#include <stdint.h>

Include dependency graph for protocol.h:

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Macros
#define	PROTOCOL_VERSION 4

#define	UD_COMMAND_MODE 0

#define	UD_COMMAND_POS_1 1

#define	UD_COMMAND_POS_2 3

#define	UD_COMMAND_VEL_1 5

#define	UD_COMMAND_VEL_2 6

#define	UD_COMMAND_IQ_1 7

#define	UD_COMMAND_IQ_2 8

#define	UD_COMMAND_KP_1 9

#define	UD_COMMAND_KP_2 10

#define	UD_COMMAND_KD_1 11

#define	UD_COMMAND_KD_2 12

#define	UD_COMMAND_ISAT_12 13

#define	UD_COMMAND_MODE_ES (1<<15)
	Enable system.

#define	UD_COMMAND_MODE_EM1 (1<<14)
	Enable motor 1.

#define	UD_COMMAND_MODE_EM2 (1<<13)
	Enable motor 2.

#define	UD_COMMAND_MODE_EPRE (1<<12)
	Raise an error if position rollover.

#define	UD_COMMAND_MODE_EI1OC (1<<11)
	Enable Index Offset Compensation for Motor 1.

#define	UD_COMMAND_MODE_EI2OC (1<<10)
	Enable Index Offset Compensation for Motor 2.

#define	UD_COMMAND_MODE_TIMEOUT (0xFF<<0)
	Disable system if no valid SPI packet is received during this time [in ms]. (0 = disabled)

#define	UD_QN_POS 24

#define	UD_QN_VEL 11

#define	UD_QN_IQ 10

#define	UD_QN_ISAT 3

#define	UD_QN_CR 15

#define	UD_QN_ADC 16

#define	UD_QN_KP 11

#define	UD_QN_KD 10

#define	IMU_QN_ACC 11

#define	IMU_QN_GYR 11

#define	IMU_QN_EF 13

#define	UD_SENSOR_STATUS 0

#define	UD_SENSOR_TIMESTAMP 1

#define	UD_SENSOR_POS_1 2

#define	UD_SENSOR_POS_2 4

#define	UD_SENSOR_VEL_1 6

#define	UD_SENSOR_VEL_2 7

#define	UD_SENSOR_IQ_1 8

#define	UD_SENSOR_IQ_2 9

#define	UD_SENSOR_CR_1 10

#define	UD_SENSOR_CR_2 11

#define	UD_SENSOR_ADC_1 12

#define	UD_SENSOR_ADC_2 13

#define	UD_SENSOR_STATUS_SE (1<<15)
	System is enabled.

#define	UD_SENSOR_STATUS_M1E (1<<14)
	Motor 1 is enabled.

#define	UD_SENSOR_STATUS_M1R (1<<13)
	Motor 1 is ready.

#define	UD_SENSOR_STATUS_M2E (1<<12)
	Motor 2 is enabled.

#define	UD_SENSOR_STATUS_M2R (1<<11)
	Motor 2 is ready.

#define	UD_SENSOR_STATUS_IDX1D (1<<10)
	Encoder 1 index has been detected.

#define	UD_SENSOR_STATUS_IDX2D (1<<9)
	Encoder 2 index has been detected.

#define	UD_SENSOR_STATUS_IDX1T (1<<8)
	Flips each time encoder 1 index is detected.

#define	UD_SENSOR_STATUS_IDX2T (1<<7)
	Flips each time encoder 1 index is detected.

#define	UD_SENSOR_STATUS_ERROR (0xF<<0)
	Error code.

#define	UD_SENSOR_STATUS_ERROR_NO_ERROR 0
	No error.

#define	UD_SENSOR_STATUS_ERROR_ENCODER1 1
	Encoder 1 error too high.

#define	UD_SENSOR_STATUS_ERROR_SPI_RECV_TIMEOUT 2
	Timeout for receiving current references exceeded.

#define	UD_SENSOR_STATUS_ERROR_CRIT_TEMP 3
	Motor temperature reached critical value.

#define	UD_SENSOR_STATUS_ERROR_POSCONV 4
	Some error in the SpinTAC Position Convert module.

