Diff: CAN/function_CAN.cpp

Revision:

14:8e7590227d22

Parent:

12:6f2531038ea4

Child:

15:bd0d12728506

--- a/CAN/function_CAN.cpp	Tue Aug 27 06:50:54 2019 +0000
+++ b/CAN/function_CAN.cpp	Thu Aug 29 07:38:00 2019 +0000
@@ -10,6 +10,7 @@
 int CID_RX_REF_PRES_DIFF = 400;
 int CID_RX_REF_VOUT = 500;
 int CID_RX_REF_VALVE_POSITION = 600;
+int CID_RX_REF_CURRENT = 700;
 
 int CID_TX_INFO = 1100;
 int CID_TX_POSITION = 1200;
@@ -33,6 +34,7 @@
     CID_RX_REF_PRES_DIFF = (int) (BNO + INIT_CID_RX_REF_PRES_DIFF);
     CID_RX_REF_VOUT = (int) (BNO + INIT_CID_RX_REF_VOUT);
     CID_RX_REF_VALVE_POSITION = (int) (BNO + INIT_CID_RX_REF_VALVE_POSITION);
+    CID_RX_REF_CURRENT = (int) (BNO + INIT_CID_RX_REF_CURRENT);
 
     CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
     CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
@@ -114,6 +116,7 @@
         case CRX_SET_DATA_REQUEST: {
             int request_type = msg.data[2];
             flag_data_request[request_type] = msg.data[1];
+            //pc.printf("can middle %d\n", request_type);
 
 //            if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
             if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
@@ -595,12 +598,15 @@
 
 void CAN_RX_HANDLER()
 {
+    //pc.printf("can received");
     can.read(msg);
     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);
     } 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);
@@ -616,6 +622,9 @@
         int16_t temp_PWM = (int16_t) (msg.data[0] | msg.data[1] << 8);
         Vout.ref = (double)temp_PWM;   
     } else if(address==CID_RX_REF_VALVE_POSITION) {
+        int16_t temp_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
+        valve_pos.ref = (double)temp_valve_pos; 
+    } else if(address==CID_RX_REF_CURRENT) {
         int16_t temp_cur = (int16_t) (msg.data[0] | msg.data[1] << 8);
         cur.ref = (double)temp_cur; 
     }