Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@49:e7bcfc244d40, 2020-02-05 (annotated)

Committer:
Lightvalve
Date:
Wed Feb 05 08:35:58 2020 +0000
Revision:
49:e7bcfc244d40
Parent:
48:889798ff9329
Child:
50:3c630b5eba9f
20200205

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 11:82d8768d7351 69 OPERATING_MODE = (int16_t) msg.data[1];
Lightvalve 16:903b5a4433b4 70
Lightvalve 16:903b5a4433b4 71 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 72
Lightvalve 23:59218d4a256d 73
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
Lightvalve 16:903b5a4433b4 106 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 107
Lightvalve 16:903b5a4433b4 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 11:82d8768d7351 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 11:82d8768d7351 233 CONTROL_MODE = 22;
Lightvalve 11:82d8768d7351 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 16:903b5a4433b4 288
Lightvalve 16:903b5a4433b4 289 //spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
Lightvalve 16:903b5a4433b4 290 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 16:903b5a4433b4 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 49:e7bcfc244d40 327
Lightvalve 49:e7bcfc244d40 328 case CRX_ASK_FLOWFORCE_GAIN: {
Lightvalve 49:e7bcfc244d40 329 CAN_TX_FLOWFORCE_GAIN();
Lightvalve 49:e7bcfc244d40 330
Lightvalve 49:e7bcfc244d40 331 break;
Lightvalve 49:e7bcfc244d40 332 }
Lightvalve 49:e7bcfc244d40 333
Lightvalve 49:e7bcfc244d40 334 case CRX_SET_FLOWFORCE_GAIN: {
Lightvalve 49:e7bcfc244d40 335 FLOWFORCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 49:e7bcfc244d40 336
Lightvalve 49:e7bcfc244d40 337 ROM_RESET_DATA();
Lightvalve 49:e7bcfc244d40 338
Lightvalve 49:e7bcfc244d40 339 break;
Lightvalve 49:e7bcfc244d40 340 }
Lightvalve 11:82d8768d7351 341
Lightvalve 11:82d8768d7351 342 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 343 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 344
Lightvalve 11:82d8768d7351 345 break;
Lightvalve 11:82d8768d7351 346 }
Lightvalve 11:82d8768d7351 347
Lightvalve 11:82d8768d7351 348 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 349 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 350
Lightvalve 16:903b5a4433b4 351 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 352
Lightvalve 16:903b5a4433b4 353 //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 354
Lightvalve 11:82d8768d7351 355 break;
Lightvalve 11:82d8768d7351 356 }
Lightvalve 11:82d8768d7351 357
Lightvalve 11:82d8768d7351 358 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 359 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 360
Lightvalve 11:82d8768d7351 361 break;
Lightvalve 11:82d8768d7351 362 }
Lightvalve 11:82d8768d7351 363
Lightvalve 11:82d8768d7351 364 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 365 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 366
Lightvalve 16:903b5a4433b4 367 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 368
Lightvalve 16:903b5a4433b4 369 //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 370
Lightvalve 11:82d8768d7351 371 break;
Lightvalve 11:82d8768d7351 372 }
Lightvalve 11:82d8768d7351 373
Lightvalve 11:82d8768d7351 374 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 375 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 376
Lightvalve 11:82d8768d7351 377 break;
Lightvalve 11:82d8768d7351 378 }
Lightvalve 11:82d8768d7351 379
Lightvalve 11:82d8768d7351 380 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 381 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 382 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 383
Lightvalve 16:903b5a4433b4 384 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 385
Lightvalve 16:903b5a4433b4 386 //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 387 //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 388
Lightvalve 11:82d8768d7351 389 break;
Lightvalve 11:82d8768d7351 390 }
Lightvalve 11:82d8768d7351 391
Lightvalve 11:82d8768d7351 392 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 393 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 394
Lightvalve 11:82d8768d7351 395 break;
Lightvalve 11:82d8768d7351 396 }
Lightvalve 11:82d8768d7351 397
Lightvalve 11:82d8768d7351 398 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 399 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 400 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 401 PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve 16:903b5a4433b4 402
Lightvalve 16:903b5a4433b4 403 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 404
Lightvalve 16:903b5a4433b4 405 //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 406 //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 407 break;
Lightvalve 11:82d8768d7351 408 }
Lightvalve 11:82d8768d7351 409
Lightvalve 11:82d8768d7351 410 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 411 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 412 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 413 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 414 //dac_2 = PRES_B_VREF;
Lightvalve 12:6f2531038ea4 415
Lightvalve 11:82d8768d7351 416 break;
Lightvalve 11:82d8768d7351 417 }
Lightvalve 11:82d8768d7351 418
Lightvalve 11:82d8768d7351 419 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 420 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 421 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 422 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 423 //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 424 //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 425
Lightvalve 11:82d8768d7351 426
Lightvalve 11:82d8768d7351 427 break;
Lightvalve 11:82d8768d7351 428 }
Lightvalve 11:82d8768d7351 429
Lightvalve 11:82d8768d7351 430 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 431 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 432
Lightvalve 11:82d8768d7351 433 break;
Lightvalve 11:82d8768d7351 434 }
Lightvalve 11:82d8768d7351 435
Lightvalve 11:82d8768d7351 436 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 437 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 438 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 439 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 440 //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 441 //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 442
Lightvalve 11:82d8768d7351 443 break;
Lightvalve 11:82d8768d7351 444 }
Lightvalve 11:82d8768d7351 445
Lightvalve 11:82d8768d7351 446 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 447 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 448 break;
Lightvalve 11:82d8768d7351 449 }
Lightvalve 11:82d8768d7351 450
Lightvalve 11:82d8768d7351 451 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 452 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 453 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 454 //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 455
