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Merged
ikalnytskyi merged 1 commit into from
Feb 18, 2026
Merged

Use FaultCode enum in GetValues #8

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88 changes: 85 additions & 3 deletions src/command.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,88 @@ impl<'a> Command<'a> {
}
}

/// Indicates specific error conditions or hardware failures.
///
/// Fault codes are typically retrieved as part of the [`Values`] struct when
/// calling [`Command::GetValues`] or [`Command::GetValuesSelective`].
#[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[non_exhaustive]
#[repr(u8)]
pub enum FaultCode {
#[default]
None = 0,
OverVoltage,
UnderVoltage,
Drv,
AbsOverCurrent,
OverTempFet,
OverTempMotor,
GateDriverOverVoltage,
GateDriverUnderVoltage,
McuUnderVoltage,
BootingFromWatchdogReset,
EncoderSpi,
EncoderSinCosBelowMinAmplitude,
EncoderSinCosAboveMaxAmplitude,
FlashCorruption,
HighOffsetCurrentSensor1,
HighOffsetCurrentSensor2,
HighOffsetCurrentSensor3,
UnbalancedCurrents,
Brk,
ResolverLot,
ResolverDos,
ResolverLos,
FlashCorruptionAppCfg,
FlashCorruptionMcCfg,
EncoderNoMagnet,
EncoderMagnetTooStrong,
PhaseFilter,
EncoderFault,
LvOutputFault,
Unknown = 255,
}

impl From<u8> for FaultCode {
fn from(value: u8) -> Self {
use FaultCode::*;
match value {
v if v == None as u8 => None,
v if v == OverVoltage as u8 => OverVoltage,
v if v == UnderVoltage as u8 => UnderVoltage,
v if v == Drv as u8 => Drv,
v if v == AbsOverCurrent as u8 => AbsOverCurrent,
v if v == OverTempFet as u8 => OverTempFet,
v if v == OverTempMotor as u8 => OverTempMotor,
v if v == GateDriverOverVoltage as u8 => GateDriverOverVoltage,
v if v == GateDriverUnderVoltage as u8 => GateDriverUnderVoltage,
v if v == McuUnderVoltage as u8 => McuUnderVoltage,
v if v == BootingFromWatchdogReset as u8 => BootingFromWatchdogReset,
v if v == EncoderSpi as u8 => EncoderSpi,
v if v == EncoderSinCosBelowMinAmplitude as u8 => EncoderSinCosBelowMinAmplitude,
v if v == EncoderSinCosAboveMaxAmplitude as u8 => EncoderSinCosAboveMaxAmplitude,
v if v == FlashCorruption as u8 => FlashCorruption,
v if v == HighOffsetCurrentSensor1 as u8 => HighOffsetCurrentSensor1,
v if v == HighOffsetCurrentSensor2 as u8 => HighOffsetCurrentSensor2,
v if v == HighOffsetCurrentSensor3 as u8 => HighOffsetCurrentSensor3,
v if v == UnbalancedCurrents as u8 => UnbalancedCurrents,
v if v == Brk as u8 => Brk,
v if v == ResolverLot as u8 => ResolverLot,
v if v == ResolverDos as u8 => ResolverDos,
v if v == ResolverLos as u8 => ResolverLos,
v if v == FlashCorruptionAppCfg as u8 => FlashCorruptionAppCfg,
v if v == FlashCorruptionMcCfg as u8 => FlashCorruptionMcCfg,
v if v == EncoderNoMagnet as u8 => EncoderNoMagnet,
v if v == EncoderMagnetTooStrong as u8 => EncoderMagnetTooStrong,
v if v == PhaseFilter as u8 => PhaseFilter,
v if v == EncoderFault as u8 => EncoderFault,
v if v == LvOutputFault as u8 => LvOutputFault,
_ => Unknown,
}
}
}

