Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@55:b25725257569, 2020-02-26 (annotated)

Committer:
Lightvalve
Date:
Wed Feb 26 12:51:52 2020 +0000
Revision:
55:b25725257569
Parent:
54:647072f5307a
Child:
56:6f50d9d3bfee
200226

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 16:903b5a4433b4 105 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 106 break;
Lightvalve 11:82d8768d7351 107 }
Lightvalve 11:82d8768d7351 108
Lightvalve 11:82d8768d7351 109 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 110 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 111
Lightvalve 11:82d8768d7351 112 break;
Lightvalve 11:82d8768d7351 113 }
Lightvalve 11:82d8768d7351 114
Lightvalve 11:82d8768d7351 115 case CRX_SET_CONTROL_MODE: {
Lightvalve 54:647072f5307a 116 //CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 54:647072f5307a 117 CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 118 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 119 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 120 }
Lightvalve 11:82d8768d7351 121 break;
Lightvalve 11:82d8768d7351 122 }
Lightvalve 11:82d8768d7351 123
Lightvalve 11:82d8768d7351 124 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 125 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 126 flag_data_request[request_type] = msg.data[1];
Lightvalve 14:8e7590227d22 127 //pc.printf("can middle %d\n", request_type);
Lightvalve 11:82d8768d7351 128
Lightvalve 12:6f2531038ea4 129 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 130 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 131 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 132 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 11:82d8768d7351 133
Lightvalve 11:82d8768d7351 134 break;
Lightvalve 11:82d8768d7351 135 }
Lightvalve 11:82d8768d7351 136
Lightvalve 11:82d8768d7351 137 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 138 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 139
Lightvalve 11:82d8768d7351 140 break;
Lightvalve 11:82d8768d7351 141 }
Lightvalve 11:82d8768d7351 142
Lightvalve 11:82d8768d7351 143 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 144 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 145 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 146 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 147 else
Lightvalve 11:82d8768d7351 148 DIR_JOINT_ENC = -1;
Lightvalve 16:903b5a4433b4 149
Lightvalve 16:903b5a4433b4 150 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 151
Lightvalve 16:903b5a4433b4 152 //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 153
Lightvalve 11:82d8768d7351 154 break;
Lightvalve 11:82d8768d7351 155 }
Lightvalve 11:82d8768d7351 156
Lightvalve 11:82d8768d7351 157 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 158 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 159
Lightvalve 11:82d8768d7351 160 break;
Lightvalve 11:82d8768d7351 161 }
Lightvalve 11:82d8768d7351 162
Lightvalve 11:82d8768d7351 163 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 164 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 165 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 166 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 167 else
Lightvalve 11:82d8768d7351 168 DIR_VALVE = -1;
Lightvalve 16:903b5a4433b4 169
Lightvalve 16:903b5a4433b4 170 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 171
Lightvalve 16:903b5a4433b4 172 //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 173
Lightvalve 11:82d8768d7351 174 break;
Lightvalve 11:82d8768d7351 175 }
Lightvalve 11:82d8768d7351 176
Lightvalve 11:82d8768d7351 177 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 178 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 179
Lightvalve 11:82d8768d7351 180 break;
Lightvalve 11:82d8768d7351 181 }
Lightvalve 11:82d8768d7351 182
Lightvalve 11:82d8768d7351 183 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 184 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 185 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 186 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 187 else
Lightvalve 11:82d8768d7351 188 DIR_VALVE_ENC = -1;
Lightvalve 16:903b5a4433b4 189
Lightvalve 16:903b5a4433b4 190 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 191
Lightvalve 16:903b5a4433b4 192 //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 193
Lightvalve 11:82d8768d7351 194 break;
Lightvalve 11:82d8768d7351 195 }
Lightvalve 11:82d8768d7351 196
Lightvalve 11:82d8768d7351 197 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 198 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 199
Lightvalve 11:82d8768d7351 200 break;
Lightvalve 11:82d8768d7351 201 }
Lightvalve 11:82d8768d7351 202
Lightvalve 11:82d8768d7351 203 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 30:8d561f16383b 204 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 205
Lightvalve 16:903b5a4433b4 206 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 207
Lightvalve 16:903b5a4433b4 208 //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve 11:82d8768d7351 209
Lightvalve 11:82d8768d7351 210 break;
Lightvalve 11:82d8768d7351 211 }
Lightvalve 11:82d8768d7351 212
Lightvalve 11:82d8768d7351 213 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 214 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 215
Lightvalve 11:82d8768d7351 216 break;
Lightvalve 11:82d8768d7351 217 }
Lightvalve 11:82d8768d7351 218
Lightvalve 11:82d8768d7351 219 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 30:8d561f16383b 220 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 221
Lightvalve 16:903b5a4433b4 222 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 223
Lightvalve 16:903b5a4433b4 224 //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve 11:82d8768d7351 225
Lightvalve 11:82d8768d7351 226
Lightvalve 11:82d8768d7351 227 break;
Lightvalve 11:82d8768d7351 228 }
Lightvalve 12:6f2531038ea4 229
Lightvalve 11:82d8768d7351 230 case CRX_SET_HOMEPOS: {
Lightvalve 54:647072f5307a 231 //CONTROL_MODE = 22;
Lightvalve 54:647072f5307a 232 CONTROL_UTILITY_MODE = 22;
Lightvalve 11:82d8768d7351 233 break;
Lightvalve 11:82d8768d7351 234 }
Lightvalve 11:82d8768d7351 235
Lightvalve 11:82d8768d7351 236 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 237 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 238
Lightvalve 11:82d8768d7351 239 break;
Lightvalve 11:82d8768d7351 240 }
Lightvalve 11:82d8768d7351 241
Lightvalve 11:82d8768d7351 242 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 243 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 244 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 245 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 246 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 247
Lightvalve 16:903b5a4433b4 248 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 249
Lightvalve 11:82d8768d7351 250 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 251 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 252 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 253 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 254
Lightvalve 16:903b5a4433b4 255 ROM_RESET_DATA();
Lightvalve 48:889798ff9329 256
Lightvalve 11:82d8768d7351 257 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 258 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 259 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 260 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 261
Lightvalve 16:903b5a4433b4 262 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 263
Lightvalve 46:2694daea349b 264 } else if (msg.data[1] == 3) {
Lightvalve 46:2694daea349b 265 K_SPRING = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 46:2694daea349b 266 D_DAMPER = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 46:2694daea349b 267
Lightvalve 46:2694daea349b 268 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 269 }
Lightvalve 11:82d8768d7351 270
Lightvalve 11:82d8768d7351 271 break;
Lightvalve 11:82d8768d7351 272 }
Lightvalve 11:82d8768d7351 273
Lightvalve 11:82d8768d7351 274 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 275 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 276
