StatusFrame.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
namespace ctre {
namespace phoenix {
namespace motorcontrol {
 
/**
 * The different status frames available to enhanced motor controllers
 */
enum StatusFrameEnhanced {
    /** 
     * General Status
     */
    Status_1_General = 0x1400,
    /**
     * Feedback for selected sensor on primary PID[0].
     */
    Status_2_Feedback0 = 0x1440,
    /**
     * Analog sensor, motor controller 
     * temperature, and voltage at input leads
     */
    Status_4_AinTempVbat = 0x14C0,
    /**
     * Miscellaneous signals
     */
    Status_6_Misc = 0x1540,
    /**
     * Communication status
     */
    Status_7_CommStatus = 0x1580,
    /**
     * Motion profile buffer status
     */
    Status_9_MotProfBuffer = 0x1600,
    /**
     * Old name for Status 10.
     * Use @see #Status_10_Targets instead.
     */
    Status_10_MotionMagic = 0x1640,
    /**
     * Correct name for Status 10.
     * Functionally equivalent to @see #Status_10_MotionMagic
     */
    Status_10_Targets = 0x1640,
    /**
     * Feedback for selected sensor on aux PID[1].
     */
    Status_12_Feedback1 = 0x16C0,
    /**
     * Primary PID
     */
    Status_13_Base_PIDF0 = 0x1700,
    /**
     * Auxiliary PID
     */
    Status_14_Turn_PIDF1 = 0x1740,
    /**
     * Firmware & API status information
     */
    Status_15_FirmwareApiStatus = 0x1780,
    /**
     * Firmware & API status information
     * [[deprecated("Use Status_15_FirmwareApiStatus instead.")]]
     */
    Status_15_FirmareApiStatus = 0x1780,
    /** 
     * MotionProfile Targets for Auxiliary PID1. 
     */
    Status_17_Targets1 = 0x1C00,
 
    /**
     * Quadrature sensor 
     */
    Status_3_Quadrature = 0x1480,
    /**
     * Pulse width sensor
     */
    Status_8_PulseWidth = 0x15C0,
    /**
     * Gadgeteer status
     */
    Status_11_UartGadgeteer = 0x1680,
    /**
     * Brushless Current Status.
     * Includes Stator and Supply Current for Talon FX.
     */
    Status_Brushless_Current = 0x1240,
    /**
     * FX Integrated sensor
     */
    Status_21_FeedbackIntegrated = 0x2500,
};
 
/**
 * The different status frames available to motor controllers
 */
enum StatusFrame {
    /** 
     * General Status
     */
    Status_1_General_ = 0x1400,
    /**
     * Main controller feedback
     */
    Status_2_Feedback0_ = 0x1440,
    /**
     * Analog sensor, motor controller 
     * temperature, and voltage at input leads
     */
    Status_4_AinTempVbat_ = 0x14C0,
    /**
     * Miscellaneous signals
     */
    Status_6_Misc_ = 0x1540,
    /**
     * Communication status to controller
     */
    Status_7_CommStatus_ = 0x1580,
    /**
     * Motion profile buffer status
     */
    Status_9_MotProfBuffer_ = 0x1600,
    /**
     * Old name for Status 10.
     * Use @see #Status_10_Targets instead.
     */
    Status_10_MotionMagic_ = 0x1640,
    /**
     * Correct name for Status 10.
     * Functionally equivalent to @see #Status_10_MotionMagic
     */
    Status_10_Targets_ = 0x1640,
    /**
     * Secondary controller feedback
     */
    Status_12_Feedback1_ = 0x16C0,
    /**
     * Base PID
     */
    Status_13_Base_PIDF0_ = 0x1700,
    /**
     * Auxiliary PID
     */
    Status_14_Turn_PIDF1_ = 0x1740,
    /**
     * Firmware & API status information
     */
    Status_15_FirmwareApiStatus_ = 0x1780,
    /**
     * Firmware & API status information
     * [[deprecated("Use Status_15_FirmwareApiStatus_ instead.")]]
     */
    Status_15_FirmareApiStatus_ = 0x1780,
    /** 
     * MotionProfile Targets for Auxiliary PID1. 
     */
    Status_17_Targets1_ = 0x1C00,
};
 
/**
 * Class to allow conversion from StatusFrame to EnhancedStatusFrame
 */
class StatusFrameRoutines {
public:
    /**
     * Converts a status frame to an enhanced status frame
     * @param statusFrame frame to convert
     * @return enhanced status frame version of statusFrame
     */
    StatusFrameEnhanced Promote(StatusFrame statusFrame) {
        return (StatusFrameEnhanced) statusFrame;
    }
};
} // namespace motorcontrol
} // namespace phoenix
} // namespace ctre