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Dependencies:   mbed FastPWM

SPI_EEP_ENC/SPI_EEP_ENC.h@224:985dba42f261, 2020-12-28 (annotated)

Committer:
Lightvalve
Date:
Mon Dec 28 14:27:11 2020 +0000
Revision:
224:985dba42f261
Parent:
170:42c938a40313 
distribution

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #ifndef _SPI_EEP_ENC_H_
GiJeongKim 0:51c43836c1d7 2 #define _SPI_EEP_ENC_H_
GiJeongKim 0:51c43836c1d7 3
GiJeongKim 0:51c43836c1d7 4 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 5
GiJeongKim 0:51c43836c1d7 6
Lightvalve 170:42c938a40313 7 void spi_eeprom_ready(void);
Lightvalve 170:42c938a40313 8 void spi_eeprom_write(unsigned short add, unsigned int data);
Lightvalve 170:42c938a40313 9 unsigned int spi_eeprom_read(unsigned short add);
Lightvalve 170:42c938a40313 10 void spi_eeprom_call_data(void);
GiJeongKim 0:51c43836c1d7 11
GiJeongKim 0:51c43836c1d7 12 void spi_enc_set_clear(void);
GiJeongKim 0:51c43836c1d7 13 void spi_enc_set_init(void);
GiJeongKim 0:51c43836c1d7 14 int spi_enc_read(void);
GiJeongKim 0:51c43836c1d7 15
Lightvalve 11:82d8768d7351 16 void SPI_VREF_DAC_WRITE_CHANNEL(unsigned int channel, unsigned int mode, unsigned int value);
Lightvalve 30:8d561f16383b 17 void SPI_VREF_DAC_WRITE(float VA, float VB, float VC, float VD);
Lightvalve 11:82d8768d7351 18 void SPI_VREF_DAC_SET_ZERO(void);
Lightvalve 11:82d8768d7351 19
Lightvalve 11:82d8768d7351 20 /*******************************************************************************
Lightvalve 11:82d8768d7351 21 * ROM DATA ADDRESS ID
Lightvalve 11:82d8768d7351 22 ******************************************************************************/
Lightvalve 11:82d8768d7351 23
Lightvalve 224:985dba42f261 24 #define RID_BNO 0
Lightvalve 224:985dba42f261 25 #define RID_OPERATING_MODE 1
Lightvalve 11:82d8768d7351 26 #define RID_CAN_FREQ 2
Lightvalve 11:82d8768d7351 27 #define RID_JOINT_ENC_DIR 3
Lightvalve 11:82d8768d7351 28 #define RID_VALVE_DIR 4
Lightvalve 11:82d8768d7351 29 #define RID_VALVE_ENC_DIR 5
Lightvalve 11:82d8768d7351 30 #define RID_VOLATGE_SUPPLY 6
Lightvalve 11:82d8768d7351 31 #define RID_VOLTAGE_VALVE 7
Lightvalve 11:82d8768d7351 32
Lightvalve 11:82d8768d7351 33 #define RID_P_GAIN_VALVE_POSITION 8
Lightvalve 11:82d8768d7351 34 #define RID_I_GAIN_VALVE_POSITION 9
Lightvalve 11:82d8768d7351 35 #define RID_D_GAIN_VALVE_POSITION 10
Lightvalve 11:82d8768d7351 36
Lightvalve 11:82d8768d7351 37 #define RID_P_GAIN_JOINT_POSITION 11
Lightvalve 11:82d8768d7351 38 #define RID_I_GAIN_JOINT_POSITION 12
Lightvalve 11:82d8768d7351 39 #define RID_D_GAIN_JOINT_POSITION 13
Lightvalve 11:82d8768d7351 40
Lightvalve 11:82d8768d7351 41 #define RID_P_GAIN_JOINT_TORQUE 14
Lightvalve 11:82d8768d7351 42 #define RID_I_GAIN_JOINT_TORQUE 15
Lightvalve 11:82d8768d7351 43 #define RID_D_GAIN_JOINT_TORQUE 16
Lightvalve 11:82d8768d7351 44
