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distribution-201229
CAN/function_CAN.h
- Committer:
- Lightvalve
- Date:
- 2020-12-22
- Revision:
- 207:c70c5a9f17dd
- Parent:
- 192:637092202815
File content as of revision 207:c70c5a9f17dd:
#ifndef _FUNCTION_CAN_H_ #define _FUNCTION_CAN_H_ #include "mbed.h" extern CAN can; extern CANMessage msg; // INIT_CID #define INIT_CID_RX_CMD 100 #define INIT_CID_RX_REF_POSITION 200 #define INIT_CID_RX_REF_VALVE_POS 300 #define INIT_CID_RX_REF_PWM 400 #define INIT_CID_TX_INFO 1100 #define INIT_CID_TX_POSITION 1200 #define INIT_CID_TX_TORQUE 1300 #define INIT_CID_TX_PRES 1400 #define INIT_CID_TX_VOUT 1500 #define INIT_CID_TX_VALVE_POSITION 1600 // 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_POS_TORQ_TRANS 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_ASK_DDV_VALVE_DEADZONE 42 #define CRX_SET_DDV_VALVE_DEADZONE 142 #define CRX_ASK_VALVE_PWM_VS_VALVE_POS 43 #define CRX_ASK_VALVE_POS_VS_FLOWRATE 44 #define CRX_ASK_VALVE_POS_NUM 45 #define CRX_ASK_VALVE_MAX_MIN_POS 46 #define CRX_SET_ERR_CLEAR 150 #define CRX_SET_ROM 146 #define CRX_SET_VALVE_CENTER_OFFSET 147 #define CRX_SET_VALVE_DZ_MINUS_OFFSET 148 #define CRX_SET_VALVE_DZ_PLUS_OFFSET 149 #define CRX_SET_PID_GAIN_OPP 152 #define CRX_DELAY_TEST 153 #define CRX_SET_NN_CONTROL_FLAG 154 #define CRX_SET_FREQ_TEST 155 #define CRX_ASK_BUFFER 156 #define CRX_SET_STEP_TEST 157 #define CRX_SET_CHANGE_EVERY_REFERNCE 158 #define CRX_JUMP_STATUS 255 // CID_TX_INFO - TX INFO type #define CTX_SEND_INFO 0 #define CTX_SEND_BNO 1 #define CTX_SEND_OPERATING_MODE 2 #define CTX_SEND_CAN_FREQ 6 #define CTX_SEND_CONTROL_MODE 7 #define CTX_SEND_JOINT_ENC_DIR 9 #define CTX_SEND_VALVE_DIR 10 #define CTX_SEND_VALVE_ENC_DIR 11 #define CTX_SEND_VOLTAGE_SUPPLY 12 #define CTX_SEND_VOLTAGE_VALVE 13 #define CTX_SEND_PID_GAIN 20 #define CTX_SEND_VALVE_DEADZONE 21 #define CTX_SEND_VELOCITY_COMP_GAIN 22 #define CTX_SEND_COMPLIANCE_GAIN 23 #define CTX_SEND_VALVE_FF 25 #define CTX_SEND_BULK_MODULUS 26 #define CTX_SEND_CHAMBER_VOLUME 27 #define CTX_SEND_PISTON_AREA 28 #define CTX_SEND_PRES 29 #define CTX_SEND_ENC_LIMIT 30 #define CTX_SEND_STROKE 31 #define CTX_SEND_VALVE_LIMIT 32 #define CTX_SEND_ENC_PULSE_PER_POSITION 33 #define CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE 34 #define CTX_SEND_PRES_SENSOR_PULSE_PER_BAR 35 #define CTX_SEND_FRICTION 36 #define CTX_SEND_VALVE_GAIN_PLUS 37 #define CTX_SEND_VALVE_GAIN_MINUS 38 #define CTX_SEND_REFENCE_MODE 39 #define CTX_SEND_HOMEPOS_OFFSET 40 #define CTX_SEND_HOMEPOS_VALVE_OPENING 41 #define CTX_SEND_DDV_VALVE_DEADZONE 42 #define CTX_VALVE_PWM_VS_VALVE_POS 43 #define CTX_VALVE_POS_VS_FLOWRATE 44 #define CTX_VALVE_POS_NUM 45 #define CTX_VALVE_MAX_MIN_POS 46 #define CTX_SEND_BUFFER 156 // Sensor & State Transmission void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq); void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb); //void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout); void CAN_TX_TORQUE(int16_t t_valve_pos); void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b); void CAN_TX_PWM(int16_t t_pwm); void CAN_TX_VALVE_POSITION(int16_t t_valve_pos_1, int16_t t_valve_pos_2, int16_t t_ref_valve_pos, int16_t t_pwm); // Information Transmission void CAN_TX_INFO(void); void CAN_TX_BNO(void); void CAN_TX_OPERATING_MODE(void); void CAN_TX_CAN_FREQ(void); void CAN_TX_CONTROL_MODE(void); void CAN_TX_JOINT_ENC_DIR(void); void CAN_TX_VALVE_DIR(void); void CAN_TX_VALVE_ENC_DIR(void); void CAN_TX_VOLTAGE_SUPPLY(void); void CAN_TX_VOLTAGE_VALVE(void); void CAN_TX_PID_GAIN(int t_type); void CAN_TX_VALVE_DEADZONE(void); void CAN_TX_VELOCITY_COMP_GAIN(void); void CAN_TX_COMPLIANCE_GAIN(void); void CAN_TX_VALVE_FF(void); void CAN_TX_BULK_MODULUS(void); void CAN_TX_CHAMBER_VOLUME(void); void CAN_TX_PISTON_AREA(void); void CAN_TX_PRES_A_AND_B(void); void CAN_TX_ENC_LIMIT(void); void CAN_TX_STROKE(void); void CAN_TX_VALVE_LIMIT(void); void CAN_TX_ENC_PULSE_PER_POSITION(void); void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void); void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void); void CAN_TX_FRICTION(void); void CAN_TX_VALVE_GAIN_PLUS(void); void CAN_TX_VALVE_GAIN_MINUS(void); void CAN_TX_REFENCE_MODE(void); void CAN_TX_HOMEPOS_OFFSET(void); void CAN_TX_HOMPOS_VALVE_OPENING(void); void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex); void CAN_TX_DDV_VALVE_DEADZONE(void); void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex); void CAN_TX_VALVE_POS_NUM(void); void CAN_TX_DDV_VALVE_MAX_MIN_POS(void); void CAN_TX_BUFFER(int16_t t_cnt_buffer); class State { public: float sen; float ref; float ref_old; float ref_diff; float ref_home_pos; float err; float err_int; float err_old; float err_diff; float err_sum; public: State(){ sen = 0.0f; ref = 0.0f; ref_old = 0.0f; ref_diff = 0.0f; ref_home_pos = 0.0f; err = 0.0f; err_int = 0.0f; err_old = 0.0f; err_diff = 0.0f; } }; extern State pos; extern State vel; extern State Vout; extern State torq; extern State torq_dot; extern State pres_A; extern State pres_B; extern State cur; extern State valve_pos; extern State INIT_Vout; extern State INIT_Valve_Pos; extern State INIT_Pos; extern State INIT_torq; // CAN Receive Functions void ReadCMD(); void CAN_RX_HANDLER(); void CAN_ID_INIT(void); extern int ID_index_array[50]; #endif