Lightvalve 11:82d8768d7351 456 break;
Lightvalve 11:82d8768d7351 457 }
Lightvalve 11:82d8768d7351 458
Lightvalve 11:82d8768d7351 459 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 460 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 461
Lightvalve 11:82d8768d7351 462 break;
Lightvalve 11:82d8768d7351 463 }
Lightvalve 11:82d8768d7351 464
Lightvalve 11:82d8768d7351 465 case CRX_SET_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 466 VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 467 VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 468 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 469 //spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 470 //spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 471
Lightvalve 11:82d8768d7351 472 break;
Lightvalve 11:82d8768d7351 473 }
Lightvalve 11:82d8768d7351 474
Lightvalve 11:82d8768d7351 475 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 476 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 477
Lightvalve 11:82d8768d7351 478 break;
Lightvalve 11:82d8768d7351 479 }
Lightvalve 11:82d8768d7351 480
Lightvalve 11:82d8768d7351 481 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 482 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 483 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 484 //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve 11:82d8768d7351 485
Lightvalve 11:82d8768d7351 486 break;
Lightvalve 11:82d8768d7351 487 }
Lightvalve 11:82d8768d7351 488
Lightvalve 11:82d8768d7351 489 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 490 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 491
Lightvalve 11:82d8768d7351 492 break;
Lightvalve 11:82d8768d7351 493 }
Lightvalve 11:82d8768d7351 494
Lightvalve 11:82d8768d7351 495 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 48:889798ff9329 496 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.01f);
Lightvalve 16:903b5a4433b4 497 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 498 //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve 11:82d8768d7351 499
Lightvalve 11:82d8768d7351 500 break;
Lightvalve 11:82d8768d7351 501 }
Lightvalve 11:82d8768d7351 502
Lightvalve 11:82d8768d7351 503 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 504 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 505
Lightvalve 11:82d8768d7351 506 break;
Lightvalve 11:82d8768d7351 507 }
Lightvalve 11:82d8768d7351 508
Lightvalve 11:82d8768d7351 509 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 30:8d561f16383b 510 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 30:8d561f16383b 511 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 16:903b5a4433b4 512 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 513 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 16:903b5a4433b4 514 //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 515
Lightvalve 11:82d8768d7351 516 break;
Lightvalve 11:82d8768d7351 517 }
Lightvalve 11:82d8768d7351 518
Lightvalve 11:82d8768d7351 519 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 520 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 521
Lightvalve 11:82d8768d7351 522 break;
Lightvalve 11:82d8768d7351 523 }
Lightvalve 11:82d8768d7351 524
Lightvalve 11:82d8768d7351 525 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 526 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 527 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 528 //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 529
Lightvalve 11:82d8768d7351 530 break;
Lightvalve 11:82d8768d7351 531 }
Lightvalve 11:82d8768d7351 532
Lightvalve 11:82d8768d7351 533 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 534 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 535
Lightvalve 11:82d8768d7351 536 break;
Lightvalve 11:82d8768d7351 537 }
Lightvalve 11:82d8768d7351 538 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 539 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 540 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 541 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 542 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 543 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 544 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 545 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 30:8d561f16383b 546 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 30:8d561f16383b 547 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 30:8d561f16383b 548 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 30:8d561f16383b 549 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 550
Lightvalve 11:82d8768d7351 551 break;
Lightvalve 11:82d8768d7351 552 }
Lightvalve 11:82d8768d7351 553
Lightvalve 11:82d8768d7351 554 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 555 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 556
Lightvalve 11:82d8768d7351 557 break;
Lightvalve 11:82d8768d7351 558 }
Lightvalve 11:82d8768d7351 559 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 560 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 561 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 562 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 563 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 564 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 565 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 566 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 30:8d561f16383b 567 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 30:8d561f16383b 568 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 30:8d561f16383b 569 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 30:8d561f16383b 570 //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 571
Lightvalve 11:82d8768d7351 572 break;
Lightvalve 11:82d8768d7351 573 }
Lightvalve 11:82d8768d7351 574 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 575 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 576 break;
Lightvalve 11:82d8768d7351 577 }
Lightvalve 11:82d8768d7351 578
Lightvalve 11:82d8768d7351 579 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 580 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 581
Lightvalve 11:82d8768d7351 582 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 583 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 584 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 585 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 586 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 587
Lightvalve 11:82d8768d7351 588 break;
Lightvalve 11:82d8768d7351 589 }
Lightvalve 11:82d8768d7351 590
Lightvalve 11:82d8768d7351 591 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 592 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 593
Lightvalve 11:82d8768d7351 594 break;
Lightvalve 11:82d8768d7351 595 }