Lightvalve 11:82d8768d7351 277 break;
Lightvalve 11:82d8768d7351 278 }
Lightvalve 11:82d8768d7351 279
Lightvalve 11:82d8768d7351 280 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 281 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 282 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 283 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 16:903b5a4433b4 284
Lightvalve 16:903b5a4433b4 285 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 286
Lightvalve 11:82d8768d7351 287 break;
Lightvalve 11:82d8768d7351 288 }
Lightvalve 11:82d8768d7351 289
Lightvalve 11:82d8768d7351 290 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 291 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 292
Lightvalve 11:82d8768d7351 293 break;
Lightvalve 11:82d8768d7351 294 }
Lightvalve 11:82d8768d7351 295
Lightvalve 11:82d8768d7351 296 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 297 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 298
Lightvalve 16:903b5a4433b4 299 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 300
Lightvalve 16:903b5a4433b4 301 //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 302
Lightvalve 11:82d8768d7351 303 break;
Lightvalve 11:82d8768d7351 304 }
Lightvalve 11:82d8768d7351 305
Lightvalve 11:82d8768d7351 306 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 307 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 308
Lightvalve 11:82d8768d7351 309 break;
Lightvalve 11:82d8768d7351 310 }
Lightvalve 11:82d8768d7351 311
Lightvalve 11:82d8768d7351 312 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 313 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 314
Lightvalve 16:903b5a4433b4 315 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 316
Lightvalve 16:903b5a4433b4 317 //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 318
Lightvalve 11:82d8768d7351 319 break;
Lightvalve 11:82d8768d7351 320 }
Lightvalve 11:82d8768d7351 321
Lightvalve 11:82d8768d7351 322 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 323 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 324
Lightvalve 11:82d8768d7351 325 break;
Lightvalve 11:82d8768d7351 326 }
Lightvalve 11:82d8768d7351 327
Lightvalve 11:82d8768d7351 328 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 329 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 330
Lightvalve 16:903b5a4433b4 331 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 332
Lightvalve 16:903b5a4433b4 333 //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 334
Lightvalve 11:82d8768d7351 335 break;
Lightvalve 11:82d8768d7351 336 }
Lightvalve 11:82d8768d7351 337
Lightvalve 11:82d8768d7351 338 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 339 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 340
Lightvalve 11:82d8768d7351 341 break;
Lightvalve 11:82d8768d7351 342 }
Lightvalve 11:82d8768d7351 343
Lightvalve 11:82d8768d7351 344 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 345 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 346
Lightvalve 16:903b5a4433b4 347 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 348
Lightvalve 16:903b5a4433b4 349 //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 350
Lightvalve 11:82d8768d7351 351 break;
Lightvalve 11:82d8768d7351 352 }
Lightvalve 11:82d8768d7351 353
Lightvalve 11:82d8768d7351 354 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 355 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 356
Lightvalve 11:82d8768d7351 357 break;
Lightvalve 11:82d8768d7351 358 }
Lightvalve 11:82d8768d7351 359
Lightvalve 11:82d8768d7351 360 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 361 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 362 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 363
Lightvalve 16:903b5a4433b4 364 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 365
Lightvalve 16:903b5a4433b4 366 //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 367 //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 368
Lightvalve 11:82d8768d7351 369 break;
Lightvalve 11:82d8768d7351 370 }
Lightvalve 11:82d8768d7351 371
Lightvalve 11:82d8768d7351 372 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 373 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 374
Lightvalve 11:82d8768d7351 375 break;
Lightvalve 11:82d8768d7351 376 }
Lightvalve 11:82d8768d7351 377
Lightvalve 11:82d8768d7351 378 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 379 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 380 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 381 PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve 16:903b5a4433b4 382
Lightvalve 16:903b5a4433b4 383 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 384
Lightvalve 16:903b5a4433b4 385 //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 386 //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 387 break;
Lightvalve 11:82d8768d7351 388 }
Lightvalve 11:82d8768d7351 389
Lightvalve 11:82d8768d7351 390 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 391 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 392 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 393 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 394 //dac_2 = PRES_B_VREF;
Lightvalve 12:6f2531038ea4 395
Lightvalve 11:82d8768d7351 396 break;
Lightvalve 11:82d8768d7351 397 }
Lightvalve 11:82d8768d7351 398
Lightvalve 11:82d8768d7351 399 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 400 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 401 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 402 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 403 //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 404 //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 405
Lightvalve 11:82d8768d7351 406
Lightvalve 11:82d8768d7351 407 break;
Lightvalve 11:82d8768d7351 408 }
Lightvalve 11:82d8768d7351 409
Lightvalve 11:82d8768d7351 410 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 411 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 412
Lightvalve 11:82d8768d7351 413 break;
Lightvalve 11:82d8768d7351 414 }
Lightvalve 11:82d8768d7351 415
Lightvalve 11:82d8768d7351 416 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 417 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 418 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 419 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 420 //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 421 //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 422
Lightvalve 11:82d8768d7351 423 break;
Lightvalve 11:82d8768d7351 424 }
Lightvalve 11:82d8768d7351 425
Lightvalve 11:82d8768d7351 426 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 427 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 428 break;
Lightvalve 11:82d8768d7351 429 }
Lightvalve 11:82d8768d7351 430
Lightvalve 11:82d8768d7351 431 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 432 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 433 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 434 //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 435
Lightvalve 11:82d8768d7351 436 break;
Lightvalve 11:82d8768d7351 437 }
Lightvalve 11:82d8768d7351 438
Lightvalve 11:82d8768d7351 439 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 440 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 441
Lightvalve 11:82d8768d7351 442 break;
Lightvalve 11:82d8768d7351 443 }
Lightvalve 11:82d8768d7351 444
Lightvalve 11:82d8768d7351 445 case CRX_SET_VALVE_LIMIT: {
Lightvalve 55:b25725257569 446 VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 55:b25725257569 447 VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 448 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 449
Lightvalve 11:82d8768d7351 450 break;
Lightvalve 11:82d8768d7351 451 }
Lightvalve 11:82d8768d7351 452
Lightvalve 11:82d8768d7351 453 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 454 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 455
Lightvalve 11:82d8768d7351 456 break;
Lightvalve 11:82d8768d7351 457 }
Lightvalve 11:82d8768d7351 458