/// Telemetry data returned by the motor controller.
///
/// Contains temperatures, currents, voltages, rpm, and so on. Returned by
Expand All @@ -203,7 +285,7 @@ pub struct Values {
pub watt_hours_charged: f32,
pub tachometer: i32,
pub tachometer_abs: i32,
pub fault_code: u8,
pub fault_code: FaultCode,
pub pid_pos: f32,
pub controller_id: u8,
pub temp_mosfet1: f32,
Expand Down Expand Up @@ -257,7 +339,7 @@ impl CommandReply {
watt_hours_charged: unpacker.unpack_f32(10000.0)?,
tachometer: unpacker.unpack_i32()?,
tachometer_abs: unpacker.unpack_i32()?,
fault_code: unpacker.unpack_u8()?,
fault_code: unpacker.unpack_u8()?.into(),
pid_pos: unpacker.unpack_f32(1000000.0)?,
controller_id: unpacker.unpack_u8()?,
temp_mosfet1: unpacker.unpack_f16(10.0)?,
Expand Down Expand Up @@ -320,7 +402,7 @@ impl CommandReply {
values.tachometer_abs = unpacker.unpack_i32()?;
}
if mask.contains(ValuesMask::FAULT_CODE) {
values.fault_code = unpacker.unpack_u8()?;
values.fault_code = unpacker.unpack_u8()?.into();
}
if mask.contains(ValuesMask::PID_POS) {
values.pid_pos = unpacker.unpack_f32(1000000.0)?;
Expand Down
11 changes: 10 additions & 1 deletion src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,15 @@ mod decoder;
mod packer;

pub use command::{
Command, CommandReply, DecodeError, EncodeError, Values, ValuesMask, decode, encode,
//
Command,
CommandReply,
DecodeError,
EncodeError,
FaultCode,
Values,
ValuesMask,
decode,
encode,
};
pub use decoder::Decoder;
77 changes: 70 additions & 7 deletions tests/command_reply.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
use googletest::prelude::*;

use vesc::{CommandReply, DecodeError, Values};
use vesc::{CommandReply, DecodeError, FaultCode, Values};

#[test]
fn decode_get_values_zero_rpm() {
Expand Down Expand Up @@ -28,7 +28,7 @@ fn decode_get_values_zero_rpm() {
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-31936),
tachometer_abs: eq(174334),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
pid_pos: approx_eq(302.39996),
controller_id: eq(20),
temp_mosfet1: approx_eq(27.7),
Expand Down Expand Up @@ -69,7 +69,7 @@ fn decode_get_values_forward_rpm() {
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-37045),
tachometer_abs: eq(171975),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
pid_pos: approx_eq(74.08746),
controller_id: eq(1),
temp_mosfet1: approx_eq(27.7),
Expand Down Expand Up @@ -110,7 +110,48 @@ fn decode_get_values_reverse_rpm() {
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-28230),
tachometer_abs: eq(133952),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
pid_pos: approx_eq(233.10513),
controller_id: eq(20),
temp_mosfet1: approx_eq(26.9),
temp_mosfet2: approx_eq(-90.9),
temp_mosfet3: approx_eq(-94.8),
avg_voltage_d: approx_eq(0.23),
avg_voltage_q: approx_eq(-3.967),
status: eq(0),
}))),
);
assert_that!(vesc::decode(&input), ok(expected));
}

#[test]
fn decode_get_values_motor_fault() {
let input = [
2, 74, 4, 1, 13, 0, 0, 0, 0, 0, 92, 0, 0, 0, 12, 0, 0, 0, 0, 255, 255, 255, 169, 255, 19,
255, 255, 247, 94, 1, 117, 0, 0, 0, 7, 0, 0, 0, 0, 0, 0, 1, 18, 0, 0, 0, 0, 255, 255, 145,
186, 0, 2, 11, 64, 2, 13, 228, 230, 240, 20, 1, 13, 252, 115, 252, 76, 0, 0, 0, 230, 255,
255, 240, 129, 0, 183, 254, 3,
];

let expected = (
eq(&79),
pat!(&CommandReply::GetValues(pat!(Values {
temp_mosfet: approx_eq(26.9),
temp_motor: approx_eq(0.0),
avg_current_motor: approx_eq(0.92),
avg_current_input: approx_eq(0.12),
avg_current_d: approx_eq(0.0),
avg_current_q: approx_eq(-0.87),
duty_cycle: approx_eq(-0.237),
rpm: approx_eq(-2210.0),
voltage_in: approx_eq(37.3),
amp_hours: approx_eq(0.0007),
amp_hours_charged: approx_eq(0.0),
watt_hours: approx_eq(0.0274),
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-28230),
tachometer_abs: eq(133952),
fault_code: eq(FaultCode::UnderVoltage),
pid_pos: approx_eq(233.10513),
controller_id: eq(20),
temp_mosfet1: approx_eq(26.9),
Expand Down Expand Up @@ -138,7 +179,7 @@ fn decode_get_values_selective_zero_rpm() {
rpm: approx_eq(0.0),
voltage_in: approx_eq(38.4),
tachometer: eq(-25018),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(1),
..
}))),
Expand All @@ -160,7 +201,7 @@ fn decode_get_values_selective_forward_rpm() {
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(20),
..
}))),
Expand All @@ -182,7 +223,29 @@ fn decode_get_values_selective_reverse_rpm() {
rpm: approx_eq(-2347.0),
voltage_in: approx_eq(37.4),
tachometer: eq(-18982),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(20),
..
}))),
);
assert_that!(vesc::decode(&input), ok(expected));
}

