Diff: include/eposCmd.h

Revision:

0:18d7499b82f3

Child:

1:b430b4401fc4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/eposCmd.h	Wed Feb 27 14:53:45 2013 +0000
@@ -0,0 +1,106 @@
+#ifndef EPOSCMD_H
+#define EPOSCMD_H
+
+//includes
+#include "mbed.h"
+#include <stdint.h>
+
+#include "registers.h"
+
+//Define 
+#define NUMBER_MAX_EPOS2_PER_SLAVE  15
+#define NUMBER_MSG_PER_PACKET   15
+#define NUMBER_BYTES_PER_MSG    7
+#define NUMBER_EPOS2_BOARDS     1
+#define NB_SAMPLES_MEDIAN       5
+#define NB_MSG_TO_TRACK         20 //at least 4
+#define CMD_BUFFER_SIZE         26 //13*2 -> 2 cmdSet of 13 cmds each
+#define PAUSE                   10
+#define EPOS2_OK                0
+#define EPOS2_ERROR             -1
+#define LOOP_PERIOD_TIME        20000 //20 ms
+
+enum ActivatedMode
+{
+    POSITION = 0,
+    CURRENT = 1,
+    VELOCITY = 2,
+    PROFILE_POSITION = 3,
+    FORCE = 4
+}; 
+
+//global variables
+extern CAN cantoepos;
+extern Serial pc;
+//extern Serial pc;
+extern DigitalOut ledchain[];   //used for debugging
+extern char data[8];
+//extern unsigned int count[12];  //used for debugging
+extern ActivatedMode activMode[NUMBER_EPOS2_BOARDS];
+
+//ADC variables
+extern AnalogIn an1;
+extern AnalogIn an2;
+extern AnalogIn an3;
+extern AnalogIn an4;
+extern AnalogIn an5;
+extern AnalogIn an6;
+
+//sensor variables
+extern int32_t encPosition[NUMBER_EPOS2_BOARDS];
+//extern int16_t potiPosArray[NUMBER_EPOS2_BOARDS][5];
+extern int16_t potiPosArray[NUMBER_EPOS2_BOARDS];
+extern int16_t medPotiPosition[NUMBER_EPOS2_BOARDS];
+extern int16_t avgCurrent[NUMBER_EPOS2_BOARDS];
+extern int16_t medForce[NUMBER_EPOS2_BOARDS];
+extern int32_t velocity[NUMBER_EPOS2_BOARDS];
+
+extern int8_t boardStatus[NUMBER_EPOS2_BOARDS];
+
+//Multiplexer address lines
+extern DigitalOut A0;
+extern DigitalOut A1;
+extern DigitalOut A2;
+
+//functions
+void setMultiplexerChannel(const int8_t);
+static void setNMT(const int8_t, uint8_t);
+static int8_t setObjectSDO(const int8_t, const int32_t, int32_t);
+static int8_t setPDO(const int8_t, uint16_t, uint8_t, uint32_t, uint8_t);
+
+//EPOS2 boards and Motor settings
+//static void setMotorType(const int8_t);
+//static void setPolePair(const int8_t);
+//static void setMaximalMotorSpeed(const int8_t);
+//static void setMaximalProfileVelocity(const int8_t);
+//static void setMaxAcceleration(const int8_t);
+//static void setThermalTimeConstantWinding(const int8_t);
+//static void setMaximalFollowingError(const int8_t);
+
+static int8_t setModeOfOperation(const int8_t, uint8_t);
+extern void setModeOfOperationPDO(const int8_t, uint8_t);
+
+static void shutdownControlword(const int8_t);
+extern void shutdownControlwordIT(const int8_t);
+static void switchOnEnableOperationControlword(const int8_t);
+extern void switchOnEnableOperationControlwordIT(const int8_t);
+extern void faultResetControlword(const int8_t);
+//static void reEnableControlword(const int8_t);
+
+//macro functions
+extern int8_t initEposBoard(const int8_t);
+extern void setCurrent(const int8_t, const int16_t);
+extern void setPosition(const int8_t, const int32_t);
+extern void setVelocity(const int8_t, const int32_t);
+extern void setForce(const int8_t, const int16_t);
+
+extern void getPosition(const int8_t);
+extern void getCurrent(const int8_t);
+extern void getVelocity(const int8_t);
+extern int16_t getForce(const int8_t);
+extern void getPotiPosition(const int8_t);
+extern void getIncEnc1CntIdxPls(const int8_t); //get Incremental Encoder 1 Counter at Index Pulse
+
+extern void getStatusword(const int8_t);
+
+#endif //EPOSCMD_H
\ No newline at end of file