Lightvalve 11:82d8768d7351 459 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 460 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 461 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 462 //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) 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_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 468 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 469
Lightvalve 11:82d8768d7351 470 break;
Lightvalve 11:82d8768d7351 471 }
Lightvalve 11:82d8768d7351 472
Lightvalve 11:82d8768d7351 473 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 48:889798ff9329 474 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.01f);
Lightvalve 16:903b5a4433b4 475 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 476 //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) 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_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 482 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 483
Lightvalve 11:82d8768d7351 484 break;
Lightvalve 11:82d8768d7351 485 }
Lightvalve 11:82d8768d7351 486
Lightvalve 11:82d8768d7351 487 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 30:8d561f16383b 488 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 30:8d561f16383b 489 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 16:903b5a4433b4 490 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 491 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 16:903b5a4433b4 492 //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 493
Lightvalve 11:82d8768d7351 494 break;
Lightvalve 11:82d8768d7351 495 }
Lightvalve 11:82d8768d7351 496
Lightvalve 11:82d8768d7351 497 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 498 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 499
Lightvalve 11:82d8768d7351 500 break;
Lightvalve 11:82d8768d7351 501 }
Lightvalve 11:82d8768d7351 502
Lightvalve 11:82d8768d7351 503 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 504 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 505 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 506 //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 507
Lightvalve 11:82d8768d7351 508 break;
Lightvalve 11:82d8768d7351 509 }
Lightvalve 11:82d8768d7351 510
Lightvalve 11:82d8768d7351 511 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 512 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 513
Lightvalve 11:82d8768d7351 514 break;
Lightvalve 11:82d8768d7351 515 }
Lightvalve 11:82d8768d7351 516 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 517 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 518 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 519 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 520 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 521 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 522 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 523 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 30:8d561f16383b 524 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 30:8d561f16383b 525 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 30:8d561f16383b 526 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 30:8d561f16383b 527 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 528
Lightvalve 11:82d8768d7351 529 break;
Lightvalve 11:82d8768d7351 530 }
Lightvalve 11:82d8768d7351 531
Lightvalve 11:82d8768d7351 532 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 533 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 534
Lightvalve 11:82d8768d7351 535 break;
Lightvalve 11:82d8768d7351 536 }
Lightvalve 11:82d8768d7351 537 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 538 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 539 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 540 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 541 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 542 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 543 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 544 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 30:8d561f16383b 545 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 30:8d561f16383b 546 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 30:8d561f16383b 547 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 30:8d561f16383b 548 //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 549
Lightvalve 11:82d8768d7351 550 break;
Lightvalve 11:82d8768d7351 551 }
Lightvalve 11:82d8768d7351 552 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 553 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 554 break;
Lightvalve 11:82d8768d7351 555 }
Lightvalve 11:82d8768d7351 556
Lightvalve 11:82d8768d7351 557 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 558 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 559
Lightvalve 11:82d8768d7351 560 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 561 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 562 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 563 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 564 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 565
Lightvalve 11:82d8768d7351 566 break;
Lightvalve 11:82d8768d7351 567 }
Lightvalve 11:82d8768d7351 568
Lightvalve 11:82d8768d7351 569 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 570 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 571
Lightvalve 11:82d8768d7351 572 break;
Lightvalve 11:82d8768d7351 573 }
Lightvalve 11:82d8768d7351 574
Lightvalve 11:82d8768d7351 575 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 576
Lightvalve 12:6f2531038ea4 577 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 578 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 579 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 580 }
Lightvalve 11:82d8768d7351 581
Lightvalve 11:82d8768d7351 582 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 583
Lightvalve 11:82d8768d7351 584
Lightvalve 11:82d8768d7351 585 break;
Lightvalve 11:82d8768d7351 586 }
Lightvalve 11:82d8768d7351 587
Lightvalve 11:82d8768d7351 588 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 589 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 590 break;
Lightvalve 11:82d8768d7351 591 }
Lightvalve 11:82d8768d7351 592 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 593 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 594 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 595 //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 596 break;
Lightvalve 11:82d8768d7351 597 }
Lightvalve 11:82d8768d7351 598
Lightvalve 11:82d8768d7351 599 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 600 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 601 break;
Lightvalve 11:82d8768d7351 602 }
Lightvalve 11:82d8768d7351 603 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 604 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 605 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 606 //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 607 break;
Lightvalve 11:82d8768d7351 608 }
Lightvalve 11:82d8768d7351 609
Lightvalve 11:82d8768d7351 610 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 611 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 612 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 613 break;
Lightvalve 11:82d8768d7351 614 }
Lightvalve 11:82d8768d7351 615 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 616 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 617 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 618 break;
Lightvalve 11:82d8768d7351 619 }
Lightvalve 11:82d8768d7351 620 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 621 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 622 break;
Lightvalve 11:82d8768d7351 623 }
Lightvalve 28:2a62d73e3dd0 624
Lightvalve 28:2a62d73e3dd0 625 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 626 ROM_RESET_DATA();
Lightvalve 28:2a62d73e3dd0 627 break;
Lightvalve 28:2a62d73e3dd0 628 }