#[test]
fn decode_get_values_selective_fault_code() {
let input = [
2, 23, 50, 0, 2, 161, 138, 0, 0, 0, 0, 0, 10, 255, 255, 246, 213, 1, 118, 255, 255, 181,
218, 4, 20, 146, 70, 3,
];

let expected = (
eq(&28),
pat!(&CommandReply::GetValuesSelective(pat!(Values {
avg_current_input: approx_eq(0.1),
rpm: approx_eq(-2347.0),
voltage_in: approx_eq(37.4),
tachometer: eq(-18982),
fault_code: eq(FaultCode::AbsOverCurrent),
controller_id: eq(20),
..
}))),
Expand Down
26 changes: 13 additions & 13 deletions tests/decoder.rs
View file
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
use googletest::prelude::*;
use vesc::{CommandReply, Decoder, Values};
use vesc::{CommandReply, Decoder, FaultCode, Values};

#[test]
fn decoder_decodes_single_packet() {
Expand All @@ -16,7 +16,7 @@ fn decoder_decodes_single_packet() {
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(20),
..
})));
Expand Down Expand Up @@ -53,7 +53,7 @@ fn decoder_decodes_packet_fed_in_chunks() {
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-37045),
tachometer_abs: eq(171975),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
pid_pos: approx_eq(74.08746),
controller_id: eq(1),
temp_mosfet1: approx_eq(27.7),
Expand Down Expand Up @@ -99,7 +99,7 @@ fn decoder_returns_none_until_packet_is_complete() {
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-37045),
tachometer_abs: eq(171975),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
pid_pos: approx_eq(74.08746),
controller_id: eq(1),
temp_mosfet1: approx_eq(27.7),
Expand Down Expand Up @@ -127,7 +127,7 @@ fn decoder_decodes_two_packets_from_single_feed() {
rpm: approx_eq(0.0),
voltage_in: approx_eq(38.4),
tachometer: eq(-25018),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(1),
..
})));
Expand All @@ -138,7 +138,7 @@ fn decoder_decodes_two_packets_from_single_feed() {
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(20),
..
})));
Expand All @@ -165,7 +165,7 @@ fn decoder_decodes_two_packets_from_separate_feeds() {
rpm: approx_eq(0.0),
voltage_in: approx_eq(38.4),
tachometer: eq(-25018),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(1),
..
})));
Expand All @@ -176,7 +176,7 @@ fn decoder_decodes_two_packets_from_separate_feeds() {
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(20),
..
})));
Expand Down Expand Up @@ -231,7 +231,7 @@ fn decoder_skips_junk_bytes_between_packets() {
rpm: approx_eq(0.0),
voltage_in: approx_eq(38.4),
tachometer: eq(-25018),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(1),
..
})));
Expand All @@ -242,7 +242,7 @@ fn decoder_skips_junk_bytes_between_packets() {
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(20),
..
})));
Expand All @@ -264,7 +264,7 @@ fn decoder_recovers_from_false_start_byte() {
rpm: approx_eq(989.0),
voltage_in: approx_eq(37.5),
tachometer: eq(-21973),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(20),
..
})));
Expand Down Expand Up @@ -321,7 +321,7 @@ fn decoder_iterator_collects_all_valid_packets() {
watt_hours_charged: approx_eq(0.0),
tachometer: eq(-37045),
tachometer_abs: eq(171975),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
pid_pos: approx_eq(74.08746),
controller_id: eq(1),
temp_mosfet1: approx_eq(27.7),
Expand All @@ -336,7 +336,7 @@ fn decoder_iterator_collects_all_valid_packets() {
rpm: approx_eq(-2347.0),
voltage_in: approx_eq(37.4),
tachometer: eq(-18982),
fault_code: eq(0),
fault_code: eq(FaultCode::None),
controller_id: eq(20),
..
}))),
Expand Down