Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@60:8855962234b0, 2020-04-08 (annotated)

Committer:
Lightvalve
Date:
Wed Apr 08 05:36:22 2020 +0000
Revision:
60:8855962234b0
Parent:
59:0ad14153b58f
Child:
62:851cf7b7aa7a
200408

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jobuuu 2:a1c0a37df760 1 #include "function_CAN.h"
Lightvalve 11:82d8768d7351 2 #include "setting.h"
Lightvalve 11:82d8768d7351 3 #include "function_utilities.h"
Lightvalve 11:82d8768d7351 4 #include "SPI_EEP_ENC.h"
Lightvalve 16:903b5a4433b4 5 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 6 #include "FlashWriter.h"
jobuuu 2:a1c0a37df760 7
jobuuu 2:a1c0a37df760 8 // CAN ID Setting Variables
jobuuu 2:a1c0a37df760 9 int CID_RX_CMD = 100;
jobuuu 2:a1c0a37df760 10 int CID_RX_REF_POSITION = 200;
Lightvalve 49:e7bcfc244d40 11 int CID_RX_REF_VALVE_POS = 300;
Lightvalve 49:e7bcfc244d40 12 int CID_RX_REF_PWM = 400;
jobuuu 2:a1c0a37df760 13
jobuuu 2:a1c0a37df760 14 int CID_TX_INFO = 1100;
jobuuu 2:a1c0a37df760 15 int CID_TX_POSITION = 1200;
jobuuu 2:a1c0a37df760 16 int CID_TX_TORQUE = 1300;
jobuuu 2:a1c0a37df760 17 int CID_TX_PRES = 1400;
jobuuu 7:e9086c72bb22 18 int CID_TX_VOUT = 1500;
jobuuu 2:a1c0a37df760 19 int CID_TX_VALVE_POSITION = 1600;
jobuuu 2:a1c0a37df760 20
Lightvalve 12:6f2531038ea4 21 // variables
Lightvalve 12:6f2531038ea4 22 uint8_t can_index = 0;
Lightvalve 12:6f2531038ea4 23
Lightvalve 48:889798ff9329 24 extern DigitalOut LED;
Lightvalve 11:82d8768d7351 25
Lightvalve 11:82d8768d7351 26 /*******************************************************************************
Lightvalve 11:82d8768d7351 27 * CAN functions
Lightvalve 11:82d8768d7351 28 ******************************************************************************/
Lightvalve 11:82d8768d7351 29 void CAN_ID_INIT(void) {
jobuuu 7:e9086c72bb22 30
Lightvalve 11:82d8768d7351 31 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 32 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve 49:e7bcfc244d40 33 CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve 45:35fa6884d0c6 34 CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve 11:82d8768d7351 35
Lightvalve 11:82d8768d7351 36 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve 11:82d8768d7351 37 CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve 11:82d8768d7351 38 CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve 11:82d8768d7351 39 CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve 11:82d8768d7351 40 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 41 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve 11:82d8768d7351 42 }
jobuuu 2:a1c0a37df760 43
Lightvalve 28:2a62d73e3dd0 44 void ReadCMD(int16_t CMD)
jobuuu 2:a1c0a37df760 45 {
jobuuu 2:a1c0a37df760 46 switch(CMD){
Lightvalve 11:82d8768d7351 47 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 48 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 49 break;
Lightvalve 11:82d8768d7351 50 }
Lightvalve 11:82d8768d7351 51 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 52 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 53 break;
Lightvalve 11:82d8768d7351 54 }
Lightvalve 11:82d8768d7351 55 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 56 BNO = (int16_t) msg.data[1];
Lightvalve 16:903b5a4433b4 57
Lightvalve 16:903b5a4433b4 58 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 59
Lightvalve 16:903b5a4433b4 60 //spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 61 CAN_ID_INIT(); // can id init
Lightvalve 11:82d8768d7351 62 break;
Lightvalve 11:82d8768d7351 63 }
Lightvalve 11:82d8768d7351 64 case CRX_ASK_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 65 CAN_TX_OPERATING_MODE();
Lightvalve 11:82d8768d7351 66 break;
Lightvalve 11:82d8768d7351 67 }
Lightvalve 11:82d8768d7351 68 case CRX_SET_OPERATING_MODE: {
Lightvalve 52:8ea76864368a 69 OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve 52:8ea76864368a 70 SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve 52:8ea76864368a 71 CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve 52:8ea76864368a 72 FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve 16:903b5a4433b4 73 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 74 break;
Lightvalve 11:82d8768d7351 75 }
Lightvalve 11:82d8768d7351 76 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 77 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 78
Lightvalve 11:82d8768d7351 79 break;
Lightvalve 11:82d8768d7351 80 }
Lightvalve 11:82d8768d7351 81 case CRX_SET_FET_ON: {
Lightvalve 11:82d8768d7351 82
Lightvalve 11:82d8768d7351 83 break;
Lightvalve 11:82d8768d7351 84 }
Lightvalve 11:82d8768d7351 85
Lightvalve 45:35fa6884d0c6 86 case CRX_SET_POS_TORQ_TRANS: {
Lightvalve 45:35fa6884d0c6 87 MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve 45:35fa6884d0c6 88 /*
Lightvalve 45:35fa6884d0c6 89 MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve 45:35fa6884d0c6 90 MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve 45:35fa6884d0c6 91 MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve 45:35fa6884d0c6 92 MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve 45:35fa6884d0c6 93 */
Lightvalve 11:82d8768d7351 94 break;
Lightvalve 11:82d8768d7351 95 }
Lightvalve 11:82d8768d7351 96
Lightvalve 11:82d8768d7351 97 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 98 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 99
Lightvalve 11:82d8768d7351 100 break;
Lightvalve 11:82d8768d7351 101 }
Lightvalve 11:82d8768d7351 102
Lightvalve 11:82d8768d7351 103 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 104 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 59:0ad14153b58f 105
Lightvalve 16:903b5a4433b4 106 ROM_RESET_DATA();
Lightvalve 59:0ad14153b58f 107
Lightvalve 59:0ad14153b58f 108 //spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 109 break;
Lightvalve 11:82d8768d7351 110 }
Lightvalve 11:82d8768d7351 111
Lightvalve 11:82d8768d7351 112 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 113 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 114
Lightvalve 11:82d8768d7351 115 break;
Lightvalve 11:82d8768d7351 116 }
Lightvalve 11:82d8768d7351 117
Lightvalve 11:82d8768d7351 118 case CRX_SET_CONTROL_MODE: {
Lightvalve 59:0ad14153b58f 119 CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 120 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 121 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 122 }
Lightvalve 11:82d8768d7351 123 break;
Lightvalve 11:82d8768d7351 124 }
Lightvalve 11:82d8768d7351 125
Lightvalve 11:82d8768d7351 126 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 127 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 128 flag_data_request[request_type] = msg.data[1];
Lightvalve 14:8e7590227d22 129 //pc.printf("can middle %d\n", request_type);
Lightvalve 11:82d8768d7351 130
Lightvalve 12:6f2531038ea4 131 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 132 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 133 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 134 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 11:82d8768d7351 135
Lightvalve 11:82d8768d7351 136 break;
Lightvalve 11:82d8768d7351 137 }
Lightvalve 11:82d8768d7351 138
Lightvalve 11:82d8768d7351 139 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 140 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 141
Lightvalve 11:82d8768d7351 142 break;
Lightvalve 11:82d8768d7351 143 }
Lightvalve 11:82d8768d7351 144
Lightvalve 11:82d8768d7351 145 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 146 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 147 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 148 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 149 else
Lightvalve 11:82d8768d7351 150 DIR_JOINT_ENC = -1;
Lightvalve 16:903b5a4433b4 151
Lightvalve 16:903b5a4433b4 152 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 153
Lightvalve 16:903b5a4433b4 154 //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 155
Lightvalve 11:82d8768d7351 156 break;
Lightvalve 11:82d8768d7351 157 }
Lightvalve 11:82d8768d7351 158
Lightvalve 11:82d8768d7351 159 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 160 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 161
Lightvalve 11:82d8768d7351 162 break;
Lightvalve 11:82d8768d7351 163 }
Lightvalve 11:82d8768d7351 164
Lightvalve 11:82d8768d7351 165 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 166 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 167 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 168 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 169 else
Lightvalve 11:82d8768d7351 170 DIR_VALVE = -1;
Lightvalve 16:903b5a4433b4 171
Lightvalve 16:903b5a4433b4 172 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 173
Lightvalve 16:903b5a4433b4 174 //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 175
