2014-12-06 19:30:25 -08:00
|
|
|
/*
|
2016-11-04 07:18:34 -07:00
|
|
|
Copyright 2016 Benjamin Vedder benjamin@vedder.se
|
2014-12-06 19:30:25 -08:00
|
|
|
|
2016-11-04 07:18:34 -07:00
|
|
|
This file is part of the VESC firmware.
|
|
|
|
|
|
|
|
The VESC firmware is free software: you can redistribute it and/or modify
|
2014-12-06 19:30:25 -08:00
|
|
|
it under the terms of the GNU General Public License as published by
|
|
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
|
|
(at your option) any later version.
|
|
|
|
|
2016-11-04 07:18:34 -07:00
|
|
|
The VESC firmware is distributed in the hope that it will be useful,
|
2014-12-06 19:30:25 -08:00
|
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
|
GNU General Public License for more details.
|
|
|
|
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
*/
|
|
|
|
|
|
|
|
#ifndef COMM_CAN_H_
|
|
|
|
#define COMM_CAN_H_
|
|
|
|
|
|
|
|
#include "conf_general.h"
|
2019-02-18 10:30:19 -08:00
|
|
|
#include "hal.h"
|
2014-12-06 19:30:25 -08:00
|
|
|
|
2015-02-19 12:20:07 -08:00
|
|
|
// Settings
|
|
|
|
#define CAN_STATUS_MSGS_TO_STORE 10
|
|
|
|
|
2014-12-06 19:30:25 -08:00
|
|
|
// Functions
|
|
|
|
void comm_can_init(void);
|
2017-11-08 05:07:35 -08:00
|
|
|
void comm_can_set_baud(CAN_BAUD baud);
|
2019-02-18 10:30:19 -08:00
|
|
|
void comm_can_transmit_eid(uint32_t id, const uint8_t *data, uint8_t len);
|
2020-03-16 10:32:39 -07:00
|
|
|
void comm_can_transmit_eid_replace(uint32_t id, const uint8_t *data, uint8_t len, bool replace);
|
2017-10-28 02:06:21 -07:00
|
|
|
void comm_can_transmit_sid(uint32_t id, uint8_t *data, uint8_t len);
|
2020-11-18 05:26:55 -08:00
|
|
|
void comm_can_set_sid_rx_callback(bool (*p_func)(uint32_t id, uint8_t *data, uint8_t len));
|
|
|
|
void comm_can_set_eid_rx_callback(bool (*p_func)(uint32_t id, uint8_t *data, uint8_t len));
|
2019-02-18 10:30:19 -08:00
|
|
|
void comm_can_send_buffer(uint8_t controller_id, uint8_t *data, unsigned int len, uint8_t send);
|
2014-12-06 19:30:25 -08:00
|
|
|
void comm_can_set_duty(uint8_t controller_id, float duty);
|
|
|
|
void comm_can_set_current(uint8_t controller_id, float current);
|
2021-05-16 12:03:46 -07:00
|
|
|
void comm_can_set_current_off_delay(uint8_t controller_id, float current, float off_delay);
|
2014-12-06 19:30:25 -08:00
|
|
|
void comm_can_set_current_brake(uint8_t controller_id, float current);
|
|
|
|
void comm_can_set_rpm(uint8_t controller_id, float rpm);
|
2015-04-26 15:02:32 -07:00
|
|
|
void comm_can_set_pos(uint8_t controller_id, float pos);
|
2017-09-04 12:12:43 -07:00
|
|
|
void comm_can_set_current_rel(uint8_t controller_id, float current_rel);
|
2021-05-16 12:03:46 -07:00
|
|
|
void comm_can_set_current_rel_off_delay(uint8_t controller_id, float current_rel, float off_delay);
|
2017-09-04 12:12:43 -07:00
|
|
|
void comm_can_set_current_brake_rel(uint8_t controller_id, float current_rel);
|
2020-10-09 12:08:48 -07:00
|
|
|
bool comm_can_ping(uint8_t controller_id, HW_TYPE *hw_type);
|
2019-02-18 10:30:19 -08:00
|
|
|