#define	UD_SENSOR_STATUS_ERROR_POS_ROLLOVER 5
	Position Rollover occured.

#define	UD_SENSOR_STATUS_ERROR_ENCODER2 6
	Encoder 2 error too high.

#define	UD_SENSOR_STATUS_ERROR_OTHER 7
	Some other error.

#define	UD_LENGTH 14
	UD packets length in word (16 bits)

#define	SUB_REG_u16(p_packet, pos) (((uint16_t ) ((p_packet) + (pos))))

#define	SUB_REG_u32(p_packet, pos) (((uint32_t ) ((p_packet) + (pos))))

#define	SUB_REG_16(p_packet, pos) (((int16_t ) ((p_packet) + (pos))))

#define	SUB_REG_32(p_packet, pos) (((int32_t ) ((p_packet) + (pos))))

#define	D32Q24_TO_D16QN(a, n) ((a)>>(24-(n))&0xFFFF)

#define	D32Q24_TO_D8QN(a, n) ((a)>>(24-(n))&0xFF)

#define	uD16QN_TO_D32Q24(a, n) (((uint32_t)(a))<<(24-(n)))

#define	uD8QN_TO_D32Q24(a, n) (((uint32_t)(a))<<(24-(n)))

#define	D16QN_TO_D32Q24(a, n) (((int32_t)(a))<<(24-(n)))

#define	D8QN_TO_D32Q24(a, n) (((int32_t)(a))<<(24-(n)))

#define	D32QN_TO_FLOAT(a, n) ((float)(a)) / (1<<(n))

#define	D16QN_TO_FLOAT(a, n) ((float)(a)) / (1<<(n))

#define	D8QN_TO_FLOAT(a, n) ((float)(a)) / (1<<(n))

#define	FLOAT_TO_uD32QN(a, n) ((uint32_t) std::min(std::max(((a) * (1<<(n))), 0.0), 4294967295.0))

#define	FLOAT_TO_uD16QN(a, n) ((uint16_t) std::min(std::max(((a) * (1<<(n))), 0.0), 65535.0))

#define	FLOAT_TO_uD8QN(a, n) ((uint8_t) std::min(std::max(((a) * (1<<(n))), 0.0), 255.0))

#define	FLOAT_TO_D32QN(a, n) ((int32_t) std::min(std::max(((a) * (1<<(n))), -2147483647.0), 2147483647.0))

#define	FLOAT_TO_D16QN(a, n) ((int16_t) std::min(std::max((a) * (1<<(n)), -32767.0), 32767.0))

#define	FLOAT_TO_D8QN(a, n) ((int8_t) std::min(std::max(((a) * (1<<(n))), -127.0), +127.0))

Macro Definition Documentation

◆ D16QN_TO_D32Q24

#define D16QN_TO_D32Q24	(	a,
		n
	)	(((int32_t)(a))<<(24-(n)))

◆ D16QN_TO_FLOAT

#define D16QN_TO_FLOAT	(	a,
		n
	)	((float)(a)) / (1<<(n))

◆ D32Q24_TO_D16QN

#define D32Q24_TO_D16QN	(	a,
		n
	)	((a)>>(24-(n))&0xFFFF)

◆ D32Q24_TO_D8QN

#define D32Q24_TO_D8QN	(	a,
		n
	)	((a)>>(24-(n))&0xFF)

◆ D32QN_TO_FLOAT

#define D32QN_TO_FLOAT	(	a,
		n
	)	((float)(a)) / (1<<(n))

◆ D8QN_TO_D32Q24

#define D8QN_TO_D32Q24	(	a,
		n
	)	(((int32_t)(a))<<(24-(n)))

◆ D8QN_TO_FLOAT

#define D8QN_TO_FLOAT	(	a,
		n
	)	((float)(a)) / (1<<(n))

◆ FLOAT_TO_D16QN

#define FLOAT_TO_D16QN	(	a,
		n
	)	((int16_t) std::min(std::max((a) * (1<<(n)), -32767.0), 32767.0))