Lightvalve 11:82d8768d7351 176 break;
Lightvalve 11:82d8768d7351 177 }
Lightvalve 11:82d8768d7351 178
Lightvalve 11:82d8768d7351 179 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 180 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 181
Lightvalve 11:82d8768d7351 182 break;
Lightvalve 11:82d8768d7351 183 }
Lightvalve 11:82d8768d7351 184
Lightvalve 11:82d8768d7351 185 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 186 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 187 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 188 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 189 else
Lightvalve 11:82d8768d7351 190 DIR_VALVE_ENC = -1;
Lightvalve 16:903b5a4433b4 191
Lightvalve 16:903b5a4433b4 192 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 193
Lightvalve 16:903b5a4433b4 194 //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 195
Lightvalve 11:82d8768d7351 196 break;
Lightvalve 11:82d8768d7351 197 }
Lightvalve 11:82d8768d7351 198
Lightvalve 11:82d8768d7351 199 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 200 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 201
Lightvalve 11:82d8768d7351 202 break;
Lightvalve 11:82d8768d7351 203 }
Lightvalve 11:82d8768d7351 204
Lightvalve 11:82d8768d7351 205 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 30:8d561f16383b 206 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 207
Lightvalve 16:903b5a4433b4 208 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 209
Lightvalve 16:903b5a4433b4 210 //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve 11:82d8768d7351 211
Lightvalve 11:82d8768d7351 212 break;
Lightvalve 11:82d8768d7351 213 }
Lightvalve 11:82d8768d7351 214
Lightvalve 11:82d8768d7351 215 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 216 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 217
Lightvalve 11:82d8768d7351 218 break;
Lightvalve 11:82d8768d7351 219 }
Lightvalve 11:82d8768d7351 220
Lightvalve 11:82d8768d7351 221 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 30:8d561f16383b 222 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 223
Lightvalve 16:903b5a4433b4 224 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 225
Lightvalve 16:903b5a4433b4 226 //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve 11:82d8768d7351 227
Lightvalve 11:82d8768d7351 228
Lightvalve 11:82d8768d7351 229 break;
Lightvalve 11:82d8768d7351 230 }
Lightvalve 12:6f2531038ea4 231
Lightvalve 11:82d8768d7351 232 case CRX_SET_HOMEPOS: {
Lightvalve 59:0ad14153b58f 233 CONTROL_MODE = 22;
Lightvalve 59:0ad14153b58f 234 SETTING_SWITCH = (int16_t) (msg.data[1]);
Lightvalve 11:82d8768d7351 235 break;
Lightvalve 11:82d8768d7351 236 }
Lightvalve 11:82d8768d7351 237
Lightvalve 11:82d8768d7351 238 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 239 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 240
Lightvalve 11:82d8768d7351 241 break;
Lightvalve 11:82d8768d7351 242 }
Lightvalve 11:82d8768d7351 243
Lightvalve 11:82d8768d7351 244 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 245 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 246 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 247 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 248 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 249
Lightvalve 16:903b5a4433b4 250 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 251
Lightvalve 11:82d8768d7351 252 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 253 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 254 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 255 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 256
Lightvalve 16:903b5a4433b4 257 ROM_RESET_DATA();
Lightvalve 48:889798ff9329 258
Lightvalve 11:82d8768d7351 259 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 260 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 261 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 262 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 263
Lightvalve 16:903b5a4433b4 264 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 265
Lightvalve 46:2694daea349b 266 } else if (msg.data[1] == 3) {
Lightvalve 46:2694daea349b 267 K_SPRING = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 46:2694daea349b 268 D_DAMPER = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 46:2694daea349b 269
Lightvalve 46:2694daea349b 270 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 271 }
Lightvalve 11:82d8768d7351 272
Lightvalve 11:82d8768d7351 273 break;
Lightvalve 11:82d8768d7351 274 }
Lightvalve 11:82d8768d7351 275
Lightvalve 11:82d8768d7351 276 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 277 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 278
Lightvalve 11:82d8768d7351 279 break;
Lightvalve 11:82d8768d7351 280 }
Lightvalve 11:82d8768d7351 281
Lightvalve 11:82d8768d7351 282 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 283 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 284 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 285 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 16:903b5a4433b4 286
Lightvalve 16:903b5a4433b4 287 ROM_RESET_DATA();
Lightvalve 59:0ad14153b58f 288
Lightvalve 59:0ad14153b58f 289 //spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
Lightvalve 59:0ad14153b58f 290 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 59:0ad14153b58f 291 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 11:82d8768d7351 292
Lightvalve 11:82d8768d7351 293 break;
Lightvalve 11:82d8768d7351 294 }
Lightvalve 11:82d8768d7351 295
Lightvalve 11:82d8768d7351 296 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 297 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 298
Lightvalve 11:82d8768d7351 299 break;
Lightvalve 11:82d8768d7351 300 }
Lightvalve 11:82d8768d7351 301
Lightvalve 11:82d8768d7351 302 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 303 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 304
Lightvalve 16:903b5a4433b4 305 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 306
Lightvalve 16:903b5a4433b4 307 //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 308
Lightvalve 11:82d8768d7351 309 break;
Lightvalve 11:82d8768d7351 310 }
Lightvalve 11:82d8768d7351 311
Lightvalve 11:82d8768d7351 312 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 313 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 314
Lightvalve 11:82d8768d7351 315 break;
Lightvalve 11:82d8768d7351 316 }
Lightvalve 11:82d8768d7351 317
Lightvalve 11:82d8768d7351 318 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 319 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 320
Lightvalve 16:903b5a4433b4 321 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 322
Lightvalve 16:903b5a4433b4 323 //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 324
Lightvalve 11:82d8768d7351 325 break;
Lightvalve 11:82d8768d7351 326 }
Lightvalve 11:82d8768d7351 327
Lightvalve 11:82d8768d7351 328 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 329 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 330
Lightvalve 11:82d8768d7351 331 break;
Lightvalve 11:82d8768d7351 332 }
Lightvalve 11:82d8768d7351 333
Lightvalve 11:82d8768d7351 334 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 335 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 336
Lightvalve 16:903b5a4433b4 337 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 338
Lightvalve 16:903b5a4433b4 339 //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 340
Lightvalve 11:82d8768d7351 341 break;
Lightvalve 11:82d8768d7351 342 }
Lightvalve 11:82d8768d7351 343
Lightvalve 11:82d8768d7351 344 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 345 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 346
Lightvalve 11:82d8768d7351 347 break;
Lightvalve 11:82d8768d7351 348 }
Lightvalve 11:82d8768d7351 349
Lightvalve 11:82d8768d7351 350 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 351 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 352
Lightvalve 16:903b5a4433b4 353 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 354
Lightvalve 16:903b5a4433b4 355 //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 356
Lightvalve 11:82d8768d7351 357 break;
Lightvalve 11:82d8768d7351 358 }
Lightvalve 11:82d8768d7351 359
Lightvalve 11:82d8768d7351 360 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 361 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 362
Lightvalve 11:82d8768d7351 363 break;
Lightvalve 11:82d8768d7351 364 }
Lightvalve 11:82d8768d7351 365
Lightvalve 11:82d8768d7351 366 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 367 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 368 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 369
Lightvalve 16:903b5a4433b4 370 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 371
