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https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
Move ctre headers to hal/src so they aren't user-visible. (#728)
Also removes ctre_frames.h entirely since it's not used. Fixes #683.
This commit is contained in:
Peter Johnson
@@ -1,131 +0,0 @@
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#ifndef CtreCanNode_H_
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#define CtreCanNode_H_
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#include "ctre.h" //BIT Defines + Typedefs
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#include <map>
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#include <string.h> // memcpy
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#include <sys/time.h>
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class CtreCanNode
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{
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public:
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CtreCanNode(UINT8 deviceNumber);
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~CtreCanNode();
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UINT8 GetDeviceNumber()
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{
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return _deviceNumber;
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}
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protected:
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template <typename T> class txTask{
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public:
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uint32_t arbId;
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T * toSend;
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T * operator -> ()
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{
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return toSend;
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}
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T & operator*()
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{
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return *toSend;
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}
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bool IsEmpty()
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{
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if(toSend == 0)
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return true;
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return false;
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}
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};
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template <typename T> class recMsg{
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public:
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uint32_t arbId;
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uint8_t bytes[8];
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CTR_Code err;
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T * operator -> ()
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{
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return (T *)bytes;
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}
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T & operator*()
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{
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return *(T *)bytes;
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}
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};
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UINT8 _deviceNumber;
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void RegisterRx(uint32_t arbId);
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/**
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* Schedule a CAN Frame for periodic transmit. Assume eight byte DLC and zero value for initial transmission.
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* @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
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* @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
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*/
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void RegisterTx(uint32_t arbId, uint32_t periodMs);
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/**
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* Schedule a CAN Frame for periodic transmit.
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* @param arbId CAN Frame Arbitration ID. Set BIT31 for 11bit ids, otherwise we use 29bit ids.
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* @param periodMs Period to transmit CAN frame. Pass 0 for one-shot, which also disables that ArbID's preceding periodic transmit.
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* @param dlc Number of bytes to transmit (0 to 8).
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* @param initialFrame Ptr to the frame data to schedule for transmitting. Passing null will result
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* in defaulting to zero data value.
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*/
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void RegisterTx(uint32_t arbId, uint32_t periodMs, uint32_t dlc, const uint8_t * initialFrame);
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void UnregisterTx(uint32_t arbId);
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CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
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void FlushTx(uint32_t arbId);
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bool ChangeTxPeriod(uint32_t arbId, uint32_t periodMs);
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template<typename T> txTask<T> GetTx(uint32_t arbId)
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{
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txTask<T> retval = {0, nullptr};
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txJobs_t::iterator i = _txJobs.find(arbId);
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if(i != _txJobs.end()){
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retval.arbId = i->second.arbId;
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retval.toSend = (T*)i->second.toSend;
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}
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return retval;
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}
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template<class T> void FlushTx(T & par)
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{
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FlushTx(par.arbId);
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}
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template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
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{
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recMsg<T> retval;
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retval.err = GetRx(arbId,retval.bytes, timeoutMs);
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return retval;
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}
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private:
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class txJob_t {
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public:
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uint32_t arbId;
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uint8_t toSend[8];
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uint32_t periodMs;
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uint8_t dlc;
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};
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class rxEvent_t{
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public:
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uint8_t bytes[8];
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struct timespec time;
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rxEvent_t()
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{
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bytes[0] = 0;
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bytes[1] = 0;
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bytes[2] = 0;
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bytes[3] = 0;
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bytes[4] = 0;
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bytes[5] = 0;
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bytes[6] = 0;
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bytes[7] = 0;
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}
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};
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typedef std::map<uint32_t,txJob_t> txJobs_t;
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txJobs_t _txJobs;
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typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
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rxRxEvents_t _rxRxEvents;
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};
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#endif
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@@ -1,226 +0,0 @@
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#ifndef PCM_H_
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#define PCM_H_
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#include "ctre.h" //BIT Defines + Typedefs
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#include "CtreCanNode.h"
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class PCM : public CtreCanNode
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{
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public:
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PCM(UINT8 deviceNumber=0);
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~PCM();
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/* Set PCM solenoid state
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*
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* @Return - CTR_Code - Error code (if any) for setting solenoid
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* @Param - idx - ID of solenoid (0-7)
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* @Param - en - Enable / Disable identified solenoid
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*/
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CTR_Code SetSolenoid(unsigned char idx, bool en);
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/* Set all PCM solenoid states
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*
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* @Return - CTR_Code - Error code (if any) for setting solenoids
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* @Param - state Bitfield to set all solenoids to
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*/
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CTR_Code SetAllSolenoids(UINT8 state);
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/* Enables PCM Closed Loop Control of Compressor via pressure switch
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* @Return - CTR_Code - Error code (if any) for setting solenoid
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* @Param - en - Enable / Disable Closed Loop Control
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*/
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CTR_Code SetClosedLoopControl(bool en);
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/* Clears PCM sticky faults (indicators of past faults
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* @Return - CTR_Code - Error code (if any) for setting solenoid
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*/
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CTR_Code ClearStickyFaults();
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/* Get solenoid state
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*
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* @Return - CTR_Code - Error code (if any)
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* @Param - idx - ID of solenoid (0-7) to return if solenoid is on.
