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# System prepended metadata

title: 第n回 mcl会議

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# 第n回 mcl会議

## 通信するデータ
- can
- uart
- gpio
- encoder
- switch
- led
- emgsw
- buzzer

### UART
- init : [port,baudrate]
    - port : uint 32
    - baudrate : uint 32
- mb -> pc : [rx_data,port]
    - rx_data: bytes
    - port   : uint32_t
- pc -> mb
    - tx_data: bytes
    - port   : uint32_t

### RotarySwitch
uint32_t

### Push*2
bool[2]

### LED*4
bool[4]

### EmgSw
- pc->mb
    bool
- mb->pc
    bool
    
### Encoder
- init
    - port: uint32_t[n]
 - mb->pc
     - pulse: int32_t
     - sum  : int32_t

### GPIO
- init
    - mode : uint32_t[7]

- mb->pc (input)
    - port: uint32_t
    - value: uint32_t

- pc->mb (output)
    - port: uint32_t
    - value: uint32_t

### CAN
- init
    - RXCANID : uint32[n] * 2
- mb -> pc 
    - rx_data: bytes
    - RXCANID : uint32
- pc -> mb
    - tx_data: bytes
    - RXCANID : uint32

## Lighting
- Voltage
    - tx 
        - voltage ; int16
- Current
    - init
        - mode
        - pulse_ratio
        - current_sensor
        - pid parameter
        - observer parameter
    - rx
        - pulse
        - pulse_sum/pulse_ratio
        - current
        - voltage
    - tx 
        - current ; int16
- Position
    - current sensor
    - pid parameter
    - observer parameter
- Velocity
    - current sensor
    - pid parameter
    - observer parameter