◆ FLOAT_TO_D32QN

#define FLOAT_TO_D32QN	(	a,
		n
	)	((int32_t) std::min(std::max(((a) * (1<<(n))), -2147483647.0), 2147483647.0))

◆ FLOAT_TO_D8QN

#define FLOAT_TO_D8QN	(	a,
		n
	)	((int8_t) std::min(std::max(((a) * (1<<(n))), -127.0), +127.0))

◆ FLOAT_TO_uD16QN

#define FLOAT_TO_uD16QN	(	a,
		n
	)	((uint16_t) std::min(std::max(((a) * (1<<(n))), 0.0), 65535.0))

◆ FLOAT_TO_uD32QN

#define FLOAT_TO_uD32QN	(	a,
		n
	)	((uint32_t) std::min(std::max(((a) * (1<<(n))), 0.0), 4294967295.0))

◆ FLOAT_TO_uD8QN

#define FLOAT_TO_uD8QN	(	a,
		n
	)	((uint8_t) std::min(std::max(((a) * (1<<(n))), 0.0), 255.0))

◆ IMU_QN_ACC

#define IMU_QN_ACC 11

◆ IMU_QN_EF

#define IMU_QN_EF 13

◆ IMU_QN_GYR

#define IMU_QN_GYR 11

◆ PROTOCOL_VERSION

#define PROTOCOL_VERSION 4

◆ SUB_REG_16

#define SUB_REG_16	(	p_packet,
		pos
	)	(((int16_t ) ((p_packet) + (pos))))

◆ SUB_REG_32

#define SUB_REG_32	(	p_packet,
		pos
	)	(((int32_t ) ((p_packet) + (pos))))

◆ SUB_REG_u16

#define SUB_REG_u16	(	p_packet,
		pos
	)	(((uint16_t ) ((p_packet) + (pos))))

◆ SUB_REG_u32

#define SUB_REG_u32	(	p_packet,
		pos
	)	(((uint32_t ) ((p_packet) + (pos))))

◆ uD16QN_TO_D32Q24

#define uD16QN_TO_D32Q24	(	a,
		n
	)	(((uint32_t)(a))<<(24-(n)))

◆ uD8QN_TO_D32Q24

#define uD8QN_TO_D32Q24	(	a,
		n
	)	(((uint32_t)(a))<<(24-(n)))

◆ UD_COMMAND_IQ_1

#define UD_COMMAND_IQ_1 7

◆ UD_COMMAND_IQ_2

#define UD_COMMAND_IQ_2 8

◆ UD_COMMAND_ISAT_12

#define UD_COMMAND_ISAT_12 13

◆ UD_COMMAND_KD_1

#define UD_COMMAND_KD_1 11

◆ UD_COMMAND_KD_2

#define UD_COMMAND_KD_2 12

◆ UD_COMMAND_KP_1

#define UD_COMMAND_KP_1 9

◆ UD_COMMAND_KP_2

#define UD_COMMAND_KP_2 10

◆ UD_COMMAND_MODE

#define UD_COMMAND_MODE 0

◆ UD_COMMAND_MODE_EI1OC

#define UD_COMMAND_MODE_EI1OC (1<<11)

Enable Index Offset Compensation for Motor 1.

◆ UD_COMMAND_MODE_EI2OC

#define UD_COMMAND_MODE_EI2OC (1<<10)

Enable Index Offset Compensation for Motor 2.

◆ UD_COMMAND_MODE_EM1

#define UD_COMMAND_MODE_EM1 (1<<14)

Enable motor 1.

◆ UD_COMMAND_MODE_EM2

#define UD_COMMAND_MODE_EM2 (1<<13)

Enable motor 2.

◆ UD_COMMAND_MODE_EPRE

#define UD_COMMAND_MODE_EPRE (1<<12)

Raise an error if position rollover.

◆ UD_COMMAND_MODE_ES

#define UD_COMMAND_MODE_ES (1<<15)

Enable system.

