//*****************************************************************************
//
// can_proto.h - Definitions for the CAN protocol used to communicate with the
//               BDC motor controller.
//
// Copyright (c) 2008 Texas Instruments Incorporated.  All rights reserved.
// TI Information - Selective Disclosure
//
//*****************************************************************************

#ifndef __CAN_PROTO_H__
#define __CAN_PROTO_H__

//*****************************************************************************
//
// The masks of the fields that are used in the message identifier.
//
//*****************************************************************************
#define CAN_MSGID_FULL_M 0x1fffffff
#define CAN_MSGID_DEVNO_M 0x0000003f
#define CAN_MSGID_API_M 0x0000ffc0
#define CAN_MSGID_MFR_M 0x00ff0000
#define CAN_MSGID_DTYPE_M 0x1f000000
#define CAN_MSGID_DEVNO_S 0
#define CAN_MSGID_API_S 6
#define CAN_MSGID_MFR_S 16
#define CAN_MSGID_DTYPE_S 24

//*****************************************************************************
//
// The Reserved device number values in the Message Id.
//
//*****************************************************************************
#define CAN_MSGID_DEVNO_BCAST 0x00000000

//*****************************************************************************
//
// The Reserved system control API numbers in the Message Id.
//
//*****************************************************************************
#define CAN_MSGID_API_SYSHALT 0x00000000
#define CAN_MSGID_API_SYSRST 0x00000040
#define CAN_MSGID_API_DEVASSIGN 0x00000080
#define CAN_MSGID_API_DEVQUERY 0x000000c0
#define CAN_MSGID_API_HEARTBEAT 0x00000140
#define CAN_MSGID_API_SYNC 0x00000180
#define CAN_MSGID_API_UPDATE 0x000001c0
#define CAN_MSGID_API_FIRMVER 0x00000200
#define CAN_MSGID_API_ENUMERATE 0x00000240
#define CAN_MSGID_API_SYSRESUME 0x00000280

//*****************************************************************************
//
// The 32 bit values associated with the CAN_MSGID_API_STATUS request.
//
//*****************************************************************************
#define CAN_STATUS_CODE_M 0x0000ffff
#define CAN_STATUS_MFG_M 0x00ff0000
#define CAN_STATUS_DTYPE_M 0x1f000000
#define CAN_STATUS_CODE_S 0
#define CAN_STATUS_MFG_S 16
#define CAN_STATUS_DTYPE_S 24

//*****************************************************************************
//
// The Reserved manufacturer identifiers in the Message Id.
//
//*****************************************************************************
#define CAN_MSGID_MFR_NI 0x00010000
#define CAN_MSGID_MFR_LM 0x00020000
#define CAN_MSGID_MFR_DEKA 0x00030000

//*****************************************************************************
//
// The Reserved device type identifiers in the Message Id.
//
//*****************************************************************************
#define CAN_MSGID_DTYPE_BCAST 0x00000000
#define CAN_MSGID_DTYPE_ROBOT 0x01000000
#define CAN_MSGID_DTYPE_MOTOR 0x02000000
#define CAN_MSGID_DTYPE_RELAY 0x03000000
#define CAN_MSGID_DTYPE_GYRO 0x04000000
#define CAN_MSGID_DTYPE_ACCEL 0x05000000
#define CAN_MSGID_DTYPE_USONIC 0x06000000
#define CAN_MSGID_DTYPE_GEART 0x07000000
#define CAN_MSGID_DTYPE_UPDATE 0x1f000000

//*****************************************************************************
//
// LM Motor Control API Classes API Class and ID masks.
//
//*****************************************************************************
#define CAN_MSGID_API_CLASS_M 0x0000fc00
#define CAN_MSGID_API_ID_M 0x000003c0

//*****************************************************************************
//
// LM Motor Control API Classes in the Message Id for non-broadcast.
// These are the upper 6 bits of the API field, the lower 4 bits determine
// the APIId.
//
//*****************************************************************************
#define CAN_API_MC_VOLTAGE 0x00000000
#define CAN_API_MC_SPD 0x00000400
#define CAN_API_MC_VCOMP 0x00000800
#define CAN_API_MC_POS 0x00000c00
#define CAN_API_MC_ICTRL 0x00001000
#define CAN_API_MC_STATUS 0x00001400
#define CAN_API_MC_PSTAT 0x00001800
#define CAN_API_MC_CFG 0x00001c00
#define CAN_API_MC_ACK 0x00002000