Lightvalve 11:82d8768d7351 45 #define RID_VALVE_DEADZONE_PLUS 17
Lightvalve 11:82d8768d7351 46 #define RID_VALVE_DEADZONE_MINUS 18
Lightvalve 11:82d8768d7351 47
Lightvalve 11:82d8768d7351 48 #define RID_VELOCITY_COMP_GAIN 19
Lightvalve 11:82d8768d7351 49 #define RID_COMPLIANCE_GAIN 20
Lightvalve 11:82d8768d7351 50
Lightvalve 11:82d8768d7351 51 #define RID_VALVE_CNETER 21
Lightvalve 11:82d8768d7351 52
Lightvalve 11:82d8768d7351 53 #define RID_VALVE_FF 22
Lightvalve 11:82d8768d7351 54
Lightvalve 11:82d8768d7351 55 #define RID_BULK_MODULUS 23
Lightvalve 11:82d8768d7351 56
Lightvalve 11:82d8768d7351 57 #define RID_CHAMBER_VOLUME_A 24
Lightvalve 11:82d8768d7351 58 #define RID_CHAMBER_VOLUME_B 25
Lightvalve 11:82d8768d7351 59
Lightvalve 11:82d8768d7351 60 #define RID_PISTON_AREA_A 26
Lightvalve 11:82d8768d7351 61 #define RID_PISTON_AREA_B 27
Lightvalve 11:82d8768d7351 62
Lightvalve 11:82d8768d7351 63 #define RID_PRES_SUPPLY 28
Lightvalve 11:82d8768d7351 64 #define RID_PRES_RETURN 29
Lightvalve 11:82d8768d7351 65
Lightvalve 11:82d8768d7351 66 #define RID_ENC_LIMIT_PLUS 30
Lightvalve 11:82d8768d7351 67 #define RID_ENC_LIMIT_MINUS 31
Lightvalve 11:82d8768d7351 68
Lightvalve 11:82d8768d7351 69 #define RID_STROKE 32
Lightvalve 11:82d8768d7351 70
Lightvalve 57:f4819de54e7a 71 //#define RID_VALVE_LIMIT_PLUS 34
Lightvalve 57:f4819de54e7a 72 //#define RID_VALVE_LIMIT_MINUS 35
Lightvalve 11:82d8768d7351 73
Lightvalve 11:82d8768d7351 74 #define RID_ENC_PULSE_PER_POSITION 36
Lightvalve 11:82d8768d7351 75 #define RID_TORQUE_SENSOR_PULSE_PER_TORQUE 37
Lightvalve 11:82d8768d7351 76 #define RID_PRES_SENSOR_A_PULSE_PER_BAR 38
Lightvalve 11:82d8768d7351 77 #define RID_PRES_SENSOR_B_PULSE_PER_BAR 39
Lightvalve 11:82d8768d7351 78
Lightvalve 11:82d8768d7351 79 #define RID_FRICTION 40
Lightvalve 11:82d8768d7351 80 #define RID_HOMEPOS_OFFSET 41
Lightvalve 11:82d8768d7351 81 #define RID_HOMEPOS_VALVE_OPENING 42
Lightvalve 11:82d8768d7351 82
Lightvalve 11:82d8768d7351 83 #define RID_TORQUE_SENSOR_VREF 45
Lightvalve 11:82d8768d7351 84
Lightvalve 11:82d8768d7351 85 #define RID_PRES_A_SENSOR_VREF 50
Lightvalve 11:82d8768d7351 86 #define RID_PRES_B_SENSOR_VREF 51
Lightvalve 11:82d8768d7351 87
Lightvalve 18:b8adf1582ea3 88 #define RID_VALVE_MAX_POS 52
Lightvalve 18:b8adf1582ea3 89 #define RID_VALVE_MIN_POS 53
Lightvalve 18:b8adf1582ea3 90
Lightvalve 18:b8adf1582ea3 91 #define RID_VALVE_POS_NUM 54
Lightvalve 57:f4819de54e7a 92 //#define RID_DDV_CENTER 55
Lightvalve 32:4b8c0fedaf2c 93 #define RID_VALVE_CENTER_OFFSET 56
Lightvalve 16:903b5a4433b4 94
Lightvalve 11:82d8768d7351 95 #define RID_VALVE_GAIN_PLUS_1 60
Lightvalve 11:82d8768d7351 96 #define RID_VALVE_GAIN_MINUS_1 61
Lightvalve 11:82d8768d7351 97 #define RID_VALVE_GAIN_PLUS_2 62
Lightvalve 11:82d8768d7351 98 #define RID_VALVE_GAIN_MINUS_2 63
Lightvalve 11:82d8768d7351 99 #define RID_VALVE_GAIN_PLUS_3 64