Lightvalve 32:4b8c0fedaf2c 629 case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve 55:b25725257569 630 VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 55:b25725257569 631 VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 632 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 633 break;
Lightvalve 33:91b17819ec30 634 }
Lightvalve 33:91b17819ec30 635 case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve 33:91b17819ec30 636 VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 637 VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 638 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 639 break;
Lightvalve 33:91b17819ec30 640 }
Lightvalve 33:91b17819ec30 641 case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve 33:91b17819ec30 642 VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 643 VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve 32:4b8c0fedaf2c 644 ROM_RESET_DATA();
Lightvalve 32:4b8c0fedaf2c 645 break;
Lightvalve 32:4b8c0fedaf2c 646 }
Lightvalve 36:a46e63505ed8 647 case CRX_SET_PID_GAIN_OPP: {
Lightvalve 36:a46e63505ed8 648 if (msg.data[1] == 0) {
Lightvalve 36:a46e63505ed8 649 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 650 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 651 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 652
Lightvalve 36:a46e63505ed8 653 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 654
Lightvalve 36:a46e63505ed8 655 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 656 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 657 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 658
Lightvalve 36:a46e63505ed8 659
Lightvalve 36:a46e63505ed8 660 } else if (msg.data[1] == 1) {
Lightvalve 36:a46e63505ed8 661 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 662 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 663 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 664
Lightvalve 36:a46e63505ed8 665 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 666
Lightvalve 36:a46e63505ed8 667 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 668 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 669 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 670 } else if (msg.data[1] == 2) {
Lightvalve 36:a46e63505ed8 671 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 672 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 673 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 674
Lightvalve 36:a46e63505ed8 675 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 676
Lightvalve 36:a46e63505ed8 677 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 678 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 679 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 680 }
Lightvalve 36:a46e63505ed8 681 break;
Lightvalve 36:a46e63505ed8 682 }
Lightvalve 38:118df027d851 683 case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve 38:118df027d851 684 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 38:118df027d851 685 CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve 38:118df027d851 686 break;
Lightvalve 38:118df027d851 687 }
Lightvalve 54:647072f5307a 688 case CRX_DELAY_TEST:{
Lightvalve 54:647072f5307a 689 flag_delay_test = 1;
Lightvalve 54:647072f5307a 690 break;
Lightvalve 54:647072f5307a 691 }
Lightvalve 38:118df027d851 692
jobuuu 2:a1c0a37df760 693 default:
jobuuu 2:a1c0a37df760 694 break;
jobuuu 2:a1c0a37df760 695 }
jobuuu 2:a1c0a37df760 696 }
jobuuu 2:a1c0a37df760 697
jobuuu 2:a1c0a37df760 698 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 699 {
Lightvalve 23:59218d4a256d 700
jobuuu 2:a1c0a37df760 701 can.read(msg);
jobuuu 2:a1c0a37df760 702 unsigned int address = msg.id;
jobuuu 7:e9086c72bb22 703 if(address==CID_RX_CMD){
jobuuu 2:a1c0a37df760 704 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 705 ReadCMD(CMD);
Lightvalve 54:647072f5307a 706
jobuuu 7:e9086c72bb22 707 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 54:647072f5307a 708
Lightvalve 43:b084e5f5d0d5 709 int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 43:b084e5f5d0d5 710 int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 54:647072f5307a 711 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 41:abbd4e2af68b 712
Lightvalve 54:647072f5307a 713 if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve 54:647072f5307a 714 pos.ref = (double)temp_pos * 1.0f;
Lightvalve 54:647072f5307a 715 vel.ref = (double)temp_vel * 10.0f;
Lightvalve 54:647072f5307a 716 }
Lightvalve 54:647072f5307a 717 else { //Linear Actuator
Lightvalve 54:647072f5307a 718 pos.ref = (double)temp_pos * 4.0f;
Lightvalve 54:647072f5307a 719 vel.ref = (double)temp_vel * 100.0f;
Lightvalve 54:647072f5307a 720 }
Lightvalve 54:647072f5307a 721
Lightvalve 43:b084e5f5d0d5 722 torq.ref = (double)temp_torq * 0.1f;
Lightvalve 54:647072f5307a 723
Lightvalve 49:e7bcfc244d40 724 } else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve 47:fdcb8bd86fd6 725 int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 54:647072f5307a 726
Lightvalve 54:647072f5307a 727 if ((OPERATING_MODE&0b110) == 0) { //Moog Valve
Lightvalve 54:647072f5307a 728 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 54:647072f5307a 729 } else if ((OPERATING_MODE&0b110) == 1) { //KNR Valve
Lightvalve 54:647072f5307a 730 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 54:647072f5307a 731 } else { //SW Valve
Lightvalve 54:647072f5307a 732 if(temp_ref_valve_pos >= 0) {
Lightvalve 55:b25725257569 733 valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 54:647072f5307a 734 } else {
Lightvalve 55:b25725257569 735 valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 54:647072f5307a 736 }
Lightvalve 47:fdcb8bd86fd6 737 }
Lightvalve 49:e7bcfc244d40 738 } else if(address==CID_RX_REF_PWM){
Lightvalve 49:e7bcfc244d40 739 int temp_ref_pwm = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 49:e7bcfc244d40 740 Vout.ref = (double) temp_ref_pwm;
Lightvalve 45:35fa6884d0c6 741 }
jobuuu 2:a1c0a37df760 742 }
jobuuu 2:a1c0a37df760 743
jobuuu 2:a1c0a37df760 744 /******************************************************************************
jobuuu 2:a1c0a37df760 745 Information Transmission Functions
jobuuu 2:a1c0a37df760 746 *******************************************************************************/
Lightvalve 11:82d8768d7351 747
Lightvalve 11:82d8768d7351 748 void CAN_TX_INFO(void) {
Lightvalve 12:6f2531038ea4 749 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 750
jobuuu 2:a1c0a37df760 751 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 752 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 753 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 754 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 755 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 756 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 757 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 54:647072f5307a 758 temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve 12:6f2531038ea4 759 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 760
jobuuu 2:a1c0a37df760 761 can.write(temp_msg);
jobuuu 2:a1c0a37df760 762 }
jobuuu 2:a1c0a37df760 763
Lightvalve 11:82d8768d7351 764 void CAN_TX_BNO(void) {
Lightvalve 12:6f2531038ea4 765 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 766
jobuuu 2:a1c0a37df760 767 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 768 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 769 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 770 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 771
jobuuu 2:a1c0a37df760 772 can.write(temp_msg);
jobuuu 2:a1c0a37df760 773 }
jobuuu 2:a1c0a37df760 774
Lightvalve 11:82d8768d7351 775 void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 776 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 777
jobuuu 2:a1c0a37df760 778 temp_msg.id = CID_TX_INFO;
Lightvalve 52:8ea76864368a 779 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 780 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 781 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve 52:8ea76864368a 782 temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve 52:8ea76864368a 783 temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 784 temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu 2:a1c0a37df760 785
