yezhong yezhong / yezhong_main_controller_copy_3_

1233

Dependencies:   cJSON_lib mcp2515- mbed-dev-f303 esp8266 yezhong_main_controller_copy_3

CAN/CAN.h@0:e923de71caa5, 2022-06-24 (annotated)

Committer:
yezhong
Date:
Fri Jun 24 07:58:26 2022 +0000
Revision:
0:e923de71caa5
111111

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yezhong 0:e923de71caa5 1 #ifndef _CAN_H
yezhong 0:e923de71caa5 2 #define _CAN_H
yezhong 0:e923de71caa5 3
yezhong 0:e923de71caa5 4 // 头文件
yezhong 0:e923de71caa5 5 #include "mbed.h"
yezhong 0:e923de71caa5 6 #include "math_ops.h"
yezhong 0:e923de71caa5 7 #include "leg_message.h"
yezhong 0:e923de71caa5 8 #include "used_leg_message.h"
yezhong 0:e923de71caa5 9 #include "CAN3.h"
yezhong 0:e923de71caa5 10 #include "mcp2515.h"
yezhong 0:e923de71caa5 11
yezhong 0:e923de71caa5 12 // 宏定义
yezhong 0:e923de71caa5 13 #define CAN_ID 0x01 // Master CAN ID
yezhong 0:e923de71caa5 14
yezhong 0:e923de71caa5 15 #define P_MIN -12.5f // Value Limits
yezhong 0:e923de71caa5 16 #define P_MAX 12.5f
yezhong 0:e923de71caa5 17 #define V_MIN -45.0f
yezhong 0:e923de71caa5 18 #define V_MAX 45.0f
yezhong 0:e923de71caa5 19 #define KP_MIN 0.0f
yezhong 0:e923de71caa5 20 #define KP_MAX 500.0f
yezhong 0:e923de71caa5 21 #define KD_MIN 0.0f
yezhong 0:e923de71caa5 22 #define KD_MAX 5.0f
yezhong 0:e923de71caa5 23 #define T_MIN -18.0f
yezhong 0:e923de71caa5 24 #define T_MAX 18.0f // Value Limits
yezhong 0:e923de71caa5 25
yezhong 0:e923de71caa5 26
yezhong 0:e923de71caa5 27 // 对象外部申明
yezhong 0:e923de71caa5 28 extern CAN pf_can, df_can; //设备的外部申明
yezhong 0:e923de71caa5 29 extern CANMessage pf_rxMsg, df_rxMsg; // 主控收到的CAN消息
yezhong 0:e923de71caa5 30 extern CANMessage pf_txMsg, df_txMsg; // 主控发送的CAN消息
yezhong 0:e923de71caa5 31
yezhong 0:e923de71caa5 32 extern CAN3 df1_can;
yezhong 0:e923de71caa5 33 extern CANMessage df1_txMsg;
yezhong 0:e923de71caa5 34 extern CANMessage df1_rxMsg;
yezhong 0:e923de71caa5 35
yezhong 0:e923de71caa5 36
yezhong 0:e923de71caa5 37 // 函数外部申明
yezhong 0:e923de71caa5 38 void pack_cmd(CANMessage * msg, joint_control joint);
yezhong 0:e923de71caa5 39 void PackAll();
yezhong 0:e923de71caa5 40 void WriteAll();
yezhong 0:e923de71caa5 41 void unpack_reply(CANMessage msg, ankle_state * ankle);
yezhong 0:e923de71caa5 42
yezhong 0:e923de71caa5 43
yezhong 0:e923de71caa5 44
yezhong 0:e923de71caa5 45 #endif