Diff: CAN/CAN.h

Revision:

0:e923de71caa5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN/CAN.h	Fri Jun 24 07:58:26 2022 +0000
@@ -0,0 +1,45 @@
+#ifndef _CAN_H
+#define _CAN_H
+
+// 头文件
+#include "mbed.h"
+#include "math_ops.h"
+#include "leg_message.h"
+#include "used_leg_message.h"
+#include "CAN3.h"
+#include "mcp2515.h"
+
+// 宏定义
+#define CAN_ID  0x01                                                            // Master CAN ID
+
+#define P_MIN   -12.5f                                                          // Value Limits
+#define P_MAX   12.5f
+#define V_MIN   -45.0f
+#define V_MAX   45.0f
+#define KP_MIN  0.0f
+#define KP_MAX  500.0f
+#define KD_MIN  0.0f
+#define KD_MAX  5.0f
+#define T_MIN   -18.0f
+#define T_MAX   18.0f                                                           // Value Limits
+
+
+// 对象外部申明
+extern CAN pf_can, df_can;                                                      //设备的外部申明
+extern CANMessage pf_rxMsg, df_rxMsg;                                           // 主控收到的CAN消息
+extern CANMessage pf_txMsg, df_txMsg;                                               // 主控发送的CAN消息
+
+extern CAN3 df1_can;
+extern CANMessage df1_txMsg;
+extern CANMessage df1_rxMsg;  
+
+
+// 函数外部申明
+void pack_cmd(CANMessage * msg, joint_control joint);
+void PackAll();
+void WriteAll();
+void unpack_reply(CANMessage msg, ankle_state * ankle);
+
+
+
+#endif
\ No newline at end of file