40 lines
990 B
C
40 lines
990 B
C
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#ifndef USER_CTRE_H_
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#define USER_CTRE_H_
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#include "ch32v20x.h"
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// Control frames
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#define CTRE_ENABLE 0x000401BF
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#define CTRE_STATUS(n) (0x00041400 + 0x40 * (n - 1)) // 1-15 valid
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#define CTRE_CONTROL(n) (0x00040000 + 0x40 * (n - 1)) // 1-6 valid
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// Parameters
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#define CTRE_PARAM_REQ 0x00001800
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#define CTRE_PARAM_RESP 0x00001840
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#define CTRE_PARAM_SET 0x00001880
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#define CTRE_DEVICE_TYPE_MASK 0xFFFF0000
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#define CTRE_TALON_SRX 0x02040000
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#define CTRE_VICTOR_SPX 0x01040000
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// Motorcontroller
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#define CTRE_FACTORY_RESET 0x0000F900
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// Broadcast port messages
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#define CTRE_RESET_PORTS 0x0004F9BF
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#define CTRE_GET_ALL_PORTS 0x0004F9FF
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extern int ctre_port;
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void ctre_init();
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void ctre_feed_enable(u8 enable);
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void ctre_percent_out(u8 id, double cmd);
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void ctre_position_out(u8 id, int pos);
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void ctre_set_param(u8 id, u16 param_idx, u32 value, u8 sub_value, u32 ordinal);
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void ctre_factory_reset(u8 port);
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void ctre_port_reset_all();
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#endif /* USER_CTRE_H_ */
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