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* @Param - status - true if solenoid enabled, false otherwise
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*/
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CTR_Code GetSolenoid(UINT8 idx, bool &status);
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/* Get state of all solenoids
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*
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - bitfield of solenoid states
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*/
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CTR_Code GetAllSolenoids(UINT8 &status);
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/* Get pressure switch state
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if pressure adequate, false if low
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*/
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CTR_Code GetPressure(bool &status);
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/* Get compressor state
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if compress ouput is on, false if otherwise
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*/
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CTR_Code GetCompressor(bool &status);
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/* Get closed loop control state
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if closed loop enabled, false if otherwise
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*/
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CTR_Code GetClosedLoopControl(bool &status);
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/* Get compressor current draw
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Compressor current returned in Amperes (A)
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*/
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CTR_Code GetCompressorCurrent(float &status);
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/* Get voltage across solenoid rail
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Voltage across solenoid rail in Volts (V)
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*/
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CTR_Code GetSolenoidVoltage(float &status);
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/* Get hardware fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if hardware failure detected, false if otherwise
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*/
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CTR_Code GetHardwareFault(bool &status);
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/* Get compressor fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if abnormally high compressor current detected, false if otherwise
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*/
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CTR_Code GetCompressorCurrentTooHighFault(bool &status);
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/* Get solenoid fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if shorted solenoid detected, false if otherwise
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*/
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CTR_Code GetSolenoidFault(bool &status);
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/* Get compressor sticky fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if solenoid had previously been shorted
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* (and sticky fault was not cleared), false if otherwise
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*/
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CTR_Code GetCompressorCurrentTooHighStickyFault(bool &status);
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/* Get compressor shorted sticky fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if compressor output is shorted, false if otherwise
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*/
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CTR_Code GetCompressorShortedStickyFault(bool &status);
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/* Get compressor shorted fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if compressor output is shorted, false if otherwise
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*/
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CTR_Code GetCompressorShortedFault(bool &status);
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/* Get compressor is not connected sticky fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if compressor current is too low,
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* indicating compressor is not connected, false if otherwise
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*/
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CTR_Code GetCompressorNotConnectedStickyFault(bool &status);
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/* Get compressor is not connected fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if compressor current is too low,
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* indicating compressor is not connected, false if otherwise
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*/
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CTR_Code GetCompressorNotConnectedFault(bool &status);
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/* Get solenoid sticky fault value
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - True if compressor had previously been shorted
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* (and sticky fault was not cleared), false if otherwise
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*/
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CTR_Code GetSolenoidStickyFault(bool &status);
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/* Get battery voltage
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Voltage across PCM power ports in Volts (V)
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*/
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CTR_Code GetBatteryVoltage(float &status);
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/* Set PCM Device Number and according CAN frame IDs
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* @Return - void
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* @Param - deviceNumber - Device number of PCM to control
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*/
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void SetDeviceNumber(UINT8 deviceNumber);
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/* Get number of total failed PCM Control Frame
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Number of failed control frames (tokenization fails)
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* @WARNING - Return only valid if [SeekDebugFrames] is enabled
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* See function SeekDebugFrames
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* See function EnableSeekDebugFrames
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*/
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CTR_Code GetNumberOfFailedControlFrames(UINT16 &status);
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/* Get raw Solenoid Blacklist
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Raw binary breakdown of Solenoid Blacklist
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* BIT7 = Solenoid 1, BIT6 = Solenoid 2, etc.
