Diff: CAN/CAN.h

Revision:

5:6a95726e45b0

Child:

8:95a914f962bd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN/CAN.h	Tue Oct 08 04:35:23 2019 +0000
@@ -0,0 +1,41 @@
+#ifndef _CAN_H
+#define _CAN_H
+
+
+// 头文件
+#include "mbed.h"
+#include "math_ops.h"
+#include "leg_message.h"
+#include "used_leg_message.h"
+
+
+// 宏定义
+#define CAN_ID  0x01                                                            // Master CAN ID
+
+#define P_MIN   -12.5f                                                          // Value Limits
+#define P_MAX   12.5f
+#define V_MIN   -45.0f
+#define V_MAX   45.0f
+#define KP_MIN  0.0f
+#define KP_MAX  800.0f
+#define KD_MIN  0.0f
+#define KD_MAX  100.0f
+#define T_MIN   -18.0f
+#define T_MAX   18.0f                                                           // Value Limits
+
+
+// 对象外部申明
+extern CAN pf_can, df_can;                                                      //设备的外部申明
+extern CANMessage pf_rxMsg, df_rxMsg;                                           // 主控收到的CAN消息
+extern CANMessage PF_can, DF_can;                                               // 主控发送的CAN消息
+
+
+// 函数外部申明
+void pack_cmd(CANMessage * msg, joint_control joint);
+void PackAll();
+void WriteAll();
+void unpack_reply(CANMessage msg, ankle_state * ankle);
+
+
+#endif
+