Lightvalve 11:82d8768d7351 596
Lightvalve 11:82d8768d7351 597 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 598
Lightvalve 12:6f2531038ea4 599 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 600 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 601 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 602 }
Lightvalve 11:82d8768d7351 603
Lightvalve 11:82d8768d7351 604 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 605
Lightvalve 11:82d8768d7351 606
Lightvalve 11:82d8768d7351 607 break;
Lightvalve 11:82d8768d7351 608 }
Lightvalve 11:82d8768d7351 609
Lightvalve 11:82d8768d7351 610 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 611 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 612 break;
Lightvalve 11:82d8768d7351 613 }
Lightvalve 11:82d8768d7351 614 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 615 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 616 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 617 //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 618 break;
Lightvalve 11:82d8768d7351 619 }
Lightvalve 11:82d8768d7351 620
Lightvalve 11:82d8768d7351 621 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 622 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 623 break;
Lightvalve 11:82d8768d7351 624 }
Lightvalve 11:82d8768d7351 625 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 626 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 627 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 628 //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 629 break;
Lightvalve 11:82d8768d7351 630 }
Lightvalve 11:82d8768d7351 631
Lightvalve 11:82d8768d7351 632 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 633 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 634 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 635 break;
Lightvalve 11:82d8768d7351 636 }
Lightvalve 11:82d8768d7351 637 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 638 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 639 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 640 break;
Lightvalve 11:82d8768d7351 641 }
Lightvalve 11:82d8768d7351 642 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 643 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 644 break;
Lightvalve 11:82d8768d7351 645 }
Lightvalve 28:2a62d73e3dd0 646
Lightvalve 28:2a62d73e3dd0 647 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 648 ROM_RESET_DATA();
Lightvalve 28:2a62d73e3dd0 649 break;
Lightvalve 28:2a62d73e3dd0 650 }
Lightvalve 32:4b8c0fedaf2c 651 case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve 32:4b8c0fedaf2c 652 VALVE_CENTER_OFFSET_times10 = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 33:91b17819ec30 653 VALVE_CENTER_OFFSET = ((float) VALVE_CENTER_OFFSET_times10) * 0.1f;
Lightvalve 33:91b17819ec30 654 DDV_CENTER = DDV_CENTER + VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 655 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 656 break;
Lightvalve 33:91b17819ec30 657 }
Lightvalve 33:91b17819ec30 658 case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve 33:91b17819ec30 659 VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 660 VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 661 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 662 break;
Lightvalve 33:91b17819ec30 663 }
Lightvalve 33:91b17819ec30 664 case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve 33:91b17819ec30 665 VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 666 VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve 32:4b8c0fedaf2c 667 ROM_RESET_DATA();
Lightvalve 32:4b8c0fedaf2c 668 break;
Lightvalve 32:4b8c0fedaf2c 669 }
Lightvalve 36:a46e63505ed8 670 case CRX_SET_PID_GAIN_OPP: {
Lightvalve 36:a46e63505ed8 671 if (msg.data[1] == 0) {
Lightvalve 36:a46e63505ed8 672 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 673 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 674 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 675
Lightvalve 36:a46e63505ed8 676 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 677
Lightvalve 36:a46e63505ed8 678 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 679 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 680 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 681
Lightvalve 36:a46e63505ed8 682
Lightvalve 36:a46e63505ed8 683 } else if (msg.data[1] == 1) {
Lightvalve 36:a46e63505ed8 684 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 685 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 686 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 687
Lightvalve 36:a46e63505ed8 688 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 689
Lightvalve 36:a46e63505ed8 690 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 691 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 692 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 693 } else if (msg.data[1] == 2) {
Lightvalve 36:a46e63505ed8 694 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 695 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 696 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 697
Lightvalve 36:a46e63505ed8 698 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 699
Lightvalve 36:a46e63505ed8 700 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 701 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 702 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 703 }
Lightvalve 36:a46e63505ed8 704 break;
Lightvalve 36:a46e63505ed8 705 }
Lightvalve 38:118df027d851 706 case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve 38:118df027d851 707 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 38:118df027d851 708 CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve 38:118df027d851 709 break;
Lightvalve 38:118df027d851 710 }
Lightvalve 38:118df027d851 711
jobuuu 2:a1c0a37df760 712 default:
jobuuu 2:a1c0a37df760 713 break;
jobuuu 2:a1c0a37df760 714 }
jobuuu 2:a1c0a37df760 715 }
jobuuu 2:a1c0a37df760 716
jobuuu 2:a1c0a37df760 717 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 718 {
Lightvalve 23:59218d4a256d 719
jobuuu 2:a1c0a37df760 720 can.read(msg);
jobuuu 2:a1c0a37df760 721 unsigned int address = msg.id;
jobuuu 7:e9086c72bb22 722 if(address==CID_RX_CMD){
jobuuu 2:a1c0a37df760 723 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 724 ReadCMD(CMD);
jobuuu 7:e9086c72bb22 725 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 41:abbd4e2af68b 726 //int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24);
Lightvalve 43:b084e5f5d0d5 727 int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 41:abbd4e2af68b 728 //int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24);
Lightvalve 43:b084e5f5d0d5 729 int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 41:abbd4e2af68b 730
Lightvalve 41:abbd4e2af68b 731 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 41:abbd4e2af68b 732 pos.ref = (double)temp_pos * 4.0f;
