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comm_can.h 3.26 KB
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/*
Copyright 2016 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
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.
The VESC firmware is distributed in the hope that it will be useful,
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"
#include "hal.h"
// Settings
#define CAN_STATUS_MSGS_TO_STORE 10
// Functions
void comm_can_init(void);
void comm_can_set_baud(CAN_BAUD baud);
void comm_can_transmit_eid(uint32_t id, const uint8_t *data, uint8_t len);
void comm_can_transmit_eid_replace(uint32_t id, const uint8_t *data, uint8_t len, bool replace);
void comm_can_transmit_sid(uint32_t id, uint8_t *data, uint8_t len);
void comm_can_set_sid_rx_callback(void (*p_func)(uint32_t id, uint8_t *data, uint8_t len));
void comm_can_set_eid_rx_callback(void (*p_func)(uint32_t id, uint8_t *data, uint8_t len));
void comm_can_send_buffer(uint8_t controller_id, uint8_t *data, unsigned int len, uint8_t send);
void comm_can_set_duty(uint8_t controller_id, float duty);
void comm_can_set_current(uint8_t controller_id, float current);
void comm_can_set_current_brake(uint8_t controller_id, float current);
void comm_can_set_rpm(uint8_t controller_id, float rpm);
void comm_can_set_pos(uint8_t controller_id, float pos);
void comm_can_set_current_rel(uint8_t controller_id, float current_rel);
void comm_can_set_current_brake_rel(uint8_t controller_id, float current_rel);
bool comm_can_ping(uint8_t controller_id);
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);
void comm_can_conf_battery_cut(uint8_t controller_id,
bool store, float start, float end);
void comm_can_shutdown(uint8_t controller_id);
can_status_msg *comm_can_get_status_msg_index(int index);
can_status_msg *comm_can_get_status_msg_id(int id);
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);
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);
CANRxFrame *comm_can_get_rx_frame(void);
#endif /* COMM_CAN_H_ */
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