11 #ifndef __CAN_PROTO_H__
12 #define __CAN_PROTO_H__
19 #define CAN_MSGID_FULL_M 0x1fffffff
20 #define CAN_MSGID_DEVNO_M 0x0000003f
21 #define CAN_MSGID_API_M 0x0000ffc0
22 #define CAN_MSGID_MFR_M 0x00ff0000
23 #define CAN_MSGID_DTYPE_M 0x1f000000
24 #define CAN_MSGID_DEVNO_S 0
25 #define CAN_MSGID_API_S 6
26 #define CAN_MSGID_MFR_S 16
27 #define CAN_MSGID_DTYPE_S 24
34 #define CAN_MSGID_DEVNO_BCAST 0x00000000
41 #define CAN_MSGID_API_SYSHALT 0x00000000
42 #define CAN_MSGID_API_SYSRST 0x00000040
43 #define CAN_MSGID_API_DEVASSIGN 0x00000080
44 #define CAN_MSGID_API_DEVQUERY 0x000000c0
45 #define CAN_MSGID_API_HEARTBEAT 0x00000140
46 #define CAN_MSGID_API_SYNC 0x00000180
47 #define CAN_MSGID_API_UPDATE 0x000001c0
48 #define CAN_MSGID_API_FIRMVER 0x00000200
49 #define CAN_MSGID_API_ENUMERATE 0x00000240
50 #define CAN_MSGID_API_SYSRESUME 0x00000280
57 #define CAN_STATUS_CODE_M 0x0000ffff
58 #define CAN_STATUS_MFG_M 0x00ff0000
59 #define CAN_STATUS_DTYPE_M 0x1f000000
60 #define CAN_STATUS_CODE_S 0
61 #define CAN_STATUS_MFG_S 16
62 #define CAN_STATUS_DTYPE_S 24
69 #define CAN_MSGID_MFR_NI 0x00010000
70 #define CAN_MSGID_MFR_LM 0x00020000
71 #define CAN_MSGID_MFR_DEKA 0x00030000
78 #define CAN_MSGID_DTYPE_BCAST 0x00000000
79 #define CAN_MSGID_DTYPE_ROBOT 0x01000000
80 #define CAN_MSGID_DTYPE_MOTOR 0x02000000
81 #define CAN_MSGID_DTYPE_RELAY 0x03000000
82 #define CAN_MSGID_DTYPE_GYRO 0x04000000
83 #define CAN_MSGID_DTYPE_ACCEL 0x05000000
84 #define CAN_MSGID_DTYPE_USONIC 0x06000000
85 #define CAN_MSGID_DTYPE_GEART 0x07000000
86 #define CAN_MSGID_DTYPE_UPDATE 0x1f000000
93 #define CAN_MSGID_API_CLASS_M 0x0000fc00
94 #define CAN_MSGID_API_ID_M 0x000003c0
103 #define CAN_API_MC_VOLTAGE 0x00000000
104 #define CAN_API_MC_SPD 0x00000400
105 #define CAN_API_MC_VCOMP 0x00000800
106 #define CAN_API_MC_POS 0x00000c00
107 #define CAN_API_MC_ICTRL 0x00001000
108 #define CAN_API_MC_STATUS 0x00001400
109 #define CAN_API_MC_PSTAT 0x00001800
110 #define CAN_API_MC_CFG 0x00001c00
111 #define CAN_API_MC_ACK 0x00002000
118 #define LM_API_VOLT \
119 (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_VOLTAGE)
120 #define LM_API_VOLT_EN (LM_API_VOLT | (0 << CAN_MSGID_API_S))
121 #define LM_API_VOLT_DIS (LM_API_VOLT | (1 << CAN_MSGID_API_S))
122 #define LM_API_VOLT_SET (LM_API_VOLT | (2 << CAN_MSGID_API_S))
123 #define LM_API_VOLT_SET_RAMP (LM_API_VOLT | (3 << CAN_MSGID_API_S))
125 #define LM_API_VOLT_T_EN (LM_API_VOLT | (4 << CAN_MSGID_API_S))
126 #define LM_API_VOLT_T_SET (LM_API_VOLT | (5 << CAN_MSGID_API_S))
127 #define LM_API_VOLT_T_SET_NO_ACK (LM_API_VOLT | (7 << CAN_MSGID_API_S))
129 #define LM_API_VOLT_SET_NO_ACK (LM_API_VOLT | (8 << CAN_MSGID_API_S))
136 #define LM_API_VOLT_RAMP_DIS 0
143 #define LM_API_SYNC_PEND_NOW 0
150 #define LM_API_SPD (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_SPD)
151 #define LM_API_SPD_EN (LM_API_SPD | (0 << CAN_MSGID_API_S))