jobuuu 2:a1c0a37df760 786 can.write(temp_msg);
jobuuu 2:a1c0a37df760 787 }
jobuuu 2:a1c0a37df760 788
Lightvalve 11:82d8768d7351 789 void CAN_TX_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 790 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 791
jobuuu 2:a1c0a37df760 792 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 793 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 794 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 795 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 796 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 797
jobuuu 2:a1c0a37df760 798 can.write(temp_msg);
jobuuu 2:a1c0a37df760 799 }
Lightvalve 11:82d8768d7351 800
Lightvalve 11:82d8768d7351 801 void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 802 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 803
jobuuu 2:a1c0a37df760 804 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 805 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 806 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 54:647072f5307a 807 temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu 2:a1c0a37df760 808
jobuuu 2:a1c0a37df760 809 can.write(temp_msg);
jobuuu 2:a1c0a37df760 810 }
Lightvalve 11:82d8768d7351 811
Lightvalve 11:82d8768d7351 812 void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 813 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 814
jobuuu 2:a1c0a37df760 815 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 816 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 817 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 818 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 819 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 820
jobuuu 2:a1c0a37df760 821 can.write(temp_msg);
jobuuu 2:a1c0a37df760 822 }
jobuuu 2:a1c0a37df760 823
Lightvalve 11:82d8768d7351 824 void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 825 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 826
jobuuu 2:a1c0a37df760 827 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 828 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 829 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 830 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 831 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 832
jobuuu 2:a1c0a37df760 833 can.write(temp_msg);
jobuuu 2:a1c0a37df760 834 }
jobuuu 2:a1c0a37df760 835
Lightvalve 11:82d8768d7351 836 void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 837 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 838
jobuuu 2:a1c0a37df760 839 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 840 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 841 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 842 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 843 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 844
jobuuu 2:a1c0a37df760 845 can.write(temp_msg);
jobuuu 2:a1c0a37df760 846 }
jobuuu 2:a1c0a37df760 847
Lightvalve 11:82d8768d7351 848 void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve 49:e7bcfc244d40 849 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu 2:a1c0a37df760 850
jobuuu 2:a1c0a37df760 851 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 852
jobuuu 2:a1c0a37df760 853 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 854 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 855 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 856 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 857 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 858
jobuuu 2:a1c0a37df760 859 can.write(temp_msg);
jobuuu 2:a1c0a37df760 860 }
jobuuu 2:a1c0a37df760 861
Lightvalve 11:82d8768d7351 862 void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve 49:e7bcfc244d40 863 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu 2:a1c0a37df760 864
jobuuu 2:a1c0a37df760 865 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 866
jobuuu 2:a1c0a37df760 867 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 868 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 869 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 870 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 871 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 872
jobuuu 2:a1c0a37df760 873 can.write(temp_msg);
jobuuu 2:a1c0a37df760 874 }
Lightvalve 11:82d8768d7351 875
jobuuu 2:a1c0a37df760 876
Lightvalve 11:82d8768d7351 877 void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 878 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 879 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 880 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 881
Lightvalve 12:6f2531038ea4 882 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 883 if (t_type == 0) {
Lightvalve 30:8d561f16383b 884 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 885 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 886 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 887 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 888 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 889 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 890 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 891 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 892 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 893 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 894 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve 46:2694daea349b 895 } else if (t_type == 3) {
Lightvalve 46:2694daea349b 896 sendPgain = (int16_t) (K_SPRING);
Lightvalve 46:2694daea349b 897 sendIgain = (int16_t) (D_DAMPER);
jobuuu 2:a1c0a37df760 898 }
jobuuu 2:a1c0a37df760 899
jobuuu 2:a1c0a37df760 900 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 901
jobuuu 2:a1c0a37df760 902 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 903 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 904 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 905 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 906 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 907 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 908 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 909 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 910 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 911 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 912
jobuuu 2:a1c0a37df760 913 can.write(temp_msg);
jobuuu 2:a1c0a37df760 914 }
jobuuu 2:a1c0a37df760 915
Lightvalve 11:82d8768d7351 916
Lightvalve 11:82d8768d7351 917 void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 918 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 919
jobuuu 2:a1c0a37df760 920 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 921 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 922 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 55:b25725257569 923 temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve 55:b25725257569 924 temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve 12:6f2531038ea4 925 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 926 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 927 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 928 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 929
jobuuu 2:a1c0a37df760 930 can.write(temp_msg);
jobuuu 2:a1c0a37df760 931 }
jobuuu 2:a1c0a37df760 932
Lightvalve 11:82d8768d7351 933 void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve 11:82d8768d7351 934 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 935
Lightvalve 11:82d8768d7351 936 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 937 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 938 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 939 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 940 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 941
Lightvalve 11:82d8768d7351 942 can.write(temp_msg);
Lightvalve 11:82d8768d7351 943 }
Lightvalve 11:82d8768d7351 944
Lightvalve 11:82d8768d7351 945 void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve 11:82d8768d7351 946 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 947
