Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

CAN/function_CAN.h@7:e9086c72bb22, 2019-08-20 (annotated)

Committer:
jobuuu
Date:
Tue Aug 20 12:27:19 2019 +0000
Revision:
7:e9086c72bb22
Parent:
4:58c8081de776
Child:
11:82d8768d7351
Updated : 20190820;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jobuuu 2:a1c0a37df760 1 #ifndef _FUNCTION_CAN_H_
jobuuu 2:a1c0a37df760 2 #define _FUNCTION_CAN_H_
jobuuu 2:a1c0a37df760 3
jobuuu 2:a1c0a37df760 4 #include "mbed.h"
jobuuu 2:a1c0a37df760 5
jobuuu 7:e9086c72bb22 6 extern CAN can;
jobuuu 7:e9086c72bb22 7 extern CANMessage msg;
jobuuu 7:e9086c72bb22 8
jobuuu 2:a1c0a37df760 9 // CID_RX_CMD - RX CMD type
jobuuu 2:a1c0a37df760 10 #define CRX_ASK_INFO 0
jobuuu 2:a1c0a37df760 11 #define CRX_ASK_BNO 1
jobuuu 2:a1c0a37df760 12 #define CRX_SET_BNO 101
jobuuu 2:a1c0a37df760 13 #define CRX_ASK_OPERATING_MODE 2
jobuuu 2:a1c0a37df760 14 #define CRX_SET_OPERATING_MODE 102
jobuuu 2:a1c0a37df760 15 #define CRX_SET_ENC_ZERO 103
jobuuu 2:a1c0a37df760 16 #define CRX_SET_FET_ON 104
jobuuu 2:a1c0a37df760 17 #define CRX_SET_REF_UPDATE_ENABLE 105
jobuuu 2:a1c0a37df760 18 #define CRX_ASK_CAN_FREQ 6
jobuuu 2:a1c0a37df760 19 #define CRX_SET_CAN_FREQ 106
jobuuu 2:a1c0a37df760 20 #define CRX_ASK_CONTROL_MODE 7
jobuuu 2:a1c0a37df760 21 #define CRX_SET_CONTROL_MODE 107
jobuuu 2:a1c0a37df760 22 #define CRX_SET_DATA_REQUEST 108
jobuuu 2:a1c0a37df760 23 #define CRX_ASK_JOINT_ENC_DIR 9
jobuuu 2:a1c0a37df760 24 #define CRX_SET_JOINT_ENC_DIR 109
jobuuu 2:a1c0a37df760 25 #define CRX_ASK_VALVE_DIR 10
jobuuu 2:a1c0a37df760 26 #define CRX_SET_VALVE_DIR 110
jobuuu 2:a1c0a37df760 27 #define CRX_ASK_VALVE_ENC_DIR 11
jobuuu 2:a1c0a37df760 28 #define CRX_SET_VALVE_ENC_DIR 111
jobuuu 2:a1c0a37df760 29 #define CRX_ASK_VOLTAGE_SUPPLY 12
jobuuu 2:a1c0a37df760 30 #define CRX_SET_VOLTAGE_SUPPLY 112
jobuuu 2:a1c0a37df760 31 #define CRX_ASK_VOLTAGE_VALVE 13
jobuuu 2:a1c0a37df760 32 #define CRX_SET_VOLTAGE_VALVE 113
jobuuu 2:a1c0a37df760 33 #define CRX_SET_HOMEPOS 114
jobuuu 2:a1c0a37df760 34 #define CRX_ASK_PID_GAIN 20
jobuuu 2:a1c0a37df760 35 #define CRX_SET_PID_GAIN 120
jobuuu 2:a1c0a37df760 36 #define CRX_ASK_VALVE_DEADZONE 21
jobuuu 2:a1c0a37df760 37 #define CRX_SET_VALVE_DEADZONE 121
jobuuu 2:a1c0a37df760 38 #define CRX_ASK_VELOCITY_COMP_GAIN 22
jobuuu 2:a1c0a37df760 39 #define CRX_SET_VELOCITY_COMP_GAIN 122
jobuuu 2:a1c0a37df760 40 #define CRX_ASK_COMPLIANCE_GAIN 23
jobuuu 2:a1c0a37df760 41 #define CRX_SET_COMPLIANCE_GAIN 123
jobuuu 2:a1c0a37df760 42 #define CRX_ASK_VALVE_FF 25
jobuuu 2:a1c0a37df760 43 #define CRX_SET_VALVE_FF 125
