Yeseong Jeong
/
HydraulicControlBoard_Start
20210203
SPI_EEP_ENC/SPI_EEP_ENC.h
- Committer:
- jeongyeseong
- Date:
- 2021-02-04
- Revision:
- 225:9c0becc196ba
- Parent:
- 224:985dba42f261
File content as of revision 225:9c0becc196ba:
#ifndef _SPI_EEP_ENC_H_ #define _SPI_EEP_ENC_H_ #include "mbed.h" void spi_eeprom_ready(void); void spi_eeprom_write(unsigned short add, unsigned int data); unsigned int spi_eeprom_read(unsigned short add); void spi_eeprom_call_data(void); void spi_enc_set_clear(void); 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(float VA, float VB, float VC, float 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_MAX_POS 52 #define RID_VALVE_MIN_POS 53 #define RID_VALVE_POS_NUM 54 //#define RID_DDV_CENTER 55 #define RID_VALVE_CENTER_OFFSET 56 #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_POS_VS_PWM_18 88 #define RID_VALVE_POS_VS_PWM_19 89 #define RID_VALVE_POS_VS_PWM_20 90 #define RID_VALVE_POS_VS_PWM_21 91 #define RID_VALVE_POS_VS_PWM_22 92 #define RID_VALVE_POS_VS_PWM_23 93 #define RID_VALVE_POS_VS_PWM_24 94 #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 #define RID_SENSING_MODE 221 #define RID_CURRENT_CONTROL_MODE 222 #define RID_FLAG_VALVE_DEADZONE 223 #define RID_K_SPRING 57 #define RID_D_DAMPER 58 #endif //_SPI_H_