ProjectNautilus/flight/src/hardware/mct8316a/fault_config.rs

#![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,
}