Lightvalve 11:82d8768d7351 948 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 949 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 950 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 951 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 952 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 953
Lightvalve 11:82d8768d7351 954 can.write(temp_msg);
Lightvalve 11:82d8768d7351 955 }
Lightvalve 11:82d8768d7351 956
Lightvalve 11:82d8768d7351 957 void CAN_TX_VALVE_FF(void) {
Lightvalve 11:82d8768d7351 958 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 959
Lightvalve 11:82d8768d7351 960 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 961 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 962 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 963 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 964 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 965
Lightvalve 11:82d8768d7351 966 can.write(temp_msg);
Lightvalve 11:82d8768d7351 967 }
Lightvalve 11:82d8768d7351 968
Lightvalve 11:82d8768d7351 969 void CAN_TX_BULK_MODULUS(void) {
Lightvalve 11:82d8768d7351 970 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 971
Lightvalve 11:82d8768d7351 972 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 973 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 974 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 975 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 976 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 977
Lightvalve 11:82d8768d7351 978 can.write(temp_msg);
Lightvalve 11:82d8768d7351 979 }
Lightvalve 11:82d8768d7351 980
Lightvalve 11:82d8768d7351 981 void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve 11:82d8768d7351 982 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 983
Lightvalve 11:82d8768d7351 984 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 985 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 986 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 987 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 988 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 989 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 990 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 991
Lightvalve 11:82d8768d7351 992 can.write(temp_msg);
Lightvalve 11:82d8768d7351 993 }
Lightvalve 11:82d8768d7351 994
Lightvalve 11:82d8768d7351 995 void CAN_TX_PISTON_AREA(void) {
jobuuu 2:a1c0a37df760 996 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 997
Lightvalve 11:82d8768d7351 998 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 999 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1000 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 1001 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 1002 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 1003 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 1004 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 1005
Lightvalve 11:82d8768d7351 1006 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1007 }
Lightvalve 11:82d8768d7351 1008
Lightvalve 11:82d8768d7351 1009 void CAN_TX_PRES_A_AND_B(void) {
Lightvalve 11:82d8768d7351 1010 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1011
Lightvalve 11:82d8768d7351 1012 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1013 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1014 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 1015 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 1016 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 1017 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 1018 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 1019
Lightvalve 11:82d8768d7351 1020 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1021 }
Lightvalve 11:82d8768d7351 1022
Lightvalve 11:82d8768d7351 1023 void CAN_TX_ENC_LIMIT(void) {
Lightvalve 11:82d8768d7351 1024 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1025
Lightvalve 11:82d8768d7351 1026 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1027 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1028 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1029 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1030 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1031 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1032 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1033
Lightvalve 11:82d8768d7351 1034 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1035 }
Lightvalve 11:82d8768d7351 1036
Lightvalve 11:82d8768d7351 1037 void CAN_TX_STROKE(void) {
Lightvalve 11:82d8768d7351 1038 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1039
Lightvalve 11:82d8768d7351 1040 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1041 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1042 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1043 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1044 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1045
Lightvalve 11:82d8768d7351 1046 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1047 }
Lightvalve 11:82d8768d7351 1048
Lightvalve 11:82d8768d7351 1049 void CAN_TX_VALVE_LIMIT(void) {
Lightvalve 11:82d8768d7351 1050 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1051
Lightvalve 11:82d8768d7351 1052 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1053 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1054 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 55:b25725257569 1055 temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve 55:b25725257569 1056 temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve 55:b25725257569 1057 temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve 55:b25725257569 1058 temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve 11:82d8768d7351 1059
Lightvalve 11:82d8768d7351 1060 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1061 }
Lightvalve 11:82d8768d7351 1062
Lightvalve 11:82d8768d7351 1063 void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve 11:82d8768d7351 1064 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1065
jobuuu 2:a1c0a37df760 1066 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1067 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1068 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 54:647072f5307a 1069 int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve 48:889798ff9329 1070 temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve 48:889798ff9329 1071 temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu 2:a1c0a37df760 1072
jobuuu 2:a1c0a37df760 1073 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1074 }
jobuuu 2:a1c0a37df760 1075
Lightvalve 11:82d8768d7351 1076 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu 2:a1c0a37df760 1077 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1078
jobuuu 2:a1c0a37df760 1079 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1080 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1081 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 48:889798ff9329 1082 int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve 48:889798ff9329 1083 temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve 48:889798ff9329 1084 temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu 2:a1c0a37df760 1085
jobuuu 2:a1c0a37df760 1086 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1087 }
jobuuu 2:a1c0a37df760 1088
Lightvalve 11:82d8768d7351 1089 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu 2:a1c0a37df760 1090 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1091
jobuuu 2:a1c0a37df760 1092 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1093 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1094 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1095 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1096 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1097 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1098 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1099
jobuuu 2:a1c0a37df760 1100 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1101 }
jobuuu 2:a1c0a37df760 1102
