Support driver configuration for CTO's firmware, deprecate John's firmware

src/_Config.zig

@@ -0,0 +1,252 @@
+//! This module represents driver's configuration.
+const std = @import("std");
+const Config = @This();
+
+/// Driver ID
+id: u16,
+/// CC-Link Station ID
+station: u16,
+/// CC-Link baud rate
+cc_link_speed: CcLinkSpeed,
+flags: Flags,
+line: struct {
+    /// Total number of axes in line.
+    axes: u32,
+    /// Axis length used in the whole line.
+    axis_length: f32,
+    /// Slider configuration in the whole line.
+    slider: struct {
+        mass: f32,
+        length: f32,
+    },
+    /// Magnet pitch (m)
+    magnet_pitch: f32,
+},
+voltage_warmup: f32,
+retry_count: u8,
+hall_cutoff_freq: f32,
+overcurrent_timeout: f32,
+pos_offset: f32,
+right_sensor_distance: f32,
+angle_offset: f32, // Can be changed from `set_calibration_info` command
+section_count: SectionCount,
+axes: [3]Axis,
+state: State, // Immutable fields, written from driver
+
+/// Immutable states of driver
+pub const State = struct {
+    servo_enabled: bool,
+    cc_link_enabled: bool,
+    calibrated: bool,
+    vdc: f32,
+    thermo: f32,
+    sys_version: f32,
+    sensor: struct {
+        home: u8,
+        id0: u8,
+        id1: u8,
+        id2: u8,
+    },
+    synchronization_request_position: struct {
+        forward: f32,
+        backward: f32,
+    },
+    section_count: struct {
+        /// Count at which the secondary axis is switched off, depends on the
+        /// slider movement direction.
+        deactivate_secondary: struct {
+            left: struct {
+                forward: struct { axis2: i16, axis3: i16 },
+                backward: struct { axis1: i16, axis2: i16 },
+            },
+            right: struct {
+                forward: struct { axis2: i16, axis3: i16 },
+                backward: struct { axis1: i16, axis2: i16 },
+            },
+        },
+        /// Count at which the axis is activated as the primary, depends on
+        /// the slider movement direction.
+        activate_primary: struct {
+            left: struct {
+                forward: struct { axis1: i16, axis2: i16, axis3: i16 },
+                backward: struct { axis1: i16, axis2: i16, axis3: i16 },
+            },
+            right: struct {
+                forward: struct { axis1: i16, axis2: i16, axis3: i16 },
+                backward: struct { axis1: i16, axis2: i16, axis3: i16 },
+            },
+        },
+    },
+    axes: [3]State.Axis,
+
+    pub const Axis = struct {
+        enabled: bool,
+        primary: bool,
+        slider: struct { id: u8, state: Fsm },
+        entrance: Entrance,
+        overcharge_state: Fsm,
+        pitch_count: i16,
+        mechanical_position: f32,
+        // a and b needs confirmation.
+        bias: struct { a: f32, b: f32 },
+    };
+};
+
+pub const SectionCount = struct {
+    /// Count at which the next axis in the travel direction becomes the
+    /// primary and the current axis becomes the secondary.
+    skip: i16,
+    max: struct { axis1: i16, axis2: i16, axis3: i16 },
+};
+
+pub const Axis = struct {
+    rs: f32,
+    ls: f32,
+    kf: f32,
+    kbm: f32,
+    max_current: f32,
+    continuous_current: f32,
+    gain: struct {
+        current: CurrentGain,
+        speed: SpeedGain,
+        position: PositionGain,
+    },
+    arrival_threshold: f32,
+    base_position: f32,
+    sensor: struct {
+        position: struct {
+            on: struct {
+                /// Position of right sensor when slider moves forward and
+                /// turned on the sensor
+                forward: f32,
+                /// Position of left sensor when slider moves backward and
+                /// turned on the sensor
+                backward: f32,
+            },
+            off: struct {
+                /// Position of left sensor when slider moves forward and
+                /// turned off the sensor
+                forward: f32,
+                /// Position of right sensor when slider moves backward and
+                /// turned off the sensor
+                backward: f32,
+            },
+        },
+        section_count: struct {
+            on: struct {
+                /// Section count of right sensor when slider moves forward and
+                /// turned on the sensor
+                forward: i16,
+                /// Section count of left sensor when slider moves backward and
+                /// turned on the sensor
+                backward: i16,
+            },
+            off: struct {
+                /// Section count of left sensor when slider moves forward and
+                /// turned off the sensor
+                forward: i16,
+                /// Section count of right sensor when slider moves backward and
+                /// turned off the sensor
+                backward: i16,
+            },
+        },
+    },
+};
+
+pub const Flags = struct {
+    home_exists: bool,
+    has_neighbor: packed struct(u2) {
+        backward: bool,
+        forward: bool,
+    },
+    use_axis: packed struct(u2) {
+        axis2: bool,
+        axis3: bool,
+    },
+    calibration_spare: packed struct(u2) {
+        backward: bool,
+        forward: bool,
+    },
+    collision_avoidance: bool,
+    calibration_use: bool,
+    xts: bool,
+    /// Flip all sensors in a driver
+    flip: bool,
+    /// Swap all sensors in a driver
+    swap: bool,
+};
+
+pub const CcLinkSpeed = enum(u8) {
+    @"156 kbps",
+    @"625 kbps",
+    @"2.5 Mbps",
+    @"5 Mbps",
+    @"10 Mbps",
+    _,
+};
+
+pub const CurrentGain = struct {
+    p: f32,
+    i: f32,
+    denominator: u16,
+};
+
+pub const SpeedGain = struct {
+    p: f32,
+    i: f32,
+    denominator: u16,
+    denominator_pi: u16,
+};
+
+pub const PositionGain = struct {
+    p: f32,
+    denominator: u16,
+};
+
+pub const Fsm = enum(u8) {
+    none = 0,
+    warm_up = 1,
+    warm_up_comp = 2,
+    warm_up_fault = 3,
+    curr_bias = 4,
+    curr_bias_comp = 5,
+    fwd_ramp = 8,
+    fwd_ramp_comp = 9,
+    fwd_ramp_fault = 10,
+    bwd_ramp = 11,
+    bwd_ramp_comp = 12,
+    bwd_ramp_fault = 13,
+    curr_step = 20,
+    curr_step_comp = 21,
+    curr_step_fault = 22,
+    speed_step = 23,
+    speed_step_comp = 24,
+    speed_step_fault = 25,
+    pos_step = 26,
+    pos_step_comp = 27,
+    pos_step_fault = 28,
+    pos_prof = 29,
+    pos_prof_comp = 30,
+    pos_prof_fault = 31,
+    fwd_calib = 32,
+    fwd_calib_comp = 33,
+    bwd_calib = 34,
+    bwd_calib_comp = 35,
+    speed_prof = 40,
+    speed_prof_comp = 41,
+    speed_prof_fault = 42,
+    fwd_slave = 43,
+    fwd_slave_comp = 44,
+    bwd_slave = 45,
+    bwd_slave_comp = 46,
+    over_charge = 50,
+    synch_com_error = 51,
+    _,
+};
+
+pub const Entrance = enum(u8) {
+    none = 0,
+    left = 1,
+    right = 2,
+    _,
+};