mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
cd5765559a
- 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
244 lines
7.0 KiB
C
244 lines
7.0 KiB
C
/**
|
|
* @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 */
|