Lightvalve 16:903b5a4433b4 372 //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 373 //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 374
Lightvalve 11:82d8768d7351 375 break;
Lightvalve 11:82d8768d7351 376 }
Lightvalve 11:82d8768d7351 377
Lightvalve 11:82d8768d7351 378 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 379 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 380
Lightvalve 11:82d8768d7351 381 break;
Lightvalve 11:82d8768d7351 382 }
Lightvalve 11:82d8768d7351 383
Lightvalve 11:82d8768d7351 384 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 385 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 386 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 387 PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve 16:903b5a4433b4 388
Lightvalve 16:903b5a4433b4 389 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 390
Lightvalve 16:903b5a4433b4 391 //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 392 //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 393 break;
Lightvalve 11:82d8768d7351 394 }
Lightvalve 11:82d8768d7351 395
Lightvalve 11:82d8768d7351 396 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 397 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 398 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 399 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 400 //dac_2 = PRES_B_VREF;
Lightvalve 12:6f2531038ea4 401
Lightvalve 11:82d8768d7351 402 break;
Lightvalve 11:82d8768d7351 403 }
Lightvalve 11:82d8768d7351 404
Lightvalve 11:82d8768d7351 405 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 406 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 407 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 408 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 409 //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 410 //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 411
Lightvalve 11:82d8768d7351 412
Lightvalve 11:82d8768d7351 413 break;
Lightvalve 11:82d8768d7351 414 }
Lightvalve 11:82d8768d7351 415
Lightvalve 11:82d8768d7351 416 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 417 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 418
Lightvalve 11:82d8768d7351 419 break;
Lightvalve 11:82d8768d7351 420 }
Lightvalve 11:82d8768d7351 421
Lightvalve 11:82d8768d7351 422 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 423 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 424 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 425 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 426 //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 427 //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 428
Lightvalve 11:82d8768d7351 429 break;
Lightvalve 11:82d8768d7351 430 }
Lightvalve 11:82d8768d7351 431
Lightvalve 11:82d8768d7351 432 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 433 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 434 break;
Lightvalve 11:82d8768d7351 435 }
Lightvalve 11:82d8768d7351 436
Lightvalve 11:82d8768d7351 437 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 438 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 439 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 440 //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 441
Lightvalve 11:82d8768d7351 442 break;
Lightvalve 11:82d8768d7351 443 }
Lightvalve 11:82d8768d7351 444
Lightvalve 11:82d8768d7351 445 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 446 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 447
Lightvalve 11:82d8768d7351 448 break;
Lightvalve 11:82d8768d7351 449 }
Lightvalve 11:82d8768d7351 450
Lightvalve 11:82d8768d7351 451 case CRX_SET_VALVE_LIMIT: {
Lightvalve 59:0ad14153b58f 452 VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 59:0ad14153b58f 453 VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 454 ROM_RESET_DATA();
Lightvalve 59:0ad14153b58f 455 //spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
Lightvalve 59:0ad14153b58f 456 //spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 457
Lightvalve 11:82d8768d7351 458 break;
Lightvalve 11:82d8768d7351 459 }
Lightvalve 11:82d8768d7351 460
Lightvalve 11:82d8768d7351 461 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 462 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 463
Lightvalve 11:82d8768d7351 464 break;
Lightvalve 11:82d8768d7351 465 }
Lightvalve 11:82d8768d7351 466
Lightvalve 11:82d8768d7351 467 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 468 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 469 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 470 //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve 11:82d8768d7351 471
Lightvalve 11:82d8768d7351 472 break;
Lightvalve 11:82d8768d7351 473 }
Lightvalve 11:82d8768d7351 474
Lightvalve 11:82d8768d7351 475 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 476 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 477
Lightvalve 11:82d8768d7351 478 break;
Lightvalve 11:82d8768d7351 479 }
Lightvalve 11:82d8768d7351 480
Lightvalve 11:82d8768d7351 481 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 48:889798ff9329 482 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.01f);
Lightvalve 16:903b5a4433b4 483 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 484 //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve 11:82d8768d7351 485
Lightvalve 11:82d8768d7351 486 break;
Lightvalve 11:82d8768d7351 487 }
Lightvalve 11:82d8768d7351 488
Lightvalve 11:82d8768d7351 489 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 490 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 491
Lightvalve 11:82d8768d7351 492 break;
Lightvalve 11:82d8768d7351 493 }
Lightvalve 11:82d8768d7351 494
Lightvalve 11:82d8768d7351 495 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 30:8d561f16383b 496 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 30:8d561f16383b 497 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 16:903b5a4433b4 498 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 499 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 16:903b5a4433b4 500 //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 501
Lightvalve 11:82d8768d7351 502 break;
Lightvalve 11:82d8768d7351 503 }
Lightvalve 11:82d8768d7351 504
Lightvalve 11:82d8768d7351 505 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 506 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 507
Lightvalve 11:82d8768d7351 508 break;
Lightvalve 11:82d8768d7351 509 }
Lightvalve 11:82d8768d7351 510
Lightvalve 11:82d8768d7351 511 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 512 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 513 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 514 //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 515
Lightvalve 11:82d8768d7351 516 break;
Lightvalve 11:82d8768d7351 517 }
Lightvalve 11:82d8768d7351 518
Lightvalve 11:82d8768d7351 519 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 520 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 521
Lightvalve 11:82d8768d7351 522 break;
Lightvalve 11:82d8768d7351 523 }
Lightvalve 11:82d8768d7351 524 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 525 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 526 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 527 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 528 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 529 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 530 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 531 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 30:8d561f16383b 532 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 30:8d561f16383b 533 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 30:8d561f16383b 534 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 30:8d561f16383b 535 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 536
Lightvalve 11:82d8768d7351 537 break;
Lightvalve 11:82d8768d7351 538 }
Lightvalve 11:82d8768d7351 539
Lightvalve 11:82d8768d7351 540 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 541 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 542
Lightvalve 11:82d8768d7351 543 break;
Lightvalve 11:82d8768d7351 544 }
Lightvalve 11:82d8768d7351 545 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 546 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 547 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 548 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 549 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 550 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 551 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 552 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 30:8d561f16383b 553 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 30:8d561f16383b 554 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 30:8d561f16383b 555 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 30:8d561f16383b 556 //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 557
