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Last feature addition for CANTalon java/C++ user-facing API.
- CANJaguar also touched up to report it can't do the new control mode (just like with follower). - New third optional param for talon c'tor to speed up enable control frame. - The pulse width routines have been moved to where the script generator puts them. No actual changes there but should help Peter integrate the latest code generator. Last feature additions for TalonSRX HAL for FRC2015-FRC-2016 season. -HAL driver uses control_5 frame if firmware supports it. This allows teams to see/confirm control settings taking effect before enabling the robot. For example selecting the sensor type and going to web-dash to check sensor values now works without having to enable the robot. -Motion profile HAL routines added. Tested on Single-Speed Double reduction (with slave Talon too). -Start moving ctre frame defs into a new common header (better then shoving a bunch of struct defs at top of module). -New child class in CANTalonSRX for buffering motion profile points. Not sure it would be best to leave it as is or make another module. It's trivial now so I thought that was acceptable, (in future it will likely possess compression strategies => no longer trivial). Change-Id: I803680c1a6669ca3f5157d7875942def6f75b540
This commit is contained in:
Omar Zrien
committed by
Peter Johnson
Peter Johnson
parent
ec69c6a866
commit
cd5765559a
@@ -71,11 +71,13 @@
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*/
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#ifndef CanTalonSRX_H_
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#define CanTalonSRX_H_
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#include "ctre/ctre.h" //BIT Defines + Typedefs
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#include "ctre/ctre.h" //BIT Defines + Typedefs, TALON_Control_6_MotProfAddTrajPoint_t
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#include "ctre/CtreCanNode.h"
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#include <FRC_NetworkCommunication/CANSessionMux.h> //CAN Comm
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#include <map>
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#include <atomic>
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#include <deque>
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#include <mutex>
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class CanTalonSRX : public CtreCanNode
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{
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private:
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@@ -100,6 +102,133 @@ private:
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sigs_t _sigs; //!< Catches signal updates that are solicited. Expect this to be very few.
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void OpenSessionIfNeedBe();
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void ProcessStreamMessages();
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/**
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* Called in various places to double check we are using the best control frame.
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* If the Talon firmware is too old, use control 1 framing, which does not allow setting
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* control signals until robot is enabled. If Talon firmware can suport control5, use that
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* since that frame can be transmitted during robot-disable. If calling application
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* uses setParam to set the signal eLegacyControlMode, caller can force using control1
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* if needed for some reason.
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*/
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void UpdateControlId();
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/**
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* @return true if Talon is reporting that it supports control5, and therefore
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* RIO can send control5 to update control params (even when disabled).
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*/
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bool IsControl5Supported();
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/**
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* Get a copy of the control frame to send.
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* @param [out] pointer to eight byte array to fill.
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*/
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void GetControlFrameCopy(uint8_t * toFill);
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/**
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* @return the tx task that transmits Control6 (motion profile control).
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* If it's not scheduled, then schedule it. This is part
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* of making the lazy-framing that only peforms MotionProf framing when needed
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* to save bandwidth.
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*/
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CtreCanNode::txTask<TALON_Control_6_MotProfAddTrajPoint_t> GetControl6();
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/**
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* Caller is either pushing a new motion profile point, or is
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* calling the Process buffer routine. In either case check our
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* flow control to see if we need to start sending control6.
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*/
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void ReactToMotionProfileCall();
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/**
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* Update the NextPt signals inside the control frame given the next pt to send.
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* @param control pointer to the CAN frame payload containing control6. Only the signals that serialize
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* the next trajectory point are updated from the contents of newPt.
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* @param newPt point to the next trajectory that needs to be inserted into Talon RAM.
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*/
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void CopyTrajPtIntoControl(TALON_Control_6_MotProfAddTrajPoint_t * control, const TALON_Control_6_MotProfAddTrajPoint_t * newPt);
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//---------------------- General Control framing ---------------------------//
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/**
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* Frame period for control1 or control5, depending on which one we are using.
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*/
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int _controlPeriodMs = kDefaultControlPeriodMs;
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/**
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* Frame Period of the motion profile control6 frame.
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*/
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int _control6PeriodMs = kDefaultControl6PeriodMs;
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/**
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* When using control5, we still need to send a frame to enable robot. This controls the period.
