saturn_ros2/saturn_controller/sdk/include/error_code.h

#ifndef ERROR_CODE__H
#define ERROR_CODE__H

//error
#define RC_ERROR_INDEX_BEYOND_MIN_CODE                  0x00000001
#define RC_ERROR_INDEX_BEYOND_MAX_CODE                  0x00000002
#define RC_ERROR_DRIVER_ENABLE_FAILED_CODE              0x00000003
#define RC_ERROR_IMU_DATA_IS_NOT_CORRECT_CODE           0x00000004
#define RC_ERROR_DRIVER_BEYOND_LIMIT_CAN_NOT_ENABLE_CODE        0x00000005
#define RC_ERROR_DRIVER_NEED_POS_CALIBRATE_CODE         0x00000006
#define RC_ERROR_BATTARY_LEVEL_IS_TOO_LOW_CODE          0x00000007
#define RC_ERROR_DRIVER_ENCODER_HAS_BEEN_RESET_CODE          0x00000008
#define RC_ERROR_ROBOT_ESTOP_OCCURRED_CODE          0x00000009
#define RC_ERROR_LIEDOWN_POSTURE_WITH_LEGS_PLACED_CODE               0x0000000A
#define RC_ERROR_DRIVER_ENABLED_FAILED_WITHIN_DEADLINE_CODE               0x0000000B
#define RC_ERROR_DRIVER_ENABLE_CANNOT_PASS_SELFCHECK_CODE              0x0000000C
#define RC_ERROR_RUNTIME_BUS_NET_CANNOT_BUILD_CODE              0x0000000D
#define RC_ERROR_CODE_CUR_MAX_INDEX                     0x0000000E

#define RC_ERROR_MAX_INDEX_CODE                         (CODE_WHEEL_NUM * 32)


#define RC_ERROR_INDEX_BEYOND_MIN_MSG  "The Error index value beyond the min limit."
#define RC_ERROR_INDEX_BEYOND_MAX_MSG  "The Error index value beyond the max limit."
#define RC_ERROR_DRIVER_ENABLE_FAILED_MSG   "The driver enable failed."
#define RC_ERROR_IMU_DATA_IS_NOT_CORRECT_MSG    "The IMU data is not correct. Please check IMU."
#define RC_ERROR_DRIVER_BEYOND_LIMIT_CAN_NOT_ENABLE_MSG "The joint is beyond limit, so can't enable. please rotate the joint."
#define RC_ERROR_DRIVER_NEED_POS_CALIBRATE_MSG  "The driver's position need calibrate after power on."
#define RC_ERROR_BATTARY_LEVEL_IS_TOO_LOW_MSG        "The Robot's battary is too low, must estop!"
#define RC_ERROR_DRIVER_ENCODER_HAS_BEEN_RESET_MSG        "The Dirver's Encoder has been reset. You need recalibrate the robot joint position!"
#define RC_ERROR_ROBOT_ESTOP_OCCURRED_MSG       "The Robot has been EStoped!"
#define RC_ERROR_LIEDOWN_POSTURE_WITH_LEGS_PLACED_MSG      "The Robot's lie down posture is not correct."
#define RC_ERROR_DRIVER_ENABLED_FAILED_WITHIN_DEADLINE_MSG      "The Robot's can't completed driver enable within the deadline."
#define RC_ERROR_DRIVER_ENABLE_CANNOT_PASS_SELFCHECK_MSG    "The Robot's can't pass self check, so driver can't be Enabled."
#define RC_ERROR_RUNTIME_BUS_NET_CANNOT_BUILD_MSG      "The Robot's runtime bus net can't be build, please check line and slaves."


#define RC_JOINT_ERROR_CLEAR_7303_FAILED_CODE          0x00000001
#define RC_JOINT_ERROR_STATUS_WORD_ERROR_CODE          0x00000002
#define RC_JOINT_ERROR_OVER_VOLTAGE_CODE               0x00000003 
#define RC_JOINT_ERROR_STO_DISABLE_CODE                0x00000004
#define RC_JOINT_ERROR_POS_BEYOND_LIMIT_CODE           0x00000005
#define RC_JOINT_ERROR_VEL_BEYOND_LIMIT_CODE           0x00000006
#define RC_JOINT_ERROR_FORCE_BEYOND_LIMIT_CODE         0x00000007
#define RC_JOINT_ERROR_POS_BEYOND_A_LOOP_CODE          0x00000008
#define RC_JOINT_ERROR_POSITION_GAP_TOO_BIG_CODE       0x00000009
#define RC_JOINT_ERROR_TRQ_SENSOR_IS_NOT_CORRECT_CODE  0x0000000A
#define RC_JOINT_ERROR_ENCODER_BISERBIT_CODE           0x0000000B
#define RC_JOINT_ERROR_ENCODER_BISWNBIT_CODE           0x0000000C
#define RC_JOINT_ERROR_ENCODER_BATTERY_CODE            0x0000000D
#define RC_JOINT_ERROR_MOTOR_FAULT_OCCURED_CODE            0x0000000E
#define RC_JOINT_ERROR_DRIVER_FAULT_OCCURED_CODE            0x0000000F
#define RC_JOINT_ERROR_DRIVER_CPU_TEMPERATURE_TOO_HEIGH_CODE        0x00000010
#define RC_JOINT_ERROR_DRIVER_TEMPERATURE_TOO_HEIGH_CODE            0x00000011
#define RC_JOINT_ERROR_MOTOR_TEMPERATURE_TOO_HEIGH_CODE             0x00000012
#define RC_JOINT_ERROR_CODE_CUR_MAX_INDEX               0x00000013
#define RC_JOINT_ERROR_MAX_INDEX_CODE                         (JOINT_CODE_WHEEL_NUM * 32)