Lightvalve 11:82d8768d7351 558 break;
Lightvalve 11:82d8768d7351 559 }
Lightvalve 11:82d8768d7351 560 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 561 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 562 break;
Lightvalve 11:82d8768d7351 563 }
Lightvalve 11:82d8768d7351 564
Lightvalve 11:82d8768d7351 565 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 566 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 567
Lightvalve 11:82d8768d7351 568 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 569 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 570 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 571 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 572 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 573
Lightvalve 11:82d8768d7351 574 break;
Lightvalve 11:82d8768d7351 575 }
Lightvalve 11:82d8768d7351 576
Lightvalve 11:82d8768d7351 577 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 578 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 579
Lightvalve 11:82d8768d7351 580 break;
Lightvalve 11:82d8768d7351 581 }
Lightvalve 11:82d8768d7351 582
Lightvalve 11:82d8768d7351 583 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 584
Lightvalve 12:6f2531038ea4 585 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 586 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 587 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 588 }
Lightvalve 11:82d8768d7351 589
Lightvalve 11:82d8768d7351 590 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 591
Lightvalve 11:82d8768d7351 592
Lightvalve 11:82d8768d7351 593 break;
Lightvalve 11:82d8768d7351 594 }
Lightvalve 11:82d8768d7351 595
Lightvalve 11:82d8768d7351 596 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 597 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 598 break;
Lightvalve 11:82d8768d7351 599 }
Lightvalve 11:82d8768d7351 600 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 601 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 602 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 603 //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 604 break;
Lightvalve 11:82d8768d7351 605 }
Lightvalve 11:82d8768d7351 606
Lightvalve 11:82d8768d7351 607 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 608 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 609 break;
Lightvalve 11:82d8768d7351 610 }
Lightvalve 11:82d8768d7351 611 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 612 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 613 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 614 //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 615 break;
Lightvalve 11:82d8768d7351 616 }
Lightvalve 11:82d8768d7351 617
Lightvalve 11:82d8768d7351 618 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 619 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 620 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 621 break;
Lightvalve 11:82d8768d7351 622 }
Lightvalve 11:82d8768d7351 623 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 624 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 625 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 626 break;
Lightvalve 11:82d8768d7351 627 }
Lightvalve 11:82d8768d7351 628 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 629 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 630 break;
Lightvalve 11:82d8768d7351 631 }
Lightvalve 28:2a62d73e3dd0 632
Lightvalve 28:2a62d73e3dd0 633 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 634 ROM_RESET_DATA();
Lightvalve 28:2a62d73e3dd0 635 break;
Lightvalve 28:2a62d73e3dd0 636 }
Lightvalve 32:4b8c0fedaf2c 637 case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve 59:0ad14153b58f 638 VALVE_CENTER_OFFSET_times10 = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 59:0ad14153b58f 639 VALVE_CENTER_OFFSET = ((float) VALVE_CENTER_OFFSET_times10) * 0.1f;
Lightvalve 59:0ad14153b58f 640 DDV_CENTER = DDV_CENTER + VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 641 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 642 break;
Lightvalve 33:91b17819ec30 643 }
Lightvalve 33:91b17819ec30 644 case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve 33:91b17819ec30 645 VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 646 VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 647 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 648 break;
Lightvalve 33:91b17819ec30 649 }
Lightvalve 33:91b17819ec30 650 case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve 33:91b17819ec30 651 VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 652 VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve 32:4b8c0fedaf2c 653 ROM_RESET_DATA();
Lightvalve 32:4b8c0fedaf2c 654 break;
Lightvalve 32:4b8c0fedaf2c 655 }
Lightvalve 36:a46e63505ed8 656 case CRX_SET_PID_GAIN_OPP: {
Lightvalve 36:a46e63505ed8 657 if (msg.data[1] == 0) {
Lightvalve 36:a46e63505ed8 658 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 659 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 660 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 661
Lightvalve 36:a46e63505ed8 662 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 663
Lightvalve 36:a46e63505ed8 664 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 665 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 666 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 667
Lightvalve 36:a46e63505ed8 668
Lightvalve 36:a46e63505ed8 669 } else if (msg.data[1] == 1) {
Lightvalve 36:a46e63505ed8 670 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 671 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 672 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 673
Lightvalve 36:a46e63505ed8 674 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 675
Lightvalve 36:a46e63505ed8 676 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 677 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 678 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 679 } else if (msg.data[1] == 2) {
Lightvalve 36:a46e63505ed8 680 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 681 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 682 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 683
Lightvalve 36:a46e63505ed8 684 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 685
Lightvalve 36:a46e63505ed8 686 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 687 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 688 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 689 }
Lightvalve 36:a46e63505ed8 690 break;
Lightvalve 36:a46e63505ed8 691 }
Lightvalve 38:118df027d851 692 case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve 59:0ad14153b58f 693 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 38:118df027d851 694 CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve 38:118df027d851 695 break;
Lightvalve 38:118df027d851 696 }
Lightvalve 54:647072f5307a 697 case CRX_DELAY_TEST:{
Lightvalve 54:647072f5307a 698 flag_delay_test = 1;
Lightvalve 54:647072f5307a 699 break;
Lightvalve 54:647072f5307a 700 }
Lightvalve 38:118df027d851 701
jobuuu 2:a1c0a37df760 702 default:
jobuuu 2:a1c0a37df760 703 break;
jobuuu 2:a1c0a37df760 704 }
jobuuu 2:a1c0a37df760 705 }
jobuuu 2:a1c0a37df760 706
jobuuu 2:a1c0a37df760 707 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 708 {
Lightvalve 23:59218d4a256d 709
jobuuu 2:a1c0a37df760 710 can.read(msg);
jobuuu 2:a1c0a37df760 711 unsigned int address = msg.id;
jobuuu 7:e9086c72bb22 712 if(address==CID_RX_CMD){
jobuuu 2:a1c0a37df760 713 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 714 ReadCMD(CMD);
jobuuu 7:e9086c72bb22 715 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 59:0ad14153b58f 716 //int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24);
Lightvalve 43:b084e5f5d0d5 717 int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 59:0ad14153b58f 718 //int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24);
Lightvalve 43:b084e5f5d0d5 719 int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 41:abbd4e2af68b 720
Lightvalve 59:0ad14153b58f 721 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 60:8855962234b0 722 pos.ref = (double)temp_pos * 10.0f;
Lightvalve 60:8855962234b0 723 vel.ref = (double)temp_vel * 256.0f;
Lightvalve 43:b084e5f5d0d5 724 torq.ref = (double)temp_torq * 0.1f;
Lightvalve 49:e7bcfc244d40 725 } else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve 47:fdcb8bd86fd6 726 int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 59:0ad14153b58f 727 if(temp_ref_valve_pos >= 0){
Lightvalve 59:0ad14153b58f 728 valve_pos.ref = (double)DDV_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)DDV_CENTER)/10000.0f ;
Lightvalve 59:0ad14153b58f 729 }else{