//*****************************************************************************
//
// The Stellaris Motor Class Control Voltage API definitions.
//
//*****************************************************************************
#define LM_API_VOLT \
  (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_VOLTAGE)
#define LM_API_VOLT_EN (LM_API_VOLT | (0 << CAN_MSGID_API_S))
#define LM_API_VOLT_DIS (LM_API_VOLT | (1 << CAN_MSGID_API_S))
#define LM_API_VOLT_SET (LM_API_VOLT | (2 << CAN_MSGID_API_S))
#define LM_API_VOLT_SET_RAMP (LM_API_VOLT | (3 << CAN_MSGID_API_S))
//##### FIRST BEGIN #####
#define LM_API_VOLT_T_EN (LM_API_VOLT | (4 << CAN_MSGID_API_S))
#define LM_API_VOLT_T_SET (LM_API_VOLT | (5 << CAN_MSGID_API_S))
#define LM_API_VOLT_T_SET_NO_ACK (LM_API_VOLT | (7 << CAN_MSGID_API_S))
//##### FIRST END #####
#define LM_API_VOLT_SET_NO_ACK (LM_API_VOLT | (8 << CAN_MSGID_API_S))

//*****************************************************************************
//
// The Stellaris Motor Class Control API definitions for LM_API_VOLT_SET_RAMP.
//
//*****************************************************************************
#define LM_API_VOLT_RAMP_DIS 0

//*****************************************************************************
//
// The Stellaris Motor Class Control API definitions for CAN_MSGID_API_SYNC.
//
//*****************************************************************************
#define LM_API_SYNC_PEND_NOW 0

//*****************************************************************************
//
// The Stellaris Motor Class Speed Control API definitions.
//
//*****************************************************************************
#define LM_API_SPD (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_SPD)
#define LM_API_SPD_EN (LM_API_SPD | (0 << CAN_MSGID_API_S))
#define LM_API_SPD_DIS (LM_API_SPD | (1 << CAN_MSGID_API_S))
#define LM_API_SPD_SET (LM_API_SPD | (2 << CAN_MSGID_API_S))
#define LM_API_SPD_PC (LM_API_SPD | (3 << CAN_MSGID_API_S))
#define LM_API_SPD_IC (LM_API_SPD | (4 << CAN_MSGID_API_S))
#define LM_API_SPD_DC (LM_API_SPD | (5 << CAN_MSGID_API_S))
#define LM_API_SPD_REF (LM_API_SPD | (6 << CAN_MSGID_API_S))
//##### FIRST BEGIN #####
#define LM_API_SPD_T_EN (LM_API_SPD | (7 << CAN_MSGID_API_S))
#define LM_API_SPD_T_SET (LM_API_SPD | (8 << CAN_MSGID_API_S))
#define LM_API_SPD_T_SET_NO_ACK (LM_API_SPD | (10 << CAN_MSGID_API_S))
//##### FIRST END #####
#define LM_API_SPD_SET_NO_ACK (LM_API_SPD | (11 << CAN_MSGID_API_S))

//*****************************************************************************
//
// The Stellaris Motor Control Voltage Compensation Control API definitions.
//
//*****************************************************************************
#define LM_API_VCOMP \
  (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_VCOMP)
#define LM_API_VCOMP_EN (LM_API_VCOMP | (0 << CAN_MSGID_API_S))
#define LM_API_VCOMP_DIS (LM_API_VCOMP | (1 << CAN_MSGID_API_S))
#define LM_API_VCOMP_SET (LM_API_VCOMP | (2 << CAN_MSGID_API_S))
#define LM_API_VCOMP_IN_RAMP (LM_API_VCOMP | (3 << CAN_MSGID_API_S))
#define LM_API_VCOMP_COMP_RAMP (LM_API_VCOMP | (4 << CAN_MSGID_API_S))
//##### FIRST BEGIN #####
#define LM_API_VCOMP_T_EN (LM_API_VCOMP | (5 << CAN_MSGID_API_S))
#define LM_API_VCOMP_T_SET (LM_API_VCOMP | (6 << CAN_MSGID_API_S))
#define LM_API_VCOMP_T_SET_NO_ACK (LM_API_VCOMP | (8 << CAN_MSGID_API_S))
//##### FIRST END #####
#define LM_API_VCOMP_SET_NO_ACK (LM_API_VCOMP | (9 << CAN_MSGID_API_S))

