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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / f7f267a91e70db6e5f62b09d88f0d02f15c904e8 / . / hal / include / ctre / ctre_frames.h
blob: f131538fa9a09135470aebcd7304f9dc33b6f67a [file] [log] [blame]
Brian Silvermanf7f267a2017-02-04 16:16:08 -0800[diff] [blame^]1/**
2 * @file ctre_frames.h
3 * CAN Encoder/Decoder Structures for CTRE devices.
4 */
5#ifndef CTRE_FRAMES_H
6#define CTRE_FRAMES_H
7
8/** control */
9typedef struct _TALON_Control_1_General_10ms_t {
10 unsigned TokenH:8;
11 unsigned TokenL:8;
12 unsigned DemandH:8;
13 unsigned DemandM:8;
14 unsigned DemandL:8;
15 unsigned ProfileSlotSelect:1;
16 unsigned FeedbackDeviceSelect:4;
17 unsigned OverrideLimitSwitchEn:3;
18 unsigned RevFeedbackSensor:1;
19 unsigned RevMotDuringCloseLoopEn:1;
20 unsigned OverrideBrakeType:2;
21 unsigned ModeSelect:4;
22 unsigned RampThrottle:8;
23} TALON_Control_1_General_10ms_t ;
24
25/* TALON_Control_2_Rates_OneShot_t removed since it has been deprecated */
26
27typedef struct _TALON_Control_3_ClearFlags_OneShot_t {
28 unsigned ZeroFeedbackSensor:1;
29 unsigned ClearStickyFaults:1;
30} TALON_Control_3_ClearFlags_OneShot_t ;
31
32typedef struct _TALON_Control_5_General_10ms_t {
33 unsigned ThrottleBump_h3:3;
34 unsigned ReservedZero:5;
35 unsigned ThrottleBump_l8:8;
36 unsigned DemandH:8;
37 unsigned DemandM:8;
38 unsigned DemandL:8;
39 unsigned ProfileSlotSelect:1;
40 unsigned FeedbackDeviceSelect:4;
41 unsigned OverrideLimitSwitchEn:3;
42 unsigned RevFeedbackSensor:1;
43 unsigned RevMotDuringCloseLoopEn:1;
44 unsigned OverrideBrakeType:2;
45 unsigned ModeSelect:4;
46 unsigned RampThrottle:8;
47} TALON_Control_5_General_10ms_t ;
48
49typedef struct _TALON_Control_6_MotProfAddTrajPoint_t {
50 unsigned huffCode:2; //!< Compression coding
51 unsigned NextPt_VelOnly:1;
52 unsigned NextPt_IsLast:1;
53 unsigned reserved0:2;
54 unsigned NextPt_ZeroPosition:1;
55 unsigned NextPt_ProfileSlotSelect:1;
56 unsigned Idx:4;
57 unsigned reserved1:4;
58 unsigned restOfFrame0:8;
59 unsigned restOfFrame1:8;
60 unsigned restOfFrame2:8;
61 unsigned restOfFrame3:8;
62 unsigned restOfFrame4:8;
63 unsigned restOfFrame5:8;
64} TALON_Control_6_MotProfAddTrajPoint_t;
65
66typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff0_t {
67 unsigned huffCode_expect_0:2; //!< Compression coding
68 unsigned NextPt_VelOnly:1;
69 unsigned NextPt_IsLast:1;
70 unsigned reserved0:2;
71 unsigned NextPt_ZeroPosition:1;
72 unsigned NextPt_ProfileSlotSelect:1;
73 unsigned Idx:4;
74 unsigned reserved1:4;
75 unsigned NextPt_DurationMs:8;
76 unsigned NextPt_VelocityH:8;
77 unsigned NextPt_VelocityL:8;
78 unsigned NextPt_PositionH:8;