Lightvalve 42:1cf66990ccab 733 vel.ref = (double)temp_vel * 100.0f;
Lightvalve 43:b084e5f5d0d5 734 torq.ref = (double)temp_torq * 0.1f;
Lightvalve 49:e7bcfc244d40 735 } else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve 47:fdcb8bd86fd6 736 int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 47:fdcb8bd86fd6 737 if(temp_ref_valve_pos >= 0){
Lightvalve 47:fdcb8bd86fd6 738 valve_pos.ref = (double)DDV_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)DDV_CENTER)/10000.0f ;
Lightvalve 47:fdcb8bd86fd6 739 }else{
Lightvalve 47:fdcb8bd86fd6 740 valve_pos.ref = (double)DDV_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)DDV_CENTER)/10000.0f;
Lightvalve 47:fdcb8bd86fd6 741 }
Lightvalve 49:e7bcfc244d40 742 } else if(address==CID_RX_REF_PWM){
Lightvalve 49:e7bcfc244d40 743 int temp_ref_pwm = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 49:e7bcfc244d40 744 Vout.ref = (double) temp_ref_pwm;
Lightvalve 45:35fa6884d0c6 745 }
jobuuu 2:a1c0a37df760 746 }
jobuuu 2:a1c0a37df760 747
jobuuu 2:a1c0a37df760 748 /******************************************************************************
jobuuu 2:a1c0a37df760 749 Information Transmission Functions
jobuuu 2:a1c0a37df760 750 *******************************************************************************/
Lightvalve 11:82d8768d7351 751
Lightvalve 11:82d8768d7351 752 void CAN_TX_INFO(void) {
Lightvalve 12:6f2531038ea4 753 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 754
jobuuu 2:a1c0a37df760 755 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 756 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 757 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 758 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 759 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 760 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 761 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 12:6f2531038ea4 762 temp_msg.data[5] = (uint8_t) CONTROL_MODE;
Lightvalve 12:6f2531038ea4 763 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 764
jobuuu 2:a1c0a37df760 765 can.write(temp_msg);
jobuuu 2:a1c0a37df760 766 }
jobuuu 2:a1c0a37df760 767
Lightvalve 11:82d8768d7351 768 void CAN_TX_BNO(void) {
Lightvalve 12:6f2531038ea4 769 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 770
jobuuu 2:a1c0a37df760 771 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 772 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 773 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 774 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 775
jobuuu 2:a1c0a37df760 776 can.write(temp_msg);
jobuuu 2:a1c0a37df760 777 }
jobuuu 2:a1c0a37df760 778
Lightvalve 11:82d8768d7351 779 void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 780 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 781
jobuuu 2:a1c0a37df760 782 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 783 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 784 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 785 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 786
jobuuu 2:a1c0a37df760 787 can.write(temp_msg);
jobuuu 2:a1c0a37df760 788 }
jobuuu 2:a1c0a37df760 789
Lightvalve 11:82d8768d7351 790 void CAN_TX_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 791 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 792
jobuuu 2:a1c0a37df760 793 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 794 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 795 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 796 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 797 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 798
jobuuu 2:a1c0a37df760 799 can.write(temp_msg);
jobuuu 2:a1c0a37df760 800 }
Lightvalve 11:82d8768d7351 801
Lightvalve 11:82d8768d7351 802 void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 803 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 804
jobuuu 2:a1c0a37df760 805 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 806 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 807 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 12:6f2531038ea4 808 temp_msg.data[1] = (uint8_t) CONTROL_MODE;
jobuuu 2:a1c0a37df760 809
jobuuu 2:a1c0a37df760 810 can.write(temp_msg);
jobuuu 2:a1c0a37df760 811 }
Lightvalve 11:82d8768d7351 812
Lightvalve 11:82d8768d7351 813 void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 814 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 815
jobuuu 2:a1c0a37df760 816 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 817 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 818 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 819 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 820 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 821
jobuuu 2:a1c0a37df760 822 can.write(temp_msg);
jobuuu 2:a1c0a37df760 823 }
jobuuu 2:a1c0a37df760 824
Lightvalve 11:82d8768d7351 825 void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 826 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 827
jobuuu 2:a1c0a37df760 828 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 829 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 830 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 831 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 832 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 833
jobuuu 2:a1c0a37df760 834 can.write(temp_msg);
jobuuu 2:a1c0a37df760 835 }
jobuuu 2:a1c0a37df760 836
Lightvalve 11:82d8768d7351 837 void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 838 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 839
jobuuu 2:a1c0a37df760 840 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 841 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 842 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 843 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 844 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 845
jobuuu 2:a1c0a37df760 846 can.write(temp_msg);
jobuuu 2:a1c0a37df760 847 }
jobuuu 2:a1c0a37df760 848
Lightvalve 11:82d8768d7351 849 void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve 49:e7bcfc244d40 850 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu 2:a1c0a37df760 851
jobuuu 2:a1c0a37df760 852 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 853
jobuuu 2:a1c0a37df760 854 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 855 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 856 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 857 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 858 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 859
jobuuu 2:a1c0a37df760 860 can.write(temp_msg);
jobuuu 2:a1c0a37df760 861 }
jobuuu 2:a1c0a37df760 862
Lightvalve 11:82d8768d7351 863 void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve 49:e7bcfc244d40 864 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu 2:a1c0a37df760 865