void comm_can_detect_apply_all_foc(uint8_t controller_id, bool activate_status_msgs, float max_power_loss);
|
|
|
|
void comm_can_conf_current_limits(uint8_t controller_id,
|
|
|
|
bool store, float min, float max);
|
|
|
|
void comm_can_conf_current_limits_in(uint8_t controller_id,
|
|
|
|
bool store, float min, float max);
|
|
|
|
void comm_can_conf_foc_erpms(uint8_t controller_id,
|
|
|
|
bool store, float foc_openloop_rpm, float foc_sl_erpm);
|
|
|
|
int comm_can_detect_all_foc_res(unsigned int index);
|
|
|
|
int comm_can_detect_all_foc_res_size(void);
|
|
|
|
void comm_can_detect_all_foc_res_clear(void);
|
2020-03-20 09:35:25 -07:00
|
|
|
void comm_can_conf_battery_cut(uint8_t controller_id,
|
|
|
|
bool store, float start, float end);
|
2020-03-20 17:05:42 -07:00
|
|
|
void comm_can_shutdown(uint8_t controller_id);
|
2015-02-19 12:20:07 -08:00
|
|
|
can_status_msg *comm_can_get_status_msg_index(int index);
|
|
|
|
can_status_msg *comm_can_get_status_msg_id(int id);
|
2019-02-18 10:30:19 -08:00
|
|
|
can_status_msg_2 *comm_can_get_status_msg_2_index(int index);
|
|
|
|
can_status_msg_2 *comm_can_get_status_msg_2_id(int id);
|
|
|
|
can_status_msg_3 *comm_can_get_status_msg_3_index(int index);
|
|
|
|
can_status_msg_3 *comm_can_get_status_msg_3_id(int id);
|
|
|
|
can_status_msg_4 *comm_can_get_status_msg_4_index(int index);
|
|
|
|
can_status_msg_4 *comm_can_get_status_msg_4_id(int id);
|
2019-05-16 14:30:40 -07:00
|
|
|
can_status_msg_5 *comm_can_get_status_msg_5_index(int index);
|
|
|
|
can_status_msg_5 *comm_can_get_status_msg_5_id(int id);
|
2020-10-09 12:08:48 -07:00
|
|
|
|
|
|
|
io_board_adc_values *comm_can_get_io_board_adc_1_4_index(int index);
|
|
|
|
io_board_adc_values *comm_can_get_io_board_adc_1_4_id(int id);
|
|
|
|
io_board_adc_values *comm_can_get_io_board_adc_5_8_index(int index);
|
|
|
|
io_board_adc_values *comm_can_get_io_board_adc_5_8_id(int id);
|
|
|
|
io_board_digial_inputs *comm_can_get_io_board_digital_in_index(int index);
|
|
|
|
io_board_digial_inputs *comm_can_get_io_board_digital_in_id(int id);
|
|
|
|
void comm_can_io_board_set_output_digital(int id, int channel, bool on);
|
|
|
|
void comm_can_io_board_set_output_pwm(int id, int channel, float duty);
|
|
|
|
|
2021-02-28 11:28:23 -08:00
|
|
|
psw_status *comm_can_get_psw_status_index(int index);
|
|
|
|
psw_status *comm_can_get_psw_status_id(int id);
|
|
|
|
void comm_can_psw_switch(int id, bool is_on, bool plot);
|
2021-07-11 11:19:26 -07:00
|
|
|
void comm_can_update_pid_pos_offset(int id, float angle_now, bool store);
|
2021-02-28 11:28:23 -08:00
|
|
|
|
2019-02-18 10:30:19 -08:00
|
|
|
CANRxFrame *comm_can_get_rx_frame(void);
|
2014-12-06 19:30:25 -08:00
|
|
|
|
2021-07-11 11:19:26 -07:00
|
|
|
void comm_can_send_status1(uint8_t id, bool replace);
|
|
|
|
void comm_can_send_status2(uint8_t id, bool replace);
|
|
|
|
void comm_can_send_status3(uint8_t id, bool replace);
|
|
|
|
void comm_can_send_status4(uint8_t id, bool replace);
|
|
|
|
void comm_can_send_status5(uint8_t id, bool replace);
|
|
|
|
|
2014-12-06 19:30:25 -08:00
|
|
|
#endif /* COMM_CAN_H_ */
|