Sungwoo Kim
/
HydraulicControlBoard_LIGHT
For LIGHT
CAN/function_CAN.h
- Committer:
- jobuuu
- Date:
- 2019-08-20
- Revision:
- 2:a1c0a37df760
- Child:
- 4:58c8081de776
File content as of revision 2:a1c0a37df760:
#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