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* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
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* See function SeekStatusFaultFrames
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* See function EnableSeekStatusFaultFrames
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*/
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CTR_Code GetSolenoidBlackList(UINT8 &status);
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/* Get solenoid Blacklist status
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* - Blacklisted solenoids cannot be enabled until PCM is power cycled
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* @Return - CTR_Code - Error code (if any)
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* @Param - idx - ID of solenoid [0,7]
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* @Param - status - True if Solenoid is blacklisted, false if otherwise
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* @WARNING - Return only valid if [SeekStatusFaultFrames] is enabled
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* See function SeekStatusFaultFrames
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* See function EnableSeekStatusFaultFrames
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*/
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CTR_Code IsSolenoidBlacklisted(UINT8 idx, bool &status);
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/* Return status of module enable/disable
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* @Return - CTR_Code - Error code (if any)
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* @Param - status - Returns TRUE if PCM is enabled, FALSE if disabled
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*/
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CTR_Code isModuleEnabled(bool &status);
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/* Get solenoid Blacklist status
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* @Return - CTR_Code - Error code (if any)
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* @Param - idx - ID of solenoid [0,7] to fire one shot pulse.
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*/
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CTR_Code FireOneShotSolenoid(UINT8 idx);
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/* Configure the pulse width of a solenoid channel for one-shot pulse.
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* Preprogrammed pulsewidth is 10ms resolute and can be between 20ms and 5.1s.
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* @Return - CTR_Code - Error code (if any)
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* @Param - idx - ID of solenoid [0,7] to configure.
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* @Param - durMs - pulse width in ms.
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*/
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CTR_Code SetOneShotDurationMs(UINT8 idx,uint32_t durMs);
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};
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//------------------ C interface --------------------------------------------//
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extern "C" {
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void * c_PCM_Init(void);
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CTR_Code c_SetSolenoid(void * handle,unsigned char idx,INT8 param);
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CTR_Code c_SetAllSolenoids(void * handle,UINT8 state);
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CTR_Code c_SetClosedLoopControl(void * handle,INT8 param);
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CTR_Code c_ClearStickyFaults(void * handle,INT8 param);
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CTR_Code c_GetSolenoid(void * handle,UINT8 idx,INT8 * status);
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CTR_Code c_GetAllSolenoids(void * handle,UINT8 * status);
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CTR_Code c_GetPressure(void * handle,INT8 * status);
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CTR_Code c_GetCompressor(void * handle,INT8 * status);
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CTR_Code c_GetClosedLoopControl(void * handle,INT8 * status);
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CTR_Code c_GetCompressorCurrent(void * handle,float * status);
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CTR_Code c_GetSolenoidVoltage(void * handle,float*status);
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CTR_Code c_GetHardwareFault(void * handle,INT8*status);
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CTR_Code c_GetCompressorFault(void * handle,INT8*status);
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CTR_Code c_GetSolenoidFault(void * handle,INT8*status);
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CTR_Code c_GetCompressorStickyFault(void * handle,INT8*status);
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CTR_Code c_GetSolenoidStickyFault(void * handle,INT8*status);
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CTR_Code c_GetBatteryVoltage(void * handle,float*status);
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void c_SetDeviceNumber_PCM(void * handle,UINT8 deviceNumber);
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void c_EnableSeekStatusFrames(void * handle,INT8 enable);
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void c_EnableSeekStatusFaultFrames(void * handle,INT8 enable);
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void c_EnableSeekDebugFrames(void * handle,INT8 enable);
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CTR_Code c_GetNumberOfFailedControlFrames(void * handle,UINT16*status);
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CTR_Code c_GetSolenoidBlackList(void * handle,UINT8 *status);
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CTR_Code c_IsSolenoidBlacklisted(void * handle,UINT8 idx,INT8*status);
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}
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#endif
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@@ -1,62 +0,0 @@
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#ifndef PDP_H_
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#define PDP_H_
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#include "ctre.h" //BIT Defines + Typedefs
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#include "CtreCanNode.h"
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class PDP : public CtreCanNode
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{
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public:
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/* Get PDP Channel Current
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*
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* @Param - deviceNumber - Device ID for PDP. Factory default is 60. Function defaults to 60.
