#include <future>#include <chrono>#include <vector>#include <algorithm>#include "socket_can_wrapper.h"
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Classes | |
| struct | tmcl_cfg_t |
| struct | tmcl_msg_t |
| class | TmclInterpreter |
Enumerations | |
| enum | tmcl_cmd_t { TMCL_CMD_ROR = 1, TMCL_CMD_ROL, TMCL_CMD_MST, TMCL_CMD_MVP, TMCL_CMD_SAP, TMCL_CMD_GAP, TMCL_CMD_SGP = 9, TMCL_CMD_GGP, TMCL_CMD_APPGFWV = 136, TMCL_CMD_MAX } |
| enum | tmcl_interface_t { TMCL_INTERFACE_CAN = 0, TMCL_INTERFACE_MAX } |
| enum | tmcl_sts_t { TMCL_STS_ERR_CHKSUM = 1, TMCL_STS_ERR_CMD, TMCL_STS_ERR_TYPE, TMCL_STS_ERR_VAL, TMCL_STS_ERR_EEPROM_LCK, TMCL_STS_ERR_CMD_NA, TMCL_STS_ERR_NONE = 100, TMCL_STS_CMD_LOADED, TMCL_STS_MAX } |
Variables | |
| const uint8_t | TMCL_MSG_SZ = 7 |
| const uint8_t | TMCL_MSG_VALUE_SZ = 4 |
Enumeration Type Documentation
◆ tmcl_cmd_t
| enum tmcl_cmd_t |
| Enumerator | |
|---|---|
| TMCL_CMD_ROR | |
| TMCL_CMD_ROL | |
| TMCL_CMD_MST | |
| TMCL_CMD_MVP | |
| TMCL_CMD_SAP | |
| TMCL_CMD_GAP | |
| TMCL_CMD_SGP | |
| TMCL_CMD_GGP | |
| TMCL_CMD_APPGFWV | |
| TMCL_CMD_MAX | |
Definition at line 57 of file tmcl_interpreter.h.
◆ tmcl_interface_t
| enum tmcl_interface_t |
| Enumerator | |
|---|---|
| TMCL_INTERFACE_CAN | |
| TMCL_INTERFACE_MAX | |
Definition at line 35 of file tmcl_interpreter.h.
◆ tmcl_sts_t
| enum tmcl_sts_t |
| Enumerator | |
|---|---|
| TMCL_STS_ERR_CHKSUM | |
| TMCL_STS_ERR_CMD | |
| TMCL_STS_ERR_TYPE | |
| TMCL_STS_ERR_VAL | |
| TMCL_STS_ERR_EEPROM_LCK | |
| TMCL_STS_ERR_CMD_NA | |
| TMCL_STS_ERR_NONE | |
| TMCL_STS_CMD_LOADED | |
| TMCL_STS_MAX | |
Definition at line 72 of file tmcl_interpreter.h.
Variable Documentation
◆ TMCL_MSG_SZ
| const uint8_t TMCL_MSG_SZ = 7 |
Copyright (c) 2022-2023 Analog Devices, Inc. All Rights Reserved. This software is proprietary to Analog Devices, Inc. and its licensors. A TMCL Tx/Rx format will always be lke the following:
- Tx: | [[Module Address]] | <Command> | <Type> | <Motor> |
|
|
|
| [[Checksum]]
- Rx: | [[Reply Address]] | <Module Address> | <Status> | <Command> |
|
|
|
| [[Checksum]]
Specifically, for CAN interface:
- Both Tx and Rx length will just be 7 bytes. Those enclosed with [[]] are not part of the message (they will automatically be added on the hardware-level).
- Module Address: CAN-ID of the Sender
- Reply Address: CAN-ID of the Receiver
- Command, Type, Motor, Status can be either of the values enumerated below
Definition at line 27 of file tmcl_interpreter.h.
◆ TMCL_MSG_VALUE_SZ
| const uint8_t TMCL_MSG_VALUE_SZ = 4 |
Definition at line 28 of file tmcl_interpreter.h.