saturn_ros2/saturn_controller/sdk/include/com_define.h

#ifndef _COM_CONFIG_H_
#define _COM_CONFIG_H_

#define THE_TRQ_SENSOR_NUM 18
#define PI 3.14159265358979323846
#define MAX_SLAVE_NUM 24
#define CONTROL_RATE 1000

#define THE_CAN_DRIVER_NUM 18

//single leg test
// #define MOTOR_NUM 3
// #define LEG_NUMBER 1

//six legs
#define MOTOR_NUM 18
#define LEG_NUMBER 6

//视觉落脚点
#define HEIGHT_MAP_HEIGHT 30 //改成80
#define HEIGHT_MAP_WIDTH 30 //改成80

#define GRID_SIZE 0.04

#define DEPTH_IMAGE_HEIGHT 300
#define DEPTH_IMAGE_WIDTH 400

#define RGB_IMAGE_HEIGHT 300
#define RGB_IMAGE_WIDTH 400

#define DRIVER_WATCH_DOG_TIMEOUT 3000

#define MAX_ERROR_QUEUE_SIZE 200
#define CODE_WHEEL_NUM 5
#define JOINT_CODE_WHEEL_NUM 20

typedef enum _DRIVE_MODE{
    POSITION_MODE = 0,
    VELOCITY_MODE,
    TORQUE_MODE,
    GOHOME_MODE,
    TORQUE_FF_MODE,
    PP_MODE
}DRIVE_MODE;

typedef enum _DRIVER_PARAM_SETTING_CMD{
    CMD_NULL = 0,
    CLEAR_BISS_ERR,
    READ_BISS_ERR_INFO,
    READ_DRIVER_STRING_ERR,
    READ_DRIVER_COMMON_ERR,
    SET_ENCODER_POWER_50,
    SET_ENCODER_POWER_26,
    SET_ENCODER_POWER_14,
    SET_ENCODER_POWER,
    READ_DRIVER_STRING_STO_ERR,
	DRIVER_FOE_UPDATE,
	SET_ENCODER_ZERO_AND_SAVE,
    CMD_MAX
}DRIVER_PARAM_SETTING_CMD;

typedef enum _EN_DRIVER_ECAT_SLAVES_TYPE{
	NONE_DRIVER_TYPE = 0,
	LING_KONG_DRIVER_TYPE = 1,
	LENOVO_S_CAN_DRIVER_TYPE = 2,
	LENOVO_M_DRIVER_TYPE = 3,
	MOTOREVO_DRIVER_TYPE = 4,
	SYNAPTICON_DRIVER_TYPE = 5,
	LENOVO_S_ECAT_DRIVER_TYPE = 6,
}EN_DRIVER_ECAT_SLAVES_TYPE;

typedef enum _EN_TRQ_SENSOR_ECAT_SLAVES_TYPE {
	NONE_TRQ_SENSOR_TYPE = 0,
	SJTU_TRQ_SENSOR_TYPE = 1,
	YULI_TRQ_SENSOR_TYPE = 2,
}EN_TRQ_SENSOR_ECAT_SLAVES_TYPE;

typedef enum _EN_BMS_TYPE {
	NONE_BMS = 0,
	MERBER,
	MICRO_BOARD_BMS
}EN_BMS_TYPE;

typedef enum _EN_EMOJI_LIGHT_TYPE{
	NONE_LED_TYPE = 0,
	ONLY_LED_TYPE = 1,
	EMOJI_LED_TYPE = 2,
}EN_EMOJI_LIGHT_TYPE;

typedef enum _EN_MICRO_EMOJI_CONTROL_CMD {
	LED_NULL = 0,
    EMOJI_CLOSE,  //关闭所有LED
    EMOJI_OFF,  //关机
    EMOJI_ON,  //开机
    EMOJI_RUN,  //正常运行
    EMOJI_SMILE,  //笑脸
    EMOJI_CRY,  //哭泣
    EMOJI_FOLLOW,  //跟随
    LOW_BATTERY,  //低电量
    LED_CHARGING,  //充电中(>50%)
    LED_LOWCHARGING,  //充电中(<49%)
    LED_CHARGE_DONE  //充电完成
}EN_MICRO_EMOJI_CONTROL_CMD;

typedef enum _EN_MICRO_BMS_CMD {
	BMS_VOLTAGE,  // 2Byte 获取电压（单位10mv）
	BMS_CURRENT,  // 2Byte 获取电流（单位10mA）充电为正，放电为负
	BMS_SOC,  // 2Byte 剩余容量（单位10mAh）
	BMS_FCC,  // 2Byte 实际充满容量（单位10mAh）
	BMS_RSOC,  // 1Byte 剩余容量百分比
	BMS_TEMP,  // 1Byte 电池温度（单位度）
	BMS_STATE,  // 2Byte 保护状态
	BMS_INFO, //45Byte BMS完整信息
	BMS_CMD0,  // 解除软件关闭MOS管动作
	BMS_CMD1,  // 软件关闭充电MOS, 解除软件关闭放电MOS
	BMS_CMD2,  // 软件关闭放电MOS,解除软件关闭充电MOS
	BMS_CMD3,  // 软件同时关闭充放电MOS
	BMS_CHARGING, //充电指令，成功，0xff01dd, 失败 0xff02dd 充电完成0xff03dd  总共6Byte
	BMS_DISCHARGING //关闭充电 成功0xff01dd 失败0xff02dd 总共6Byte
}EN_MICRO_BMS_CMD;

typedef enum _EN_LAMP_EFFECT_THEME{
	NONE_LAMP_THEME = 0,
	SNOW_BLACK_THEME = 1,
	COLD_GREY_THEME = 2,
}EN_LAMP_EFFECT_THEME;

typedef enum _ROBOT_DRIVER_TYPES{
	GS_SYNAPTICON = 0,
	IS_FORCE_POS_MIXING = 1,
	IS_ONLY_FORCE = 2,
}ROBOT_DRIVER_TYPES;

typedef enum _ROBOT_BODY_TYPES{
	NULL_TYPE = 0,
	HEXAPOD = 1,
	QUADRUPED = 2
}ROBOT_BODY_TYPES;

#define UNUSED(x) (void)(x)
#define LOG_LENGTH 256

#endif