Lightvalve 59:0ad14153b58f 730 valve_pos.ref = (double)DDV_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)DDV_CENTER)/10000.0f;
Lightvalve 47:fdcb8bd86fd6 731 }
Lightvalve 49:e7bcfc244d40 732 } else if(address==CID_RX_REF_PWM){
Lightvalve 49:e7bcfc244d40 733 int temp_ref_pwm = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 49:e7bcfc244d40 734 Vout.ref = (double) temp_ref_pwm;
Lightvalve 45:35fa6884d0c6 735 }
jobuuu 2:a1c0a37df760 736 }
jobuuu 2:a1c0a37df760 737
jobuuu 2:a1c0a37df760 738 /******************************************************************************
jobuuu 2:a1c0a37df760 739 Information Transmission Functions
jobuuu 2:a1c0a37df760 740 *******************************************************************************/
Lightvalve 11:82d8768d7351 741
Lightvalve 11:82d8768d7351 742 void CAN_TX_INFO(void) {
Lightvalve 12:6f2531038ea4 743 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 744
jobuuu 2:a1c0a37df760 745 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 746 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 747 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 748 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 749 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 750 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 751 temp_msg.data[4] = (uint8_t) (flag_err[7] << 7 | flag_err[6] << 6 | flag_err[5] << 5 | flag_err[4] << 4 | flag_err[3] << 3 | flag_err[2] << 2 | flag_err[1] << 1 | flag_err[0]);
Lightvalve 59:0ad14153b58f 752 temp_msg.data[5] = (uint8_t) CONTROL_MODE;
Lightvalve 12:6f2531038ea4 753 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 754
jobuuu 2:a1c0a37df760 755 can.write(temp_msg);
jobuuu 2:a1c0a37df760 756 }
jobuuu 2:a1c0a37df760 757
Lightvalve 11:82d8768d7351 758 void CAN_TX_BNO(void) {
Lightvalve 12:6f2531038ea4 759 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 760
jobuuu 2:a1c0a37df760 761 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 762 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 763 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 764 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 765
jobuuu 2:a1c0a37df760 766 can.write(temp_msg);
jobuuu 2:a1c0a37df760 767 }
jobuuu 2:a1c0a37df760 768
Lightvalve 11:82d8768d7351 769 void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 770 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 771
jobuuu 2:a1c0a37df760 772 temp_msg.id = CID_TX_INFO;
Lightvalve 52:8ea76864368a 773 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 774 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 775 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve 52:8ea76864368a 776 temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve 52:8ea76864368a 777 temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 778 temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu 2:a1c0a37df760 779
jobuuu 2:a1c0a37df760 780 can.write(temp_msg);
jobuuu 2:a1c0a37df760 781 }
jobuuu 2:a1c0a37df760 782
Lightvalve 11:82d8768d7351 783 void CAN_TX_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 784 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 785
jobuuu 2:a1c0a37df760 786 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 787 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 788 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 789 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 790 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 791
jobuuu 2:a1c0a37df760 792 can.write(temp_msg);
jobuuu 2:a1c0a37df760 793 }
Lightvalve 11:82d8768d7351 794
Lightvalve 11:82d8768d7351 795 void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 796 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 797
jobuuu 2:a1c0a37df760 798 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 799 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 800 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 59:0ad14153b58f 801 temp_msg.data[1] = (uint8_t) CONTROL_MODE;
jobuuu 2:a1c0a37df760 802
jobuuu 2:a1c0a37df760 803 can.write(temp_msg);
jobuuu 2:a1c0a37df760 804 }
Lightvalve 11:82d8768d7351 805
Lightvalve 11:82d8768d7351 806 void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 807 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 808
jobuuu 2:a1c0a37df760 809 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 810 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 811 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 812 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 813 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 814
jobuuu 2:a1c0a37df760 815 can.write(temp_msg);
jobuuu 2:a1c0a37df760 816 }
jobuuu 2:a1c0a37df760 817
Lightvalve 11:82d8768d7351 818 void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 819 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 820
jobuuu 2:a1c0a37df760 821 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 822 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 823 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 824 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 825 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 826
jobuuu 2:a1c0a37df760 827 can.write(temp_msg);
jobuuu 2:a1c0a37df760 828 }
jobuuu 2:a1c0a37df760 829
Lightvalve 11:82d8768d7351 830 void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 831 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 832
jobuuu 2:a1c0a37df760 833 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 834 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 835 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 836 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 837 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 838
jobuuu 2:a1c0a37df760 839 can.write(temp_msg);
jobuuu 2:a1c0a37df760 840 }
jobuuu 2:a1c0a37df760 841
Lightvalve 11:82d8768d7351 842 void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve 49:e7bcfc244d40 843 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu 2:a1c0a37df760 844
jobuuu 2:a1c0a37df760 845 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 846
jobuuu 2:a1c0a37df760 847 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 848 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 849 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 850 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 851 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 852
jobuuu 2:a1c0a37df760 853 can.write(temp_msg);
jobuuu 2:a1c0a37df760 854 }
jobuuu 2:a1c0a37df760 855
Lightvalve 11:82d8768d7351 856 void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve 49:e7bcfc244d40 857 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu 2:a1c0a37df760 858
jobuuu 2:a1c0a37df760 859 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 860
jobuuu 2:a1c0a37df760 861 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 862 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 863 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 864 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 865 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 866
jobuuu 2:a1c0a37df760 867 can.write(temp_msg);
jobuuu 2:a1c0a37df760 868 }
Lightvalve 11:82d8768d7351 869
jobuuu 2:a1c0a37df760 870
Lightvalve 11:82d8768d7351 871 void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 872 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 873 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 874 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 875
Lightvalve 12:6f2531038ea4 876 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 877 if (t_type == 0) {
Lightvalve 30:8d561f16383b 878 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 879 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 880 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 881 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 882 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 883 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 884 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 885 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 886 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 887 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 888 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve 46:2694daea349b 889 } else if (t_type == 3) {
Lightvalve 46:2694daea349b 890 sendPgain = (int16_t) (K_SPRING);
Lightvalve 46:2694daea349b 891 sendIgain = (int16_t) (D_DAMPER);
jobuuu 2:a1c0a37df760 892 }
jobuuu 2:a1c0a37df760 893
jobuuu 2:a1c0a37df760 894 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 895
