Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2
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SPI_EEP_ENC.h
00001 #ifndef _SPI_EEP_ENC_H_ 00002 #define _SPI_EEP_ENC_H_ 00003 00004 #include "mbed.h" 00005 00006 00007 void spi_eeprom_ready(void); 00008 void spi_eeprom_write(unsigned short add, unsigned int data); 00009 unsigned int spi_eeprom_read(unsigned short add); 00010 void spi_eeprom_call_data(void); 00011 00012 void spi_enc_set_clear(void); 00013 void spi_enc_set_init(void); 00014 int spi_enc_read(void); 00015 00016 void SPI_VREF_DAC_WRITE_CHANNEL(unsigned int channel, unsigned int mode, unsigned int value); 00017 void SPI_VREF_DAC_WRITE(float VA, float VB, float VC, float VD); 00018 void SPI_VREF_DAC_SET_ZERO(void); 00019 00020 /******************************************************************************* 00021 * ROM DATA ADDRESS ID 00022 ******************************************************************************/ 00023 00024 #define RID_BNO 0 00025 #define RID_OPERATING_MODE 1 00026 #define RID_CAN_FREQ 2 00027 #define RID_JOINT_ENC_DIR 3 00028 #define RID_VALVE_DIR 4 00029 #define RID_VALVE_ENC_DIR 5 00030 #define RID_VOLATGE_SUPPLY 6 00031 #define RID_VOLTAGE_VALVE 7 00032 00033 #define RID_P_GAIN_VALVE_POSITION 8 00034 #define RID_I_GAIN_VALVE_POSITION 9 00035 #define RID_D_GAIN_VALVE_POSITION 10 00036 00037 #define RID_P_GAIN_JOINT_POSITION 11 00038 #define RID_I_GAIN_JOINT_POSITION 12 00039 #define RID_D_GAIN_JOINT_POSITION 13 00040 00041 #define RID_P_GAIN_JOINT_TORQUE 14 00042 #define RID_I_GAIN_JOINT_TORQUE 15 00043 #define RID_D_GAIN_JOINT_TORQUE 16 00044 00045 #define RID_VALVE_DEADZONE_PLUS 17 00046 #define RID_VALVE_DEADZONE_MINUS 18 00047 00048 #define RID_VELOCITY_COMP_GAIN 19 00049 //#define RID_COMPLIANCE_GAIN 20 00050 00051 #define RID_VALVE_CNETER 21 00052 00053 #define RID_VALVE_FF 22 00054 00055 #define RID_BULK_MODULUS 23 00056 00057 #define RID_CHAMBER_VOLUME_A 24 00058 #define RID_CHAMBER_VOLUME_B 25 00059 00060 #define RID_PISTON_AREA_A 26 00061 #define RID_PISTON_AREA_B 27 00062 00063 #define RID_PRES_SUPPLY 28 00064 #define RID_PRES_RETURN 29 00065 00066 #define RID_ENC_LIMIT_PLUS 30 00067 #define RID_ENC_LIMIT_MINUS 31 00068 00069 #define RID_STROKE 32 00070 00071 //#define RID_VALVE_LIMIT_PLUS 34 00072 //#define RID_VALVE_LIMIT_MINUS 35 00073 00074 #define RID_ENC_PULSE_PER_POSITION 36 00075 #define RID_TORQUE_SENSOR_PULSE_PER_TORQUE 37 00076 #define RID_PRES_SENSOR_A_PULSE_PER_BAR 38 00077 #define RID_PRES_SENSOR_B_PULSE_PER_BAR 39 00078 00079 #define RID_FRICTION 40 00080 #define RID_HOMEPOS_OFFSET 41 00081 #define RID_HOMEPOS_VALVE_OPENING 42 00082 00083 #define RID_FORCE_SENSOR_VREF 45 00084 00085 #define RID_PRES_A_SENSOR_VREF 50 00086 #define RID_PRES_B_SENSOR_VREF 51 00087 00088 #define RID_VALVE_MAX_POS 52 00089 #define RID_VALVE_MIN_POS 53 00090 00091 #define RID_VALVE_POS_NUM 54 00092 //#define RID_DDV_CENTER 55 00093 #define RID_VALVE_CENTER_OFFSET 56 00094 #define RID_VALVE_ELECTRIC_CENTER 59 00095 00096 #define RID_VALVE_GAIN_PLUS_1 60 00097 #define RID_VALVE_GAIN_MINUS_1 61 00098 #define RID_VALVE_GAIN_PLUS_2 62 00099 #define RID_VALVE_GAIN_MINUS_2 63 00100 #define RID_VALVE_GAIN_PLUS_3 64 00101 #define RID_VALVE_GAIN_MINUS_3 65 00102 #define RID_VALVE_GAIN_PLUS_4 66 00103 #define RID_VALVE_GAIN_MINUS_4 67 00104 #define RID_VALVE_GAIN_PLUS_5 68 00105 #define RID_VALVE_GAIN_MINUS_5 69 00106 00107 #define RID_VALVE_POS_VS_PWM_0 70 00108 #define RID_VALVE_POS_VS_PWM_1 71 00109 #define RID_VALVE_POS_VS_PWM_2 72 00110 #define RID_VALVE_POS_VS_PWM_3 73 00111 #define RID_VALVE_POS_VS_PWM_4 74 00112 #define RID_VALVE_POS_VS_PWM_5 75 00113 #define RID_VALVE_POS_VS_PWM_6 76 00114 #define RID_VALVE_POS_VS_PWM_7 77 00115 #define RID_VALVE_POS_VS_PWM_8 78 00116 #define RID_VALVE_POS_VS_PWM_9 79 00117 #define RID_VALVE_POS_VS_PWM_10 80 00118 #define RID_VALVE_POS_VS_PWM_11 81 00119 #define RID_VALVE_POS_VS_PWM_12 82 00120 #define RID_VALVE_POS_VS_PWM_13 83 00121 #define RID_VALVE_POS_VS_PWM_14 84 00122 #define RID_VALVE_POS_VS_PWM_15 85 00123 #define RID_VALVE_POS_VS_PWM_16 86 00124 #define RID_VALVE_POS_VS_PWM_17 87 00125 #define RID_VALVE_POS_VS_PWM_18 88 00126 #define RID_VALVE_POS_VS_PWM_19 89 00127 #define RID_VALVE_POS_VS_PWM_20 90 00128 #define RID_VALVE_POS_VS_PWM_21 91 00129 #define RID_VALVE_POS_VS_PWM_22 92 00130 #define RID_VALVE_POS_VS_PWM_23 93 00131 #define RID_VALVE_POS_VS_PWM_24 94 00132 00133 #define RID_IS_FIRST 99 00134 00135 00136 #define RID_VALVE_POS_VS_FLOWRATE_0 100 00137 #define RID_VALVE_POS_VS_FLOWRATE_1 101 00138 #define RID_VALVE_POS_VS_FLOWRATE_2 102 00139 #define RID_VALVE_POS_VS_FLOWRATE_3 103 00140 #define RID_VALVE_POS_VS_FLOWRATE_4 104 00141 #define RID_VALVE_POS_VS_FLOWRATE_5 105 00142 #define RID_VALVE_POS_VS_FLOWRATE_6 106 00143 #define RID_VALVE_POS_VS_FLOWRATE_7 107 00144 #define RID_VALVE_POS_VS_FLOWRATE_8 108 00145 #define RID_VALVE_POS_VS_FLOWRATE_9 109 00146 #define RID_VALVE_POS_VS_FLOWRATE_10 110 00147 #define RID_VALVE_POS_VS_FLOWRATE_11 111 00148 #define RID_VALVE_POS_VS_FLOWRATE_12 112 00149 #define RID_VALVE_POS_VS_FLOWRATE_13 113 00150 #define RID_VALVE_POS_VS_FLOWRATE_14 114 00151 #define RID_VALVE_POS_VS_FLOWRATE_15 115 00152 #define RID_VALVE_POS_VS_FLOWRATE_16 116 00153 #define RID_VALVE_POS_VS_FLOWRATE_17 117 00154 #define RID_VALVE_POS_VS_FLOWRATE_18 118 00155 #define RID_VALVE_POS_VS_FLOWRATE_19 119 00156 #define RID_VALVE_POS_VS_FLOWRATE_20 120 00157 00158 #define RID_VALVE_POS_VS_FLOWRATE_0_1 200 00159 #define RID_VALVE_POS_VS_FLOWRATE_1_1 201 00160 #define RID_VALVE_POS_VS_FLOWRATE_2_1 202 00161 #define RID_VALVE_POS_VS_FLOWRATE_3_1 203 00162 #define RID_VALVE_POS_VS_FLOWRATE_4_1 204 00163 #define RID_VALVE_POS_VS_FLOWRATE_5_1 205 00164 #define RID_VALVE_POS_VS_FLOWRATE_6_1 206 00165 #define RID_VALVE_POS_VS_FLOWRATE_7_1 207 00166 #define RID_VALVE_POS_VS_FLOWRATE_8_1 208 00167 #define RID_VALVE_POS_VS_FLOWRATE_9_1 209 00168 #define RID_VALVE_POS_VS_FLOWRATE_10_1 210 00169 #define RID_VALVE_POS_VS_FLOWRATE_11_1 211 00170 #define RID_VALVE_POS_VS_FLOWRATE_12_1 212 00171 #define RID_VALVE_POS_VS_FLOWRATE_13_1 213 00172 #define RID_VALVE_POS_VS_FLOWRATE_14_1 214 00173 #define RID_VALVE_POS_VS_FLOWRATE_15_1 215 00174 #define RID_VALVE_POS_VS_FLOWRATE_16_1 216 00175 #define RID_VALVE_POS_VS_FLOWRATE_17_1 217 00176 #define RID_VALVE_POS_VS_FLOWRATE_18_1 218 00177 #define RID_VALVE_POS_VS_FLOWRATE_19_1 219 00178 #define RID_VALVE_POS_VS_FLOWRATE_20_1 220 00179 00180 #define RID_SENSING_MODE 221 00181 #define RID_CURRENT_CONTROL_MODE 222 00182 #define RID_FLAG_VALVE_DEADZONE 223 00183 00184 00185 #define RID_K_SPRING 57 00186 #define RID_D_DAMPER 58 00187 00188 #endif //_SPI_H_
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