152 #define LM_API_SPD_DIS (LM_API_SPD | (1 << CAN_MSGID_API_S))
153 #define LM_API_SPD_SET (LM_API_SPD | (2 << CAN_MSGID_API_S))
154 #define LM_API_SPD_PC (LM_API_SPD | (3 << CAN_MSGID_API_S))
155 #define LM_API_SPD_IC (LM_API_SPD | (4 << CAN_MSGID_API_S))
156 #define LM_API_SPD_DC (LM_API_SPD | (5 << CAN_MSGID_API_S))
157 #define LM_API_SPD_REF (LM_API_SPD | (6 << CAN_MSGID_API_S))
159 #define LM_API_SPD_T_EN (LM_API_SPD | (7 << CAN_MSGID_API_S))
160 #define LM_API_SPD_T_SET (LM_API_SPD | (8 << CAN_MSGID_API_S))
161 #define LM_API_SPD_T_SET_NO_ACK (LM_API_SPD | (10 << CAN_MSGID_API_S))
163 #define LM_API_SPD_SET_NO_ACK (LM_API_SPD | (11 << CAN_MSGID_API_S))
170 #define LM_API_VCOMP \
171 (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_VCOMP)
172 #define LM_API_VCOMP_EN (LM_API_VCOMP | (0 << CAN_MSGID_API_S))
173 #define LM_API_VCOMP_DIS (LM_API_VCOMP | (1 << CAN_MSGID_API_S))
174 #define LM_API_VCOMP_SET (LM_API_VCOMP | (2 << CAN_MSGID_API_S))
175 #define LM_API_VCOMP_IN_RAMP (LM_API_VCOMP | (3 << CAN_MSGID_API_S))
176 #define LM_API_VCOMP_COMP_RAMP (LM_API_VCOMP | (4 << CAN_MSGID_API_S))
178 #define LM_API_VCOMP_T_EN (LM_API_VCOMP | (5 << CAN_MSGID_API_S))
179 #define LM_API_VCOMP_T_SET (LM_API_VCOMP | (6 << CAN_MSGID_API_S))
180 #define LM_API_VCOMP_T_SET_NO_ACK (LM_API_VCOMP | (8 << CAN_MSGID_API_S))
182 #define LM_API_VCOMP_SET_NO_ACK (LM_API_VCOMP | (9 << CAN_MSGID_API_S))
189 #define LM_API_POS (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_POS)
190 #define LM_API_POS_EN (LM_API_POS | (0 << CAN_MSGID_API_S))
191 #define LM_API_POS_DIS (LM_API_POS | (1 << CAN_MSGID_API_S))
192 #define LM_API_POS_SET (LM_API_POS | (2 << CAN_MSGID_API_S))
193 #define LM_API_POS_PC (LM_API_POS | (3 << CAN_MSGID_API_S))
194 #define LM_API_POS_IC (LM_API_POS | (4 << CAN_MSGID_API_S))
195 #define LM_API_POS_DC (LM_API_POS | (5 << CAN_MSGID_API_S))
196 #define LM_API_POS_REF (LM_API_POS | (6 << CAN_MSGID_API_S))
198 #define LM_API_POS_T_EN (LM_API_POS | (7 << CAN_MSGID_API_S))
199 #define LM_API_POS_T_SET (LM_API_POS | (8 << CAN_MSGID_API_S))
200 #define LM_API_POS_T_SET_NO_ACK (LM_API_POS | (10 << CAN_MSGID_API_S))
202 #define LM_API_POS_SET_NO_ACK (LM_API_POS | (11 << CAN_MSGID_API_S))
209 #define LM_API_ICTRL \
210 (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_ICTRL)
211 #define LM_API_ICTRL_EN (LM_API_ICTRL | (0 << CAN_MSGID_API_S))
212 #define LM_API_ICTRL_DIS (LM_API_ICTRL | (1 << CAN_MSGID_API_S))
213 #define LM_API_ICTRL_SET (LM_API_ICTRL | (2 << CAN_MSGID_API_S))
214 #define LM_API_ICTRL_PC (LM_API_ICTRL | (3 << CAN_MSGID_API_S))
215 #define LM_API_ICTRL_IC (LM_API_ICTRL | (4 << CAN_MSGID_API_S))
216 #define LM_API_ICTRL_DC (LM_API_ICTRL | (5 << CAN_MSGID_API_S))
218 #define LM_API_ICTRL_T_EN (LM_API_ICTRL | (6 << CAN_MSGID_API_S))
219 #define LM_API_ICTRL_T_SET (LM_API_ICTRL | (7 << CAN_MSGID_API_S))
220 #define LM_API_ICTRL_T_SET_NO_ACK (LM_API_ICTRL | (9 << CAN_MSGID_API_S))
