175 lines
6.1 KiB
C
175 lines
6.1 KiB
C
/******************************************************************************
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* (C) Copyright 2020, 2021, 2022 Cornerstone Robotics, Limited, All Rights Reserved
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*
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* Description: CMD, boardID, errs
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*
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* Author(s) : Carlos Ma
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* Created on: 2020-03-17
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******************************************************************************/
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#ifndef _EMBDEFINES_H
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#define _EMBDEFINES_H
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/*====================CMD AND ERR====================*/
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#define CMD_IDLE 0x00000000
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#define CMD_CLEAR_ERR 0x00000001
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#define CMD_WRITE_SETTINGS 0x00000002
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#define CMD_BLDC_ENC_CALIBRATION 0x00000003
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//#define CMD_CTRL_VABC 0x00000004
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#define CMD_CTRL_CURRENT 0x00000005
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#define CMD_CTRL_VEL 0x00000006
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#define CMD_CTRL_POS 0x00000007
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#define ERR_NORMAL 0x00000008
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//#define ERR_PWR_OVERVOLTAGE 0x20000009
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//#define ERR_PWR_UNDERVOLTAGE 0x2000000A
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//#define ERR_PWR_OVERCURRENT 0x2000000B
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#define ERR_MOTOR_DRVFAULT 0x2000000C
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//#define ERR_BLDC_OVERVOLTAGE 0x2000000D
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#define ERR_MOTOR_OVERCURRENT 0x2000000E
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//#define ERR_BLDC_OVERHEAT 0x1000000F
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#define ERR_BLDC_ENC 0x30000010
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//#define ERR_BRAKE_OVERVOLTAGE 0x30000011
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#define ERR_BRAKE_OVERCURRENT 0x20000012
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//#define ERR_BRAKE_OVERHEAT 0x10000013
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#define ERR_USR_TIMEOUT 0x20000032 // FW will require clear err in 1.1.2.0
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#define ERR_UNKNOWN_BRD 0x30000000
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#define CMD_BRAKE_OPEN 20
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#define CMD_SET_ZERO_POS 21
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#define CMD_REVERSE_MOTOR 22
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#define CMD_REVERSE_ENC_IN 23
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#define CMD_REVERSE_ENC_OUT 24
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#define CMD_SET_GEARRATIO_IN 25
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#define CMD_SET_GEARRATIO_OUT 26
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//#define CMD_SET_CURRLOOP_PID 27
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//#define CMD_SET_POSLOOP_PID 28
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#define CMD_BLDC_CURRLOOP_CALIBRATION 30
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#define CMD_BLDC_IO_ENC_CALIBRATION 40
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#define CMD_BLDC_TORQUE_RPPLE_CALIBRATION 41
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#define CMD_GET_SOFTWARE_VERSION 42
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#define CMD_GET_HARDWARE_VERSION 43
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#define CMD_MPK_AEAT9922_AUTOCAL 92
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/*====================BRD ID====================
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BOARD IDs
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[1B PARENT] [2B MODULE] [1B REV]
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//PARENT
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0xAA MISC
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0x01 PSA
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0x02 SSA
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0x03 SGH
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0x04 MCT
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0x05 ACB
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//MODULE
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0xFFFF ETHERCAT_TEST
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0x0001 CMD_CTRL / MCT_MOTOR_CTRL
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0x0002 PLM_CTRL
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0x0003 ISA_CTRL
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0x0004 MPK_CTRL
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0x0007 COL_CTRL
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0x0010 PFA_CTRL
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0x0011 PFA_Q1_CTRL
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0x0012 PFA_Q2_CTRL
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0x0013 PFA_Q3_CTRL
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0x0014 PFA_Q4_CTRL
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0x0020 GBW_CTRL
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0x0021 GBW_PITCH
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0x0022 GBW_YAW
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0x0023 GBW_ROLL
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0x0031 HEAD_SENS
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*/
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typedef enum {
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BRD_MISC_ETHERCAT_TEST_V1 = 0xAAFFFF01,
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BRD_PSA_CMD_CTRL_V3 = 0x01000103,
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BRD_PSA_CMD_CTRL_V4 = 0x01000104,