jobuuu 2:a1c0a37df760 866 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 867
jobuuu 2:a1c0a37df760 868 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 869 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 870 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 871 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 872 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 873
jobuuu 2:a1c0a37df760 874 can.write(temp_msg);
jobuuu 2:a1c0a37df760 875 }
Lightvalve 11:82d8768d7351 876
jobuuu 2:a1c0a37df760 877
Lightvalve 11:82d8768d7351 878 void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 879 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 880 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 881 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 882
Lightvalve 12:6f2531038ea4 883 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 884 if (t_type == 0) {
Lightvalve 30:8d561f16383b 885 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 886 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 887 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 888 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 889 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 890 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 891 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 892 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 893 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 894 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 895 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve 46:2694daea349b 896 } else if (t_type == 3) {
Lightvalve 46:2694daea349b 897 sendPgain = (int16_t) (K_SPRING);
Lightvalve 46:2694daea349b 898 sendIgain = (int16_t) (D_DAMPER);
jobuuu 2:a1c0a37df760 899 }
jobuuu 2:a1c0a37df760 900
jobuuu 2:a1c0a37df760 901 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 902
jobuuu 2:a1c0a37df760 903 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 904 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 905 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 906 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 907 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 908 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 909 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 910 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 911 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 912 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 913
jobuuu 2:a1c0a37df760 914 can.write(temp_msg);
jobuuu 2:a1c0a37df760 915 }
jobuuu 2:a1c0a37df760 916
Lightvalve 11:82d8768d7351 917
Lightvalve 11:82d8768d7351 918 void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 919 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 920
jobuuu 2:a1c0a37df760 921 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 922 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 923 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 12:6f2531038ea4 924 temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER);
Lightvalve 12:6f2531038ea4 925 temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8);
Lightvalve 12:6f2531038ea4 926 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 927 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 928 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 929 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 930
jobuuu 2:a1c0a37df760 931 can.write(temp_msg);
jobuuu 2:a1c0a37df760 932 }
jobuuu 2:a1c0a37df760 933
Lightvalve 11:82d8768d7351 934 void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve 11:82d8768d7351 935 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 936
Lightvalve 11:82d8768d7351 937 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 938 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 939 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 940 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 941 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 942
Lightvalve 11:82d8768d7351 943 can.write(temp_msg);
Lightvalve 11:82d8768d7351 944 }
Lightvalve 11:82d8768d7351 945
Lightvalve 11:82d8768d7351 946 void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve 11:82d8768d7351 947 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 948
Lightvalve 11:82d8768d7351 949 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 950 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 951 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 952 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 953 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 954
Lightvalve 11:82d8768d7351 955 can.write(temp_msg);
Lightvalve 11:82d8768d7351 956 }
Lightvalve 11:82d8768d7351 957
Lightvalve 49:e7bcfc244d40 958 void CAN_TX_FLOWFORCE_GAIN(void) {
Lightvalve 49:e7bcfc244d40 959 CANMessage temp_msg;
Lightvalve 49:e7bcfc244d40 960
Lightvalve 49:e7bcfc244d40 961 temp_msg.id = CID_TX_INFO;
Lightvalve 49:e7bcfc244d40 962 temp_msg.len = 3;
Lightvalve 49:e7bcfc244d40 963 temp_msg.data[0] = (uint8_t) CTX_SEND_FLOWFORCE_GAIN;
Lightvalve 49:e7bcfc244d40 964 temp_msg.data[1] = (uint8_t) FLOWFORCE_GAIN;
Lightvalve 49:e7bcfc244d40 965 temp_msg.data[2] = (uint8_t) (FLOWFORCE_GAIN >> 8);
Lightvalve 49:e7bcfc244d40 966
Lightvalve 49:e7bcfc244d40 967 can.write(temp_msg);
Lightvalve 49:e7bcfc244d40 968 }
Lightvalve 49:e7bcfc244d40 969
Lightvalve 11:82d8768d7351 970 void CAN_TX_VALVE_FF(void) {
Lightvalve 11:82d8768d7351 971 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 972
Lightvalve 11:82d8768d7351 973 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 974 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 975 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 976 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 977 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 978
Lightvalve 11:82d8768d7351 979 can.write(temp_msg);
Lightvalve 11:82d8768d7351 980 }
Lightvalve 11:82d8768d7351 981
Lightvalve 11:82d8768d7351 982 void CAN_TX_BULK_MODULUS(void) {
Lightvalve 11:82d8768d7351 983 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 984
Lightvalve 11:82d8768d7351 985 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 986 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 987 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 988 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 989 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 990
Lightvalve 11:82d8768d7351 991 can.write(temp_msg);
Lightvalve 11:82d8768d7351 992 }
Lightvalve 11:82d8768d7351 993
Lightvalve 11:82d8768d7351 994 void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve 11:82d8768d7351 995 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 996