Lightvalve 11:82d8768d7351 100 #define RID_VALVE_GAIN_MINUS_3 65
Lightvalve 11:82d8768d7351 101 #define RID_VALVE_GAIN_PLUS_4 66
Lightvalve 11:82d8768d7351 102 #define RID_VALVE_GAIN_MINUS_4 67
Lightvalve 11:82d8768d7351 103 #define RID_VALVE_GAIN_PLUS_5 68
Lightvalve 11:82d8768d7351 104 #define RID_VALVE_GAIN_MINUS_5 69
Lightvalve 11:82d8768d7351 105
Lightvalve 11:82d8768d7351 106 #define RID_VALVE_POS_VS_PWM_0 70
Lightvalve 11:82d8768d7351 107 #define RID_VALVE_POS_VS_PWM_1 71
Lightvalve 11:82d8768d7351 108 #define RID_VALVE_POS_VS_PWM_2 72
Lightvalve 11:82d8768d7351 109 #define RID_VALVE_POS_VS_PWM_3 73
Lightvalve 11:82d8768d7351 110 #define RID_VALVE_POS_VS_PWM_4 74
Lightvalve 11:82d8768d7351 111 #define RID_VALVE_POS_VS_PWM_5 75
Lightvalve 11:82d8768d7351 112 #define RID_VALVE_POS_VS_PWM_6 76
Lightvalve 11:82d8768d7351 113 #define RID_VALVE_POS_VS_PWM_7 77
Lightvalve 11:82d8768d7351 114 #define RID_VALVE_POS_VS_PWM_8 78
Lightvalve 11:82d8768d7351 115 #define RID_VALVE_POS_VS_PWM_9 79
Lightvalve 11:82d8768d7351 116 #define RID_VALVE_POS_VS_PWM_10 80
Lightvalve 11:82d8768d7351 117 #define RID_VALVE_POS_VS_PWM_11 81
Lightvalve 11:82d8768d7351 118 #define RID_VALVE_POS_VS_PWM_12 82
Lightvalve 11:82d8768d7351 119 #define RID_VALVE_POS_VS_PWM_13 83
Lightvalve 11:82d8768d7351 120 #define RID_VALVE_POS_VS_PWM_14 84
Lightvalve 11:82d8768d7351 121 #define RID_VALVE_POS_VS_PWM_15 85
Lightvalve 11:82d8768d7351 122 #define RID_VALVE_POS_VS_PWM_16 86
Lightvalve 18:b8adf1582ea3 123 #define RID_VALVE_POS_VS_PWM_17 87
Lightvalve 18:b8adf1582ea3 124 #define RID_VALVE_POS_VS_PWM_18 88
Lightvalve 18:b8adf1582ea3 125 #define RID_VALVE_POS_VS_PWM_19 89
Lightvalve 18:b8adf1582ea3 126 #define RID_VALVE_POS_VS_PWM_20 90
Lightvalve 18:b8adf1582ea3 127 #define RID_VALVE_POS_VS_PWM_21 91
Lightvalve 18:b8adf1582ea3 128 #define RID_VALVE_POS_VS_PWM_22 92
Lightvalve 18:b8adf1582ea3 129 #define RID_VALVE_POS_VS_PWM_23 93
Lightvalve 18:b8adf1582ea3 130 #define RID_VALVE_POS_VS_PWM_24 94
Lightvalve 11:82d8768d7351 131
Lightvalve 11:82d8768d7351 132 #define RID_IS_FIRST 99
Lightvalve 11:82d8768d7351 133
Lightvalve 11:82d8768d7351 134
Lightvalve 11:82d8768d7351 135 #define RID_VALVE_POS_VS_FLOWRATE_0 100
Lightvalve 11:82d8768d7351 136 #define RID_VALVE_POS_VS_FLOWRATE_1 101
Lightvalve 11:82d8768d7351 137 #define RID_VALVE_POS_VS_FLOWRATE_2 102
Lightvalve 11:82d8768d7351 138 #define RID_VALVE_POS_VS_FLOWRATE_3 103
Lightvalve 11:82d8768d7351 139 #define RID_VALVE_POS_VS_FLOWRATE_4 104
Lightvalve 11:82d8768d7351 140 #define RID_VALVE_POS_VS_FLOWRATE_5 105
Lightvalve 11:82d8768d7351 141 #define RID_VALVE_POS_VS_FLOWRATE_6 106
Lightvalve 11:82d8768d7351 142 #define RID_VALVE_POS_VS_FLOWRATE_7 107
Lightvalve 11:82d8768d7351 143 #define RID_VALVE_POS_VS_FLOWRATE_8 108
