Diff: LLComms.cpp

Revision:

29:10a5cf37a875

Parent:

27:6853ee8ffefd

Child:

33:9877ca32e43c

--- a/LLComms.cpp	Wed Feb 06 16:10:18 2019 +0000
+++ b/LLComms.cpp	Fri Feb 08 18:36:15 2019 +0000
@@ -40,7 +40,9 @@
         *cs_LL[i] = 1;
         *cs_ADC[i] = 1;
         // Initialise pressures/positions
+        pressureSensor_uint[i] = 0.0;
         pressureSensor_bar[i] = -1.0;
+        positionSensor_uint[i] = 0.0;
         positionSensor_mm[i] = -1.0;
     }
     pinReset = 1; // Initialise reset pin to not reset the controllers.
@@ -98,7 +100,6 @@
     bool boolParity = !(bool)(count%2);
     intMsg = intMsg<<1;
     intMsg = intMsg | (int)boolParity;
-    //printf("%i \t %i \t %i \t %i \t %i \r\n",type,intValue,intCheckSum,boolParity,intMsg);
     return intMsg;
 }
 
@@ -155,9 +156,6 @@
     // Construct messages
     unsigned int intPositionMsg = formatMessage(0,demandPosition_mm[channel],MAX_ACTUATOR_LIMIT_MM);
     unsigned int intVelocityMsg = formatMessage(1,demandSpeed_mmps[channel],MAX_SPEED_MMPS);
-    //unsigned int intPositionMsg = formatMessage(0,demandPosition_mm[channel],MAX_ACTUATOR_LIMIT_MM);
-    //unsigned int intPositionMsg = formatMessage(0,20.0,MAX_ACTUATOR_LIMIT_MM);
-    //unsigned int intVelocityMsg = formatMessage(1,4.0,MAX_SPEED_MMPS);
     
     *cs_LL[channel] = 0; // Select relevant chip
     unsigned int outboundMsgs[2] = { intPositionMsg , intVelocityMsg };
@@ -171,11 +169,12 @@
     *cs_LL[channel] = 1; // Deselect chip
     if( isSPIsuccess ) {
         isDataReady[channel] = 0; // Data no longer ready, i.e. we now require new data
+        positionSensor_uint[channel] = inboundMsgsData[0];
         positionSensor_mm[channel] = ((double)inboundMsgsData[0]/511) * (double)MAX_ACTUATOR_LENGTH_MM;
         positionSensor_mm[channel] = min( max(positionSensor_mm[channel],0.0) , (double)MAX_ACTUATOR_LENGTH_MM );
+        pressureSensor_uint[channel] = inboundMsgsData[1];
         pressureSensor_bar[channel] = ((double)inboundMsgsData[1]/511) * (double)MAX_PRESSURE_LIMIT;
         pressureSensor_bar[channel] = min( max(pressureSensor_bar[channel],0.0) , (double)MAX_PRESSURE_LIMIT );
-        //printf("%.10f\t%.10f\n\r",positionSensor_mm[channel],pressureSensor_bar[channel]);
     } else { // Data is STILL ready and will be resent at the next pin interrupt
         //printf("SPI failed: %d%d. Resending.\n\r",isPositionValid,isPressureValid);
     }