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* This only is used when we are in the control5 state. @see ControlFrameSelControl5
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*/
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int _enablePeriodMs = kDefaultEnablePeriodMs;
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/**
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* ArbID to use for control frame. Should be either CONTROL_1 or CONTROL_5.
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*/
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uint32_t _controlFrameArbId;
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/**
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* Boolean flag to signal calling applications intent to allow using control5
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* assuming Talon firmware supports it. This can be cleared to force control1 framing.
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*/
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bool _useControl5ifSupported = true;
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//---------------------- Buffering Motion Profile ---------------------------//
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/**
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* Top level Buffer for motion profile trajectory buffering.
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* Basically this buffers up the eight byte CAN frame payloads that are handshaked into
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* the Talon RAM.
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* TODO: Should this be moved into a separate header, and if so where logically should it reside?
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* TODO: Add compression so that multiple CAN frames can be compressed into one exchange.
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*/
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class TrajectoryBuffer {
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public:
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void Clear()
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{
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_motProfTopBuffer.clear();
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}
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/**
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* push caller's uncompressed simple trajectory point.
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*/
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void Push(TALON_Control_6_MotProfAddTrajPoint_huff0_t & pt)
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{
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_motProfTopBuffer.push_back(pt);
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}
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/**
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* Get the next trajectory point CAN frame to send.
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* Underlying layer may compress the next few points together
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* into one control_6 frame.
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*/
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TALON_Control_6_MotProfAddTrajPoint_t * Front()
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{
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/* TODO : peek ahead and use compression strategies */
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_lastFront = _motProfTopBuffer.front();
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return (TALON_Control_6_MotProfAddTrajPoint_t*)&_lastFront;
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}
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void Pop()
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{
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/* TODO : pop multiple points if last front'd point was compressed. */
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_motProfTopBuffer.pop_front();
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}
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unsigned int GetNumTrajectories()
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{
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return _motProfTopBuffer.size();
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}
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bool IsEmpty()
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{
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return _motProfTopBuffer.empty();
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}
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private:
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std::deque<TALON_Control_6_MotProfAddTrajPoint_huff0_t> _motProfTopBuffer;
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TALON_Control_6_MotProfAddTrajPoint_huff0_t _lastFront;
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};
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TrajectoryBuffer _motProfTopBuffer;
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/**
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* To keep buffers from getting out of control, place a cap on the top level buffer. Calling application
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* can stream addition points as they are fed to Talon.
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* Approx memory footprint is this capacity X 8 bytes.
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*/
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static const int kMotionProfileTopBufferCapacity = 2048;
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/**
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* Flow control for streaming trajectories.
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*/
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int32_t _motProfFlowControl = -1;
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/**
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* Since we may need the MP pts to be emptied into Talon in the background
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* make sure the buffering is thread-safe.
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*/
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std::mutex _mutMotProf;
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/**
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* Send a one shot frame to set an arbitrary signal.
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* Most signals are in the control frame so avoid using this API unless you have to.
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@@ -115,7 +244,9 @@ private:
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CTR_Code GetParamResponseRaw(uint32_t paramEnum, int32_t & rawBits);
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public:
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static const int kDefaultControlPeriodMs = 10; //!< default control update rate is 10ms.
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CanTalonSRX(int deviceNumber = 0,int controlPeriodMs = kDefaultControlPeriodMs);
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static const int kDefaultEnablePeriodMs = 50; //!< default enable update rate is 50ms (when using the new control5 frame).
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static const int kDefaultControl6PeriodMs = 10; //!< Default update rate for motion profile control 6. This only takes effect when calling uses MP functions.
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CanTalonSRX(int deviceNumber = 0,int controlPeriodMs = kDefaultControlPeriodMs,int enablePeriodMs = kDefaultEnablePeriodMs);
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~CanTalonSRX();
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void Set(double value);
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/* mode select enumerations */
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@@ -125,6 +256,7 @@ public:
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static const int kMode_CurrentCloseLoop = 3; //!< Current close loop - not done.
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static const int kMode_VoltCompen = 4; //!< Voltage Compensation Mode - not done. Demand is fixed pt target 8.8 volts.
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static const int kMode_SlaveFollower = 5; //!< Demand is the 6 bit Device ID of the 'master' TALON SRX.
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static const int kMode_MotionProfile = 6; //!< Demand is '0' (Disabled), '1' (Enabled), or '2' (Hold).