//*****************************************************************************
//
// The Stellaris Motor Class Position Control API definitions.
//
//*****************************************************************************
#define LM_API_POS (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_POS)
#define LM_API_POS_EN (LM_API_POS | (0 << CAN_MSGID_API_S))
#define LM_API_POS_DIS (LM_API_POS | (1 << CAN_MSGID_API_S))
#define LM_API_POS_SET (LM_API_POS | (2 << CAN_MSGID_API_S))
#define LM_API_POS_PC (LM_API_POS | (3 << CAN_MSGID_API_S))
#define LM_API_POS_IC (LM_API_POS | (4 << CAN_MSGID_API_S))
#define LM_API_POS_DC (LM_API_POS | (5 << CAN_MSGID_API_S))
#define LM_API_POS_REF (LM_API_POS | (6 << CAN_MSGID_API_S))
//##### FIRST BEGIN #####
#define LM_API_POS_T_EN (LM_API_POS | (7 << CAN_MSGID_API_S))
#define LM_API_POS_T_SET (LM_API_POS | (8 << CAN_MSGID_API_S))
#define LM_API_POS_T_SET_NO_ACK (LM_API_POS | (10 << CAN_MSGID_API_S))
//##### FIRST END #####
#define LM_API_POS_SET_NO_ACK (LM_API_POS | (11 << CAN_MSGID_API_S))

//*****************************************************************************
//
// The Stellaris Motor Class Current Control API definitions.
//
//*****************************************************************************
#define LM_API_ICTRL \
  (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_ICTRL)
#define LM_API_ICTRL_EN (LM_API_ICTRL | (0 << CAN_MSGID_API_S))
#define LM_API_ICTRL_DIS (LM_API_ICTRL | (1 << CAN_MSGID_API_S))
#define LM_API_ICTRL_SET (LM_API_ICTRL | (2 << CAN_MSGID_API_S))
#define LM_API_ICTRL_PC (LM_API_ICTRL | (3 << CAN_MSGID_API_S))
#define LM_API_ICTRL_IC (LM_API_ICTRL | (4 << CAN_MSGID_API_S))
#define LM_API_ICTRL_DC (LM_API_ICTRL | (5 << CAN_MSGID_API_S))
//##### FIRST BEGIN #####
#define LM_API_ICTRL_T_EN (LM_API_ICTRL | (6 << CAN_MSGID_API_S))
#define LM_API_ICTRL_T_SET (LM_API_ICTRL | (7 << CAN_MSGID_API_S))
#define LM_API_ICTRL_T_SET_NO_ACK (LM_API_ICTRL | (9 << CAN_MSGID_API_S))
//##### FIRST END #####
#define LM_API_ICTRL_SET_NO_ACK (LM_API_ICTRL | (10 << CAN_MSGID_API_S))

//*****************************************************************************
//
// The Stellaris Motor Class Firmware Update API definitions.
//
//*****************************************************************************
#define LM_API_UPD (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_UPDATE)
#define LM_API_UPD_PING (LM_API_UPD | (0 << CAN_MSGID_API_S))
#define LM_API_UPD_DOWNLOAD (LM_API_UPD | (1 << CAN_MSGID_API_S))
#define LM_API_UPD_SEND_DATA (LM_API_UPD | (2 << CAN_MSGID_API_S))
#define LM_API_UPD_RESET (LM_API_UPD | (3 << CAN_MSGID_API_S))
#define LM_API_UPD_ACK (LM_API_UPD | (4 << CAN_MSGID_API_S))
#define LM_API_HWVER (LM_API_UPD | (5 << CAN_MSGID_API_S))
#define LM_API_UPD_REQUEST (LM_API_UPD | (6 << CAN_MSGID_API_S))
//##### FIRST BEGIN #####
#define LM_API_UNTRUST_EN (LM_API_UPD | (11 << CAN_MSGID_API_S))
#define LM_API_TRUST_EN (LM_API_UPD | (12 << CAN_MSGID_API_S))
#define LM_API_TRUST_HEARTBEAT (LM_API_UPD | (13 << CAN_MSGID_API_S))
//##### FIRST END #####