Lightvalve 11:82d8768d7351 997 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 998 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 999 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 1000 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 1001 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 1002 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 1003 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 1004
Lightvalve 11:82d8768d7351 1005 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1006 }
Lightvalve 11:82d8768d7351 1007
Lightvalve 11:82d8768d7351 1008 void CAN_TX_PISTON_AREA(void) {
jobuuu 2:a1c0a37df760 1009 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1010
Lightvalve 11:82d8768d7351 1011 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1012 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1013 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 1014 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 1015 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 1016 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 1017 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 1018
Lightvalve 11:82d8768d7351 1019 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1020 }
Lightvalve 11:82d8768d7351 1021
Lightvalve 11:82d8768d7351 1022 void CAN_TX_PRES_A_AND_B(void) {
Lightvalve 11:82d8768d7351 1023 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1024
Lightvalve 11:82d8768d7351 1025 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1026 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1027 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 1028 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 1029 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 1030 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 1031 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 1032
Lightvalve 11:82d8768d7351 1033 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1034 }
Lightvalve 11:82d8768d7351 1035
Lightvalve 11:82d8768d7351 1036 void CAN_TX_ENC_LIMIT(void) {
Lightvalve 11:82d8768d7351 1037 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1038
Lightvalve 11:82d8768d7351 1039 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1040 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1041 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1042 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1043 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1044 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1045 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1046
Lightvalve 11:82d8768d7351 1047 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1048 }
Lightvalve 11:82d8768d7351 1049
Lightvalve 11:82d8768d7351 1050 void CAN_TX_STROKE(void) {
Lightvalve 11:82d8768d7351 1051 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1052
Lightvalve 11:82d8768d7351 1053 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1054 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1055 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1056 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1057 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1058
Lightvalve 11:82d8768d7351 1059 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1060 }
Lightvalve 11:82d8768d7351 1061
Lightvalve 11:82d8768d7351 1062 void CAN_TX_VALVE_LIMIT(void) {
Lightvalve 11:82d8768d7351 1063 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1064
Lightvalve 11:82d8768d7351 1065 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1066 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1067 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 12:6f2531038ea4 1068 temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1069 temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1070 temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1071 temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1072
Lightvalve 11:82d8768d7351 1073 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1074 }
Lightvalve 11:82d8768d7351 1075
Lightvalve 11:82d8768d7351 1076 void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve 11:82d8768d7351 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_ENC_PULSE_PER_POSITION;
Lightvalve 48:889798ff9329 1082 int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION * 10.0f);
Lightvalve 48:889798ff9329 1083 temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve 48:889798ff9329 1084 temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 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_TORQUE_SENSOR_PULSE_PER_TORQUE(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 = 3;
Lightvalve 12:6f2531038ea4 1094 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 48:889798ff9329 1095 int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve 48:889798ff9329 1096 temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve 48:889798ff9329 1097 temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu 2:a1c0a37df760 1098
jobuuu 2:a1c0a37df760 1099 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1100 }
jobuuu 2:a1c0a37df760 1101
Lightvalve 11:82d8768d7351 1102 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu 2:a1c0a37df760 1103 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1104
jobuuu 2:a1c0a37df760 1105 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1106 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1107 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1108 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1109 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1110 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1111 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1112
jobuuu 2:a1c0a37df760 1113 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1114 }
jobuuu 2:a1c0a37df760 1115
Lightvalve 11:82d8768d7351 1116 void CAN_TX_FRICTION(void) {
Lightvalve 11:82d8768d7351 1117 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1118 int16_t send_friction;
Lightvalve 30:8d561f16383b 1119 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 11:82d8768d7351 1120
Lightvalve 11:82d8768d7351 1121 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1122 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1123 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1124 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1125 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1126
Lightvalve 11:82d8768d7351 1127 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1128 }
Lightvalve 11:82d8768d7351 1129
Lightvalve 11:82d8768d7351 1130 void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve 11:82d8768d7351 1131 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1132
Lightvalve 11:82d8768d7351 1133 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1134 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1135 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1136 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1137 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1138 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1139 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1140 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve 11:82d8768d7351 1141