jobuuu 2:a1c0a37df760 896 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 897 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 898 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 899 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 900 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 901 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 902 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 903 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 904 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 905 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 906
jobuuu 2:a1c0a37df760 907 can.write(temp_msg);
jobuuu 2:a1c0a37df760 908 }
jobuuu 2:a1c0a37df760 909
Lightvalve 11:82d8768d7351 910
Lightvalve 11:82d8768d7351 911 void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 912 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 913
jobuuu 2:a1c0a37df760 914 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 915 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 916 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 59:0ad14153b58f 917 temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER);
Lightvalve 59:0ad14153b58f 918 temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8);
Lightvalve 12:6f2531038ea4 919 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 920 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 921 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 922 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 923
jobuuu 2:a1c0a37df760 924 can.write(temp_msg);
jobuuu 2:a1c0a37df760 925 }
jobuuu 2:a1c0a37df760 926
Lightvalve 11:82d8768d7351 927 void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve 11:82d8768d7351 928 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 929
Lightvalve 11:82d8768d7351 930 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 931 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 932 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 933 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 934 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 935
Lightvalve 11:82d8768d7351 936 can.write(temp_msg);
Lightvalve 11:82d8768d7351 937 }
Lightvalve 11:82d8768d7351 938
Lightvalve 11:82d8768d7351 939 void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve 11:82d8768d7351 940 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 941
Lightvalve 11:82d8768d7351 942 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 943 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 944 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 945 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 946 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 947
Lightvalve 11:82d8768d7351 948 can.write(temp_msg);
Lightvalve 11:82d8768d7351 949 }
Lightvalve 11:82d8768d7351 950
Lightvalve 11:82d8768d7351 951 void CAN_TX_VALVE_FF(void) {
Lightvalve 11:82d8768d7351 952 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 953
Lightvalve 11:82d8768d7351 954 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 955 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 956 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 957 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 958 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 959
Lightvalve 11:82d8768d7351 960 can.write(temp_msg);
Lightvalve 11:82d8768d7351 961 }
Lightvalve 11:82d8768d7351 962
Lightvalve 11:82d8768d7351 963 void CAN_TX_BULK_MODULUS(void) {
Lightvalve 11:82d8768d7351 964 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 965
Lightvalve 11:82d8768d7351 966 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 967 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 968 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 969 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 970 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 971
Lightvalve 11:82d8768d7351 972 can.write(temp_msg);
Lightvalve 11:82d8768d7351 973 }
Lightvalve 11:82d8768d7351 974
Lightvalve 11:82d8768d7351 975 void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve 11:82d8768d7351 976 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 977
Lightvalve 11:82d8768d7351 978 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 979 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 980 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 981 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 982 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 983 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 984 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 985
Lightvalve 11:82d8768d7351 986 can.write(temp_msg);
Lightvalve 11:82d8768d7351 987 }
Lightvalve 11:82d8768d7351 988
Lightvalve 11:82d8768d7351 989 void CAN_TX_PISTON_AREA(void) {
jobuuu 2:a1c0a37df760 990 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 991
Lightvalve 11:82d8768d7351 992 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 993 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 994 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 995 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 996 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 997 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 998 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 999
Lightvalve 11:82d8768d7351 1000 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1001 }
Lightvalve 11:82d8768d7351 1002
Lightvalve 11:82d8768d7351 1003 void CAN_TX_PRES_A_AND_B(void) {
Lightvalve 11:82d8768d7351 1004 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1005
Lightvalve 11:82d8768d7351 1006 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1007 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1008 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 1009 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 1010 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 1011 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 1012 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 1013
Lightvalve 11:82d8768d7351 1014 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1015 }
Lightvalve 11:82d8768d7351 1016
Lightvalve 11:82d8768d7351 1017 void CAN_TX_ENC_LIMIT(void) {
Lightvalve 11:82d8768d7351 1018 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1019
Lightvalve 11:82d8768d7351 1020 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1021 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1022 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1023 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1024 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1025 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1026 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1027
Lightvalve 11:82d8768d7351 1028 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1029 }
Lightvalve 11:82d8768d7351 1030
Lightvalve 11:82d8768d7351 1031 void CAN_TX_STROKE(void) {
Lightvalve 11:82d8768d7351 1032 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1033
Lightvalve 11:82d8768d7351 1034 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1035 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1036 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1037 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1038 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1039
Lightvalve 11:82d8768d7351 1040 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1041 }
Lightvalve 11:82d8768d7351 1042
Lightvalve 11:82d8768d7351 1043 void CAN_TX_VALVE_LIMIT(void) {
Lightvalve 11:82d8768d7351 1044 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1045
Lightvalve 11:82d8768d7351 1046 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1047 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1048 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 59:0ad14153b58f 1049 temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS;
Lightvalve 59:0ad14153b58f 1050 temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8);
Lightvalve 59:0ad14153b58f 1051 temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS;
Lightvalve 59:0ad14153b58f 1052 temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1053
Lightvalve 11:82d8768d7351 1054 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1055 }
Lightvalve 11:82d8768d7351 1056
Lightvalve 11:82d8768d7351 1057 void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve 11:82d8768d7351 1058 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1059
jobuuu 2:a1c0a37df760 1060 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1061 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1062 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 54:647072f5307a 1063 int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve 48:889798ff9329 1064 temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve 48:889798ff9329 1065 temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu 2:a1c0a37df760 1066
jobuuu 2:a1c0a37df760 1067 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1068 }
jobuuu 2:a1c0a37df760 1069
