Diff: CAN/function_CAN.cpp

Revision:

28:2a62d73e3dd0

Parent:

27:a2254a485f23

Child:

30:8d561f16383b

--- a/CAN/function_CAN.cpp	Tue Oct 01 05:18:16 2019 +0000
+++ b/CAN/function_CAN.cpp	Tue Oct 01 11:52:10 2019 +0000
@@ -46,7 +46,7 @@
     CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
 }
 
-void ReadCMD(int8_t CMD)
+void ReadCMD(int16_t CMD)
 {
     switch(CMD){
         case CRX_ASK_INFO: {
@@ -579,13 +579,6 @@
 
             break;
         }
-        
-        case CRX_SET_ROM: {
-            ROM_RESET_DATA();
-            //CONTROL_MODE = 33;
-            CAN_TX_TORQUE((int16_t) (33));
-            break;
-        }
 
         case CRX_JUMP_STATUS: {
             MODE_JUMP_STATUS = msg.data[1];
@@ -642,6 +635,11 @@
             CAN_TX_VALVE_POS_NUM();
             break;
         }
+        
+        case CRX_SET_ROM: {
+            ROM_RESET_DATA();
+            break;
+        }
     default:
         break;
     }
@@ -650,21 +648,12 @@
 void CAN_RX_HANDLER()
 {
     
-    //pc.printf("can received");
     can.read(msg);
-//    can.read(msg, h1);
-//    can.read(msg, h2);
-//    can.read(msg, h3);
-//    can.read(msg, h4);
-//    can.read(msg, h5);
-//    can.read(msg, h6);
     unsigned int address = msg.id;
-    //pc.printf("add %d\n",address);
-    //pc.printf("cmd %d\n", CID_RX_CMD);
     if(address==CID_RX_CMD){
         unsigned int CMD = msg.data[0];
         ReadCMD(CMD);
-        //pc.printf("cmd %d\n ",CMD);
+        pc.printf("cmd %d\n ",CMD);
     } else if(address==CID_RX_REF_POSITION) {
         int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24);
         int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24);