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distribution-201229
Diff: CAN/function_CAN.h
- Revision:
- 11:82d8768d7351
- Parent:
- 7:e9086c72bb22
- Child:
- 12:6f2531038ea4
diff -r 83a6baa77a2e -r 82d8768d7351 CAN/function_CAN.h --- a/CAN/function_CAN.h Fri Aug 23 01:02:32 2019 +0000 +++ b/CAN/function_CAN.h Fri Aug 23 12:28:08 2019 +0000 @@ -6,6 +6,22 @@ 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_TORQUE 300 +#define INIT_CID_RX_REF_PRES_DIFF 400 +#define INIT_CID_RX_REF_VOUT 500 +#define INIT_CID_RX_REF_VALVE_POSITION 600 + +#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 @@ -72,6 +88,11 @@ #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_SET_ERR_CLEAR 150 #define CRX_JUMP_STATUS 255 @@ -109,41 +130,54 @@ #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 + +// Sensor & State Transmission +void CAN_TX_POSITION(long t_pos, long t_vel); +void CAN_TX_TORQUE(int16_t t_torque); +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); // 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); - -// Board Information Variables -extern int BNO; -extern int CONTROL_MODE; -extern double P_GAIN_JOINT_POSITION; -extern double I_GAIN_JOINT_POSITION; -extern double D_GAIN_JOINT_POSITION; -extern double P_GAIN_JOINT_TORQUE; -extern double I_GAIN_JOINT_TORQUE; -extern double D_GAIN_JOINT_TORQUE; +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(char canindex); +void CAN_TX_DDV_VALVE_DEADZONE(void); +void CAN_TX_VALVE_POS_VS_FLOWRATE(char canindex); +void CAN_TX_VALVE_POS_NUM(void); class State { @@ -180,5 +214,8 @@ // CAN Receive Functions void ReadCMD(); void CAN_RX_HANDLER(); +void CAN_ID_INIT(void); + +extern int ID_index_array[100]; #endif