Lightvalve 11:82d8768d7351 1103 void CAN_TX_FRICTION(void) {
Lightvalve 11:82d8768d7351 1104 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1105 int16_t send_friction;
Lightvalve 30:8d561f16383b 1106 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 11:82d8768d7351 1107
Lightvalve 11:82d8768d7351 1108 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1109 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1110 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1111 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1112 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1113
Lightvalve 11:82d8768d7351 1114 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1115 }
Lightvalve 11:82d8768d7351 1116
Lightvalve 11:82d8768d7351 1117 void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve 11:82d8768d7351 1118 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1119
Lightvalve 11:82d8768d7351 1120 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1121 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1122 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1123 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1124 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1125 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1126 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1127 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve 11:82d8768d7351 1128
Lightvalve 11:82d8768d7351 1129 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1130 }
Lightvalve 11:82d8768d7351 1131
Lightvalve 11:82d8768d7351 1132 void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve 11:82d8768d7351 1133 CANMessage temp_msg;
Lightvalve 48:889798ff9329 1134 float temp_valve_deadzone_minus = 0.0f;
Lightvalve 48:889798ff9329 1135 float temp_valve_deadzone_plus = 0.0f;
Lightvalve 48:889798ff9329 1136 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1137
Lightvalve 55:b25725257569 1138 temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve 55:b25725257569 1139 temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve 48:889798ff9329 1140 temp_ddv_center = 0.0f;
Lightvalve 11:82d8768d7351 1141
Lightvalve 11:82d8768d7351 1142 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1143 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1144 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 48:889798ff9329 1145 temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve 48:889798ff9329 1146 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve 48:889798ff9329 1147 temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve 48:889798ff9329 1148 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve 48:889798ff9329 1149 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1150 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 11:82d8768d7351 1151
Lightvalve 11:82d8768d7351 1152 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1153 }
Lightvalve 11:82d8768d7351 1154
Lightvalve 11:82d8768d7351 1155 void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve 11:82d8768d7351 1156 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1157
Lightvalve 11:82d8768d7351 1158 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1159 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1160 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1161 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1162 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1163 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1164 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1165 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1166
Lightvalve 11:82d8768d7351 1167 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1168 }
Lightvalve 11:82d8768d7351 1169
Lightvalve 11:82d8768d7351 1170 void CAN_TX_REFENCE_MODE(void) {
Lightvalve 11:82d8768d7351 1171 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1172
Lightvalve 11:82d8768d7351 1173 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1174 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1175 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1176 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1177 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1178 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1179 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1180 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1181
Lightvalve 11:82d8768d7351 1182 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1183 }
Lightvalve 11:82d8768d7351 1184
Lightvalve 11:82d8768d7351 1185 void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve 11:82d8768d7351 1186 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1187 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1188 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 1189
jobuuu 2:a1c0a37df760 1190 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1191 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1192 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1193 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1194 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1195
jobuuu 2:a1c0a37df760 1196 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1197 }
Lightvalve 11:82d8768d7351 1198
Lightvalve 11:82d8768d7351 1199 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve 11:82d8768d7351 1200 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1201 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1202 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 1203
Lightvalve 11:82d8768d7351 1204 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1205 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1206 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1207 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1208 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1209
Lightvalve 11:82d8768d7351 1210 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1211 }
Lightvalve 11:82d8768d7351 1212
Lightvalve 12:6f2531038ea4 1213 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve 11:82d8768d7351 1214 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1215 int16_t valve_pos_vs_pwm;
Lightvalve 49:e7bcfc244d40 1216 // valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 49:e7bcfc244d40 1217
Lightvalve 55:b25725257569 1218 if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve 55:b25725257569 1219 valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve 49:e7bcfc244d40 1220 } else {
Lightvalve 55:b25725257569 1221 valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve 49:e7bcfc244d40 1222 }
Lightvalve 11:82d8768d7351 1223
Lightvalve 12:6f2531038ea4 1224 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1225 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 11:82d8768d7351 1226
Lightvalve 11:82d8768d7351 1227 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1228 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1229 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1230 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1231 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1232 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1233 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1234
Lightvalve 11:82d8768d7351 1235 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1236 }
Lightvalve 11:82d8768d7351 1237
Lightvalve 12:6f2531038ea4 1238 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve 11:82d8768d7351 1239 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1240 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1241 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1242
Lightvalve 55:b25725257569 1243 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve 49:e7bcfc244d40 1244 int16_t temp_valve_pos = 0;
Lightvalve 55:b25725257569 1245 if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve 55:b25725257569 1246 temp_valve_pos = (int16_t) (10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER));
Lightvalve 49:e7bcfc244d40 1247 } else {
Lightvalve 55:b25725257569 1248 temp_valve_pos = (int16_t) (-10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER));