Lightvalve 11:82d8768d7351 1142 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1143 }
Lightvalve 11:82d8768d7351 1144
Lightvalve 11:82d8768d7351 1145 void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve 11:82d8768d7351 1146 CANMessage temp_msg;
Lightvalve 48:889798ff9329 1147 float temp_valve_deadzone_minus = 0.0f;
Lightvalve 48:889798ff9329 1148 float temp_valve_deadzone_plus = 0.0f;
Lightvalve 48:889798ff9329 1149 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1150
Lightvalve 48:889798ff9329 1151 temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 48:889798ff9329 1152 temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 48:889798ff9329 1153 temp_ddv_center = 0.0f;
Lightvalve 11:82d8768d7351 1154
Lightvalve 11:82d8768d7351 1155 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1156 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1157 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 48:889798ff9329 1158 temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve 48:889798ff9329 1159 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve 48:889798ff9329 1160 temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve 48:889798ff9329 1161 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve 48:889798ff9329 1162 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1163 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 11:82d8768d7351 1164
Lightvalve 11:82d8768d7351 1165 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1166 }
Lightvalve 11:82d8768d7351 1167
Lightvalve 11:82d8768d7351 1168 void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve 11:82d8768d7351 1169 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1170
Lightvalve 11:82d8768d7351 1171 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1172 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1173 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1174 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1175 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1176 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1177 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1178 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1179
Lightvalve 11:82d8768d7351 1180 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1181 }
Lightvalve 11:82d8768d7351 1182
Lightvalve 11:82d8768d7351 1183 void CAN_TX_REFENCE_MODE(void) {
Lightvalve 11:82d8768d7351 1184 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1185
Lightvalve 11:82d8768d7351 1186 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1187 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1188 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1189 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1190 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1191 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1192 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1193 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1194
Lightvalve 11:82d8768d7351 1195 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1196 }
Lightvalve 11:82d8768d7351 1197
Lightvalve 11:82d8768d7351 1198 void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve 11:82d8768d7351 1199 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1200 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1201 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 1202
jobuuu 2:a1c0a37df760 1203 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1204 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1205 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1206 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1207 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1208
jobuuu 2:a1c0a37df760 1209 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1210 }
Lightvalve 11:82d8768d7351 1211
Lightvalve 11:82d8768d7351 1212 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve 11:82d8768d7351 1213 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1214 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1215 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 1216
Lightvalve 11:82d8768d7351 1217 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1218 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1219 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1220 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1221 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1222
Lightvalve 11:82d8768d7351 1223 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1224 }
Lightvalve 11:82d8768d7351 1225
Lightvalve 12:6f2531038ea4 1226 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve 11:82d8768d7351 1227 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1228 int16_t valve_pos_vs_pwm;
Lightvalve 49:e7bcfc244d40 1229 // valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 49:e7bcfc244d40 1230
Lightvalve 49:e7bcfc244d40 1231 if(VALVE_POS_VS_PWM[canindex]>=DDV_CENTER) {
Lightvalve 49:e7bcfc244d40 1232 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 1233 } else {
Lightvalve 49:e7bcfc244d40 1234 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 1235 }
Lightvalve 11:82d8768d7351 1236
Lightvalve 12:6f2531038ea4 1237 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1238 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 11:82d8768d7351 1239
Lightvalve 11:82d8768d7351 1240 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1241 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1242 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1243 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1244 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1245 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1246 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1247
Lightvalve 11:82d8768d7351 1248 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1249 }
Lightvalve 11:82d8768d7351 1250
Lightvalve 12:6f2531038ea4 1251 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve 11:82d8768d7351 1252 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1253 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1254 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1255
Lightvalve 33:91b17819ec30 1256 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + (int) DDV_CENTER;
Lightvalve 49:e7bcfc244d40 1257 int16_t temp_valve_pos = 0;
Lightvalve 49:e7bcfc244d40 1258 if(VALVE_POS_VALVE_ID>=DDV_CENTER) {
Lightvalve 49:e7bcfc244d40 1259 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 1260 } else {
Lightvalve 49:e7bcfc244d40 1261 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 1262 }
Lightvalve 11:82d8768d7351 1263
Lightvalve 11:82d8768d7351 1264 temp_msg.id = CID_TX_INFO;
