VescUart.h

/*
Copyright 2015 - 2017 Andreas Chaitidis Andreas.Chaitidis@gmail.com

This program is free software : you can redistribute it and / or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef _VESCUART_h
#define _VESCUART_h


// add your board here!
#ifndef _CONFIG_h

#ifdef __AVR_ATmega2560__
#define SERIALIO Serial1
#define SERIALIO2 Serial2
#define SERIALIO3 Serial3
#define DEBUGSERIAL Serial
#endif

#ifdef ARDUINO_AVR_NANO
#define SERIALIO Serial
#define DEBUGSERIAL Serial
#endif

#ifdef ARDUINO_SAMD_ZERO
#define SERIALIO Serial1
#define DEBUGSERIAL Serial
#endif
#endif

#if defined(ARDUINO) && ARDUINO >= 100
#include "arduino.h"
#else
#include "WProgram.h"
#endif

#include "datatypes.h"
#include "local_datatypes.h"
//PackSendPayload Packs the payload and sends it over Serial.
//@param: payload as the payload [unit8_t Array] with length of int lenPayload
//@return the number of bytes send

int PackSendPayload(uint8_t* payload, int lenPay, int num);

//ReceiveUartMessage receives the a message over Serial
//@parm the payload as the payload [unit8_t Array]
//@return the number of bytes receeived within the payload

int ReceiveUartMessage(uint8_t* payloadReceived, int num);

//Help Function to print struct bldcMeasure over Serial for Debug

void SerialPrint(const struct bldcMeasure& values);

//Help Function to print uint8_t array over Serial for Debug

void SerialPrint(uint8_t* data, int len);

//Sends a command to VESC and stores the returned data
//@param bldcMeasure struct with received data
//@return true if success
bool VescUartGetValue(struct bldcMeasure& values, int num);
bool VescUartGetValue(bldcMeasure& values);

//Sends a command to VESC to control the motor current
//@param current as float with the current for the motor
//@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)

void VescUartSetCurrent(float current, int num);
void VescUartSetCurrent(float current);

//Sends a command to VESC to control the motor brake
//@param breakCurrent as float with the current for the brake
//@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)

void VescUartSetCurrentBrake(float brakeCurrent, int num);
void VescUartSetCurrentBrake(float brakeCurrent);

//Sends values of a joystick and 2 buttons to VESC to control the nunchuk app

void VescUartSetNunchukValues(remotePackage& data, int num);
void VescUartSetNunchukValues(remotePackage& data);

//Sends a command to VESC to control the motor position
//@param position as float with the position in degrees for the motor
//@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)

void VescUartSetPosition(float position, int num) ;
void VescUartSetPosition(float position) ;

//Sends a command to VESC to control the motor duty cycle
//@param duty as float with the duty cycle for the motor
//@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)

void VescUartSetDuty(float duty, int num) ;
void VescUartSetDuty(float duty) ;

//Sends a command to VESC to control the motor rotational speed
//@param rpm as float with the revolutions per second for the motor
//@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)

void VescUartSetRPM(float rpm, int num);
void VescUartSetRPM(float rpm);

#endif