Shao Rui / CH_Communicatuin_Test

123

Dependencies:   mbed-dev_spine

CAN/CAN.h@9:bf02fd2d7a0a, 2020-02-19 (annotated)

Committer:
shaorui
Date:
Wed Feb 19 05:22:32 2020 +0000
Revision:
9:bf02fd2d7a0a
Parent:
8:95a914f962bd 
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WXD 5:6a95726e45b0 1 #ifndef _CAN_H
WXD 5:6a95726e45b0 2 #define _CAN_H
WXD 5:6a95726e45b0 3
WXD 5:6a95726e45b0 4
WXD 5:6a95726e45b0 5 // 头文件
WXD 5:6a95726e45b0 6 #include "mbed.h"
WXD 5:6a95726e45b0 7 #include "math_ops.h"
WXD 5:6a95726e45b0 8 #include "leg_message.h"
WXD 5:6a95726e45b0 9 #include "used_leg_message.h"
WXD 5:6a95726e45b0 10
WXD 5:6a95726e45b0 11
WXD 5:6a95726e45b0 12 // 宏定义
WXD 5:6a95726e45b0 13 #define CAN_ID 0x01 // Master CAN ID
WXD 5:6a95726e45b0 14
WXD 5:6a95726e45b0 15 #define P_MIN -12.5f // Value Limits
WXD 5:6a95726e45b0 16 #define P_MAX 12.5f
WXD 5:6a95726e45b0 17 #define V_MIN -45.0f
WXD 5:6a95726e45b0 18 #define V_MAX 45.0f
WXD 5:6a95726e45b0 19 #define KP_MIN 0.0f
shaorui 8:95a914f962bd 20 #define KP_MAX 5.0f
WXD 5:6a95726e45b0 21 #define KD_MIN 0.0f
shaorui 8:95a914f962bd 22 #define KD_MAX 500.0f
WXD 5:6a95726e45b0 23 #define T_MIN -18.0f
WXD 5:6a95726e45b0 24 #define T_MAX 18.0f // Value Limits
WXD 5:6a95726e45b0 25
WXD 5:6a95726e45b0 26
WXD 5:6a95726e45b0 27 // 对象外部申明
shaorui 8:95a914f962bd 28 extern CAN ef_can, wf_can; //设备的外部申明
shaorui 8:95a914f962bd 29 extern CANMessage ef_rxMsg, wf_rxMsg; // 主控收到的CAN消息
shaorui 8:95a914f962bd 30 extern CANMessage EF_can, WF_can; // 主控发送的CAN消息
WXD 5:6a95726e45b0 31
WXD 5:6a95726e45b0 32
WXD 5:6a95726e45b0 33 // 函数外部申明
WXD 5:6a95726e45b0 34 void pack_cmd(CANMessage * msg, joint_control joint);
WXD 5:6a95726e45b0 35 void PackAll();
WXD 5:6a95726e45b0 36 void WriteAll();
WXD 5:6a95726e45b0 37 void unpack_reply(CANMessage msg, ankle_state * ankle);
WXD 5:6a95726e45b0 38
WXD 5:6a95726e45b0 39
WXD 5:6a95726e45b0 40 #endif
WXD 5:6a95726e45b0 41