244 lines
7.0 KiB
C
244 lines
7.0 KiB
C
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/**
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* @file ctre_frames.h
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* CAN Encoder/Decoder Structures for CTRE devices.
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*/
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#ifndef CTRE_FRAMES_H
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#define CTRE_FRAMES_H
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/** control */
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typedef struct _TALON_Control_1_General_10ms_t {
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unsigned TokenH:8;
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unsigned TokenL:8;
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unsigned DemandH:8;
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unsigned DemandM:8;
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unsigned DemandL:8;
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unsigned ProfileSlotSelect:1;
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unsigned FeedbackDeviceSelect:4;
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unsigned OverrideLimitSwitchEn:3;
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unsigned RevFeedbackSensor:1;
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unsigned RevMotDuringCloseLoopEn:1;
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unsigned OverrideBrakeType:2;
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unsigned ModeSelect:4;
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unsigned RampThrottle:8;
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} TALON_Control_1_General_10ms_t ;
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/* TALON_Control_2_Rates_OneShot_t removed since it has been deprecated */
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typedef struct _TALON_Control_3_ClearFlags_OneShot_t {
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unsigned ZeroFeedbackSensor:1;
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unsigned ClearStickyFaults:1;
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} TALON_Control_3_ClearFlags_OneShot_t ;
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typedef struct _TALON_Control_5_General_10ms_t {
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unsigned ThrottleBump_h3:3;
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unsigned ReservedZero:5;
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unsigned ThrottleBump_l8:8;
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unsigned DemandH:8;
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unsigned DemandM:8;
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unsigned DemandL:8;
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unsigned ProfileSlotSelect:1;
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unsigned FeedbackDeviceSelect:4;
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unsigned OverrideLimitSwitchEn:3;
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unsigned RevFeedbackSensor:1;
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unsigned RevMotDuringCloseLoopEn:1;
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unsigned OverrideBrakeType:2;
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unsigned ModeSelect:4;
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unsigned RampThrottle:8;
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} TALON_Control_5_General_10ms_t ;
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typedef struct _TALON_Control_6_MotProfAddTrajPoint_t {
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unsigned huffCode:2; //!< Compression coding
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unsigned NextPt_VelOnly:1;
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unsigned NextPt_IsLast:1;
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unsigned reserved0:2;
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unsigned NextPt_ZeroPosition:1;
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unsigned NextPt_ProfileSlotSelect:1;
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unsigned Idx:4;
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unsigned reserved1:4;
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unsigned restOfFrame0:8;
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unsigned restOfFrame1:8;
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unsigned restOfFrame2:8;
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unsigned restOfFrame3:8;
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unsigned restOfFrame4:8;
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unsigned restOfFrame5:8;
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} TALON_Control_6_MotProfAddTrajPoint_t;
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typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff0_t {
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unsigned huffCode_expect_0:2; //!< Compression coding
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unsigned NextPt_VelOnly:1;
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unsigned NextPt_IsLast:1;
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unsigned reserved0:2;
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unsigned NextPt_ZeroPosition:1;
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unsigned NextPt_ProfileSlotSelect:1;
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unsigned Idx:4;
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unsigned reserved1:4;
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unsigned NextPt_DurationMs:8;
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unsigned NextPt_VelocityH:8;
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unsigned NextPt_VelocityL:8;
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unsigned NextPt_PositionH:8;
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unsigned NextPt_PositionM:8;
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unsigned NextPt_PositionL:8;
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} TALON_Control_6_MotProfAddTrajPoint_huff0_t;
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typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff1_t {
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unsigned huffCode_expect_1:2; //!< Compression coding
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unsigned NextPt_VelOnly:1;
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unsigned NextPt_IsLast:1;
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unsigned reserved0:2;
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unsigned NextPt_ZeroPosition:1;
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unsigned NextPt_ProfileSlotSelect:1;
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unsigned Idx:4;
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unsigned reserved1:4;
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unsigned NextPt_DurationMs:8;
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unsigned NextPt_SameVelocityH:8;
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unsigned NextPt_SameVelocityL:8;
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unsigned NextPt_DeltaPositionH:8;
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unsigned NextPt_DeltaPositionL:8;
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unsigned NextPt_Count:8;
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} TALON_Control_6_MotProfAddTrajPoint_huff1_t;
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/** status */
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typedef struct _TALON_Status_1_General_10ms_t {
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unsigned CloseLoopErrH:8;
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unsigned CloseLoopErrM:8;
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unsigned CloseLoopErrL:8;
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unsigned AppliedThrottle_h3:3;
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unsigned Fault_RevSoftLim:1;
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unsigned Fault_ForSoftLim:1;
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unsigned TokLocked:1;
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unsigned LimitSwitchClosedRev:1;
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unsigned LimitSwitchClosedFor:1;
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unsigned AppliedThrottle_l8:8;
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unsigned ModeSelect_h1:1;
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unsigned FeedbackDeviceSelect:4;
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unsigned LimitSwitchEn:3;
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unsigned Fault_HardwareFailure:1;
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unsigned Fault_RevLim:1;
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unsigned Fault_ForLim:1;
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unsigned Fault_UnderVoltage:1;
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unsigned Fault_OverTemp:1;
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unsigned ModeSelect_b3:3;
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unsigned TokenSeed:8;
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} TALON_Status_1_General_10ms_t ;
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typedef struct _TALON_Status_2_Feedback_20ms_t {
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unsigned SensorPositionH:8;