jobuuu 2:a1c0a37df760 44 #define CRX_ASK_BULK_MODULUS 26
jobuuu 2:a1c0a37df760 45 #define CRX_SET_BULK_MODULUS 126
jobuuu 2:a1c0a37df760 46 #define CRX_ASK_CHAMBER_VOLUME 27
jobuuu 2:a1c0a37df760 47 #define CRX_SET_CHAMBER_VOLUME 127
jobuuu 2:a1c0a37df760 48 #define CRX_ASK_PISTON_AREA 28
jobuuu 2:a1c0a37df760 49 #define CRX_SET_PISTON_AREA 128
jobuuu 2:a1c0a37df760 50 #define CRX_ASK_PRES 29
jobuuu 2:a1c0a37df760 51 #define CRX_SET_PRES 129
jobuuu 2:a1c0a37df760 52 #define CRX_ASK_ENC_LIMIT 30
jobuuu 2:a1c0a37df760 53 #define CRX_SET_ENC_LIMIT 130
jobuuu 2:a1c0a37df760 54 #define CRX_ASK_STROKE 31
jobuuu 2:a1c0a37df760 55 #define CRX_SET_STROKE 131
jobuuu 2:a1c0a37df760 56 #define CRX_ASK_VALVE_LIMIT 32
jobuuu 2:a1c0a37df760 57 #define CRX_SET_VALVE_LIMIT 132
jobuuu 2:a1c0a37df760 58 #define CRX_ASK_ENC_PULSE_PER_POSITION 33
jobuuu 2:a1c0a37df760 59 #define CRX_SET_ENC_PULSE_PER_POSITION 133
jobuuu 2:a1c0a37df760 60 #define CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE 34
jobuuu 2:a1c0a37df760 61 #define CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE 134
jobuuu 2:a1c0a37df760 62 #define CRX_ASK_PRES_SENSOR_PULSE_PER_PRES 35
jobuuu 2:a1c0a37df760 63 #define CRX_SET_PRES_SENSOR_PULSE_PER_PRES 135
jobuuu 2:a1c0a37df760 64 #define CRX_ASK_FRICTION 36
jobuuu 2:a1c0a37df760 65 #define CRX_SET_FRICTION 136
jobuuu 2:a1c0a37df760 66 #define CRX_ASK_VALVE_GAIN_PLUS 37
jobuuu 2:a1c0a37df760 67 #define CRX_SET_VALVE_GAIN_PLUS 137
jobuuu 2:a1c0a37df760 68 #define CRX_ASK_VALVE_GAIN_MINUS 38
jobuuu 2:a1c0a37df760 69 #define CRX_SET_VALVE_GAIN_MINUS 138
jobuuu 2:a1c0a37df760 70 #define CRX_LOW_REF 139
jobuuu 2:a1c0a37df760 71 #define CRX_ASK_HOMEPOS_OFFSET 40
jobuuu 2:a1c0a37df760 72 #define CRX_SET_HOMEPOS_OFFSET 140
jobuuu 2:a1c0a37df760 73 #define CRX_ASK_HOMEPOS_VALVE_OPENING 41
jobuuu 2:a1c0a37df760 74 #define CRX_SET_HOMEPOS_VALVE_OPENING 141
jobuuu 2:a1c0a37df760 75 #define CRX_SET_ERR_CLEAR 150
jobuuu 2:a1c0a37df760 76 #define CRX_JUMP_STATUS 255
jobuuu 2:a1c0a37df760 77
jobuuu 7:e9086c72bb22 78 // CID_TX_INFO - TX INFO type
jobuuu 7:e9086c72bb22 79
jobuuu 7:e9086c72bb22 80 #define CTX_SEND_INFO 0
jobuuu 7:e9086c72bb22 81 #define CTX_SEND_BNO 1
jobuuu 7:e9086c72bb22 82 #define CTX_SEND_OPERATING_MODE 2
jobuuu 7:e9086c72bb22 83 #define CTX_SEND_CAN_FREQ 6
jobuuu 7:e9086c72bb22 84 #define CTX_SEND_CONTROL_MODE 7
jobuuu 7:e9086c72bb22 85 #define CTX_SEND_JOINT_ENC_DIR 9
jobuuu 7:e9086c72bb22 86 #define CTX_SEND_VALVE_DIR 10
jobuuu 7:e9086c72bb22 87 #define CTX_SEND_VALVE_ENC_DIR 11