◆ UD_COMMAND_MODE_TIMEOUT

#define UD_COMMAND_MODE_TIMEOUT (0xFF<<0)

Disable system if no valid SPI packet is received during this time [in ms]. (0 = disabled)

◆ UD_COMMAND_POS_1

#define UD_COMMAND_POS_1 1

◆ UD_COMMAND_POS_2

#define UD_COMMAND_POS_2 3

◆ UD_COMMAND_VEL_1

#define UD_COMMAND_VEL_1 5

◆ UD_COMMAND_VEL_2

#define UD_COMMAND_VEL_2 6

◆ UD_LENGTH

#define UD_LENGTH 14

UD packets length in word (16 bits)

◆ UD_QN_ADC

#define UD_QN_ADC 16

◆ UD_QN_CR

#define UD_QN_CR 15

◆ UD_QN_IQ

#define UD_QN_IQ 10

◆ UD_QN_ISAT

#define UD_QN_ISAT 3

◆ UD_QN_KD

#define UD_QN_KD 10

◆ UD_QN_KP

#define UD_QN_KP 11

◆ UD_QN_POS

#define UD_QN_POS 24

◆ UD_QN_VEL

#define UD_QN_VEL 11

◆ UD_SENSOR_ADC_1

#define UD_SENSOR_ADC_1 12

◆ UD_SENSOR_ADC_2

#define UD_SENSOR_ADC_2 13

◆ UD_SENSOR_CR_1

#define UD_SENSOR_CR_1 10

◆ UD_SENSOR_CR_2

#define UD_SENSOR_CR_2 11

◆ UD_SENSOR_IQ_1

#define UD_SENSOR_IQ_1 8

◆ UD_SENSOR_IQ_2

#define UD_SENSOR_IQ_2 9

◆ UD_SENSOR_POS_1

#define UD_SENSOR_POS_1 2

◆ UD_SENSOR_POS_2

#define UD_SENSOR_POS_2 4

◆ UD_SENSOR_STATUS

#define UD_SENSOR_STATUS 0

◆ UD_SENSOR_STATUS_ERROR

#define UD_SENSOR_STATUS_ERROR (0xF<<0)

Error code.

◆ UD_SENSOR_STATUS_ERROR_CRIT_TEMP

#define UD_SENSOR_STATUS_ERROR_CRIT_TEMP 3

Motor temperature reached critical value.

Note: This is currently unused as no temperature sensing is done.

◆ UD_SENSOR_STATUS_ERROR_ENCODER1

#define UD_SENSOR_STATUS_ERROR_ENCODER1 1

Encoder 1 error too high.

◆ UD_SENSOR_STATUS_ERROR_ENCODER2

#define UD_SENSOR_STATUS_ERROR_ENCODER2 6

Encoder 2 error too high.

◆ UD_SENSOR_STATUS_ERROR_NO_ERROR

#define UD_SENSOR_STATUS_ERROR_NO_ERROR 0

No error.

◆ UD_SENSOR_STATUS_ERROR_OTHER

#define UD_SENSOR_STATUS_ERROR_OTHER 7

Some other error.

◆ UD_SENSOR_STATUS_ERROR_POS_ROLLOVER

#define UD_SENSOR_STATUS_ERROR_POS_ROLLOVER 5

Position Rollover occured.

◆ UD_SENSOR_STATUS_ERROR_POSCONV

#define UD_SENSOR_STATUS_ERROR_POSCONV 4

Some error in the SpinTAC Position Convert module.

◆ UD_SENSOR_STATUS_ERROR_SPI_RECV_TIMEOUT

#define UD_SENSOR_STATUS_ERROR_SPI_RECV_TIMEOUT 2

Timeout for receiving current references exceeded.

◆ UD_SENSOR_STATUS_IDX1D

#define UD_SENSOR_STATUS_IDX1D (1<<10)

Encoder 1 index has been detected.

◆ UD_SENSOR_STATUS_IDX1T

#define UD_SENSOR_STATUS_IDX1T (1<<8)

Flips each time encoder 1 index is detected.

◆ UD_SENSOR_STATUS_IDX2D

#define UD_SENSOR_STATUS_IDX2D (1<<9)

Encoder 2 index has been detected.

◆ UD_SENSOR_STATUS_IDX2T

#define UD_SENSOR_STATUS_IDX2T (1<<7)