yezhong yezhong / yezhong_main_controller_copy__

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Dependencies:   mcp2515 mbed-dev-f303

CAN/CAN.h

Committer:
yezhong
Date:
2020-11-19
Revision:
2:cd74a8cb03b0
Parent:
0:d80c66cb1b3a
Child:
4:2503c88a564f

File content as of revision 2:cd74a8cb03b0:

#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"


// 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_can, DF_can;                                               // 主控发送的CAN消息

// 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