jobuuu 7:e9086c72bb22 88 #define CTX_SEND_VOLTAGE_SUPPLY 12
jobuuu 7:e9086c72bb22 89 #define CTX_SEND_VOLTAGE_VALVE 13
jobuuu 7:e9086c72bb22 90 #define CTX_SEND_PID_GAIN 20
jobuuu 7:e9086c72bb22 91 #define CTX_SEND_VALVE_DEADZONE 21
jobuuu 7:e9086c72bb22 92 #define CTX_SEND_VELOCITY_COMP_GAIN 22
jobuuu 7:e9086c72bb22 93 #define CTX_SEND_COMPLIANCE_GAIN 23
jobuuu 7:e9086c72bb22 94 #define CTX_SEND_VALVE_CNETER 24
jobuuu 7:e9086c72bb22 95 #define CTX_SEND_VALVE_FF 25
jobuuu 7:e9086c72bb22 96 #define CTX_SEND_BULK_MODULUS 26
jobuuu 7:e9086c72bb22 97 #define CTX_SEND_CHAMBER_VOLUME 27
jobuuu 7:e9086c72bb22 98 #define CTX_SEND_PISTON_AREA 28
jobuuu 7:e9086c72bb22 99 #define CTX_SEND_PRES 29
jobuuu 7:e9086c72bb22 100 #define CTX_SEND_ENC_LIMIT 30
jobuuu 7:e9086c72bb22 101 #define CTX_SEND_STROKE 31
jobuuu 7:e9086c72bb22 102 #define CTX_SEND_VALVE_LIMIT 32
jobuuu 7:e9086c72bb22 103 #define CTX_SEND_ENC_PULSE_PER_POSITION 33
jobuuu 7:e9086c72bb22 104 #define CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE 34
jobuuu 7:e9086c72bb22 105 #define CTX_SEND_PRES_SENSOR_PULSE_PER_BAR 35
jobuuu 7:e9086c72bb22 106 #define CTX_SEND_FRICTION 36
jobuuu 7:e9086c72bb22 107 #define CTX_SEND_VALVE_GAIN_PLUS 37
jobuuu 7:e9086c72bb22 108 #define CTX_SEND_VALVE_GAIN_MINUS 38
jobuuu 7:e9086c72bb22 109 #define CTX_SEND_REFENCE_MODE 39
jobuuu 7:e9086c72bb22 110 #define CTX_SEND_HOMEPOS_OFFSET 40
jobuuu 7:e9086c72bb22 111 #define CTX_SEND_HOMEPOS_VALVE_OPENING 41
jobuuu 7:e9086c72bb22 112
jobuuu 2:a1c0a37df760 113 // Information Transmission
jobuuu 4:58c8081de776 114 //inline void CAN_TX_INFO(void);
jobuuu 4:58c8081de776 115 //inline void CAN_TX_BNO(void);
jobuuu 4:58c8081de776 116 //inline void CAN_TX_OPERATING_MODE(void);
jobuuu 4:58c8081de776 117 //inline void CAN_TX_CAN_FREQ(void);
jobuuu 4:58c8081de776 118 //inline void CAN_TX_CONTROL_MODE(void);
jobuuu 4:58c8081de776 119 //inline void CAN_TX_JOINT_ENC_DIR(void);
jobuuu 4:58c8081de776 120 //inline void CAN_TX_VALVE_DIR(void);
jobuuu 4:58c8081de776 121 //inline void CAN_TX_VALVE_ENC_DIR(void);
jobuuu 4:58c8081de776 122 //inline void CAN_TX_VOLTAGE_SUPPLY(void);
jobuuu 4:58c8081de776 123 //inline void CAN_TX_VOLTAGE_VALVE(void);
jobuuu 4:58c8081de776 124 //inline void CAN_TX_PID_GAIN(int t_type);
jobuuu 4:58c8081de776 125 //inline void CAN_TX_VALVE_DEADZONE(void);
jobuuu 4:58c8081de776 126 //inline void CAN_TX_ENC_PULSE_PER_POSITION(void);
jobuuu 4:58c8081de776 127 //inline void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void);
jobuuu 4:58c8081de776 128 //inline void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void);
