/******************************************************************************
* (C) Copyright 2020, 2021, 2022 Cornerstone Robotics, Limited, All Rights Reserved
*
* Description: CMD, boardID, errs
*
* Author(s) : Carlos Ma
* Created on: 2020-03-17
******************************************************************************/

#ifndef _EMBDEFINES_H
#define _EMBDEFINES_H

#ifdef __cplusplus
extern "C"
{
#endif


/*====================CMD AND ERR====================*/
#define CMD_IDLE                            0x00000000
#define CMD_CLEAR_ERR                       0x00000001
#define CMD_WRITE_SETTINGS                  0x00000002
#define CMD_BLDC_ENC_CALIBRATION            0x00000003
//#define        CMD_CTRL_VABC                          0x00000004
#define CMD_CTRL_CURRENT                    0x00000005
#define CMD_CTRL_VEL                        0x00000006
#define CMD_CTRL_POS                        0x00000007

#define ERR_NORMAL                          0x00000008
//#define        ERR_PWR_OVERVOLTAGE                  0x20000009
//#define        ERR_PWR_UNDERVOLTAGE              0x2000000A
//#define        ERR_PWR_OVERCURRENT                  0x2000000B
#define ERR_MOTOR_DRVFAULT                  0x2000000C
//#define        ERR_BLDC_OVERVOLTAGE              0x2000000D
#define ERR_MOTOR_OVERCURRENT               0x2000000E
//#define        ERR_BLDC_OVERHEAT                    0x1000000F
#define        ERR_BLDC_ENC                 0x30000010
//#define        ERR_BRAKE_OVERVOLTAGE              0x30000011
#define ERR_BRAKE_OVERCURRENT               0x20000012
//#define        ERR_BRAKE_OVERHEAT                  0x10000013

#define ERR_USR_TIMEOUT                     0x20000032 // FW will require clear err in 1.1.2.0
#define ERR_UNKNOWN_BRD                     0x30000000

#define CMD_BRAKE_OPEN                      20
#define CMD_SET_ZERO_POS                    21
#define CMD_REVERSE_MOTOR                   22
#define CMD_REVERSE_ENC_IN                  23
#define CMD_REVERSE_ENC_OUT                 24
#define CMD_SET_GEARRATIO_IN                25
#define CMD_SET_GEARRATIO_OUT               26
//#define        CMD_SET_CURRLOOP_PID                  27
//#define        CMD_SET_POSLOOP_PID                      28
#define CMD_BLDC_CURRLOOP_CALIBRATION       30
#define CMD_BLDC_IO_ENC_CALIBRATION         40
#define CMD_BLDC_TORQUE_RPPLE_CALIBRATION   41
#define CMD_GET_SOFTWARE_VERSION            42
#define CMD_GET_HARDWARE_VERSION            43
#define    CMD_MPK_AEAT9922_AUTOCAL         92


/*====================BRD ID====================
 BOARD IDs
 [1B PARENT] [2B MODULE] [1B REV]

 //PARENT
 0xAA MISC
 0x01 PSA
 0x02 SSA
 0x03 SGH
 0x04 MCT
 0x05 ACB

 //MODULE
 0xFFFF ETHERCAT_TEST
 0x0001 CMD_CTRL / MCT_MOTOR_CTRL
 0x0002 PLM_CTRL
 0x0003 ISA_CTRL
 0x0004 MPK_CTRL
 0x0007 COL_CTRL
 0x0010 PFA_CTRL
 0x0011 PFA_Q1_CTRL
 0x0012 PFA_Q2_CTRL
 0x0013 PFA_Q3_CTRL
 0x0014 PFA_Q4_CTRL
 0x0020 GBW_CTRL
 0x0021 GBW_PITCH
 0x0022 GBW_YAW
 0x0023 GBW_ROLL
 0x0031 HEAD_SENS
 */