222 #define LM_API_ICTRL_SET_NO_ACK (LM_API_ICTRL | (10 << CAN_MSGID_API_S))
229 #define LM_API_UPD (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_UPDATE)
230 #define LM_API_UPD_PING (LM_API_UPD | (0 << CAN_MSGID_API_S))
231 #define LM_API_UPD_DOWNLOAD (LM_API_UPD | (1 << CAN_MSGID_API_S))
232 #define LM_API_UPD_SEND_DATA (LM_API_UPD | (2 << CAN_MSGID_API_S))
233 #define LM_API_UPD_RESET (LM_API_UPD | (3 << CAN_MSGID_API_S))
234 #define LM_API_UPD_ACK (LM_API_UPD | (4 << CAN_MSGID_API_S))
235 #define LM_API_HWVER (LM_API_UPD | (5 << CAN_MSGID_API_S))
236 #define LM_API_UPD_REQUEST (LM_API_UPD | (6 << CAN_MSGID_API_S))
238 #define LM_API_UNTRUST_EN (LM_API_UPD | (11 << CAN_MSGID_API_S))
239 #define LM_API_TRUST_EN (LM_API_UPD | (12 << CAN_MSGID_API_S))
240 #define LM_API_TRUST_HEARTBEAT (LM_API_UPD | (13 << CAN_MSGID_API_S))
248 #define LM_API_STATUS \
249 (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_STATUS)
250 #define LM_API_STATUS_VOLTOUT (LM_API_STATUS | (0 << CAN_MSGID_API_S))
251 #define LM_API_STATUS_VOLTBUS (LM_API_STATUS | (1 << CAN_MSGID_API_S))
252 #define LM_API_STATUS_CURRENT (LM_API_STATUS | (2 << CAN_MSGID_API_S))
253 #define LM_API_STATUS_TEMP (LM_API_STATUS | (3 << CAN_MSGID_API_S))
254 #define LM_API_STATUS_POS (LM_API_STATUS | (4 << CAN_MSGID_API_S))
255 #define LM_API_STATUS_SPD (LM_API_STATUS | (5 << CAN_MSGID_API_S))
256 #define LM_API_STATUS_LIMIT (LM_API_STATUS | (6 << CAN_MSGID_API_S))
257 #define LM_API_STATUS_FAULT (LM_API_STATUS | (7 << CAN_MSGID_API_S))
258 #define LM_API_STATUS_POWER (LM_API_STATUS | (8 << CAN_MSGID_API_S))
259 #define LM_API_STATUS_CMODE (LM_API_STATUS | (9 << CAN_MSGID_API_S))
260 #define LM_API_STATUS_VOUT (LM_API_STATUS | (10 << CAN_MSGID_API_S))
261 #define LM_API_STATUS_STKY_FLT (LM_API_STATUS | (11 << CAN_MSGID_API_S))
262 #define LM_API_STATUS_FLT_COUNT (LM_API_STATUS | (12 << CAN_MSGID_API_S))
270 #define LM_STATUS_LIMIT_FWD 0x01
271 #define LM_STATUS_LIMIT_REV 0x02
272 #define LM_STATUS_LIMIT_SFWD 0x04
273 #define LM_STATUS_LIMIT_SREV 0x08
274 #define LM_STATUS_LIMIT_STKY_FWD 0x10
275 #define LM_STATUS_LIMIT_STKY_REV 0x20
276 #define LM_STATUS_LIMIT_STKY_SFWD 0x40
277 #define LM_STATUS_LIMIT_STKY_SREV 0x80
284 #define LM_STATUS_FAULT_ILIMIT 0x01
285 #define LM_STATUS_FAULT_TLIMIT 0x02
286 #define LM_STATUS_FAULT_VLIMIT 0x04
293 #define LM_API_CFG (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_CFG)
294 #define LM_API_CFG_NUM_BRUSHES (LM_API_CFG | (0 << CAN_MSGID_API_S))
295 #define LM_API_CFG_ENC_LINES (LM_API_CFG | (1 << CAN_MSGID_API_S))
296 #define LM_API_CFG_POT_TURNS (LM_API_CFG | (2 << CAN_MSGID_API_S))
297 #define LM_API_CFG_BRAKE_COAST (LM_API_CFG | (3 << CAN_MSGID_API_S))
298 #define LM_API_CFG_LIMIT_MODE (LM_API_CFG | (4 << CAN_MSGID_API_S))
299 #define LM_API_CFG_LIMIT_FWD (LM_API_CFG | (5 << CAN_MSGID_API_S))
300 #define LM_API_CFG_LIMIT_REV (LM_API_CFG | (6 << CAN_MSGID_API_S))