//*****************************************************************************
//
// The Stellaris Motor Class Status API definitions.
//
//*****************************************************************************
#define LM_API_STATUS \
  (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_STATUS)
#define LM_API_STATUS_VOLTOUT (LM_API_STATUS | (0 << CAN_MSGID_API_S))
#define LM_API_STATUS_VOLTBUS (LM_API_STATUS | (1 << CAN_MSGID_API_S))
#define LM_API_STATUS_CURRENT (LM_API_STATUS | (2 << CAN_MSGID_API_S))
#define LM_API_STATUS_TEMP (LM_API_STATUS | (3 << CAN_MSGID_API_S))
#define LM_API_STATUS_POS (LM_API_STATUS | (4 << CAN_MSGID_API_S))
#define LM_API_STATUS_SPD (LM_API_STATUS | (5 << CAN_MSGID_API_S))
#define LM_API_STATUS_LIMIT (LM_API_STATUS | (6 << CAN_MSGID_API_S))
#define LM_API_STATUS_FAULT (LM_API_STATUS | (7 << CAN_MSGID_API_S))
#define LM_API_STATUS_POWER (LM_API_STATUS | (8 << CAN_MSGID_API_S))
#define LM_API_STATUS_CMODE (LM_API_STATUS | (9 << CAN_MSGID_API_S))
#define LM_API_STATUS_VOUT (LM_API_STATUS | (10 << CAN_MSGID_API_S))
#define LM_API_STATUS_STKY_FLT (LM_API_STATUS | (11 << CAN_MSGID_API_S))
#define LM_API_STATUS_FLT_COUNT (LM_API_STATUS | (12 << CAN_MSGID_API_S))

//*****************************************************************************
//
// These definitions are used with the byte that is returned from
// the status request for LM_API_STATUS_LIMIT.
//
//*****************************************************************************
#define LM_STATUS_LIMIT_FWD 0x01
#define LM_STATUS_LIMIT_REV 0x02
#define LM_STATUS_LIMIT_SFWD 0x04
#define LM_STATUS_LIMIT_SREV 0x08
#define LM_STATUS_LIMIT_STKY_FWD 0x10
#define LM_STATUS_LIMIT_STKY_REV 0x20
#define LM_STATUS_LIMIT_STKY_SFWD 0x40
#define LM_STATUS_LIMIT_STKY_SREV 0x80

//*****************************************************************************
//
// LM Motor Control status codes returned due to the CAN_STATUS_CODE_M field.
//
//*****************************************************************************
#define LM_STATUS_FAULT_ILIMIT 0x01
#define LM_STATUS_FAULT_TLIMIT 0x02
#define LM_STATUS_FAULT_VLIMIT 0x04

//*****************************************************************************
//
// The Stellaris Motor Class Configuration API definitions.
//
//*****************************************************************************
#define LM_API_CFG (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_CFG)
#define LM_API_CFG_NUM_BRUSHES (LM_API_CFG | (0 << CAN_MSGID_API_S))
#define LM_API_CFG_ENC_LINES (LM_API_CFG | (1 << CAN_MSGID_API_S))
#define LM_API_CFG_POT_TURNS (LM_API_CFG | (2 << CAN_MSGID_API_S))
#define LM_API_CFG_BRAKE_COAST (LM_API_CFG | (3 << CAN_MSGID_API_S))
#define LM_API_CFG_LIMIT_MODE (LM_API_CFG | (4 << CAN_MSGID_API_S))
#define LM_API_CFG_LIMIT_FWD (LM_API_CFG | (5 << CAN_MSGID_API_S))
#define LM_API_CFG_LIMIT_REV (LM_API_CFG | (6 << CAN_MSGID_API_S))
#define LM_API_CFG_MAX_VOUT (LM_API_CFG | (7 << CAN_MSGID_API_S))
#define LM_API_CFG_FAULT_TIME (LM_API_CFG | (8 << CAN_MSGID_API_S))

//*****************************************************************************
//
// The Stellaris ACK API definition.
//
//*****************************************************************************
#define LM_API_ACK (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_ACK)

//*****************************************************************************
//
// The 8 bit values that can be returned by a call to LM_API_STATUS_HWVER.
//
//*****************************************************************************
#define LM_HWVER_UNKNOWN 0x00
#define LM_HWVER_JAG_1_0 0x01
#define LM_HWVER_JAG_2_0 0x02

//*****************************************************************************
//
// The 8 bit values that can be returned by a call to LM_API_STATUS_CMODE.
//
//*****************************************************************************
#define LM_STATUS_CMODE_VOLT 0x00
#define LM_STATUS_CMODE_CURRENT 0x01
#define LM_STATUS_CMODE_SPEED 0x02
#define LM_STATUS_CMODE_POS 0x03
#define LM_STATUS_CMODE_VCOMP 0x04

