Seunghoon Shin
/
HydraulicControlBoard_Start
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CAN/function_CAN.h
- Committer:
- Lightvalve
- Date:
- 2019-11-22
- Revision:
- 36:a46e63505ed8
- Parent:
- 33:91b17819ec30
- Child:
- 38:118df027d851
File content as of revision 36:a46e63505ed8:
#ifndef _FUNCTION_CAN_H_
#define _FUNCTION_CAN_H_
#include "mbed.h"
extern CAN can;
extern CANMessage msg;
// INIT_CID
#define INIT_CID_RX_CMD 100
#define INIT_CID_RX_REF_POSITION 200
#define INIT_CID_RX_REF_TORQUE 300
#define INIT_CID_RX_REF_PRES_DIFF 400
#define INIT_CID_RX_REF_VOUT 500
#define INIT_CID_RX_REF_VALVE_POSITION 600
#define INIT_CID_RX_REF_CURRENT 700
#define INIT_CID_TX_INFO 1100
#define INIT_CID_TX_POSITION 1200
#define INIT_CID_TX_TORQUE 1300
#define INIT_CID_TX_PRES 1400
#define INIT_CID_TX_VOUT 1500
#define INIT_CID_TX_VALVE_POSITION 1600
// 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_ASK_DDV_VALVE_DEADZONE 42
#define CRX_SET_DDV_VALVE_DEADZONE 142
#define CRX_ASK_VALVE_PWM_VS_VALVE_POS 43
#define CRX_ASK_VALVE_POS_VS_FLOWRATE 44
#define CRX_ASK_VALVE_POS_NUM 45
#define CRX_SET_ERR_CLEAR 150
#define CRX_SET_ROM 146
#define CRX_SET_VALVE_CENTER_OFFSET 147
#define CRX_SET_VALVE_DZ_MINUS_OFFSET 148
#define CRX_SET_VALVE_DZ_PLUS_OFFSET 149
#define CRX_SET_PID_GAIN_OPP 152
#define CRX_JUMP_STATUS 255
// CID_TX_INFO - TX INFO type
#define CTX_SEND_INFO 0
#define CTX_SEND_BNO 1
#define CTX_SEND_OPERATING_MODE 2
#define CTX_SEND_CAN_FREQ 6
#define CTX_SEND_CONTROL_MODE 7
#define CTX_SEND_JOINT_ENC_DIR 9
#define CTX_SEND_VALVE_DIR 10
#define CTX_SEND_VALVE_ENC_DIR 11
#define CTX_SEND_VOLTAGE_SUPPLY 12
#define CTX_SEND_VOLTAGE_VALVE 13
#define CTX_SEND_PID_GAIN 20
#define CTX_SEND_VALVE_DEADZONE 21
#define CTX_SEND_VELOCITY_COMP_GAIN 22
#define CTX_SEND_COMPLIANCE_GAIN 23
#define CTX_SEND_VALVE_CNETER 24
#define CTX_SEND_VALVE_FF 25
#define CTX_SEND_BULK_MODULUS 26
#define CTX_SEND_CHAMBER_VOLUME 27
#define CTX_SEND_PISTON_AREA 28
#define CTX_SEND_PRES 29
#define CTX_SEND_ENC_LIMIT 30
#define CTX_SEND_STROKE 31
#define CTX_SEND_VALVE_LIMIT 32
#define CTX_SEND_ENC_PULSE_PER_POSITION 33
#define CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE 34
#define CTX_SEND_PRES_SENSOR_PULSE_PER_BAR 35
#define CTX_SEND_FRICTION 36
#define CTX_SEND_VALVE_GAIN_PLUS 37
#define CTX_SEND_VALVE_GAIN_MINUS 38
#define CTX_SEND_REFENCE_MODE 39
#define CTX_SEND_HOMEPOS_OFFSET 40
#define CTX_SEND_HOMEPOS_VALVE_OPENING 41
#define CTX_SEND_DDV_VALVE_DEADZONE 42
#define CTX_VALVE_PWM_VS_VALVE_POS 43
#define CTX_VALVE_POS_VS_FLOWRATE 44
#define CTX_VALVE_POS_NUM 45
// Sensor & State Transmission
void CAN_TX_POSITION(int32_t t_pos, int32_t t_vel);
void CAN_TX_TORQUE(int16_t t_torque);
void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b);
void CAN_TX_PWM(int16_t t_pwm);
void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm);
// Information Transmission
void CAN_TX_INFO(void);
void CAN_TX_BNO(void);
void CAN_TX_OPERATING_MODE(void);
void CAN_TX_CAN_FREQ(void);
void CAN_TX_CONTROL_MODE(void);
void CAN_TX_JOINT_ENC_DIR(void);
void CAN_TX_VALVE_DIR(void);
void CAN_TX_VALVE_ENC_DIR(void);
void CAN_TX_VOLTAGE_SUPPLY(void);
void CAN_TX_VOLTAGE_VALVE(void);
void CAN_TX_PID_GAIN(int t_type);
void CAN_TX_VALVE_DEADZONE(void);
void CAN_TX_VELOCITY_COMP_GAIN(void);
void CAN_TX_COMPLIANCE_GAIN(void);
void CAN_TX_VALVE_FF(void);
void CAN_TX_BULK_MODULUS(void);
void CAN_TX_CHAMBER_VOLUME(void);
void CAN_TX_PISTON_AREA(void);
void CAN_TX_PRES_A_AND_B(void);
void CAN_TX_ENC_LIMIT(void);
void CAN_TX_STROKE(void);
void CAN_TX_VALVE_LIMIT(void);
void CAN_TX_ENC_PULSE_PER_POSITION(void);
void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void);
void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void);
void CAN_TX_FRICTION(void);
void CAN_TX_VALVE_GAIN_PLUS(void);
void CAN_TX_VALVE_GAIN_MINUS(void);
void CAN_TX_REFENCE_MODE(void);
void CAN_TX_HOMEPOS_OFFSET(void);
void CAN_TX_HOMPOS_VALVE_OPENING(void);
void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex);
void CAN_TX_DDV_VALVE_DEADZONE(void);
void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex);
void CAN_TX_VALVE_POS_NUM(void);
class State
{
public:
float sen;
float ref;
float ref_old;
float ref_diff;
float ref_home_pos;
float err;
float err_int;
float err_old;
float err_diff;
float err_sum;
public:
State(){
sen = 0.0f;
ref = 0.0f;
ref_old = 0.0f;
ref_diff = 0.0f;
ref_home_pos = 0.0f;
err = 0.0f;
err_int = 0.0f;
err_old = 0.0f;
err_diff = 0.0f;
}
};
extern State pos;
extern State vel;
extern State Vout;
extern State torq;
extern State pres_A;
extern State pres_B;
extern State cur;
extern State valve_pos;
extern State INIT_Vout;
extern State INIT_Valve_Pos;
extern State INIT_Pos;
extern State INIT_torq;
// CAN Receive Functions
void ReadCMD();
void CAN_RX_HANDLER();
void CAN_ID_INIT(void);
extern int ID_index_array[50];
#endif