jobuuu 4:58c8081de776 129 //inline void CAN_TX_HOMEPOS_OFFSET(void);
jobuuu 2:a1c0a37df760 130
jobuuu 2:a1c0a37df760 131 // Sensor & State Transmission
jobuuu 2:a1c0a37df760 132 inline void CAN_TX_POSITION(long t_pos, long t_vel);
jobuuu 2:a1c0a37df760 133 inline void CAN_TX_TORQUE(int16_t t_torque);
jobuuu 2:a1c0a37df760 134 inline void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b);
jobuuu 2:a1c0a37df760 135 inline void CAN_TX_PWM(int16_t t_pwm);
jobuuu 2:a1c0a37df760 136 inline void CAN_TX_VALVE_POSITION(int16_t t_valve_pos);
jobuuu 2:a1c0a37df760 137
jobuuu 7:e9086c72bb22 138 // Board Information Variables
jobuuu 7:e9086c72bb22 139 extern int BNO;
jobuuu 7:e9086c72bb22 140 extern int CONTROL_MODE;
jobuuu 7:e9086c72bb22 141 extern double P_GAIN_JOINT_POSITION;
jobuuu 7:e9086c72bb22 142 extern double I_GAIN_JOINT_POSITION;
jobuuu 7:e9086c72bb22 143 extern double D_GAIN_JOINT_POSITION;
jobuuu 7:e9086c72bb22 144 extern double P_GAIN_JOINT_TORQUE;
jobuuu 7:e9086c72bb22 145 extern double I_GAIN_JOINT_TORQUE;
jobuuu 7:e9086c72bb22 146 extern double D_GAIN_JOINT_TORQUE;
jobuuu 7:e9086c72bb22 147
jobuuu 7:e9086c72bb22 148 class State
jobuuu 7:e9086c72bb22 149 {
jobuuu 7:e9086c72bb22 150 public:
jobuuu 7:e9086c72bb22 151 double sen;
jobuuu 7:e9086c72bb22 152 double ref;
jobuuu 7:e9086c72bb22 153 double ref_old;
jobuuu 7:e9086c72bb22 154 double ref_diff;
jobuuu 7:e9086c72bb22 155 double err;
jobuuu 7:e9086c72bb22 156 double err_int;
jobuuu 7:e9086c72bb22 157 double err_old;
jobuuu 7:e9086c72bb22 158 double err_diff;
jobuuu 7:e9086c72bb22 159 public:
jobuuu 7:e9086c72bb22 160 State(){
jobuuu 7:e9086c72bb22 161 sen = 0.0;
jobuuu 7:e9086c72bb22 162 ref = 0.0;
jobuuu 7:e9086c72bb22 163 ref_old = 0.0;
jobuuu 7:e9086c72bb22 164 ref_diff = 0.0;
jobuuu 7:e9086c72bb22 165 err = 0.0;
jobuuu 7:e9086c72bb22 166 err_int = 0.0;
jobuuu 7:e9086c72bb22 167 err_old = 0.0;
jobuuu 7:e9086c72bb22 168 err_diff = 0.0;
jobuuu 7:e9086c72bb22 169 }
jobuuu 7:e9086c72bb22 170 };
jobuuu 7:e9086c72bb22 171
jobuuu 7:e9086c72bb22 172 extern State pos;
jobuuu 7:e9086c72bb22 173 extern State vel;
jobuuu 7:e9086c72bb22 174 extern State Vout;
jobuuu 7:e9086c72bb22 175 extern State torq;
jobuuu 7:e9086c72bb22 176 extern State pres_A;
jobuuu 7:e9086c72bb22 177 extern State pres_B;
jobuuu 7:e9086c72bb22 178 extern State cur;
jobuuu 7:e9086c72bb22 179
jobuuu 2:a1c0a37df760 180 // CAN Receive Functions
jobuuu 2:a1c0a37df760 181 void ReadCMD();
jobuuu 2:a1c0a37df760 182 void CAN_RX_HANDLER();
jobuuu 2:a1c0a37df760 183
jobuuu 2:a1c0a37df760 184 #endif