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BRD_PSA_CMD_CTRL_V5 = 0x01000104,
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BRD_PSA_ISA_CTRL_V3 = 0x01000303,
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BRD_PSA_ISA_CTRL_V4 = 0x01000303,
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BRD_PSA_ISA_CTRL_V5 = 0x01000305,
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BRD_PSA_MPK_CTRL_V3 = 0x01000403,
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BRD_PSA_CNA_CTRL_V1 = 0x01000501,
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BRD_SUJ_CTRL_V1 = 0x01000601,
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BRD_PSA_COL_CTRL_V2 = 0x01000702,
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BRD_SSA_PFA_CTRL = 0x02001000,
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BRD_SSA_PFA_Q1_CTRL_V1 = 0x02001101,
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BRD_SSA_PFA_Q2_CTRL_V1 = 0x02001201,
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BRD_SSA_PFA_Q3_CTRL_V1 = 0x02001301,
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BRD_SSA_PFA_Q4_CTRL_V1 = 0x02001401,
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BRD_SSA_PFA_Q1_CTRL_V1B = 0x02001102,
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BRD_SSA_PFA_Q2_CTRL_V1B = 0x02001202,
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BRD_SSA_PFA_Q3_CTRL_V1B = 0x02001302,
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BRD_SSA_PFA_Q4_CTRL_V1B = 0x02001402,
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BRD_SSA_GBW_CTRL = 0x02002000,
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BRD_SSA_GBW_CTRL_PITCH_V1B = 0x02002102,
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BRD_SSA_GBW_CTRL_YAW_V1B = 0x02002202,
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BRD_SSA_GBW_CTRL_ROLL_V1B = 0x02002302,
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BRD_MCT_MOTOR_CTRL_V1 = 0x04000101,
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BRD_MCT_MOTOR_CTRL_V2 = 0x04000102,
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BRD_MCT_PARK_STRUCT_CTRL_V2 = 0x04000201,
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BRD_SGC_MOTOR_CTRL_V1 = 0x04000103, //暂时用V2ID
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BRD_SGC_STATION_MCU_V1 = 0x04000200,
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BRD_SGH_FOOTREST_CTRL_V1 = 0x03003101,
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BRD_SGC_HEAD_PCH_CTRL_V1 = 0x03003201,
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BRD_SGC_ARM_REST_LEFT_V1 = 0x03003301,
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BRD_SGC_ARM_REST_RIGHT_V1 = 0x03003401,
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BRD_SGC_SSA_UPDOWN_V1 = 0x03003501,
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BRD_SGC_HEAD_UPDOWN_V1 = 0x03003601,
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BRD_SGC_FOOT_PDL_V1 = 0x03003701,
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BRD_SSA_PFA_Q1_CTRL_V3 = 0x02001103,
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BRD_SSA_PFA_Q2_CTRL_V3 = 0x02001203,
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BRD_SSA_PFA_Q3_CTRL_V3 = 0x02001303,
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BRD_SSA_PFA_Q4_CTRL_V3 = 0x02001403,
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BRD_SSA_PFA_Q1_CTRL_V4 = 0x02001104, //PFA 4.x
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BRD_SSA_PFA_Q2_CTRL_V4 = 0x02001204,
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BRD_SSA_PFA_Q3_CTRL_V4 = 0x02001304,
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BRD_SSA_PFA_Q4_CTRL_V4 = 0x02001404,
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BRD_SSA_PFA_Q4_CTRL_V5 = 0x02001405, //PFA 5.0 (Gamma)
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BRD_SSA_GBW_CTRL_PITCH_V2 = 0x02002103, //GBW 4.1
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BRD_SSA_GBW_CTRL_YAW_V2 = 0x02002203,
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BRD_SSA_GBW_CTRL_ROLL_V2 = 0x02002303,
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BRD_SSA_GBW_CTRL_PITCH_V2B = 0x02002104, //GBW 4.2 & 4.4
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BRD_SSA_GBW_CTRL_YAW_V2B = 0x02002204,
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BRD_SSA_GBW_CTRL_ROLL_V2B = 0x02002304,
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BRD_SSA_PFA_3IN1_CTRL_V1 = 0x02001001,
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} brdId_t;
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/*====================ECS ID====================*/
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#define ECAT_VENDOR_ID 0x255
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#define ECAT_VENDOR_NAME CSRBTX
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#define ECAT_PRODUCT_CODE 0x081E0000
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#define ECAT_PRODUCT_REV 0x00
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#define ECAT_PRODUCT_NAME CSR_ECS_GENERIC
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/*====================CAN ID====================*/
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// CAN command ID
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#define COMMID_CNA_LED 0x068 // control CNA LED state
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#define COMMID_CNA_MCU_HB_ERROR 0x029 // feedback CNA button state
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#define COMMID_CNA_MCU_STATES 0x069 // feedback CNA cannula state
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// CAN node ID
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#define NODEID_CNA_CTRL 0x02 // control CNA
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// CAN Subsystem ID
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#define SUBSID_PSR 0x02 // PSR
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//#define CANID_PSR_CNA_LED (SUBSID_PSR << 6) | (NODEID_CNA_CTRL << 4) | COMMID_CNA_LED
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//#define CANID_PSR_CNA_BUTTON (SUBSID_PSR << 6) | (NODEID_CNA_CTRL << 4) | COMMID_CNA_BUTTON
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//#define CANID_PSR_CNA_CANNULA (SUBSID_PSR << 6) | (NODEID_CNA_CTRL << 4) | COMMID_CNA_CANNULA
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#ifdef __cplusplus
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}
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#endif
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#endif
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