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unsigned SensorPositionM:8;
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unsigned SensorPositionL:8;
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unsigned SensorVelocityH:8;
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unsigned SensorVelocityL:8;
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unsigned Current_h8:8;
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unsigned StckyFault_RevSoftLim:1;
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unsigned StckyFault_ForSoftLim:1;
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unsigned StckyFault_RevLim:1;
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unsigned StckyFault_ForLim:1;
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unsigned StckyFault_UnderVoltage:1;
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unsigned StckyFault_OverTemp:1;
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unsigned Current_l2:2;
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unsigned reserved:3;
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unsigned Cmd5Allowed:1;
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unsigned VelDiv4:1;
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unsigned PosDiv8:1;
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unsigned ProfileSlotSelect:1;
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unsigned BrakeIsEnabled:1;
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} TALON_Status_2_Feedback_20ms_t ;
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typedef struct _TALON_Status_3_Enc_100ms_t {
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unsigned EncPositionH:8;
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unsigned EncPositionM:8;
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unsigned EncPositionL:8;
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unsigned EncVelH:8;
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unsigned EncVelL:8;
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unsigned EncIndexRiseEventsH:8;
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unsigned EncIndexRiseEventsL:8;
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unsigned reserved:3;
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unsigned VelDiv4:1;
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unsigned PosDiv8:1;
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unsigned QuadIdxpin:1;
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unsigned QuadBpin:1;
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unsigned QuadApin:1;
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} TALON_Status_3_Enc_100ms_t ;
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typedef struct _TALON_Status_4_AinTempVbat_100ms_t {
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unsigned AnalogInWithOvH:8;
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unsigned AnalogInWithOvM:8;
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unsigned AnalogInWithOvL:8;
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unsigned AnalogInVelH:8;
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unsigned AnalogInVelL:8;
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unsigned Temp:8;
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unsigned BatteryV:8;
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unsigned reserved:6;
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unsigned VelDiv4:1;
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unsigned PosDiv8:1;
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} TALON_Status_4_AinTempVbat_100ms_t ;
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typedef struct _TALON_Status_5_Startup_OneShot_t {
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unsigned ResetCountH:8;
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unsigned ResetCountL:8;
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unsigned ResetFlagsH:8;
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unsigned ResetFlagsL:8;
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unsigned FirmVersH:8;
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unsigned FirmVersL:8;
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} TALON_Status_5_Startup_OneShot_t ;
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typedef struct _TALON_Status_6_Eol_t {
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unsigned currentAdcUncal_h2:2;
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unsigned reserved1:5;
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unsigned SpiCsPin_GadgeteerPin6:1;
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unsigned currentAdcUncal_l8:8;
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unsigned tempAdcUncal_h2:2;
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unsigned reserved2:6;
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unsigned tempAdcUncal_l8:8;
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unsigned vbatAdcUncal_h2:2;
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unsigned reserved3:6;
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unsigned vbatAdcUncal_l8:8;
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unsigned analogAdcUncal_h2:2;
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unsigned reserved4:6;
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unsigned analogAdcUncal_l8:8;
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} TALON_Status_6_Eol_t ;
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typedef struct _TALON_Status_7_Debug_200ms_t {
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unsigned TokenizationFails_h8:8;
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unsigned TokenizationFails_l8:8;
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unsigned LastFailedToken_h8:8;
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unsigned LastFailedToken_l8:8;
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unsigned TokenizationSucceses_h8:8;
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unsigned TokenizationSucceses_l8:8;
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} TALON_Status_7_Debug_200ms_t ;
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typedef struct _TALON_Status_8_PulseWid_100ms_t {
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unsigned PulseWidPositionH:8;
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unsigned PulseWidPositionM:8;
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unsigned PulseWidPositionL:8;
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unsigned reserved:6;
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unsigned VelDiv4:1;
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unsigned PosDiv8:1;
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unsigned PeriodUsM8:8;
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unsigned PeriodUsL8:8;
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unsigned PulseWidVelH:8;
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unsigned PulseWidVelL:8;
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} TALON_Status_8_PulseWid_100ms_t ;
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typedef struct _TALON_Status_9_MotProfBuffer_100ms_t {
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unsigned ActTraj_IsValid:1; //!< '1' if other ActTraj_* signals are valid. '0' if there is no active trajectory pt.
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unsigned ActTraj_ProfileSlotSelect:1;
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unsigned ActTraj_VelOnly:1;
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unsigned ActTraj_IsLast:1;
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unsigned OutputType:2;
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unsigned HasUnderrun:1;
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unsigned IsUnderrun:1;
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unsigned NextID:4;
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unsigned reserved1:3;
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unsigned BufferIsFull:1;
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unsigned Count:8;
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unsigned ActTraj_VelocityH:8;
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unsigned ActTraj_VelocityL:8;
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unsigned ActTraj_PositionH:8;
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unsigned ActTraj_PositionM:8;
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unsigned ActTraj_PositionL:8;
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} TALON_Status_9_MotProfBuffer_100ms_t ;
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typedef struct _TALON_Param_Request_t {
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unsigned ParamEnum:8;
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} TALON_Param_Request_t ;
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typedef struct _TALON_Param_Response_t {
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unsigned ParamEnum:8;
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unsigned ParamValueL:8;
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unsigned ParamValueML:8;
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unsigned ParamValueMH:8;
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unsigned ParamValueH:8;
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} TALON_Param_Response_t ;
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#endif /* CTRE_FRAMES_H */
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