//*****************************************************************************
//
// The values that can specified as the position or speed reference.  Not all
// values are valid for each reference; if an invalid reference is set, then
// none will be selected.
//
//*****************************************************************************
#define LM_REF_ENCODER 0x00
#define LM_REF_POT 0x01
#define LM_REF_INV_ENCODER 0x02
#define LM_REF_QUAD_ENCODER 0x03
#define LM_REF_NONE 0xff

//*****************************************************************************
//
// The flags that are used to indicate the currently active fault sources.
//
//*****************************************************************************
#define LM_FAULT_CURRENT 0x01
#define LM_FAULT_TEMP 0x02
#define LM_FAULT_VBUS 0x04
#define LM_FAULT_GATE_DRIVE 0x08
#define LM_FAULT_COMM 0x10

//*****************************************************************************
//
// The Stellaris Motor Class Periodic Status API definitions.
//
//*****************************************************************************
#define LM_API_PSTAT \
  (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_PSTAT)
#define LM_API_PSTAT_PER_EN_S0 (LM_API_PSTAT | (0 << CAN_MSGID_API_S))
#define LM_API_PSTAT_PER_EN_S1 (LM_API_PSTAT | (1 << CAN_MSGID_API_S))
#define LM_API_PSTAT_PER_EN_S2 (LM_API_PSTAT | (2 << CAN_MSGID_API_S))
#define LM_API_PSTAT_PER_EN_S3 (LM_API_PSTAT | (3 << CAN_MSGID_API_S))
#define LM_API_PSTAT_CFG_S0 (LM_API_PSTAT | (4 << CAN_MSGID_API_S))
#define LM_API_PSTAT_CFG_S1 (LM_API_PSTAT | (5 << CAN_MSGID_API_S))
#define LM_API_PSTAT_CFG_S2 (LM_API_PSTAT | (6 << CAN_MSGID_API_S))
#define LM_API_PSTAT_CFG_S3 (LM_API_PSTAT | (7 << CAN_MSGID_API_S))
#define LM_API_PSTAT_DATA_S0 (LM_API_PSTAT | (8 << CAN_MSGID_API_S))
#define LM_API_PSTAT_DATA_S1 (LM_API_PSTAT | (9 << CAN_MSGID_API_S))
#define LM_API_PSTAT_DATA_S2 (LM_API_PSTAT | (10 << CAN_MSGID_API_S))
#define LM_API_PSTAT_DATA_S3 (LM_API_PSTAT | (11 << CAN_MSGID_API_S))

//*****************************************************************************
//
// The values that can be used to configure the data the Periodic Status
// Message bytes.  Bytes of a multi-byte data values are encoded as
// little-endian, therefore B0 is the least significant byte.
//
//*****************************************************************************
#define LM_PSTAT_END 0
#define LM_PSTAT_VOLTOUT_B0 1
#define LM_PSTAT_VOLTOUT_B1 2
#define LM_PSTAT_VOLTBUS_B0 3
#define LM_PSTAT_VOLTBUS_B1 4
#define LM_PSTAT_CURRENT_B0 5
#define LM_PSTAT_CURRENT_B1 6
#define LM_PSTAT_TEMP_B0 7
#define LM_PSTAT_TEMP_B1 8
#define LM_PSTAT_POS_B0 9
#define LM_PSTAT_POS_B1 10
#define LM_PSTAT_POS_B2 11
#define LM_PSTAT_POS_B3 12
#define LM_PSTAT_SPD_B0 13
#define LM_PSTAT_SPD_B1 14
#define LM_PSTAT_SPD_B2 15
#define LM_PSTAT_SPD_B3 16
#define LM_PSTAT_LIMIT_NCLR 17
#define LM_PSTAT_LIMIT_CLR 18
#define LM_PSTAT_FAULT 19
#define LM_PSTAT_STKY_FLT_NCLR 20
#define LM_PSTAT_STKY_FLT_CLR 21
#define LM_PSTAT_VOUT_B0 22
#define LM_PSTAT_VOUT_B1 23
#define LM_PSTAT_FLT_COUNT_CURRENT 24
#define LM_PSTAT_FLT_COUNT_TEMP 25
#define LM_PSTAT_FLT_COUNT_VOLTBUS 26
#define LM_PSTAT_FLT_COUNT_GATE 27
#define LM_PSTAT_FLT_COUNT_COMM 28
#define LM_PSTAT_CANSTS 29
#define LM_PSTAT_CANERR_B0 30
#define LM_PSTAT_CANERR_B1 31

#endif  // __CAN_PROTO_H__