Lightvalve 11:82d8768d7351 1070 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu 2:a1c0a37df760 1071 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1072
jobuuu 2:a1c0a37df760 1073 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1074 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1075 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 48:889798ff9329 1076 int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve 48:889798ff9329 1077 temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve 48:889798ff9329 1078 temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu 2:a1c0a37df760 1079
jobuuu 2:a1c0a37df760 1080 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1081 }
jobuuu 2:a1c0a37df760 1082
Lightvalve 11:82d8768d7351 1083 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu 2:a1c0a37df760 1084 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1085
jobuuu 2:a1c0a37df760 1086 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1087 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1088 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1089 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1090 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1091 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1092 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1093
jobuuu 2:a1c0a37df760 1094 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1095 }
jobuuu 2:a1c0a37df760 1096
Lightvalve 11:82d8768d7351 1097 void CAN_TX_FRICTION(void) {
Lightvalve 11:82d8768d7351 1098 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1099 int16_t send_friction;
Lightvalve 30:8d561f16383b 1100 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 11:82d8768d7351 1101
Lightvalve 11:82d8768d7351 1102 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1103 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1104 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1105 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1106 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1107
Lightvalve 11:82d8768d7351 1108 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1109 }
Lightvalve 11:82d8768d7351 1110
Lightvalve 11:82d8768d7351 1111 void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve 11:82d8768d7351 1112 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1113
Lightvalve 11:82d8768d7351 1114 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1115 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1116 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1117 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1118 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1119 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1120 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1121 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve 11:82d8768d7351 1122
Lightvalve 11:82d8768d7351 1123 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1124 }
Lightvalve 11:82d8768d7351 1125
Lightvalve 11:82d8768d7351 1126 void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve 11:82d8768d7351 1127 CANMessage temp_msg;
Lightvalve 48:889798ff9329 1128 float temp_valve_deadzone_minus = 0.0f;
Lightvalve 48:889798ff9329 1129 float temp_valve_deadzone_plus = 0.0f;
Lightvalve 48:889798ff9329 1130 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1131
Lightvalve 59:0ad14153b58f 1132 temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 59:0ad14153b58f 1133 temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 59:0ad14153b58f 1134 temp_ddv_center = 0.0f;
Lightvalve 11:82d8768d7351 1135
Lightvalve 11:82d8768d7351 1136 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1137 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1138 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 48:889798ff9329 1139 temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve 48:889798ff9329 1140 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve 48:889798ff9329 1141 temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve 48:889798ff9329 1142 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve 48:889798ff9329 1143 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1144 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 11:82d8768d7351 1145
Lightvalve 11:82d8768d7351 1146 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1147 }
Lightvalve 11:82d8768d7351 1148
Lightvalve 11:82d8768d7351 1149 void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve 11:82d8768d7351 1150 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1151
Lightvalve 11:82d8768d7351 1152 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1153 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1154 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1155 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1156 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1157 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1158 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1159 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1160
Lightvalve 11:82d8768d7351 1161 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1162 }
Lightvalve 11:82d8768d7351 1163
Lightvalve 11:82d8768d7351 1164 void CAN_TX_REFENCE_MODE(void) {
Lightvalve 11:82d8768d7351 1165 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1166
Lightvalve 11:82d8768d7351 1167 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1168 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1169 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1170 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1171 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1172 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1173 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1174 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1175
Lightvalve 11:82d8768d7351 1176 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1177 }
Lightvalve 11:82d8768d7351 1178
Lightvalve 11:82d8768d7351 1179 void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve 11:82d8768d7351 1180 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1181 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1182 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 1183
jobuuu 2:a1c0a37df760 1184 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1185 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1186 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1187 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1188 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1189
jobuuu 2:a1c0a37df760 1190 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1191 }
Lightvalve 11:82d8768d7351 1192
Lightvalve 11:82d8768d7351 1193 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve 11:82d8768d7351 1194 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1195 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1196 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 1197
Lightvalve 11:82d8768d7351 1198 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1199 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1200 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1201 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1202 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1203
Lightvalve 11:82d8768d7351 1204 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1205 }
Lightvalve 11:82d8768d7351 1206
Lightvalve 12:6f2531038ea4 1207 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve 11:82d8768d7351 1208 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1209 int16_t valve_pos_vs_pwm;
Lightvalve 49:e7bcfc244d40 1210 // valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 49:e7bcfc244d40 1211
Lightvalve 59:0ad14153b58f 1212 if(VALVE_POS_VS_PWM[canindex]>=DDV_CENTER) {
Lightvalve 59:0ad14153b58f 1213 valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 49:e7bcfc244d40 1214 } else {
Lightvalve 59:0ad14153b58f 1215 valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 49:e7bcfc244d40 1216 }
Lightvalve 11:82d8768d7351 1217
Lightvalve 12:6f2531038ea4 1218 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1219 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 11:82d8768d7351 1220
Lightvalve 11:82d8768d7351 1221 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1222 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1223 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1224 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1225 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1226 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1227 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1228
Lightvalve 11:82d8768d7351 1229 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1230 }
Lightvalve 11:82d8768d7351 1231