typedef enum {
  BRD_MISC_ETHERCAT_TEST_V1 = 0xAAFFFF01,
  BRD_PSA_CMD_CTRL_V3 = 0x01000103,
  BRD_PSA_CMD_CTRL_V4 = 0x01000104,
  BRD_PSA_CMD_CTRL_V5 = 0x01000104,
  BRD_PSA_ISA_CTRL_V3 = 0x01000303,
  BRD_PSA_ISA_CTRL_V4 = 0x01000303,
  BRD_PSA_ISA_CTRL_V5 = 0x01000305,
  BRD_PSA_MPK_CTRL_V3 = 0x01000403,
  BRD_PSA_CNA_CTRL_V1 = 0x01000501,
  BRD_SUJ_CTRL_V1 = 0x01000601,
  BRD_PSA_COL_CTRL_V2 = 0x01000702,
  BRD_SSA_PFA_CTRL = 0x02001000,
  BRD_SSA_PFA_Q1_CTRL_V1 = 0x02001101,
  BRD_SSA_PFA_Q2_CTRL_V1 = 0x02001201,
  BRD_SSA_PFA_Q3_CTRL_V1 = 0x02001301,
  BRD_SSA_PFA_Q4_CTRL_V1 = 0x02001401,
  BRD_SSA_PFA_Q1_CTRL_V1B = 0x02001102,
  BRD_SSA_PFA_Q2_CTRL_V1B = 0x02001202,
  BRD_SSA_PFA_Q3_CTRL_V1B = 0x02001302,
  BRD_SSA_PFA_Q4_CTRL_V1B = 0x02001402,
  BRD_SSA_GBW_CTRL = 0x02002000,
  BRD_SSA_GBW_CTRL_PITCH_V1B = 0x02002102,
  BRD_SSA_GBW_CTRL_YAW_V1B = 0x02002202,
  BRD_SSA_GBW_CTRL_ROLL_V1B = 0x02002302,
  BRD_MCT_MOTOR_CTRL_V1 = 0x04000101,
  BRD_MCT_MOTOR_CTRL_V2 = 0x04000102,
  BRD_MCT_PARK_STRUCT_CTRL_V2 = 0x04000201,
  BRD_SGC_MOTOR_CTRL_V1 = 0x04000103, //暂时用V2ID
  BRD_SGC_STATION_MCU_V1 = 0x04000200,
  BRD_SGH_FOOTREST_CTRL_V1 = 0x03003101,
  BRD_SGC_HEAD_PCH_CTRL_V1 = 0x03003201,
  BRD_SGC_ARM_REST_LEFT_V1 = 0x03003301,
  BRD_SGC_ARM_REST_RIGHT_V1 = 0x03003401,
  BRD_SGC_SSA_UPDOWN_V1 = 0x03003501,
  BRD_SGC_HEAD_UPDOWN_V1 = 0x03003601,
  BRD_SGC_FOOT_PDL_V1 = 0x03003701,
  BRD_SSA_PFA_Q1_CTRL_V3 = 0x02001103,
  BRD_SSA_PFA_Q2_CTRL_V3 = 0x02001203,
  BRD_SSA_PFA_Q3_CTRL_V3 = 0x02001303,
  BRD_SSA_PFA_Q4_CTRL_V3 = 0x02001403,
  BRD_SSA_PFA_Q1_CTRL_V4 = 0x02001104, //PFA 4.x
  BRD_SSA_PFA_Q2_CTRL_V4 = 0x02001204,
  BRD_SSA_PFA_Q3_CTRL_V4 = 0x02001304,
  BRD_SSA_PFA_Q4_CTRL_V4 = 0x02001404,
  BRD_SSA_PFA_Q4_CTRL_V5 = 0x02001405, //PFA 5.0 (Gamma)
  BRD_SSA_GBW_CTRL_PITCH_V2 = 0x02002103, //GBW 4.1
  BRD_SSA_GBW_CTRL_YAW_V2 = 0x02002203,
  BRD_SSA_GBW_CTRL_ROLL_V2 = 0x02002303,
  BRD_SSA_GBW_CTRL_PITCH_V2B = 0x02002104, //GBW 4.2 & 4.4
  BRD_SSA_GBW_CTRL_YAW_V2B = 0x02002204,
  BRD_SSA_GBW_CTRL_ROLL_V2B = 0x02002304,
  BRD_SSA_PFA_3IN1_CTRL_V1 = 0x02001001,

} brdId_t;

/*====================ECS ID====================*/
#define ECAT_VENDOR_ID                     0x255
#define ECAT_VENDOR_NAME                   CSRBTX
#define ECAT_PRODUCT_CODE                  0x081E0000
#define ECAT_PRODUCT_REV                   0x00
#define ECAT_PRODUCT_NAME                  CSR_ECS_GENERIC

/*====================CAN ID====================*/
// CAN command ID
#define COMMID_CNA_LED                     0x068  // control CNA LED state
#define COMMID_CNA_MCU_HB_ERROR            0x029  // feedback CNA button state
#define COMMID_CNA_MCU_STATES              0x069  // feedback CNA cannula state
// CAN node ID
#define NODEID_CNA_CTRL                    0x02   // control CNA
// CAN Subsystem ID
#define SUBSID_PSR                         0x02   // PSR

//#define CANID_PSR_CNA_LED        (SUBSID_PSR << 6) | (NODEID_CNA_CTRL << 4) | COMMID_CNA_LED
//#define CANID_PSR_CNA_BUTTON    (SUBSID_PSR << 6) | (NODEID_CNA_CTRL << 4) | COMMID_CNA_BUTTON
//#define CANID_PSR_CNA_CANNULA    (SUBSID_PSR << 6) | (NODEID_CNA_CTRL << 4) | COMMID_CNA_CANNULA

#ifdef __cplusplus
}
#endif

#endif