Kim GiJeong
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HydraulicControlBoard_LIGHT_GJ
eeprom_test
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function_CAN.h
00001 #ifndef _FUNCTION_CAN_H_ 00002 #define _FUNCTION_CAN_H_ 00003 00004 #include "mbed.h" 00005 00006 extern CAN can; 00007 extern CANMessage msg; 00008 00009 // INIT_CID 00010 #define INIT_CID_RX_CMD 100 00011 #define INIT_CID_RX_REF_POSITION 200 00012 #define INIT_CID_RX_REF_VALVE_POS 300 00013 #define INIT_CID_RX_REF_PWM 400 00014 00015 #define INIT_CID_TX_INFO 1100 00016 #define INIT_CID_TX_POSITION 1200 00017 #define INIT_CID_TX_TORQUE 1300 00018 #define INIT_CID_TX_PRES 1400 00019 #define INIT_CID_TX_VOUT 1500 00020 #define INIT_CID_TX_VALVE_POSITION 1600 00021 00022 00023 // CID_RX_CMD - RX CMD type 00024 #define CRX_ASK_INFO 0 00025 #define CRX_ASK_BNO 1 00026 #define CRX_SET_BNO 101 00027 #define CRX_ASK_OPERATING_MODE 2 00028 #define CRX_SET_OPERATING_MODE 102 00029 #define CRX_SET_ENC_ZERO 103 00030 #define CRX_SET_FET_ON 104 00031 #define CRX_SET_POS_TORQ_TRANS 105 00032 #define CRX_ASK_CAN_FREQ 6 00033 #define CRX_SET_CAN_FREQ 106 00034 #define CRX_ASK_CONTROL_MODE 7 00035 #define CRX_SET_CONTROL_MODE 107 00036 #define CRX_SET_DATA_REQUEST 108 00037 #define CRX_ASK_JOINT_ENC_DIR 9 00038 #define CRX_SET_JOINT_ENC_DIR 109 00039 #define CRX_ASK_VALVE_DIR 10 00040 #define CRX_SET_VALVE_DIR 110 00041 #define CRX_ASK_VALVE_ENC_DIR 11 00042 #define CRX_SET_VALVE_ENC_DIR 111 00043 #define CRX_ASK_VOLTAGE_SUPPLY 12 00044 #define CRX_SET_VOLTAGE_SUPPLY 112 00045 #define CRX_ASK_VOLTAGE_VALVE 13 00046 #define CRX_SET_VOLTAGE_VALVE 113 00047 #define CRX_SET_HOMEPOS 114 00048 #define CRX_ASK_PID_GAIN 20 00049 #define CRX_SET_PID_GAIN 120 00050 #define CRX_ASK_VALVE_DEADZONE 21 00051 #define CRX_SET_VALVE_DEADZONE 121 00052 #define CRX_ASK_VELOCITY_COMP_GAIN 22 00053 #define CRX_SET_VELOCITY_COMP_GAIN 122 00054 #define CRX_ASK_COMPLIANCE_GAIN 23 00055 #define CRX_SET_COMPLIANCE_GAIN 123 00056 #define CRX_ASK_VALVE_FF 25 00057 #define CRX_SET_VALVE_FF 125 00058 #define CRX_ASK_BULK_MODULUS 26 00059 #define CRX_SET_BULK_MODULUS 126 00060 #define CRX_ASK_CHAMBER_VOLUME 27 00061 #define CRX_SET_CHAMBER_VOLUME 127 00062 #define CRX_ASK_PISTON_AREA 28 00063 #define CRX_SET_PISTON_AREA 128 00064 #define CRX_ASK_PRES 29 00065 #define CRX_SET_PRES 129 00066 #define CRX_ASK_ENC_LIMIT 30 00067 #define CRX_SET_ENC_LIMIT 130 00068 #define CRX_ASK_STROKE 31 00069 #define CRX_SET_STROKE 131 00070 #define CRX_ASK_VALVE_LIMIT 32 00071 #define CRX_SET_VALVE_LIMIT 132 00072 #define CRX_ASK_ENC_PULSE_PER_POSITION 33 00073 #define CRX_SET_ENC_PULSE_PER_POSITION 133 00074 #define CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE 34 00075 #define CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE 134 00076 #define CRX_ASK_PRES_SENSOR_PULSE_PER_PRES 