#define RC_JOINT_ERROR_CLEAR_7303_FAILED_MSG  "Clear driver's 7303 error, calibrate encode vlaue failed."
#define RC_JOINT_ERROR_STATUS_WORD_ERROR_MSG    "The Driver has error, the status word is error.Maybe is 7303, but not sure. Please check log."
#define RC_JOINT_ERROR_OVER_VOLTAGE_MSG    "The driver's valtage is too high."
#define RC_JOINT_ERROR_STO_DISABLE_MSG     "Maybe the driver's STO button is disable. Please check and release it."
#define RC_JOINT_ERROR_POS_BEYOND_LIMIT_MSG    "The driver's position is beyond the limit."
#define RC_JOINT_ERROR_VEL_BEYOND_LIMIT_MSG    "The driver's velocity is beyond the limit."
#define RC_JOINT_ERROR_FORCE_BEYOND_LIMIT_MSG    "The driver's force is beyond the limit."
#define RC_JOINT_ERROR_POS_BEYOND_A_LOOP_MSG    "Driver position beyond a loop."
#define RC_JOINT_ERROR_POSITION_GAP_TOO_BIG_MSG    "The driver's position occurred a huge springboard."
#define RC_JOINT_ERROR_TRQ_SENSOR_IS_NOT_CORRECT_MSG    "The driver's trq sensor is not correct."
#define RC_JOINT_ERROR_ENCODER_BISERBIT_MSG       "7303 error BisErBit."
#define RC_JOINT_ERROR_ENCODER_BISWNBIT_MSG       "7303 error BisWnBit."
#define RC_JOINT_ERROR_ENCODER_BATTERY_MSG       "Driver encoder battery 7303 error BisWnBit."
#define RC_JOINT_ERROR_MOTOR_FAULT_OCCURED_MSG      "The motor has error. Please stop Robot."
#define RC_JOINT_ERROR_DRIVER_FAULT_OCCURED_MSG      "The driver has error. Please stop Robot."
#define RC_JOINT_ERROR_DRIVER_CPU_TEMPERATURE_TOO_HEIGH_MSG      "The driver's cpu temperature is too high. Please stop Robot."
#define RC_JOINT_ERROR_DRIVER_TEMPERATURE_TOO_HEIGH_MSG      "The driver's temperature is too high. Please stop Robot."
#define RC_JOINT_ERROR_MOTOR_TEMPERATURE_TOO_HEIGH_MSG      "The motor's temperature is too high. Please stop Robot."



//warnning
#define RC_WARN_MASTER_DATA_PACKET_LOSS_CODE            0x00000001
#define RC_WARN_BATTARY_LEVEL_IS_TOO_LOW_CODE           0x00000002
#define RC_WARN_CODE_CUR_MAX_INDEX                      0x00000003
#define RC_WARN_MAX_INDEX_CODE                          (CODE_WHEEL_NUM * 32)


#define RC_WARN_MASTER_DATA_PACKET_LOSS_MSG         "The EtherCat Master's data packet lossed."
#define RC_WARN_BATTARY_LEVEL_IS_TOO_LOW_MSG        "The Robot's battary is too low, please charge!"

#define RC_JOINT_WARN_CODE_CUR_MAX_INDEX                      0x00000001
#define RC_JOINT_WARN_MAX_INDEX_CODE                          (JOINT_CODE_WHEEL_NUM * 32)

//note
#define RC_NOTE_DRIVER_TEMPERATURE_TOO_HIGH_CODE        0x00000001
#define RC_NOTE_CODE_CUR_MAX_INDEX                      0x00000002
#define RC_NOTE_MAX_INDEX_CODE                          (CODE_WHEEL_NUM * 32)

#define RC_NOTE_DRIVER_TEMPERATURE_TOO_HIGH_MSG         "The driver's temperature is too high."

#define RC_JOINT_NOTE_CODE_CUR_MAX_INDEX                      0x00000001
#define RC_JOINT_NOTE_MAX_INDEX_CODE                          (JOINT_CODE_WHEEL_NUM * 32)

#endif