Diff: CAN/function_CAN.h

Revision:

2:a1c0a37df760

Child:

4:58c8081de776

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN/function_CAN.h	Tue Aug 20 07:38:55 2019 +0000
@@ -0,0 +1,104 @@
+#ifndef _FUNCTION_CAN_H_
+#define _FUNCTION_CAN_H_
+
+#include "mbed.h"
+
+// CID_RX_CMD - RX CMD type
+#define             CRX_ASK_INFO                    0
+#define             CRX_ASK_BNO                     1
+#define             CRX_SET_BNO                     101
+#define             CRX_ASK_OPERATING_MODE          2
+#define             CRX_SET_OPERATING_MODE          102
+#define             CRX_SET_ENC_ZERO                103
+#define             CRX_SET_FET_ON                  104
+#define             CRX_SET_REF_UPDATE_ENABLE       105
+#define             CRX_ASK_CAN_FREQ                6
+#define             CRX_SET_CAN_FREQ                106
+#define             CRX_ASK_CONTROL_MODE            7
+#define             CRX_SET_CONTROL_MODE            107
+#define             CRX_SET_DATA_REQUEST            108
+#define             CRX_ASK_JOINT_ENC_DIR           9
+#define             CRX_SET_JOINT_ENC_DIR           109
+#define             CRX_ASK_VALVE_DIR               10
+#define             CRX_SET_VALVE_DIR               110
+#define             CRX_ASK_VALVE_ENC_DIR           11
+#define             CRX_SET_VALVE_ENC_DIR           111
+#define             CRX_ASK_VOLTAGE_SUPPLY          12
+#define             CRX_SET_VOLTAGE_SUPPLY          112
+#define             CRX_ASK_VOLTAGE_VALVE           13
+#define             CRX_SET_VOLTAGE_VALVE           113
+#define             CRX_SET_HOMEPOS                 114      
+#define             CRX_ASK_PID_GAIN                20
+#define             CRX_SET_PID_GAIN                120
+#define             CRX_ASK_VALVE_DEADZONE          21
+#define             CRX_SET_VALVE_DEADZONE          121
+#define             CRX_ASK_VELOCITY_COMP_GAIN      22
+#define             CRX_SET_VELOCITY_COMP_GAIN      122
+#define             CRX_ASK_COMPLIANCE_GAIN         23
+#define             CRX_SET_COMPLIANCE_GAIN         123
+#define             CRX_ASK_VALVE_FF                25
+#define             CRX_SET_VALVE_FF                125
+#define             CRX_ASK_BULK_MODULUS            26
+#define             CRX_SET_BULK_MODULUS            126
+#define             CRX_ASK_CHAMBER_VOLUME          27
+#define             CRX_SET_CHAMBER_VOLUME          127
+#define             CRX_ASK_PISTON_AREA             28
+#define             CRX_SET_PISTON_AREA             128
+#define             CRX_ASK_PRES                    29
+#define             CRX_SET_PRES                    129
+#define             CRX_ASK_ENC_LIMIT               30
+#define             CRX_SET_ENC_LIMIT               130
+#define             CRX_ASK_STROKE                  31
+#define             CRX_SET_STROKE                  131
+#define             CRX_ASK_VALVE_LIMIT             32
+#define             CRX_SET_VALVE_LIMIT             132
+#define             CRX_ASK_ENC_PULSE_PER_POSITION     33
+#define             CRX_SET_ENC_PULSE_PER_POSITION     133
+#define             CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE     34
+#define             CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE     134
+#define             CRX_ASK_PRES_SENSOR_PULSE_PER_PRES      35
+#define             CRX_SET_PRES_SENSOR_PULSE_PER_PRES      135
+#define             CRX_ASK_FRICTION                36
+#define             CRX_SET_FRICTION                136
+#define             CRX_ASK_VALVE_GAIN_PLUS         37
+#define             CRX_SET_VALVE_GAIN_PLUS         137
+#define             CRX_ASK_VALVE_GAIN_MINUS        38
+#define             CRX_SET_VALVE_GAIN_MINUS        138
+#define             CRX_LOW_REF                     139
+#define             CRX_ASK_HOMEPOS_OFFSET          40
+#define             CRX_SET_HOMEPOS_OFFSET          140
+#define             CRX_ASK_HOMEPOS_VALVE_OPENING   41
+#define             CRX_SET_HOMEPOS_VALVE_OPENING   141
+#define             CRX_SET_ERR_CLEAR               150
+#define             CRX_JUMP_STATUS                 255
+
+// Information Transmission
+inline void CAN_TX_INFO(void);
+inline void CAN_TX_BNO(void);
+inline void CAN_TX_OPERATING_MODE(void);
+inline void CAN_TX_CAN_FREQ(void);
+inline void CAN_TX_CONTROL_MODE(void);
+inline void CAN_TX_JOINT_ENC_DIR(void);
+inline void CAN_TX_VALVE_DIR(void);
+inline void CAN_TX_VALVE_ENC_DIR(void);
+inline void CAN_TX_VOLTAGE_SUPPLY(void);
+inline void CAN_TX_VOLTAGE_VALVE(void);
+inline void CAN_TX_PID_GAIN(int t_type);
+inline void CAN_TX_VALVE_DEADZONE(void);
+inline void CAN_TX_ENC_PULSE_PER_POSITION(void);
+inline void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void);
+inline void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void);
+inline void CAN_TX_HOMEPOS_OFFSET(void);
+
+// Sensor & State Transmission
+inline void CAN_TX_POSITION(long t_pos, long t_vel);
+inline void CAN_TX_TORQUE(int16_t t_torque);
+inline void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b);
+inline void CAN_TX_PWM(int16_t t_pwm);
+inline void CAN_TX_VALVE_POSITION(int16_t t_valve_pos);
+
+// CAN Receive Functions
+void ReadCMD();
+void CAN_RX_HANDLER();
+
+#endif