Sungwoo Kim
For LIGHT
Diff: SPI_EEP_ENC/SPI_EEP_ENC.h
- Revision:
- 11:82d8768d7351
- Parent:
- 0:51c43836c1d7
- Child:
- 16:903b5a4433b4
diff -r 83a6baa77a2e -r 82d8768d7351 SPI_EEP_ENC/SPI_EEP_ENC.h --- a/SPI_EEP_ENC/SPI_EEP_ENC.h Fri Aug 23 01:02:32 2019 +0000 +++ b/SPI_EEP_ENC/SPI_EEP_ENC.h Fri Aug 23 12:28:08 2019 +0000 @@ -12,4 +12,159 @@ 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(double VA, double VB, double VC, double 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_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_MAX_POS 90 +#define RID_VALVE_MIN_POS 91 + +#define RID_VALVE_POS_NUM 92 +#define RID_DDV_CNETER 93 + +#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 + #endif //_SPI_H_ \ No newline at end of file