Sungwoo Kim
/
HydraulicControlBoard_Base
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SPI_EEP_ENC/SPI_EEP_ENC.h
- Committer:
- Lightvalve
- Date:
- 2020-01-20
- Revision:
- 46:2694daea349b
- Parent:
- 32:4b8c0fedaf2c
- Child:
- 48:889798ff9329
File content as of revision 46:2694daea349b:
#ifndef _SPI_EEP_ENC_H_
#define _SPI_EEP_ENC_H_
#include "mbed.h"
//void spi_eeprom_ready(void);
//void spi_eeprom_write(unsigned short add, unsigned int data);
//unsigned int spi_eeprom_read(unsigned short add);
void spi_enc_set_clear(void);
void spi_enc_set_init(void);
int spi_enc_read(void);
void SPI_VREF_DAC_WRITE_CHANNEL(unsigned int channel, unsigned int mode, unsigned int value);
void SPI_VREF_DAC_WRITE(float VA, float VB, float VC, float VD);
void SPI_VREF_DAC_SET_ZERO(void);
/*******************************************************************************
* ROM DATA ADDRESS ID
******************************************************************************/
#define RID_BNO 0
#define RID_OPERATING_MODE 1
#define RID_CAN_FREQ 2
#define RID_JOINT_ENC_DIR 3
#define RID_VALVE_DIR 4
#define RID_VALVE_ENC_DIR 5
#define RID_VOLATGE_SUPPLY 6
#define RID_VOLTAGE_VALVE 7
#define RID_P_GAIN_VALVE_POSITION 8
#define RID_I_GAIN_VALVE_POSITION 9
#define RID_D_GAIN_VALVE_POSITION 10
#define RID_P_GAIN_JOINT_POSITION 11
#define RID_I_GAIN_JOINT_POSITION 12
#define RID_D_GAIN_JOINT_POSITION 13
#define RID_P_GAIN_JOINT_TORQUE 14
#define RID_I_GAIN_JOINT_TORQUE 15
#define RID_D_GAIN_JOINT_TORQUE 16
#define RID_VALVE_DEADZONE_PLUS 17
#define RID_VALVE_DEADZONE_MINUS 18
#define RID_VELOCITY_COMP_GAIN 19
#define RID_COMPLIANCE_GAIN 20
#define RID_VALVE_CNETER 21
#define RID_VALVE_FF 22
#define RID_BULK_MODULUS 23
#define RID_CHAMBER_VOLUME_A 24
#define RID_CHAMBER_VOLUME_B 25
#define RID_PISTON_AREA_A 26
#define RID_PISTON_AREA_B 27
#define RID_PRES_SUPPLY 28
#define RID_PRES_RETURN 29
#define RID_ENC_LIMIT_PLUS 30
#define RID_ENC_LIMIT_MINUS 31
#define RID_STROKE 32
#define RID_VALVE_LIMIT_PLUS 34
#define RID_VALVE_LIMIT_MINUS 35
#define RID_ENC_PULSE_PER_POSITION 36
#define RID_TORQUE_SENSOR_PULSE_PER_TORQUE 37
#define RID_PRES_SENSOR_A_PULSE_PER_BAR 38
#define RID_PRES_SENSOR_B_PULSE_PER_BAR 39
#define RID_FRICTION 40
#define RID_HOMEPOS_OFFSET 41
#define RID_HOMEPOS_VALVE_OPENING 42
#define RID_TORQUE_SENSOR_VREF 45
#define RID_PRES_A_SENSOR_VREF 50
#define RID_PRES_B_SENSOR_VREF 51
#define RID_VALVE_MAX_POS 52
#define RID_VALVE_MIN_POS 53
#define RID_VALVE_POS_NUM 54
#define RID_DDV_CENTER 55
#define RID_VALVE_CENTER_OFFSET 56
#define RID_VALVE_GAIN_PLUS_1 60
#define RID_VALVE_GAIN_MINUS_1 61
#define RID_VALVE_GAIN_PLUS_2 62
#define RID_VALVE_GAIN_MINUS_2 63
#define RID_VALVE_GAIN_PLUS_3 64
#define RID_VALVE_GAIN_MINUS_3 65
#define RID_VALVE_GAIN_PLUS_4 66