79 unsigned NextPt_PositionM:8;
80 unsigned NextPt_PositionL:8;
81} TALON_Control_6_MotProfAddTrajPoint_huff0_t;
82
83typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff1_t {
84 unsigned huffCode_expect_1:2; //!< Compression coding
85 unsigned NextPt_VelOnly:1;
86 unsigned NextPt_IsLast:1;
87 unsigned reserved0:2;
88 unsigned NextPt_ZeroPosition:1;
89 unsigned NextPt_ProfileSlotSelect:1;
90 unsigned Idx:4;
91 unsigned reserved1:4;
92 unsigned NextPt_DurationMs:8;
93 unsigned NextPt_SameVelocityH:8;
94 unsigned NextPt_SameVelocityL:8;
95 unsigned NextPt_DeltaPositionH:8;
96 unsigned NextPt_DeltaPositionL:8;
97 unsigned NextPt_Count:8;
98} TALON_Control_6_MotProfAddTrajPoint_huff1_t;
99
100/** status */
101typedef struct _TALON_Status_1_General_10ms_t {
102 unsigned CloseLoopErrH:8;
103 unsigned CloseLoopErrM:8;
104 unsigned CloseLoopErrL:8;
105 unsigned AppliedThrottle_h3:3;
106 unsigned Fault_RevSoftLim:1;
107 unsigned Fault_ForSoftLim:1;
108 unsigned TokLocked:1;
109 unsigned LimitSwitchClosedRev:1;
110 unsigned LimitSwitchClosedFor:1;
111 unsigned AppliedThrottle_l8:8;
112 unsigned ModeSelect_h1:1;
113 unsigned FeedbackDeviceSelect:4;
114 unsigned LimitSwitchEn:3;
115 unsigned Fault_HardwareFailure:1;
116 unsigned Fault_RevLim:1;
117 unsigned Fault_ForLim:1;
118 unsigned Fault_UnderVoltage:1;
119 unsigned Fault_OverTemp:1;
120 unsigned ModeSelect_b3:3;
121 unsigned TokenSeed:8;
122} TALON_Status_1_General_10ms_t ;
123typedef struct _TALON_Status_2_Feedback_20ms_t {
124 unsigned SensorPositionH:8;
125 unsigned SensorPositionM:8;
126 unsigned SensorPositionL:8;
127 unsigned SensorVelocityH:8;
128 unsigned SensorVelocityL:8;
129 unsigned Current_h8:8;
130 unsigned StckyFault_RevSoftLim:1;
131 unsigned StckyFault_ForSoftLim:1;
132 unsigned StckyFault_RevLim:1;
133 unsigned StckyFault_ForLim:1;
134 unsigned StckyFault_UnderVoltage:1;
135 unsigned StckyFault_OverTemp:1;
136 unsigned Current_l2:2;
137 unsigned reserved:3;
138 unsigned Cmd5Allowed:1;
139 unsigned VelDiv4:1;
140 unsigned PosDiv8:1;
141 unsigned ProfileSlotSelect:1;
142 unsigned BrakeIsEnabled:1;
143} TALON_Status_2_Feedback_20ms_t ;
144typedef struct _TALON_Status_3_Enc_100ms_t {
145 unsigned EncPositionH:8;
146 unsigned EncPositionM:8;
147 unsigned EncPositionL:8;
148 unsigned EncVelH:8;
149 unsigned EncVelL:8;
150 unsigned EncIndexRiseEventsH:8;
151 unsigned EncIndexRiseEventsL:8;
152 unsigned reserved:3;
153 unsigned VelDiv4:1;
154 unsigned PosDiv8:1;
155 unsigned QuadIdxpin:1;
156 unsigned QuadBpin:1;
157 unsigned QuadApin:1;
158} TALON_Status_3_Enc_100ms_t ;
159typedef struct _TALON_Status_4_AinTempVbat_100ms_t {
160 unsigned AnalogInWithOvH:8;
161 unsigned AnalogInWithOvM:8;