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static const int kMode_NoDrive = 15; //!< Zero the output (honors brake/coast) regardless of demand. Might be useful if we need to change modes but can't atomically change all the signals we want in between.
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/* limit switch enumerations */
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static const int kLimitSwitchOverride_UseDefaultsFromFlash = 1;
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@@ -152,6 +284,17 @@ public:
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static const int kStatusFrame_Encoder = 2;
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static const int kStatusFrame_AnalogTempVbat = 3;
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static const int kStatusFrame_PulseWidthMeas = 4;
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static const int kStatusFrame_MotionProfile = 5;
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/* Motion Profile status bits */
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static const int kMotionProfileFlag_ActTraj_IsValid = 0x1;
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static const int kMotionProfileFlag_HasUnderrun = 0x2;
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static const int kMotionProfileFlag_IsUnderrun = 0x4;
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static const int kMotionProfileFlag_ActTraj_IsLast = 0x8;
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static const int kMotionProfileFlag_ActTraj_VelOnly = 0x10;
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/* Motion Profile Set Output */
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static const int kMotionProf_Disabled = 0; //!< Motor output is neutral, Motion Profile Executer is not running.
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static const int kMotionProf_Enable = 1; //!< Motor output is updated from Motion Profile Executer, MPE will process the buffered points.
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static const int kMotionProf_Hold = 2; //!< Motor output is updated from Motion Profile Executer, MPE will stay processing current trajectory point.
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/**
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* Signal enumeration for generic signal access.
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* Although every signal is enumerated, only use this for traffic that must be solicited.
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@@ -247,6 +390,10 @@ public:
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eAinPosition=115,
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eProfileParamVcompRate=116,
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eProfileParamSlot1_AllowableClosedLoopErr=117,
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eStatus9FrameRate=118, // TALON_Status_9_MotProfBuffer_100ms_t
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eMotionProfileHasUnderrunErr = 119,
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eReserved120 = 120,
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eLegacyControlMode = 121,
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}param_t;
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/*---------------------setters and getters that use the solicated param request/response-------------*//**
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* Send a one shot frame to set an arbitrary signal.
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@@ -300,6 +447,85 @@ public:
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* Clear all sticky faults in TALON.
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*/
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CTR_Code ClearStickyFaults();
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/**
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* Calling application can opt to speed up the handshaking between the robot API and the Talon to increase the
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* download rate of the Talon's Motion Profile. Ideally the period should be no more than half the period
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* of a trajectory point.
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*/
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void ChangeMotionControlFramePeriod(uint32_t periodMs);
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/**
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* Clear the buffered motion profile in both Talon RAM (bottom), and in the API (top).
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*/
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void ClearMotionProfileTrajectories();
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/**
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* Retrieve just the buffer count for the api-level (top) buffer.
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* This routine performs no CAN or data structure lookups, so its fast and ideal
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* if caller needs to quickly poll the progress of trajectory points being emptied
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* into Talon's RAM. Otherwise just use GetMotionProfileStatus.
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* @return number of trajectory points in the top buffer.
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*/
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uint32_t GetMotionProfileTopLevelBufferCount();
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/**
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* Retrieve just the buffer full for the api-level (top) buffer.
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* This routine performs no CAN or data structure lookups, so its fast and ideal
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* if caller needs to quickly poll. Otherwise just use GetMotionProfileStatus.
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* @return number of trajectory points in the top buffer.
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*/
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bool IsMotionProfileTopLevelBufferFull();
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/**
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* Push another trajectory point into the top level buffer (which is emptied into
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* the Talon's bottom buffer as room allows).
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* @param targPos servo position in native Talon units (sensor units).
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* @param targVel velocity to feed-forward in native Talon units (sensor units per 100ms).
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* @param profileSlotSelect which slot to pull PIDF gains from. Currently supports 0 or 1.
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* @param timeDurMs time in milliseconds of how long to apply this point.
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* @param velOnly set to nonzero to signal Talon that only the feed-foward velocity should be
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* used, i.e. do not perform PID on position. This is equivalent to setting
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* PID gains to zero, but much more efficient and synchronized to MP.
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* @param isLastPoint set to nonzero to signal Talon to keep processing this trajectory point,
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* instead of jumping to the next one when timeDurMs expires. Otherwise
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* MP executer will eventuall see an empty buffer after the last point expires,
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* causing it to assert the IsUnderRun flag. However this may be desired
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* if calling application nevers wants to terminate the MP.