Lightvalve 49:e7bcfc244d40 1265 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1266 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 49:e7bcfc244d40 1267 temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve 49:e7bcfc244d40 1268 temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve 49:e7bcfc244d40 1269 temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 49:e7bcfc244d40 1270 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 49:e7bcfc244d40 1271 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 49:e7bcfc244d40 1272 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1273
Lightvalve 11:82d8768d7351 1274 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1275 }
Lightvalve 11:82d8768d7351 1276
Lightvalve 11:82d8768d7351 1277 void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve 11:82d8768d7351 1278 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1279 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1280 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1281
Lightvalve 11:82d8768d7351 1282 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1283 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1284 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1285 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1286 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1287
Lightvalve 11:82d8768d7351 1288 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1289 }
Lightvalve 11:82d8768d7351 1290
Lightvalve 38:118df027d851 1291 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve 38:118df027d851 1292 CANMessage temp_msg;
Lightvalve 38:118df027d851 1293
Lightvalve 48:889798ff9329 1294 float temp_valve_max_pos = 0.0f;
Lightvalve 48:889798ff9329 1295 float temp_valve_min_pos = 0.0f;
Lightvalve 48:889798ff9329 1296 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1297
Lightvalve 48:889798ff9329 1298 temp_valve_max_pos = 10000.0f;
Lightvalve 48:889798ff9329 1299 temp_valve_min_pos = -10000.0f;
Lightvalve 48:889798ff9329 1300 temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1301
Lightvalve 38:118df027d851 1302 temp_msg.id = CID_TX_INFO;
Lightvalve 38:118df027d851 1303 temp_msg.len = 7;
Lightvalve 38:118df027d851 1304 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 48:889798ff9329 1305 temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve 48:889798ff9329 1306 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve 48:889798ff9329 1307 temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve 48:889798ff9329 1308 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve 48:889798ff9329 1309 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1310 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 38:118df027d851 1311
Lightvalve 38:118df027d851 1312 can.write(temp_msg);
Lightvalve 38:118df027d851 1313 }
Lightvalve 38:118df027d851 1314
jobuuu 2:a1c0a37df760 1315 /******************************************************************************
jobuuu 2:a1c0a37df760 1316 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1317 *******************************************************************************/
jobuuu 2:a1c0a37df760 1318
Lightvalve 41:abbd4e2af68b 1319 void CAN_TX_POSITION(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
jobuuu 2:a1c0a37df760 1320 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1321
jobuuu 2:a1c0a37df760 1322 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1323 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1324 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1325 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 41:abbd4e2af68b 1326 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 41:abbd4e2af68b 1327 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 41:abbd4e2af68b 1328 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 41:abbd4e2af68b 1329 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
jobuuu 2:a1c0a37df760 1330
jobuuu 2:a1c0a37df760 1331 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1332 }
jobuuu 2:a1c0a37df760 1333
Lightvalve 48:889798ff9329 1334 void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu 2:a1c0a37df760 1335 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1336
jobuuu 2:a1c0a37df760 1337 temp_msg.id = CID_TX_TORQUE;
jobuuu 2:a1c0a37df760 1338 temp_msg.len = 2;
Lightvalve 48:889798ff9329 1339 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 48:889798ff9329 1340 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 1341
jobuuu 2:a1c0a37df760 1342 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1343 }
jobuuu 2:a1c0a37df760 1344
Lightvalve 11:82d8768d7351 1345 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 1346 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1347
jobuuu 2:a1c0a37df760 1348 temp_msg.id = CID_TX_PRES;
jobuuu 2:a1c0a37df760 1349 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1350 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1351 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1352 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1353 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1354
jobuuu 2:a1c0a37df760 1355 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1356 }
jobuuu 2:a1c0a37df760 1357
Lightvalve 11:82d8768d7351 1358 void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 1359 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1360
jobuuu 2:a1c0a37df760 1361 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1362 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1363 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1364 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1365
jobuuu 2:a1c0a37df760 1366 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1367 }
jobuuu 2:a1c0a37df760 1368
Lightvalve 27:a2254a485f23 1369 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve 27:a2254a485f23 1370 {
jobuuu 2:a1c0a37df760 1371 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1372
jobuuu 2:a1c0a37df760 1373 temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve 48:889798ff9329 1374 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1375 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 12:6f2531038ea4 1376 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1377 temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
Lightvalve 27:a2254a485f23 1378 temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1379 temp_msg.data[4] = (uint8_t) t_pwm;
Lightvalve 27:a2254a485f23 1380 temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
Lightvalve 27:a2254a485f23 1381
jobuuu 2:a1c0a37df760 1382
jobuuu 2:a1c0a37df760 1383 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1384 }
Lightvalve 23:59218d4a256d 1385
Lightvalve 23:59218d4a256d 1386
Lightvalve 32:4b8c0fedaf2c 1387
Lightvalve 38:118df027d851 1388
Lightvalve 48:889798ff9329 1389
Lightvalve 49:e7bcfc244d40 1390