| 1 | /* |
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| 2 | * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia |
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| 3 | * Author: Marco Accame |
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| 4 | * email: marco.accame@iit.it |
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| 5 | * website: www.robotcub.org |
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| 6 | * Permission is granted to copy, distribute, and/or modify this program |
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| 7 | * under the terms of the GNU General Public License, version 2 or any |
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| 8 | * later version published by the Free Software Foundation. |
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| 9 | * |
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| 10 | * A copy of the license can be found at |
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| 11 | * http://www.robotcub.org/icub/license/gpl.txt |
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| 12 | * |
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| 13 | * This program is distributed in the hope that it will be useful, but |
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| 14 | * WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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| 16 | * Public License for more details |
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| 17 | */ |
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| 18 | |
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| 19 | // - include guard ---------------------------------------------------------------------------------------------------- |
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| 20 | |
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| 21 | #ifndef _EOCFG_NVSEP_MC_LEFTLEG_CON_H_ |
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| 22 | #define _EOCFG_NVSEP_MC_LEFTLEG_CON_H_ |
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| 23 | |
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| 24 | |
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| 25 | |
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| 26 | |
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| 27 | /** @file eOcfg_nvsEP_mc_leftleg_con.h |
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| 28 | @brief This header file gives the constant configuration for the NVs in the endpoint left leg |
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| 29 | @author marco.accame@iit.it |
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| 30 | @date 04/05/2012 |
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| 31 | **/ |
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| 32 | |
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| 33 | /** @defgroup eo_asfdgr234 Configuation of the NVs for the updater |
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| 34 | Tcecece |
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| 35 | |
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| 36 | @{ |
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| 37 | **/ |
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| 38 | |
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| 39 | |
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| 40 | |
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| 41 | // - external dependencies -------------------------------------------------------------------------------------------- |
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| 42 | |
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| 43 | #include "EOconstvector.h" |
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| 44 | #include "EOarray.h" |
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| 45 | #include "EOnv.h" |
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| 46 | |
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| 47 | #include "EoMotionControl.h" |
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| 48 | #include "eOcfg_nvsEP_mc_any_con_bodypart.h" |
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| 49 | #include "eOcfg_nvsEP_mc_any_con_jxx.h" |
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| 50 | #include "eOcfg_nvsEP_mc_any_con_mxx.h" |
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| 51 | |
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| 52 | |
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| 53 | |
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| 54 | // - public #define -------------------------------------------------------------------------------------------------- |
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| 55 | |
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| 56 | #define EOK_cfg_nvsEP_mc_leftleg_NUMofJOINTS (6) |
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| 57 | #define EOK_cfg_nvsEP_mc_leftleg_NUMofMOTORS (6) |
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| 58 | |
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| 59 | |
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| 60 | // the 16bit value to use to identify the endpoint |
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| 61 | #define EOK_cfg_nvsEP_mc_leftleg_EP (0x0010) |
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| 62 | |
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| 63 | // the total number of nv in the endpoint |
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| 64 | #define EOK_cfg_nvsEP_leftleg_NUMofVARS ((EOK_cfg_nvsEP_mc_any_con_jxx_jnvindex_TOTALnumber*EOK_cfg_nvsEP_mc_leftleg_NUMofJOINTS)+(EOK_cfg_nvsEP_mc_any_con_mxx_mnvindex_TOTALnumber*EOK_cfg_nvsEP_mc_leftleg_NUMofMOTORS)) |
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| 65 | |
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| 66 | #if 0 |
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| 67 | #warning --> so far we prefer using the names coming from eOcfg_nvsEP_mc_any_con_bodypart.h, however we could add in here more specific names for the kneee, ankle, etc. |
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| 68 | // the 16bit used to identify the network variable inside the endpoint. they are function of the joint or motor number (jth or mth) |
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| 69 | #define EOK_cfg_nvsEP_mc_leftleg_NVID_jconfig(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx_jconfig(jth) |