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*/
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PDP(UINT8 deviceNumber=0);
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~PDP();
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/* Get PDP Channel Current
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*
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* @Return - CTR_Code - Error code (if any)
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*
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* @Param - idx - ID of channel to return current for (channels 1-16)
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*
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* @Param - status - Current of channel 'idx' in Amps (A)
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*/
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CTR_Code GetChannelCurrent(UINT8 idx, double &status);
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/* Get Bus Voltage of PDP
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*
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* @Return - CTR_Code - Error code (if any)
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||||
*
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* @Param - status - Voltage (V) across PDP
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||||
*/
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CTR_Code GetVoltage(double &status);
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/* Get Temperature of PDP
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||||
*
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||||
* @Return - CTR_Code - Error code (if any)
|
||||
*
|
||||
* @Param - status - Temperature of PDP in Centigrade / Celcius (C)
|
||||
*/
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CTR_Code GetTemperature(double &status);
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CTR_Code GetTotalCurrent(double ¤tAmps);
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CTR_Code GetTotalPower(double &powerWatts);
|
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CTR_Code GetTotalEnergy(double &energyJoules);
|
||||
/* Clear sticky faults.
|
||||
* @Return - CTR_Code - Error code (if any)
|
||||
*/
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CTR_Code ClearStickyFaults();
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||||
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||||
/* Reset Energy Signals
|
||||
* @Return - CTR_Code - Error code (if any)
|
||||
*/
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CTR_Code ResetEnergy();
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||||
private:
|
||||
uint64_t ReadCurrents(uint8_t api);
|
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};
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extern "C" {
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void * c_PDP_Init();
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CTR_Code c_GetChannelCurrent(void * handle,UINT8 idx, double *status);
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CTR_Code c_GetVoltage(void * handle,double *status);
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CTR_Code c_GetTemperature(void * handle,double *status);
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||||
void c_SetDeviceNumber_PDP(void * handle,UINT8 deviceNumber);
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}
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#endif /* PDP_H_ */
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@@ -1,57 +0,0 @@
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/**
|
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* @file ctre.h
|
||||
* Common header for all CTRE HAL modules.
|
||||
*/
|
||||
#ifndef CTRE_H
|
||||
#define CTRE_H
|
||||
|
||||
//Bit Defines
|
||||
#define BIT0 0x01
|
||||
#define BIT1 0x02
|
||||
#define BIT2 0x04
|
||||
#define BIT3 0x08
|
||||
#define BIT4 0x10
|
||||
#define BIT5 0x20
|
||||
#define BIT6 0x40
|
||||
#define BIT7 0x80
|
||||
#define BIT8 0x0100
|
||||
#define BIT9 0x0200
|
||||
#define BIT10 0x0400
|
||||
#define BIT11 0x0800
|
||||
#define BIT12 0x1000
|
||||
#define BIT13 0x2000
|
||||
#define BIT14 0x4000
|
||||
#define BIT15 0x8000
|
||||
|
||||
//Signed
|
||||
typedef signed char INT8;
|
||||
typedef signed short INT16;
|
||||
typedef signed int INT32;
|
||||
typedef signed long long INT64;
|
||||
|
||||
//Unsigned
|
||||
typedef unsigned char UINT8;
|
||||
typedef unsigned short UINT16;
|
||||
typedef unsigned int UINT32;
|
||||
typedef unsigned long long UINT64;
|
||||
|
||||
//Other
|
||||
typedef unsigned char UCHAR;
|
||||
typedef unsigned short USHORT;
|
||||
typedef unsigned int UINT;
|
||||
typedef unsigned long ULONG;
|
||||
|
||||
typedef enum {
|
||||
CTR_OKAY, //!< No Error - Function executed as expected
|
||||
CTR_RxTimeout, //!< CAN frame has not been received within specified period of time.
|
||||
CTR_TxTimeout, //!< Not used.
|
||||
CTR_InvalidParamValue, //!< Caller passed an invalid param
|
||||
CTR_UnexpectedArbId, //!< Specified CAN Id is invalid.
|
||||
CTR_TxFailed, //!< Could not transmit the CAN frame.
|
||||
CTR_SigNotUpdated, //!< Have not received an value response for signal.
|
||||
CTR_BufferFull, //!< Caller attempted to insert data into a buffer that is full.
|
||||
}CTR_Code;
|
||||
|
||||
#include "ctre_frames.h"
|
||||
|
||||
#endif /* CTRE_H */
|
||||
@@ -1,243 +0,0 @@
|
||||
/**
|
||||
* @file ctre_frames.h
|
||||
* CAN Encoder/Decoder Structures for CTRE devices.
