SharedDataTypes.h File Reference

#include <stdint.h>
#include "Utility.h"
#include "SysClock.h"
#include "SharedFirmwareTypes.h"
#include "DrivebrainData.h"

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Classes
struct	PedalsSystemData_s
struct	DrivetrainDynamicReport_s
struct	DrivetrainCommand_s
	Stores setpoints for a command to the Drivetrain, containing speed and torque setpoints for each motor. These setpoints are defined in the torque controllers cycled by the TC Muxer. The Speeds unit is rpm and are the targeted speeds for each wheel of the car. The torques unit is nm and is the max torque requested from the inverter to reach such speeds. One can use the arrays with FR(Front Left), FL(Front Left), RL(Rear Left), RR(Rear Right) to access or modify the respective set points. eg. speeds_rpm[FR] = 0.0; Their indexes are defined in utility.h as follows: FL = 0, FR = 1, RL = 2, RR = 3. More...
struct	TorqueControllerOutput_s
	Packages drivetrain command with ready boolean to give feedback on controller successfully evaluating. More...
struct	VectornavData_s
struct	TorqueControllerMuxStatus
	packages TC Mux indicators: errors, mode, torque limit, bypass More...
struct	LoadCellInterfaceOutput_s
struct	LoadCellInterfaceRawOutput_s
struct	SteeringSystemData_s
struct	SharedCarState_s
	car state struct that contains state of everything about the car including More...

Typedefs
using	speed_rpm = float
using	torque_nm = float

Enumerations
enum class	TorqueLimit_e { TCMUX_FULL_TORQUE = 0 , TCMUX_MID_TORQUE = 1 , TCMUX_LOW_TORQUE = 2 , TCMUX_NUM_TORQUE_LIMITS = 3 }
	Defines modes of torque limit to be processed in torque limit map for exact values. More...
enum class	ControllerMode_e {   MODE_0 , MODE_1 , MODE_2 , MODE_3 ,   MODE_4 , MODE_5 }
enum class	TorqueControllerMuxError {   NO_ERROR = 0 , ERROR_SPEED_DIFF_TOO_HIGH = 1 , ERROR_TORQUE_DIFF_TOO_HIGH = 2 , ERROR_CONTROLLER_INDEX_OUT_OF_BOUNDS =3 ,   ERROR_CONTROLLER_NULL_POINTER =4 }
	Defines errors for TC Mux to use to maintain system safety. More...
enum class	SteeringSystemStatus_e { STEERING_SYSTEM_NOMINAL = 0 , STEERING_SYSTEM_MARGINAL = 1 , STEERING_SYSTEM_DEGRADED = 2 , STEERING_SYSTEM_ERROR = 3 }

Typedef Documentation

speed_rpm

using speed_rpm = float

Definition at line 9 of file SharedDataTypes.h.

torque_nm

using torque_nm = float

Definition at line 10 of file SharedDataTypes.h.

Enumeration Type Documentation

ControllerMode_e

enum class ControllerMode_e

strong

Enumerator
MODE_0
MODE_1
MODE_2
MODE_3
MODE_4
MODE_5

Definition at line 22 of file SharedDataTypes.h.

{
    /* No torque vectoring */
    MODE_0,
    /* Normal force torque vectoring */
    MODE_1,
    /* PID torque vectoring */
    MODE_2,
    /* Launch Ctrl */
    MODE_3,
    MODE_4,
    MODE_5,
};

SteeringSystemStatus_e

enum class SteeringSystemStatus_e

strong

Enumerator
STEERING_SYSTEM_NOMINAL
STEERING_SYSTEM_MARGINAL
STEERING_SYSTEM_DEGRADED
STEERING_SYSTEM_ERROR

Definition at line 129 of file SharedDataTypes.h.

{
    STEERING_SYSTEM_NOMINAL = 0,
    STEERING_SYSTEM_MARGINAL = 1,
    STEERING_SYSTEM_DEGRADED = 2,
    STEERING_SYSTEM_ERROR = 3,
};

TorqueControllerMuxError

enum class TorqueControllerMuxError

strong

Defines errors for TC Mux to use to maintain system safety.

Enumerator
NO_ERROR
ERROR_SPEED_DIFF_TOO_HIGH
ERROR_TORQUE_DIFF_TOO_HIGH
ERROR_CONTROLLER_INDEX_OUT_OF_BOUNDS
ERROR_CONTROLLER_NULL_POINTER

Definition at line 97 of file SharedDataTypes.h.

{
    NO_ERROR = 0,
    ERROR_SPEED_DIFF_TOO_HIGH = 1,
    ERROR_TORQUE_DIFF_TOO_HIGH = 2,
    ERROR_CONTROLLER_INDEX_OUT_OF_BOUNDS =3,
    ERROR_CONTROLLER_NULL_POINTER =4
};

TorqueLimit_e

enum class TorqueLimit_e

strong

Defines modes of torque limit to be processed in torque limit map for exact values.

Enumerator
TCMUX_FULL_TORQUE
TCMUX_MID_TORQUE
TCMUX_LOW_TORQUE
TCMUX_NUM_TORQUE_LIMITS

Definition at line 13 of file SharedDataTypes.h.

{
    TCMUX_FULL_TORQUE = 0,
    TCMUX_MID_TORQUE = 1,
    TCMUX_LOW_TORQUE = 2,
    TCMUX_NUM_TORQUE_LIMITS = 3,
};