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* @param zeroPos set to nonzero to signal Talon to "zero" the selected position sensor before executing
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* this trajectory point. Typically the first point should have this set only thus allowing
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* the remainder of the MP positions to be relative to zero.
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* @return CTR_OKAY if trajectory point push ok. CTR_BufferFull if buffer is full due to kMotionProfileTopBufferCapacity.
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*/
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CTR_Code PushMotionProfileTrajectory(int targPos, int targVel, int profileSlotSelect, int timeDurMs, int velOnly, int isLastPoint, int zeroPos);
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/**
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* This must be called periodically to funnel the trajectory points from the API's top level buffer to
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* the Talon's bottom level buffer. Recommendation is to call this twice as fast as the executation rate of the motion profile.
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* So if MP is running with 20ms trajectory points, try calling this routine every 10ms. All motion profile functions are thread-safe
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* through the use of a mutex, so there is no harm in having the caller utilize threading.
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*/
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void ProcessMotionProfileBuffer();
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/**
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* Retrieve all status information.
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* Since this all comes from one CAN frame, its ideal to have one routine to retrieve the frame once and decode everything.
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* @param [out] flags bitfield for status bools. Starting with least significant bit: IsValid, HasUnderrun, IsUnderrun, IsLast, VelOnly.
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*
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* IsValid set when MP executer is processing a trajectory point, and that point's status is instrumented with
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* IsLast, VelOnly, targPos, targVel. However if MP executor is not processing a trajectory point,
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* then this flag is false, and the instrumented signals will be zero.
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* HasUnderrun is set anytime the MP executer is ready to pop another trajectory point from the Talon's RAM, but the buffer
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* is empty. It can only be cleared by using SetParam(eMotionProfileHasUnderrunErr,0);
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* IsUnderrun is set when the MP executer is ready for another point, but the buffer is empty, and cleared when the MP executer
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* does not need another point. HasUnderrun shadows this registor when this register gets set, however HasUnderrun
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* stays asserted until application has process it, and IsUnderrun auto-clears when the condition is resolved.
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* IsLast is set/cleared based on the MP executer's current trajectory point's IsLast value. This assumes
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* IsLast was set when PushMotionProfileTrajectory was used to insert the currently processed trajectory point.
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* VelOnly is set/cleared based on the MP executer's current trajectory point's VelOnly value.
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*
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* @param [out] profileSlotSelect The currently processed trajectory point's selected slot. This can differ in the currently selected slot used for Position and Velocity servo modes.
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* @param [out] targPos The currently processed trajectory point's position in native units. This param is zero if IsValid is zero.
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* @param [out] targVel The currently processed trajectory point's velocity in native units. This param is zero if IsValid is zero.
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* @param [out] topBufferRem The remaining number of points in the top level buffer.
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* @param [out] topBufferCnt The number of points in the top level buffer to be sent to Talon.
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* @param [out] btmBufferCnt The number of points in the bottom level buffer inside Talon.
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* @return CTR error code
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*/
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CTR_Code GetMotionProfileStatus(uint32_t &flags, uint32_t &profileSlotSelect, int32_t &targPos, int32_t &targVel, uint32_t & topBufferRemaining, uint32_t &topBufferCnt, uint32_t &btmBufferCnt, uint32_t &outputEnable);
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/*------------------------ auto generated. This API is optimal since it uses the fire-and-forget CAN interface ----------------------*/
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/*------------------------ These signals should cover the majority of all use cases. ----------------------------------*/
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CTR_Code GetFault_OverTemp(int ¶m);
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@@ -339,6 +565,11 @@ public:
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CTR_Code GetResetCount(int ¶m);