|
||||
*/
|
||||
#ifndef CTRE_FRAMES_H
|
||||
#define CTRE_FRAMES_H
|
||||
|
||||
/** control */
|
||||
typedef struct _TALON_Control_1_General_10ms_t {
|
||||
unsigned TokenH:8;
|
||||
unsigned TokenL:8;
|
||||
unsigned DemandH:8;
|
||||
unsigned DemandM:8;
|
||||
unsigned DemandL:8;
|
||||
unsigned ProfileSlotSelect:1;
|
||||
unsigned FeedbackDeviceSelect:4;
|
||||
unsigned OverrideLimitSwitchEn:3;
|
||||
unsigned RevFeedbackSensor:1;
|
||||
unsigned RevMotDuringCloseLoopEn:1;
|
||||
unsigned OverrideBrakeType:2;
|
||||
unsigned ModeSelect:4;
|
||||
unsigned RampThrottle:8;
|
||||
} TALON_Control_1_General_10ms_t ;
|
||||
|
||||
/* TALON_Control_2_Rates_OneShot_t removed since it has been deprecated */
|
||||
|
||||
typedef struct _TALON_Control_3_ClearFlags_OneShot_t {
|
||||
unsigned ZeroFeedbackSensor:1;
|
||||
unsigned ClearStickyFaults:1;
|
||||
} TALON_Control_3_ClearFlags_OneShot_t ;
|
||||
|
||||
typedef struct _TALON_Control_5_General_10ms_t {
|
||||
unsigned ThrottleBump_h3:3;
|
||||
unsigned ReservedZero:5;
|
||||
unsigned ThrottleBump_l8:8;
|
||||
unsigned DemandH:8;
|
||||
unsigned DemandM:8;
|
||||
unsigned DemandL:8;
|
||||
unsigned ProfileSlotSelect:1;
|
||||
unsigned FeedbackDeviceSelect:4;
|
||||
unsigned OverrideLimitSwitchEn:3;
|
||||
unsigned RevFeedbackSensor:1;
|
||||
unsigned RevMotDuringCloseLoopEn:1;
|
||||
unsigned OverrideBrakeType:2;
|
||||
unsigned ModeSelect:4;
|
||||
unsigned RampThrottle:8;
|
||||
} TALON_Control_5_General_10ms_t ;
|
||||
|
||||
typedef struct _TALON_Control_6_MotProfAddTrajPoint_t {
|
||||
unsigned huffCode:2; //!< Compression coding
|
||||
unsigned NextPt_VelOnly:1;
|
||||
unsigned NextPt_IsLast:1;
|
||||
unsigned reserved0:2;
|
||||
unsigned NextPt_ZeroPosition:1;
|
||||
unsigned NextPt_ProfileSlotSelect:1;
|
||||
unsigned Idx:4;
|
||||
unsigned reserved1:4;
|
||||
unsigned restOfFrame0:8;
|
||||
unsigned restOfFrame1:8;
|
||||
unsigned restOfFrame2:8;
|
||||
unsigned restOfFrame3:8;
|
||||
unsigned restOfFrame4:8;
|
||||
unsigned restOfFrame5:8;
|
||||
} TALON_Control_6_MotProfAddTrajPoint_t;
|
||||
|
||||
typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff0_t {
|
||||
unsigned huffCode_expect_0:2; //!< Compression coding
|
||||
unsigned NextPt_VelOnly:1;
|
||||
unsigned NextPt_IsLast:1;
|
||||
unsigned reserved0:2;
|
||||
unsigned NextPt_ZeroPosition:1;
|
||||
unsigned NextPt_ProfileSlotSelect:1;
|
||||
unsigned Idx:4;
|
||||
unsigned reserved1:4;
|
||||
unsigned NextPt_DurationMs:8;
|
||||
unsigned NextPt_VelocityH:8;
|
||||
unsigned NextPt_VelocityL:8;
|
||||
unsigned NextPt_PositionH:8;
|
||||
unsigned NextPt_PositionM:8;
|
||||
unsigned NextPt_PositionL:8;
|
||||
} TALON_Control_6_MotProfAddTrajPoint_huff0_t;
|
||||
|
||||
typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff1_t {
|
||||
unsigned huffCode_expect_1:2; //!< Compression coding