Lightvalve 12:6f2531038ea4 1232 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve 11:82d8768d7351 1233 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1234 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1235 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1236
Lightvalve 59:0ad14153b58f 1237 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + (int) DDV_CENTER;
Lightvalve 49:e7bcfc244d40 1238 int16_t temp_valve_pos = 0;
Lightvalve 59:0ad14153b58f 1239 if(VALVE_POS_VALVE_ID>=DDV_CENTER) {
Lightvalve 59:0ad14153b58f 1240 temp_valve_pos = (int16_t) (10000.0f*((double)VALVE_POS_VALVE_ID-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER));
Lightvalve 49:e7bcfc244d40 1241 } else {
Lightvalve 59:0ad14153b58f 1242 temp_valve_pos = (int16_t) (-10000.0f*((double)VALVE_POS_VALVE_ID-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER));
Lightvalve 49:e7bcfc244d40 1243 }
Lightvalve 11:82d8768d7351 1244
Lightvalve 11:82d8768d7351 1245 temp_msg.id = CID_TX_INFO;
Lightvalve 49:e7bcfc244d40 1246 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1247 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 49:e7bcfc244d40 1248 temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve 49:e7bcfc244d40 1249 temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve 49:e7bcfc244d40 1250 temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 49:e7bcfc244d40 1251 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 49:e7bcfc244d40 1252 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 49:e7bcfc244d40 1253 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1254
Lightvalve 11:82d8768d7351 1255 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1256 }
Lightvalve 11:82d8768d7351 1257
Lightvalve 11:82d8768d7351 1258 void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve 11:82d8768d7351 1259 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1260 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1261 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1262
Lightvalve 11:82d8768d7351 1263 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1264 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1265 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1266 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1267 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1268
Lightvalve 11:82d8768d7351 1269 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1270 }
Lightvalve 11:82d8768d7351 1271
Lightvalve 38:118df027d851 1272 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve 38:118df027d851 1273 CANMessage temp_msg;
Lightvalve 38:118df027d851 1274
Lightvalve 48:889798ff9329 1275 float temp_valve_max_pos = 0.0f;
Lightvalve 48:889798ff9329 1276 float temp_valve_min_pos = 0.0f;
Lightvalve 48:889798ff9329 1277 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1278
Lightvalve 59:0ad14153b58f 1279 temp_valve_max_pos = 10000.0f;
Lightvalve 59:0ad14153b58f 1280 temp_valve_min_pos = -10000.0f;
Lightvalve 59:0ad14153b58f 1281 temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1282
Lightvalve 38:118df027d851 1283 temp_msg.id = CID_TX_INFO;
Lightvalve 38:118df027d851 1284 temp_msg.len = 7;
Lightvalve 38:118df027d851 1285 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 48:889798ff9329 1286 temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve 48:889798ff9329 1287 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve 48:889798ff9329 1288 temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve 48:889798ff9329 1289 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve 48:889798ff9329 1290 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1291 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 38:118df027d851 1292
Lightvalve 38:118df027d851 1293 can.write(temp_msg);
Lightvalve 38:118df027d851 1294 }
Lightvalve 38:118df027d851 1295
jobuuu 2:a1c0a37df760 1296 /******************************************************************************
jobuuu 2:a1c0a37df760 1297 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1298 *******************************************************************************/
jobuuu 2:a1c0a37df760 1299
Lightvalve 52:8ea76864368a 1300 void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
Lightvalve 52:8ea76864368a 1301 CANMessage temp_msg;
Lightvalve 52:8ea76864368a 1302
Lightvalve 52:8ea76864368a 1303 temp_msg.id = CID_TX_POSITION;
Lightvalve 52:8ea76864368a 1304 temp_msg.len = 6;
Lightvalve 52:8ea76864368a 1305 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 52:8ea76864368a 1306 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 52:8ea76864368a 1307 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 52:8ea76864368a 1308 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1309 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 52:8ea76864368a 1310 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve 52:8ea76864368a 1311
Lightvalve 52:8ea76864368a 1312 can.write(temp_msg);
Lightvalve 52:8ea76864368a 1313 }
Lightvalve 52:8ea76864368a 1314
Lightvalve 52:8ea76864368a 1315 void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) {
Lightvalve 52:8ea76864368a 1316
jobuuu 2:a1c0a37df760 1317 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1318
jobuuu 2:a1c0a37df760 1319 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1320 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1321 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1322 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 41:abbd4e2af68b 1323 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 41:abbd4e2af68b 1324 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1325 temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve 52:8ea76864368a 1326 temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve 52:8ea76864368a 1327 temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve 52:8ea76864368a 1328 temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu 2:a1c0a37df760 1329
jobuuu 2:a1c0a37df760 1330 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1331 }
jobuuu 2:a1c0a37df760 1332
Lightvalve 48:889798ff9329 1333 void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu 2:a1c0a37df760 1334 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1335
jobuuu 2:a1c0a37df760 1336 temp_msg.id = CID_TX_TORQUE;
jobuuu 2:a1c0a37df760 1337 temp_msg.len = 2;
Lightvalve 48:889798ff9329 1338 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 48:889798ff9329 1339 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 1340
jobuuu 2:a1c0a37df760 1341 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1342 }
jobuuu 2:a1c0a37df760 1343
Lightvalve 11:82d8768d7351 1344 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 1345 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1346
jobuuu 2:a1c0a37df760 1347 temp_msg.id = CID_TX_PRES;
Lightvalve 59:0ad14153b58f 1348 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1349 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1350 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1351 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1352 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1353
jobuuu 2:a1c0a37df760 1354 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1355 }
jobuuu 2:a1c0a37df760 1356
Lightvalve 11:82d8768d7351 1357 void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 1358 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1359
Lightvalve 59:0ad14153b58f 1360 temp_msg.id = CID_TX_POSITION;
Lightvalve 59:0ad14153b58f 1361 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1362 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1363 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1364
jobuuu 2:a1c0a37df760 1365 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1366 }
jobuuu 2:a1c0a37df760 1367
Lightvalve 27:a2254a485f23 1368 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve 27:a2254a485f23 1369 {
jobuuu 2:a1c0a37df760 1370 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1371
jobuuu 2:a1c0a37df760 1372 temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve 48:889798ff9329 1373 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1374 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 12:6f2531038ea4 1375 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1376 temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
Lightvalve 27:a2254a485f23 1377 temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1378 temp_msg.data[4] = (uint8_t) t_pwm;
Lightvalve 27:a2254a485f23 1379 temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
Lightvalve 27:a2254a485f23 1380
jobuuu 2:a1c0a37df760 1381
jobuuu 2:a1c0a37df760 1382 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1383 }
Lightvalve 23:59218d4a256d 1384
Lightvalve 23:59218d4a256d 1385
Lightvalve 32:4b8c0fedaf2c 1386
Lightvalve 38:118df027d851 1387
Lightvalve 48:889798ff9329 1388
Lightvalve 49:e7bcfc244d40 1389
Lightvalve 52:8ea76864368a 1390
Lightvalve 54:647072f5307a 1391