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ctre_frames.h
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1 
5 #ifndef CTRE_FRAMES_H
6 #define CTRE_FRAMES_H
7 
9 typedef 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 
27 typedef struct _TALON_Control_3_ClearFlags_OneShot_t {
28  unsigned ZeroFeedbackSensor:1;
29  unsigned ClearStickyFaults:1;
30 } TALON_Control_3_ClearFlags_OneShot_t ;
31 
32 typedef 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 
49 typedef struct _TALON_Control_6_MotProfAddTrajPoint_t {
50  unsigned huffCode:2;
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 
66 typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff0_t {
67  unsigned huffCode_expect_0:2;
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 
83 typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff1_t {
84  unsigned huffCode_expect_1:2;
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 
101 typedef 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 ;
123 typedef 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 ;
144 typedef 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 ;
159 typedef 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 ;
171 typedef 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 ;
179 typedef 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 ;
194 typedef 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 ;
202 typedef 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 ;
214 typedef struct _TALON_Status_9_MotProfBuffer_100ms_t {
215  unsigned ActTraj_IsValid:1;
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 ;
232 typedef struct _TALON_Param_Request_t {
233  unsigned ParamEnum:8;
234 } TALON_Param_Request_t ;
235 typedef 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 */
_TALON_Control_6_MotProfAddTrajPoint_huff1_t::huffCode_expect_1
unsigned huffCode_expect_1
Compression coding.
Definition: ctre_frames.h:84
TALON_Status_1_General_10ms_t
struct _TALON_Status_1_General_10ms_t TALON_Status_1_General_10ms_t
status
_TALON_Status_7_Debug_200ms_t
Definition: ctre_frames.h:194
_TALON_Control_6_MotProfAddTrajPoint_t::huffCode
unsigned huffCode
Compression coding.
Definition: ctre_frames.h:50
_TALON_Status_6_Eol_t
Definition: ctre_frames.h:179
_TALON_Status_3_Enc_100ms_t
Definition: ctre_frames.h:144
_TALON_Param_Request_t
Definition: ctre_frames.h:232
_TALON_Status_1_General_10ms_t
status
Definition: ctre_frames.h:101
_TALON_Control_6_MotProfAddTrajPoint_t
Definition: ctre_frames.h:49
_TALON_Control_6_MotProfAddTrajPoint_huff0_t
Definition: ctre_frames.h:66
_TALON_Control_6_MotProfAddTrajPoint_huff1_t
Definition: ctre_frames.h:83
_TALON_Control_1_General_10ms_t
control
Definition: ctre_frames.h:9
TALON_Control_1_General_10ms_t
struct _TALON_Control_1_General_10ms_t TALON_Control_1_General_10ms_t
control
_TALON_Status_8_PulseWid_100ms_t
Definition: ctre_frames.h:202
_TALON_Status_9_MotProfBuffer_100ms_t
Definition: ctre_frames.h:214
_TALON_Control_3_ClearFlags_OneShot_t
Definition: ctre_frames.h:27
_TALON_Status_2_Feedback_20ms_t
Definition: ctre_frames.h:123
_TALON_Status_5_Startup_OneShot_t
Definition: ctre_frames.h:171
_TALON_Status_4_AinTempVbat_100ms_t
Definition: ctre_frames.h:159
_TALON_Status_9_MotProfBuffer_100ms_t::ActTraj_IsValid
unsigned ActTraj_IsValid
'1' if other ActTraj_* signals are valid. '0' if there is no active trajectory pt.
Definition: ctre_frames.h:215
_TALON_Control_5_General_10ms_t
Definition: ctre_frames.h:32
_TALON_Control_6_MotProfAddTrajPoint_huff0_t::huffCode_expect_0
unsigned huffCode_expect_0
Compression coding.
Definition: ctre_frames.h:67
_TALON_Param_Response_t
Definition: ctre_frames.h:235