|
||||
unsigned NextPt_VelOnly:1;
|
||||
unsigned NextPt_IsLast:1;
|
||||
unsigned reserved0:2;
|
||||
unsigned NextPt_ZeroPosition:1;
|
||||
unsigned NextPt_ProfileSlotSelect:1;
|
||||
unsigned Idx:4;
|
||||
unsigned reserved1:4;
|
||||
unsigned NextPt_DurationMs:8;
|
||||
unsigned NextPt_SameVelocityH:8;
|
||||
unsigned NextPt_SameVelocityL:8;
|
||||
unsigned NextPt_DeltaPositionH:8;
|
||||
unsigned NextPt_DeltaPositionL:8;
|
||||
unsigned NextPt_Count:8;
|
||||
} TALON_Control_6_MotProfAddTrajPoint_huff1_t;
|
||||
|
||||
/** status */
|
||||
typedef struct _TALON_Status_1_General_10ms_t {
|
||||
unsigned CloseLoopErrH:8;
|
||||
unsigned CloseLoopErrM:8;
|
||||
unsigned CloseLoopErrL:8;
|
||||
unsigned AppliedThrottle_h3:3;
|
||||
unsigned Fault_RevSoftLim:1;
|
||||
unsigned Fault_ForSoftLim:1;
|
||||
unsigned TokLocked:1;
|
||||
unsigned LimitSwitchClosedRev:1;
|
||||
unsigned LimitSwitchClosedFor:1;
|
||||
unsigned AppliedThrottle_l8:8;
|
||||
unsigned ModeSelect_h1:1;
|
||||
unsigned FeedbackDeviceSelect:4;
|
||||
unsigned LimitSwitchEn:3;
|
||||
unsigned Fault_HardwareFailure:1;
|
||||
unsigned Fault_RevLim:1;
|
||||
unsigned Fault_ForLim:1;
|
||||
unsigned Fault_UnderVoltage:1;
|
||||
unsigned Fault_OverTemp:1;
|
||||
unsigned ModeSelect_b3:3;
|
||||
unsigned TokenSeed:8;
|
||||
} TALON_Status_1_General_10ms_t ;
|
||||
typedef struct _TALON_Status_2_Feedback_20ms_t {
|
||||
unsigned SensorPositionH:8;
|
||||
unsigned SensorPositionM:8;
|
||||
unsigned SensorPositionL:8;
|
||||
unsigned SensorVelocityH:8;
|
||||
unsigned SensorVelocityL:8;
|
||||
unsigned Current_h8:8;
|
||||
unsigned StckyFault_RevSoftLim:1;
|
||||
unsigned StckyFault_ForSoftLim:1;
|
||||
unsigned StckyFault_RevLim:1;
|
||||
unsigned StckyFault_ForLim:1;
|
||||
unsigned StckyFault_UnderVoltage:1;
|
||||
unsigned StckyFault_OverTemp:1;
|
||||
unsigned Current_l2:2;
|
||||
unsigned reserved:3;
|
||||
unsigned Cmd5Allowed:1;
|
||||
unsigned VelDiv4:1;
|
||||
unsigned PosDiv8:1;
|
||||
unsigned ProfileSlotSelect:1;
|
||||
unsigned BrakeIsEnabled:1;
|
||||
} TALON_Status_2_Feedback_20ms_t ;
|
||||
typedef struct _TALON_Status_3_Enc_100ms_t {
|
||||
unsigned EncPositionH:8;
|
||||
unsigned EncPositionM:8;
|
||||
unsigned EncPositionL:8;
|
||||
unsigned EncVelH:8;
|
||||
unsigned EncVelL:8;
|
||||
unsigned EncIndexRiseEventsH:8;
|
||||
unsigned EncIndexRiseEventsL:8;
|
||||
unsigned reserved:3;
|
||||
unsigned VelDiv4:1;
|
||||
unsigned PosDiv8:1;
|
||||
unsigned QuadIdxpin:1;
|
||||
unsigned QuadBpin:1;
|
||||
unsigned QuadApin:1;
|
||||
} TALON_Status_3_Enc_100ms_t ;
|
||||
typedef struct _TALON_Status_4_AinTempVbat_100ms_t {
|
||||
unsigned AnalogInWithOvH:8;
|
||||
unsigned AnalogInWithOvM:8;
|
||||
unsigned AnalogInWithOvL:8;
|
||||
unsigned AnalogInVelH:8;
|
||||
unsigned AnalogInVelL:8;
|
||||
unsigned Temp:8;
|
||||
unsigned BatteryV:8;
