Kim GiJeong
eeprom_test
Diff: CAN/function_CAN.cpp
- Revision:
- 68:135a2d087198
- Parent:
- 67:cfc88fd0591e
--- a/CAN/function_CAN.cpp Wed Jun 03 08:46:45 2020 +0000
+++ b/CAN/function_CAN.cpp Mon Jul 20 06:58:38 2020 +0000
@@ -55,9 +55,9 @@
case CRX_SET_BNO: {
BNO = (int16_t) msg.data[1];
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_BNO, (int16_t) BNO);
+ spi_eeprom_write(RID_BNO, (int16_t) BNO);
CAN_ID_INIT(); // can id init
break;
}
@@ -70,7 +70,7 @@
SENSING_MODE = (uint8_t) msg.data[2];
CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
break;
}
case CRX_SET_ENC_ZERO: {
@@ -102,7 +102,7 @@
case CRX_SET_CAN_FREQ: {
CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
break;
}
@@ -147,9 +147,9 @@
else
DIR_JOINT_ENC = -1;
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
+ spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
break;
}
@@ -167,9 +167,9 @@
else
DIR_VALVE = -1;
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
+ spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
break;
}
@@ -187,9 +187,9 @@
else
DIR_VALVE_ENC = -1;
- ROM_RESET_DATA();
+ ////////ROM_RESET_DATA();
- //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
+ spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
break;
}
@@ -203,9 +203,9 @@
case CRX_SET_VOLTAGE_SUPPLY: {
SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
+ spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
break;
}
@@ -219,9 +219,9 @@
case CRX_SET_VOLTAGE_VALVE: {
VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
+ spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
break;
@@ -245,27 +245,27 @@
I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
} else if (msg.data[1] == 1) {
P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
} else if (msg.data[1] == 2) {
P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
} else if (msg.data[1] == 3) {
K_SPRING = (float) (((float) ((int16_t) (msg.data[2] | msg.data[3] << 8))) * 0.1f);
D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f);
-// ROM_RESET_DATA(); //For Real-time changing
+// //////ROM_RESET_DATA(); //For Real-time changing
}
break;
@@ -282,7 +282,7 @@
VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
break;
}
@@ -296,9 +296,9 @@
case CRX_SET_VELOCITY_COMP_GAIN: {
VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
+ spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
break;
}
@@ -312,9 +312,9 @@
case CRX_SET_COMPLIANCE_GAIN: {
COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
+ spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
break;
}
@@ -328,9 +328,9 @@
case CRX_SET_VALVE_FF: {
VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
+ spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
break;
}
@@ -344,9 +344,9 @@
case CRX_SET_BULK_MODULUS: {
BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
+ spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
break;
}
@@ -361,10 +361,10 @@
CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
- //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
+ spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
+ spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
break;
}
@@ -381,10 +381,10 @@
PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
- //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
+ spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
+ spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
break;
}
@@ -400,9 +400,9 @@
case CRX_SET_PRES: {
PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
- //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
+ spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
break;
@@ -417,9 +417,9 @@
case CRX_SET_ENC_LIMIT: {
ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
- //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
+ spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
break;
}
@@ -431,8 +431,8 @@
case CRX_SET_STROKE: {
STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
break;
}
@@ -446,7 +446,7 @@
case CRX_SET_VALVE_LIMIT: {
VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
break;
}
@@ -459,8 +459,8 @@
case CRX_SET_ENC_PULSE_PER_POSITION: {
ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
break;
}
@@ -473,8 +473,8 @@
case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.01f);
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
break;
}
@@ -488,8 +488,8 @@
case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
//(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
break;
@@ -503,8 +503,8 @@
case CRX_SET_FRICTION: {
FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
break;
}
@@ -520,12 +520,12 @@
VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
- //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
- //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
- //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
- //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
break;
}
@@ -541,11 +541,11 @@
VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
- //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
- //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
- //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
//(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
break;
@@ -592,8 +592,8 @@
}
case CRX_SET_HOMEPOS_OFFSET: {
HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
break;
}
@@ -603,8 +603,8 @@
}
case CRX_SET_HOMEPOS_VALVE_OPENING: {
HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
- ROM_RESET_DATA();
- //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
+ ////ROM_RESET_DATA();
+ spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
break;
}
@@ -624,25 +624,25 @@
}
case CRX_SET_ROM: {
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
break;
}
case CRX_SET_VALVE_CENTER_OFFSET: {
VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
break;
}
case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
break;
}
case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
break;
}
case CRX_SET_PID_GAIN_OPP: {
@@ -651,11 +651,11 @@
I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
- //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
- //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
+ spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
+ spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
+ spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
} else if (msg.data[1] == 1) {
@@ -663,21 +663,21 @@
I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
- //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
- //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
+ spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
+ spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
+ spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
} else if (msg.data[1] == 2) {
P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
- ROM_RESET_DATA();
+ ////ROM_RESET_DATA();
- //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
- //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
- //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
+ spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
+ spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
+ spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
}
break;
}