301 #define LM_API_CFG_MAX_VOUT (LM_API_CFG | (7 << CAN_MSGID_API_S))
302 #define LM_API_CFG_FAULT_TIME (LM_API_CFG | (8 << CAN_MSGID_API_S))
309 #define LM_API_ACK (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_ACK)
316 #define LM_HWVER_UNKNOWN 0x00
317 #define LM_HWVER_JAG_1_0 0x01
318 #define LM_HWVER_JAG_2_0 0x02
325 #define LM_STATUS_CMODE_VOLT 0x00
326 #define LM_STATUS_CMODE_CURRENT 0x01
327 #define LM_STATUS_CMODE_SPEED 0x02
328 #define LM_STATUS_CMODE_POS 0x03
329 #define LM_STATUS_CMODE_VCOMP 0x04
338 #define LM_REF_ENCODER 0x00
339 #define LM_REF_POT 0x01
340 #define LM_REF_INV_ENCODER 0x02
341 #define LM_REF_QUAD_ENCODER 0x03
342 #define LM_REF_NONE 0xff
349 #define LM_FAULT_CURRENT 0x01
350 #define LM_FAULT_TEMP 0x02
351 #define LM_FAULT_VBUS 0x04
352 #define LM_FAULT_GATE_DRIVE 0x08
353 #define LM_FAULT_COMM 0x10
360 #define LM_API_PSTAT \
361 (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_PSTAT)
362 #define LM_API_PSTAT_PER_EN_S0 (LM_API_PSTAT | (0 << CAN_MSGID_API_S))
363 #define LM_API_PSTAT_PER_EN_S1 (LM_API_PSTAT | (1 << CAN_MSGID_API_S))
364 #define LM_API_PSTAT_PER_EN_S2 (LM_API_PSTAT | (2 << CAN_MSGID_API_S))
365 #define LM_API_PSTAT_PER_EN_S3 (LM_API_PSTAT | (3 << CAN_MSGID_API_S))
366 #define LM_API_PSTAT_CFG_S0 (LM_API_PSTAT | (4 << CAN_MSGID_API_S))
367 #define LM_API_PSTAT_CFG_S1 (LM_API_PSTAT | (5 << CAN_MSGID_API_S))
368 #define LM_API_PSTAT_CFG_S2 (LM_API_PSTAT | (6 << CAN_MSGID_API_S))
369 #define LM_API_PSTAT_CFG_S3 (LM_API_PSTAT | (7 << CAN_MSGID_API_S))
370 #define LM_API_PSTAT_DATA_S0 (LM_API_PSTAT | (8 << CAN_MSGID_API_S))
371 #define LM_API_PSTAT_DATA_S1 (LM_API_PSTAT | (9 << CAN_MSGID_API_S))
372 #define LM_API_PSTAT_DATA_S2 (LM_API_PSTAT | (10 << CAN_MSGID_API_S))
373 #define LM_API_PSTAT_DATA_S3 (LM_API_PSTAT | (11 << CAN_MSGID_API_S))
382 #define LM_PSTAT_END 0
383 #define LM_PSTAT_VOLTOUT_B0 1
384 #define LM_PSTAT_VOLTOUT_B1 2
385 #define LM_PSTAT_VOLTBUS_B0 3
386 #define LM_PSTAT_VOLTBUS_B1 4
387 #define LM_PSTAT_CURRENT_B0 5
388 #define LM_PSTAT_CURRENT_B1 6
389 #define LM_PSTAT_TEMP_B0 7
390 #define LM_PSTAT_TEMP_B1 8
391 #define LM_PSTAT_POS_B0 9
392 #define LM_PSTAT_POS_B1 10
393 #define LM_PSTAT_POS_B2 11
394 #define LM_PSTAT_POS_B3 12
395 #define LM_PSTAT_SPD_B0 13
396 #define LM_PSTAT_SPD_B1 14
397 #define LM_PSTAT_SPD_B2 15
398 #define LM_PSTAT_SPD_B3 16
399 #define LM_PSTAT_LIMIT_NCLR 17
400 #define LM_PSTAT_LIMIT_CLR 18
401 #define LM_PSTAT_FAULT 19
402 #define LM_PSTAT_STKY_FLT_NCLR 20
403 #define LM_PSTAT_STKY_FLT_CLR 21
404 #define LM_PSTAT_VOUT_B0 22
405 #define LM_PSTAT_VOUT_B1 23
406 #define LM_PSTAT_FLT_COUNT_CURRENT 24
407 #define LM_PSTAT_FLT_COUNT_TEMP 25
408 #define LM_PSTAT_FLT_COUNT_VOLTBUS 26
409 #define LM_PSTAT_FLT_COUNT_GATE 27
410 #define LM_PSTAT_FLT_COUNT_COMM 28
411 #define LM_PSTAT_CANSTS 29
412 #define LM_PSTAT_CANERR_B0 30
413 #define LM_PSTAT_CANERR_B1 31
415 #endif // __CAN_PROTO_H__