|
||||
unsigned reserved:6;
|
||||
unsigned VelDiv4:1;
|
||||
unsigned PosDiv8:1;
|
||||
} TALON_Status_4_AinTempVbat_100ms_t ;
|
||||
typedef struct _TALON_Status_5_Startup_OneShot_t {
|
||||
unsigned ResetCountH:8;
|
||||
unsigned ResetCountL:8;
|
||||
unsigned ResetFlagsH:8;
|
||||
unsigned ResetFlagsL:8;
|
||||
unsigned FirmVersH:8;
|
||||
unsigned FirmVersL:8;
|
||||
} TALON_Status_5_Startup_OneShot_t ;
|
||||
typedef struct _TALON_Status_6_Eol_t {
|
||||
unsigned currentAdcUncal_h2:2;
|
||||
unsigned reserved1:5;
|
||||
unsigned SpiCsPin_GadgeteerPin6:1;
|
||||
unsigned currentAdcUncal_l8:8;
|
||||
unsigned tempAdcUncal_h2:2;
|
||||
unsigned reserved2:6;
|
||||
unsigned tempAdcUncal_l8:8;
|
||||
unsigned vbatAdcUncal_h2:2;
|
||||
unsigned reserved3:6;
|
||||
unsigned vbatAdcUncal_l8:8;
|
||||
unsigned analogAdcUncal_h2:2;
|
||||
unsigned reserved4:6;
|
||||
unsigned analogAdcUncal_l8:8;
|
||||
} TALON_Status_6_Eol_t ;
|
||||
typedef struct _TALON_Status_7_Debug_200ms_t {
|
||||
unsigned TokenizationFails_h8:8;
|
||||
unsigned TokenizationFails_l8:8;
|
||||
unsigned LastFailedToken_h8:8;
|
||||
unsigned LastFailedToken_l8:8;
|
||||
unsigned TokenizationSucceses_h8:8;
|
||||
unsigned TokenizationSucceses_l8:8;
|
||||
} TALON_Status_7_Debug_200ms_t ;
|
||||
typedef struct _TALON_Status_8_PulseWid_100ms_t {
|
||||
unsigned PulseWidPositionH:8;
|
||||
unsigned PulseWidPositionM:8;
|
||||
unsigned PulseWidPositionL:8;
|
||||
unsigned reserved:6;
|
||||
unsigned VelDiv4:1;
|
||||
unsigned PosDiv8:1;
|
||||
unsigned PeriodUsM8:8;
|
||||
unsigned PeriodUsL8:8;
|
||||
unsigned PulseWidVelH:8;
|
||||
unsigned PulseWidVelL:8;
|
||||
} TALON_Status_8_PulseWid_100ms_t ;
|
||||
typedef struct _TALON_Status_9_MotProfBuffer_100ms_t {
|
||||
unsigned ActTraj_IsValid:1; //!< '1' if other ActTraj_* signals are valid. '0' if there is no active trajectory pt.
|
||||
unsigned ActTraj_ProfileSlotSelect:1;
|
||||
unsigned ActTraj_VelOnly:1;
|
||||
unsigned ActTraj_IsLast:1;
|
||||
unsigned OutputType:2;
|
||||
unsigned HasUnderrun:1;
|
||||
unsigned IsUnderrun:1;
|
||||
unsigned NextID:4;
|
||||
unsigned reserved1:3;
|
||||
unsigned BufferIsFull:1;
|
||||
unsigned Count:8;
|
||||
unsigned ActTraj_VelocityH:8;
|
||||
unsigned ActTraj_VelocityL:8;
|
||||
unsigned ActTraj_PositionH:8;
|
||||
unsigned ActTraj_PositionM:8;
|
||||
unsigned ActTraj_PositionL:8;
|
||||
} TALON_Status_9_MotProfBuffer_100ms_t ;
|
||||
typedef struct _TALON_Param_Request_t {
|
||||
unsigned ParamEnum:8;
|
||||
} TALON_Param_Request_t ;
|
||||
typedef struct _TALON_Param_Response_t {
|
||||
unsigned ParamEnum:8;
|
||||
unsigned ParamValueL:8;
|
||||
unsigned ParamValueML:8;
|
||||
unsigned ParamValueMH:8;
|
||||
unsigned ParamValueH:8;
|
||||
} TALON_Param_Response_t ;
|
||||
|
||||
#endif /* CTRE_FRAMES_H */
|
||||
Reference in New Issue
Block a user