Lightvalve 11:82d8768d7351 144 #define RID_VALVE_POS_VS_FLOWRATE_9 109
Lightvalve 11:82d8768d7351 145 #define RID_VALVE_POS_VS_FLOWRATE_10 110
Lightvalve 11:82d8768d7351 146 #define RID_VALVE_POS_VS_FLOWRATE_11 111
Lightvalve 11:82d8768d7351 147 #define RID_VALVE_POS_VS_FLOWRATE_12 112
Lightvalve 11:82d8768d7351 148 #define RID_VALVE_POS_VS_FLOWRATE_13 113
Lightvalve 11:82d8768d7351 149 #define RID_VALVE_POS_VS_FLOWRATE_14 114
Lightvalve 11:82d8768d7351 150 #define RID_VALVE_POS_VS_FLOWRATE_15 115
Lightvalve 11:82d8768d7351 151 #define RID_VALVE_POS_VS_FLOWRATE_16 116
Lightvalve 11:82d8768d7351 152 #define RID_VALVE_POS_VS_FLOWRATE_17 117
Lightvalve 11:82d8768d7351 153 #define RID_VALVE_POS_VS_FLOWRATE_18 118
Lightvalve 11:82d8768d7351 154 #define RID_VALVE_POS_VS_FLOWRATE_19 119
Lightvalve 11:82d8768d7351 155 #define RID_VALVE_POS_VS_FLOWRATE_20 120
Lightvalve 11:82d8768d7351 156
Lightvalve 11:82d8768d7351 157 #define RID_VALVE_POS_VS_FLOWRATE_0_1 200
Lightvalve 11:82d8768d7351 158 #define RID_VALVE_POS_VS_FLOWRATE_1_1 201
Lightvalve 11:82d8768d7351 159 #define RID_VALVE_POS_VS_FLOWRATE_2_1 202
Lightvalve 11:82d8768d7351 160 #define RID_VALVE_POS_VS_FLOWRATE_3_1 203
Lightvalve 11:82d8768d7351 161 #define RID_VALVE_POS_VS_FLOWRATE_4_1 204
Lightvalve 11:82d8768d7351 162 #define RID_VALVE_POS_VS_FLOWRATE_5_1 205
Lightvalve 11:82d8768d7351 163 #define RID_VALVE_POS_VS_FLOWRATE_6_1 206
Lightvalve 11:82d8768d7351 164 #define RID_VALVE_POS_VS_FLOWRATE_7_1 207
Lightvalve 11:82d8768d7351 165 #define RID_VALVE_POS_VS_FLOWRATE_8_1 208
Lightvalve 11:82d8768d7351 166 #define RID_VALVE_POS_VS_FLOWRATE_9_1 209
Lightvalve 11:82d8768d7351 167 #define RID_VALVE_POS_VS_FLOWRATE_10_1 210
Lightvalve 11:82d8768d7351 168 #define RID_VALVE_POS_VS_FLOWRATE_11_1 211
Lightvalve 11:82d8768d7351 169 #define RID_VALVE_POS_VS_FLOWRATE_12_1 212
Lightvalve 11:82d8768d7351 170 #define RID_VALVE_POS_VS_FLOWRATE_13_1 213
Lightvalve 11:82d8768d7351 171 #define RID_VALVE_POS_VS_FLOWRATE_14_1 214
Lightvalve 11:82d8768d7351 172 #define RID_VALVE_POS_VS_FLOWRATE_15_1 215
Lightvalve 11:82d8768d7351 173 #define RID_VALVE_POS_VS_FLOWRATE_16_1 216
Lightvalve 11:82d8768d7351 174 #define RID_VALVE_POS_VS_FLOWRATE_17_1 217
Lightvalve 11:82d8768d7351 175 #define RID_VALVE_POS_VS_FLOWRATE_18_1 218
Lightvalve 11:82d8768d7351 176 #define RID_VALVE_POS_VS_FLOWRATE_19_1 219
Lightvalve 11:82d8768d7351 177 #define RID_VALVE_POS_VS_FLOWRATE_20_1 220
Lightvalve 11:82d8768d7351 178
Lightvalve 52:8ea76864368a 179 #define RID_SENSING_MODE 221
Lightvalve 52:8ea76864368a 180 #define RID_CURRENT_CONTROL_MODE 222
Lightvalve 52:8ea76864368a 181 #define RID_FLAG_VALVE_DEADZONE 223
Lightvalve 52:8ea76864368a 182
Lightvalve 48:889798ff9329 183 #define RID_K_SPRING 57
Lightvalve 48:889798ff9329 184 #define RID_D_DAMPER 58
Lightvalve 46:2694daea349b 185
GiJeongKim 0:51c43836c1d7 186 #endif //_SPI_H_