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CTR_Code GetResetFlags(int ¶m);
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CTR_Code GetFirmVers(int ¶m);
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CTR_Code GetPulseWidthPosition(int ¶m);
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CTR_Code GetPulseWidthVelocity(int ¶m);
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CTR_Code GetPulseWidthRiseToFallUs(int ¶m);
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CTR_Code GetPulseWidthRiseToRiseUs(int ¶m);
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CTR_Code IsPulseWidthSensorPresent(int ¶m);
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CTR_Code SetDemand(int param);
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CTR_Code SetOverrideLimitSwitchEn(int param);
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CTR_Code SetFeedbackDeviceSelect(int param);
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@@ -349,11 +580,6 @@ public:
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CTR_Code SetProfileSlotSelect(int param);
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CTR_Code SetRampThrottle(int param);
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CTR_Code SetRevFeedbackSensor(int param);
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CTR_Code GetPulseWidthPosition(int ¶m);
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CTR_Code GetPulseWidthVelocity(int ¶m);
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CTR_Code GetPulseWidthRiseToFallUs(int ¶m);
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CTR_Code GetPulseWidthRiseToRiseUs(int ¶m);
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CTR_Code IsPulseWidthSensorPresent(int ¶m);
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};
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extern "C" {
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void *c_TalonSRX_Create(int deviceNumber, int controlPeriodMs);
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@@ -401,6 +627,11 @@ extern "C" {
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CTR_Code c_TalonSRX_GetResetCount(void *handle, int *param);
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CTR_Code c_TalonSRX_GetResetFlags(void *handle, int *param);
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CTR_Code c_TalonSRX_GetFirmVers(void *handle, int *param);
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CTR_Code c_TalonSRX_GetPulseWidthPosition(void *handle, int *param);
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CTR_Code c_TalonSRX_GetPulseWidthVelocity(void *handle, int *param);
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CTR_Code c_TalonSRX_GetPulseWidthRiseToFallUs(void *handle, int *param);
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CTR_Code c_TalonSRX_GetPulseWidthRiseToRiseUs(void *handle, int *param);
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CTR_Code c_TalonSRX_IsPulseWidthSensorPresent(void *handle, int *param);
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CTR_Code c_TalonSRX_SetDemand(void *handle, int param);
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CTR_Code c_TalonSRX_SetOverrideLimitSwitchEn(void *handle, int param);
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CTR_Code c_TalonSRX_SetFeedbackDeviceSelect(void *handle, int param);
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@@ -411,11 +642,6 @@ extern "C" {
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CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param);
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CTR_Code c_TalonSRX_SetRampThrottle(void *handle, int param);
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CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param);
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CTR_Code c_TalonSRX_GetPulseWidthPosition(void *handle, int *param);
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CTR_Code c_TalonSRX_GetPulseWidthVelocity(void *handle, int *param);
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CTR_Code c_TalonSRX_GetPulseWidthRiseToFallUs(void *handle, int *param);
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CTR_Code c_TalonSRX_GetPulseWidthRiseToRiseUs(void *handle, int *param);
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CTR_Code c_TalonSRX_IsPulseWidthSensorPresent(void *handle, int *param);
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}
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#endif
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@@ -52,10 +52,26 @@ protected:
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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).
|
||||
* @param initialFrame Ptr to the frame data to schedule for transmitting. Passing null will result
|
||||
* in defaulting to zero data value.
|
||||
*/
|
||||
void RegisterTx(uint32_t arbId, uint32_t periodMs, uint32_t dlc, const uint8_t * initialFrame);
|
||||
void UnregisterTx(uint32_t arbId);
|
||||
|
||||
CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
|
||||
void FlushTx(uint32_t arbId);
|
||||
bool ChangeTxPeriod(uint32_t arbId, uint32_t periodMs);
|
||||
|
||||
template<typename T> txTask<T> GetTx(uint32_t arbId)
|
||||
{
|
||||
@@ -86,6 +102,7 @@ private:
|
||||
uint32_t arbId;
|
||||
uint8_t toSend[8];
|
||||
uint32_t periodMs;
|
||||
uint8_t dlc;
|
||||
};
|
||||
|
||||
class rxEvent_t{
|
||||
|
||||
@@ -1,5 +1,9 @@
|
||||
#ifndef GLOBAL_H
|
||||
#define GLOBAL_H
|
||||
/**
|
||||
* @file ctre.h
|
||||
* Common header for all CTRE HAL modules.
|
||||
*/
|
||||
#ifndef CTRE_H
|
||||
#define CTRE_H
|
||||
|
||||
//Bit Defines
|
||||
#define BIT0 0x01
|
||||
@@ -45,6 +49,9 @@ typedef enum {
|
||||
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;
|
||||
|
||||
#endif
|
||||
#include "ctre_frames.h"
|
||||
|
||||
#endif /* CTRE_H */
|
||||
|
||||
243
hal/include/ctre/ctre_frames.h
Normal file
243
hal/include/ctre/ctre_frames.h
Normal file
@@ -0,0 +1,243 @@
|
||||
/**
|
||||
* @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