35 00077 #define CRX_SET_PRES_SENSOR_PULSE_PER_PRES 135 00078 #define CRX_ASK_FRICTION 36 00079 #define CRX_SET_FRICTION 136 00080 #define CRX_ASK_VALVE_GAIN_PLUS 37 00081 #define CRX_SET_VALVE_GAIN_PLUS 137 00082 #define CRX_ASK_VALVE_GAIN_MINUS 38 00083 #define CRX_SET_VALVE_GAIN_MINUS 138 00084 #define CRX_LOW_REF 139 00085 #define CRX_ASK_HOMEPOS_OFFSET 40 00086 #define CRX_SET_HOMEPOS_OFFSET 140 00087 #define CRX_ASK_HOMEPOS_VALVE_OPENING 41 00088 #define CRX_SET_HOMEPOS_VALVE_OPENING 141 00089 #define CRX_ASK_DDV_VALVE_DEADZONE 42 00090 #define CRX_SET_DDV_VALVE_DEADZONE 142 00091 #define CRX_ASK_VALVE_PWM_VS_VALVE_POS 43 00092 #define CRX_ASK_VALVE_POS_VS_FLOWRATE 44 00093 #define CRX_ASK_VALVE_POS_NUM 45 00094 #define CRX_ASK_VALVE_MAX_MIN_POS 46 00095 #define CRX_SET_ERR_CLEAR 150 00096 #define CRX_SET_ROM 146 00097 #define CRX_SET_VALVE_CENTER_OFFSET 147 00098 #define CRX_SET_VALVE_DZ_MINUS_OFFSET 148 00099 #define CRX_SET_VALVE_DZ_PLUS_OFFSET 149 00100 #define CRX_SET_PID_GAIN_OPP 152 00101 #define CRX_DELAY_TEST 153 00102 #define CRX_JUMP_STATUS 255 00103 00104 // CID_TX_INFO - TX INFO type 00105 00106 #define CTX_SEND_INFO 0 00107 #define CTX_SEND_BNO 1 00108 #define CTX_SEND_OPERATING_MODE 2 00109 #define CTX_SEND_CAN_FREQ 6 00110 #define CTX_SEND_CONTROL_MODE 7 00111 #define CTX_SEND_JOINT_ENC_DIR 9 00112 #define CTX_SEND_VALVE_DIR 10 00113 #define CTX_SEND_VALVE_ENC_DIR 11 00114 #define CTX_SEND_VOLTAGE_SUPPLY 12 00115 #define CTX_SEND_VOLTAGE_VALVE 13 00116 #define CTX_SEND_PID_GAIN 20 00117 #define CTX_SEND_VALVE_DEADZONE 21 00118 #define CTX_SEND_VELOCITY_COMP_GAIN 22 00119 #define CTX_SEND_COMPLIANCE_GAIN 23 00120 #define CTX_SEND_VALVE_FF 25 00121 #define CTX_SEND_BULK_MODULUS 26 00122 #define CTX_SEND_CHAMBER_VOLUME 27 00123 #define CTX_SEND_PISTON_AREA 28 00124 #define CTX_SEND_PRES 29 00125 #define CTX_SEND_ENC_LIMIT 30 00126 #define CTX_SEND_STROKE 31 00127 #define CTX_SEND_VALVE_LIMIT 32 00128 #define CTX_SEND_ENC_PULSE_PER_POSITION 33 00129 #define CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE 34 00130 #define CTX_SEND_PRES_SENSOR_PULSE_PER_BAR 35 00131 #define CTX_SEND_FRICTION 36 00132 #define CTX_SEND_VALVE_GAIN_PLUS 37 00133 #define CTX_SEND_VALVE_GAIN_MINUS 38 00134 #define CTX_SEND_REFENCE_MODE 39 00135 #define CTX_SEND_HOMEPOS_OFFSET 40 00136 #define CTX_SEND_HOMEPOS_VALVE_OPENING 41 00137 #define CTX_SEND_DDV_VALVE_DEADZONE 42 00138 #define CTX_VALVE_PWM_VS_VALVE_POS 43 00139 #define CTX_VALVE_POS_VS_FLOWRATE 44 00140 #define CTX_VALVE_POS_NUM 45 00141 #define CTX_VALVE_MAX_MIN_POS 46 00142 00143 // Sensor & State Transmission 00144 void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq); 00145 void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb); 00146 //void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout); 00147 void