#define RID_VALVE_GAIN_MINUS_4 67
#define RID_VALVE_GAIN_PLUS_5 68
#define RID_VALVE_GAIN_MINUS_5 69
#define RID_VALVE_POS_VS_PWM_0 70
#define RID_VALVE_POS_VS_PWM_1 71
#define RID_VALVE_POS_VS_PWM_2 72
#define RID_VALVE_POS_VS_PWM_3 73
#define RID_VALVE_POS_VS_PWM_4 74
#define RID_VALVE_POS_VS_PWM_5 75
#define RID_VALVE_POS_VS_PWM_6 76
#define RID_VALVE_POS_VS_PWM_7 77
#define RID_VALVE_POS_VS_PWM_8 78
#define RID_VALVE_POS_VS_PWM_9 79
#define RID_VALVE_POS_VS_PWM_10 80
#define RID_VALVE_POS_VS_PWM_11 81
#define RID_VALVE_POS_VS_PWM_12 82
#define RID_VALVE_POS_VS_PWM_13 83
#define RID_VALVE_POS_VS_PWM_14 84
#define RID_VALVE_POS_VS_PWM_15 85
#define RID_VALVE_POS_VS_PWM_16 86
#define RID_VALVE_POS_VS_PWM_17 87
#define RID_VALVE_POS_VS_PWM_18 88
#define RID_VALVE_POS_VS_PWM_19 89
#define RID_VALVE_POS_VS_PWM_20 90
#define RID_VALVE_POS_VS_PWM_21 91
#define RID_VALVE_POS_VS_PWM_22 92
#define RID_VALVE_POS_VS_PWM_23 93
#define RID_VALVE_POS_VS_PWM_24 94
#define RID_IS_FIRST 99
#define RID_VALVE_POS_VS_FLOWRATE_0 100
#define RID_VALVE_POS_VS_FLOWRATE_1 101
#define RID_VALVE_POS_VS_FLOWRATE_2 102
#define RID_VALVE_POS_VS_FLOWRATE_3 103
#define RID_VALVE_POS_VS_FLOWRATE_4 104
#define RID_VALVE_POS_VS_FLOWRATE_5 105
#define RID_VALVE_POS_VS_FLOWRATE_6 106
#define RID_VALVE_POS_VS_FLOWRATE_7 107
#define RID_VALVE_POS_VS_FLOWRATE_8 108
#define RID_VALVE_POS_VS_FLOWRATE_9 109
#define RID_VALVE_POS_VS_FLOWRATE_10 110
#define RID_VALVE_POS_VS_FLOWRATE_11 111
#define RID_VALVE_POS_VS_FLOWRATE_12 112
#define RID_VALVE_POS_VS_FLOWRATE_13 113
#define RID_VALVE_POS_VS_FLOWRATE_14 114
#define RID_VALVE_POS_VS_FLOWRATE_15 115
#define RID_VALVE_POS_VS_FLOWRATE_16 116
#define RID_VALVE_POS_VS_FLOWRATE_17 117
#define RID_VALVE_POS_VS_FLOWRATE_18 118
#define RID_VALVE_POS_VS_FLOWRATE_19 119
#define RID_VALVE_POS_VS_FLOWRATE_20 120
#define RID_VALVE_POS_VS_FLOWRATE_0_1 200
#define RID_VALVE_POS_VS_FLOWRATE_1_1 201
#define RID_VALVE_POS_VS_FLOWRATE_2_1 202
#define RID_VALVE_POS_VS_FLOWRATE_3_1 203
#define RID_VALVE_POS_VS_FLOWRATE_4_1 204
#define RID_VALVE_POS_VS_FLOWRATE_5_1 205
#define RID_VALVE_POS_VS_FLOWRATE_6_1 206
#define RID_VALVE_POS_VS_FLOWRATE_7_1 207
#define RID_VALVE_POS_VS_FLOWRATE_8_1 208
#define RID_VALVE_POS_VS_FLOWRATE_9_1 209
#define RID_VALVE_POS_VS_FLOWRATE_10_1 210
#define RID_VALVE_POS_VS_FLOWRATE_11_1 211
#define RID_VALVE_POS_VS_FLOWRATE_12_1 212
#define RID_VALVE_POS_VS_FLOWRATE_13_1 213
#define RID_VALVE_POS_VS_FLOWRATE_14_1 214
#define RID_VALVE_POS_VS_FLOWRATE_15_1 215
#define RID_VALVE_POS_VS_FLOWRATE_16_1 216
#define RID_VALVE_POS_VS_FLOWRATE_17_1 217
#define RID_VALVE_POS_VS_FLOWRATE_18_1 218
#define RID_VALVE_POS_VS_FLOWRATE_19_1 219
#define RID_VALVE_POS_VS_FLOWRATE_20_1 220
#define RID_K_SPRING 230
#define RID_D_DAMPER 231
#endif //_SPI_H_