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