CAN_TX_TORQUE(int16_t t_valve_pos); 00148 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b); 00149 void CAN_TX_PWM(int16_t t_pwm); 00150 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm); 00151 00152 // Information Transmission 00153 void CAN_TX_INFO(void); 00154 void CAN_TX_BNO(void); 00155 void CAN_TX_OPERATING_MODE(void); 00156 void CAN_TX_CAN_FREQ(void); 00157 void CAN_TX_CONTROL_MODE(void); 00158 void CAN_TX_JOINT_ENC_DIR(void); 00159 void CAN_TX_VALVE_DIR(void); 00160 void CAN_TX_VALVE_ENC_DIR(void); 00161 void CAN_TX_VOLTAGE_SUPPLY(void); 00162 void CAN_TX_VOLTAGE_VALVE(void); 00163 void CAN_TX_PID_GAIN(int t_type); 00164 void CAN_TX_VALVE_DEADZONE(void); 00165 void CAN_TX_VELOCITY_COMP_GAIN(void); 00166 void CAN_TX_COMPLIANCE_GAIN(void); 00167 void CAN_TX_VALVE_FF(void); 00168 void CAN_TX_BULK_MODULUS(void); 00169 void CAN_TX_CHAMBER_VOLUME(void); 00170 void CAN_TX_PISTON_AREA(void); 00171 void CAN_TX_PRES_A_AND_B(void); 00172 void CAN_TX_ENC_LIMIT(void); 00173 void CAN_TX_STROKE(void); 00174 void CAN_TX_VALVE_LIMIT(void); 00175 void CAN_TX_ENC_PULSE_PER_POSITION(void); 00176 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void); 00177 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void); 00178 void CAN_TX_FRICTION(void); 00179 void CAN_TX_VALVE_GAIN_PLUS(void); 00180 void CAN_TX_VALVE_GAIN_MINUS(void); 00181 void CAN_TX_REFENCE_MODE(void); 00182 void CAN_TX_HOMEPOS_OFFSET(void); 00183 void CAN_TX_HOMPOS_VALVE_OPENING(void); 00184 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex); 00185 void CAN_TX_DDV_VALVE_DEADZONE(void); 00186 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex); 00187 void CAN_TX_VALVE_POS_NUM(void); 00188 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void); 00189 00190 class State 00191 { 00192 public: 00193 float sen; 00194 float ref; 00195 float ref_old; 00196 float ref_diff; 00197 float ref_home_pos; 00198 float err; 00199 float err_int; 00200 float err_old; 00201 float err_diff; 00202 float err_sum; 00203 public: 00204 State(){ 00205 sen = 0.0f; 00206 ref = 0.0f; 00207 ref_old = 0.0f; 00208 ref_diff = 0.0f; 00209 ref_home_pos = 0.0f; 00210 err = 0.0f; 00211 err_int = 0.0f; 00212 err_old = 0.0f; 00213 err_diff = 0.0f; 00214 } 00215 }; 00216 00217 extern State pos; 00218 extern State vel; 00219 extern State Vout; 00220 extern State torq; 00221 extern State pres_A; 00222 extern State pres_B; 00223 extern State cur; 00224 extern State valve_pos; 00225 00226 extern State INIT_Vout; 00227 extern State INIT_Valve_Pos; 00228 extern State INIT_Pos; 00229 extern State INIT_torq; 00230 00231 // CAN Receive Functions 00232 void ReadCMD(); 00233 void CAN_RX_HANDLER(); 00234 void CAN_ID_INIT(void); 00235 00236 extern int ID_index_array[50]; 00237 00238 #endif 00239 00240 00241 00242
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