Lightvalve 49:e7bcfc244d40 1249 }
Lightvalve 11:82d8768d7351 1250
Lightvalve 11:82d8768d7351 1251 temp_msg.id = CID_TX_INFO;
Lightvalve 49:e7bcfc244d40 1252 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1253 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 49:e7bcfc244d40 1254 temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve 49:e7bcfc244d40 1255 temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve 49:e7bcfc244d40 1256 temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 49:e7bcfc244d40 1257 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 49:e7bcfc244d40 1258 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 49:e7bcfc244d40 1259 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1260
Lightvalve 11:82d8768d7351 1261 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1262 }
Lightvalve 11:82d8768d7351 1263
Lightvalve 11:82d8768d7351 1264 void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve 11:82d8768d7351 1265 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1266 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1267 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1268
Lightvalve 11:82d8768d7351 1269 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1270 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1271 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1272 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1273 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1274
Lightvalve 11:82d8768d7351 1275 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1276 }
Lightvalve 11:82d8768d7351 1277
Lightvalve 38:118df027d851 1278 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve 38:118df027d851 1279 CANMessage temp_msg;
Lightvalve 38:118df027d851 1280
Lightvalve 48:889798ff9329 1281 float temp_valve_max_pos = 0.0f;
Lightvalve 48:889798ff9329 1282 float temp_valve_min_pos = 0.0f;
Lightvalve 48:889798ff9329 1283 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1284
Lightvalve 48:889798ff9329 1285 temp_valve_max_pos = 10000.0f;
Lightvalve 48:889798ff9329 1286 temp_valve_min_pos = -10000.0f;
Lightvalve 48:889798ff9329 1287 temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1288
Lightvalve 38:118df027d851 1289 temp_msg.id = CID_TX_INFO;
Lightvalve 38:118df027d851 1290 temp_msg.len = 7;
Lightvalve 38:118df027d851 1291 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 48:889798ff9329 1292 temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve 48:889798ff9329 1293 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve 48:889798ff9329 1294 temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve 48:889798ff9329 1295 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve 48:889798ff9329 1296 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1297 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 38:118df027d851 1298
Lightvalve 38:118df027d851 1299 can.write(temp_msg);
Lightvalve 38:118df027d851 1300 }
Lightvalve 38:118df027d851 1301
jobuuu 2:a1c0a37df760 1302 /******************************************************************************
jobuuu 2:a1c0a37df760 1303 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1304 *******************************************************************************/
jobuuu 2:a1c0a37df760 1305
Lightvalve 52:8ea76864368a 1306 void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
Lightvalve 52:8ea76864368a 1307 CANMessage temp_msg;
Lightvalve 52:8ea76864368a 1308
Lightvalve 52:8ea76864368a 1309 temp_msg.id = CID_TX_POSITION;
Lightvalve 52:8ea76864368a 1310 temp_msg.len = 6;
Lightvalve 52:8ea76864368a 1311 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 52:8ea76864368a 1312 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 52:8ea76864368a 1313 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 52:8ea76864368a 1314 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1315 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 52:8ea76864368a 1316 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve 52:8ea76864368a 1317
Lightvalve 52:8ea76864368a 1318 can.write(temp_msg);
Lightvalve 52:8ea76864368a 1319 }
Lightvalve 52:8ea76864368a 1320
Lightvalve 52:8ea76864368a 1321 void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) {
Lightvalve 52:8ea76864368a 1322
jobuuu 2:a1c0a37df760 1323 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1324
jobuuu 2:a1c0a37df760 1325 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1326 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1327 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1328 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 41:abbd4e2af68b 1329 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 41:abbd4e2af68b 1330 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1331 temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve 52:8ea76864368a 1332 temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve 52:8ea76864368a 1333 temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve 52:8ea76864368a 1334 temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu 2:a1c0a37df760 1335
jobuuu 2:a1c0a37df760 1336 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1337 }
jobuuu 2:a1c0a37df760 1338
Lightvalve 48:889798ff9329 1339 void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu 2:a1c0a37df760 1340 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1341
jobuuu 2:a1c0a37df760 1342 temp_msg.id = CID_TX_TORQUE;
jobuuu 2:a1c0a37df760 1343 temp_msg.len = 2;
Lightvalve 48:889798ff9329 1344 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 48:889798ff9329 1345 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 1346
jobuuu 2:a1c0a37df760 1347 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1348 }
jobuuu 2:a1c0a37df760 1349
Lightvalve 11:82d8768d7351 1350 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 1351 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1352
jobuuu 2:a1c0a37df760 1353 temp_msg.id = CID_TX_PRES;
Lightvalve 55:b25725257569 1354 temp_msg.len = 4;
Lightvalve 12:6f2531038ea4 1355 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1356 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1357 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1358 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1359
jobuuu 2:a1c0a37df760 1360 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1361 }
jobuuu 2:a1c0a37df760 1362
Lightvalve 11:82d8768d7351 1363 void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 1364 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1365
Lightvalve 55:b25725257569 1366 temp_msg.id = CID_TX_VOUT;
Lightvalve 55:b25725257569 1367 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 1368 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1369 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1370
jobuuu 2:a1c0a37df760 1371 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1372 }
jobuuu 2:a1c0a37df760 1373
Lightvalve 27:a2254a485f23 1374 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve 27:a2254a485f23 1375 {
jobuuu 2:a1c0a37df760 1376 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1377
jobuuu 2:a1c0a37df760 1378 temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve 48:889798ff9329 1379 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1380 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 12:6f2531038ea4 1381 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1382 temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
Lightvalve 27:a2254a485f23 1383 temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1384 temp_msg.data[4] = (uint8_t) t_pwm;
Lightvalve 27:a2254a485f23 1385 temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
Lightvalve 27:a2254a485f23 1386
jobuuu 2:a1c0a37df760 1387
jobuuu 2:a1c0a37df760 1388 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1389 }
Lightvalve 23:59218d4a256d 1390
Lightvalve 23:59218d4a256d 1391
Lightvalve 32:4b8c0fedaf2c 1392
Lightvalve 38:118df027d851 1393
Lightvalve 48:889798ff9329 1394
Lightvalve 49:e7bcfc244d40 1395
Lightvalve 52:8ea76864368a 1396
Lightvalve 54:647072f5307a 1397
Lightvalve 55:b25725257569 1398