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| 70 | #define EOK_cfg_nvsEP_mc_leftleg_NVID_jconfig__pidposition(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx_jconfig__pidposition(jth) |
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| 71 | #define EOK_cfg_nvsEP_mc_leftleg_NVID_jconfig__pidvelocity(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx_jconfig__pidvelocity(jth) |
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| 72 | #define EOK_cfg_nvsEP_mc_leftleg_NVID_jconfig__pidtorque(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx_jconfig__pidtorque(jth) |
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| 73 | #define EOK_cfg_nvsEP_mc_leftleg_NVID_jconfig__minpositionofjoint(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx_jconfig__minpositionofjoint(jth) |
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| 74 | #define EOK_cfg_nvsEP_mc_leftleg_NVID_jconfig__maxpositionofjoint(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx_jconfig__maxpositionofjoint(jth) |
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| 75 | #define EOK_cfg_nvsEP_mc_leftleg_NVID_jconfig__velocitysetpointtimeout(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx_jconfig__velocitysetpointtimeout(jth) |
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| 76 | #define EOK_cfg_nvsEP_mc_leftleg_NVID_jconfig__upto02descrforchameleon02(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx_jconfig__upto02descrforchameleon02(jth) |
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| 77 | #define EOK_cfg_nvsEP_mc_leftleg_NVID__jstatus(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx__jstatus(jth) |
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| 78 | #define EOK_cfg_nvsEP_mc_leftleg_NVID__calibrator(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx__calibrator(jth) |
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| 79 | #define EOK_cfg_nvsEP_mc_leftleg_NVID__setpoint(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx__setpoint(jth) |
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| 80 | #define EOK_cfg_nvsEP_mc_leftleg_NVID__controlmode(jth) EOK_cfg_nvsEP_mc_any_con_bodypart_NVID_jxx__controlmode(jth) |
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| 81 | #endif |
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| 82 | |
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| 83 | |
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| 84 | |
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| 85 | |
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| 86 | // - declaration of public user-defined types ------------------------------------------------------------------------- |
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| 87 | |
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| 88 | |
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| 89 | |
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| 90 | // - very important information: on ARM alignment is done using "#pragma pack(8)", thus ... there are rules to follow |
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| 91 | |
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| 92 | typedef struct |
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| 93 | { |
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| 94 | eOmc_joint_t joints[EOK_cfg_nvsEP_mc_leftleg_NUMofJOINTS]; |
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| 95 | eOmc_motor_t motors[EOK_cfg_nvsEP_mc_leftleg_NUMofMOTORS]; |
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| 96 | } eo_cfg_nvsEP_mc_leftleg_t; EO_VERIFYsizeof(eo_cfg_nvsEP_mc_leftleg_t, 864); |
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| 97 | |
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| 98 | |
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| 99 | // - declaration of extern public variables, ... but better using use _get/_set instead ------------------------------- |
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| 100 | |
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| 101 | //extern const eo_cfg_nvsEP_mc_leftleg_t eo_cfg_nvsEP_mc_leftleg_default; |
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| 102 | |
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| 103 | // EOconstvector where each element is a EOtreenode whose data field is a EOnv_con_t object (id, capacity, valuedef, offset) |
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| 104 | extern const EOconstvector* const eo_cfg_nvsEP_mc_leftleg_constvector_of_treenodes_EOnv_con; |
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| 105 | |
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| 106 | // if not NULL it contains a mapping from IDs to index inside eo_cfg_nvsEP_mc_leftleg_constvector_of_treenodes_EOnv_con |
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| 107 | extern const eOuint16_fp_uint16_t eo_cfg_nvsEP_mc_leftleg_fptr_hashfunction_id2index; |
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| 108 | |
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| 109 | |
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| 110 | |
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| 111 | // - declaration of extern public functions --------------------------------------------------------------------------- |
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| 112 | |
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| 113 | extern uint16_t eo_cfg_nvsEP_mc_leftleg_hashfunction_id2index(uint16_t id); |
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| 114 | |
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| 115 | |
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| 116 | |
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| 117 | |
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| 118 | |
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| 119 | /** @} |
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| 120 | end of group eo_asfdgr234 |
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| 121 | **/ |
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| 122 | |
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| 123 | #endif // include-guard |
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| 124 | |
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| 125 | |
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| 126 | // - end-of-file (leave a blank line after)---------------------------------------------------------------------------- |
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