162 unsigned AnalogInWithOvL:8;
163 unsigned AnalogInVelH:8;
164 unsigned AnalogInVelL:8;
165 unsigned Temp:8;
166 unsigned BatteryV:8;
167 unsigned reserved:6;
168 unsigned VelDiv4:1;
169 unsigned PosDiv8:1;
170} TALON_Status_4_AinTempVbat_100ms_t ;
171typedef struct _TALON_Status_5_Startup_OneShot_t {
172 unsigned ResetCountH:8;
173 unsigned ResetCountL:8;
174 unsigned ResetFlagsH:8;
175 unsigned ResetFlagsL:8;
176 unsigned FirmVersH:8;
177 unsigned FirmVersL:8;
178} TALON_Status_5_Startup_OneShot_t ;
179typedef struct _TALON_Status_6_Eol_t {
180 unsigned currentAdcUncal_h2:2;
181 unsigned reserved1:5;
182 unsigned SpiCsPin_GadgeteerPin6:1;
183 unsigned currentAdcUncal_l8:8;
184 unsigned tempAdcUncal_h2:2;
185 unsigned reserved2:6;
186 unsigned tempAdcUncal_l8:8;
187 unsigned vbatAdcUncal_h2:2;
188 unsigned reserved3:6;
189 unsigned vbatAdcUncal_l8:8;
190 unsigned analogAdcUncal_h2:2;
191 unsigned reserved4:6;
192 unsigned analogAdcUncal_l8:8;
193} TALON_Status_6_Eol_t ;
194typedef struct _TALON_Status_7_Debug_200ms_t {
195 unsigned TokenizationFails_h8:8;
196 unsigned TokenizationFails_l8:8;
197 unsigned LastFailedToken_h8:8;
198 unsigned LastFailedToken_l8:8;
199 unsigned TokenizationSucceses_h8:8;
200 unsigned TokenizationSucceses_l8:8;
201} TALON_Status_7_Debug_200ms_t ;
202typedef struct _TALON_Status_8_PulseWid_100ms_t {
203 unsigned PulseWidPositionH:8;
204 unsigned PulseWidPositionM:8;
205 unsigned PulseWidPositionL:8;
206 unsigned reserved:6;
207 unsigned VelDiv4:1;
208 unsigned PosDiv8:1;
209 unsigned PeriodUsM8:8;
210 unsigned PeriodUsL8:8;
211 unsigned PulseWidVelH:8;
212 unsigned PulseWidVelL:8;
213} TALON_Status_8_PulseWid_100ms_t ;
214typedef struct _TALON_Status_9_MotProfBuffer_100ms_t {
215 unsigned ActTraj_IsValid:1; //!< '1' if other ActTraj_* signals are valid. '0' if there is no active trajectory pt.
216 unsigned ActTraj_ProfileSlotSelect:1;
217 unsigned ActTraj_VelOnly:1;
218 unsigned ActTraj_IsLast:1;
219 unsigned OutputType:2;
220 unsigned HasUnderrun:1;
221 unsigned IsUnderrun:1;
222 unsigned NextID:4;
223 unsigned reserved1:3;
224 unsigned BufferIsFull:1;
225 unsigned Count:8;
226 unsigned ActTraj_VelocityH:8;
227 unsigned ActTraj_VelocityL:8;
228 unsigned ActTraj_PositionH:8;
229 unsigned ActTraj_PositionM:8;
230 unsigned ActTraj_PositionL:8;
231} TALON_Status_9_MotProfBuffer_100ms_t ;
232typedef struct _TALON_Param_Request_t {
233 unsigned ParamEnum:8;
234} TALON_Param_Request_t ;
235typedef struct _TALON_Param_Response_t {
236 unsigned ParamEnum:8;
237 unsigned ParamValueL:8;
238 unsigned ParamValueML:8;
239 unsigned ParamValueMH:8;
240 unsigned ParamValueH:8;
241} TALON_Param_Response_t ;
242
243#endif /* CTRE_FRAMES_H */