
+#![allow(dead_code)]
+
+use crate::hardware::mct8316a::motor_startup::DutyCycle;
+
+#[allow(dead_code)]
+
+#[derive(Debug, Clone)]
+pub struct TrapConfig1 {
+    pub open_loop_handoff_cycles: OpenLoopHandoffCycles,
+    pub avs_negative_current_limit: AVSNegativeCurrentLimit,
+    pub avs_limit_hysteresis: AVSLimitHysteresis,
+    pub isd_bemf_threshold: IsdBemfThreshold,
+    pub isd_cycle_threshold: IsdCycleThreshold,
+    pub open_loop_zc_detection_threshold: OpenLoopZcDetectionThreshold,
+    pub fast_startup_div_factor: FastStartupDivFactor,
+}
+
+impl Default for TrapConfig1 {
+    fn default() -> Self {
+        Self {
+            open_loop_handoff_cycles: OpenLoopHandoffCycles::Cycles3,
+            avs_negative_current_limit: AVSNegativeCurrentLimit::Limit0,
+            avs_limit_hysteresis: AVSLimitHysteresis::Limit20,
+            isd_bemf_threshold: IsdBemfThreshold::Limit0,
+            isd_cycle_threshold: IsdCycleThreshold::Limit2,
+            open_loop_zc_detection_threshold: OpenLoopZcDetectionThreshold::Degrees5,
+            fast_startup_div_factor: FastStartupDivFactor::Value1,
+        }
+    }
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum OpenLoopHandoffCycles {
+    Cycles3 = 0x0,
+    Cycles6 = 0x1,
+    Cycles12 = 0x2,
+    Cycles24 = 0x3,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum AVSNegativeCurrentLimit {
+    Limit0 = 0x0,
+    LimitNeg40 = 0x1,
+    LimitNeg30 = 0x2,
+    LimitNeg20 = 0x3,
+    LimitNeg10 = 0x4,
+    Limit10 = 0x5,
+    Limit20 = 0x6,
+    Limit30 = 0x7,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum AVSLimitHysteresis {
+    Limit20 = 0x0,
+    Limit10 = 0x1,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum IsdBemfThreshold {
+    Limit0 = 0x00,
+    Limit200 = 0x01,
+    Limit400 = 0x02,
+    Limit600 = 0x03,
+    Limit800 = 0x04,
+    Limit1000 = 0x05,
+    Limit1200 = 0x06,
+    Limit1400 = 0x07,
+    Limit1600 = 0x08,
+    Limit1800 = 0x09,
+    Limit2000 = 0x0A,
+    Limit2200 = 0x0B,
+    Limit2400 = 0x0C,
+    Limit2600 = 0x0D,
+    Limit2800 = 0x0E,
+    Limit3000 = 0x0F,
+    Limit3200 = 0x10,
+    Limit3400 = 0x11,
+    Limit3600 = 0x12,
+    Limit3800 = 0x13,
+    Limit4000 = 0x14,
+    Limit4200 = 0x15,
+    Limit4400 = 0x16,
+    Limit4600 = 0x17,
+    Limit4800 = 0x18,
+    Limit5000 = 0x19,
+    Limit5200 = 0x1A,
+    Limit5400 = 0x1B,
+    Limit5600 = 0x1C,
+    Limit5800 = 0x1D,
+    Limit6000 = 0x1E,
+    Limit6200 = 0x1F,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum IsdCycleThreshold {
+    Limit2 = 0x0,
+    Limit5 = 0x1,
+    Limit8 = 0x2,
+    Limit11 = 0x3,
+    Limit14 = 0x4,
+    Limit17 = 0x5,
+    Limit20 = 0x6,
+    Limit23 = 0x7,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum OpenLoopZcDetectionThreshold {
+    Degrees5 = 0x0,
+    Degrees8 = 0x1,
+    Degrees12 = 0x2,
+    Degrees15 = 0x3,
+}
+
+#[derive(Debug, Copy, Clone)]
+pub enum FastStartupDivFactor {
+    Value1 = 0x0,
+    Value2 = 0x1,
+    Value4 = 0x2,
+    Value8 = 0x3,
+}
+
+#[derive(Debug, Clone)]
+pub struct TrapConfig2 {
+    /// Max of 0xF (15us)
+    pub blanking_time_microseconds: u8,
+    /// Max of 0x7 (7us)
+    pub comparator_deglitch_time_microseconds: u8,
+    pub align_duty_cycle: DutyCycle,
+}
+
+impl Default for TrapConfig2 {
+    fn default() -> Self {
+        Self {
+            blanking_time_microseconds: 0,
+            comparator_deglitch_time_microseconds: 0,
+            align_duty_cycle: DutyCycle::Percent10,
+        }
+    }
+}
+