Diff: function_utilities/function_utilities.cpp

Revision:

52:8ea76864368a

Parent:

50:3c630b5eba9f

Child:

53:4d66fb1c5dd9

Child:

54:647072f5307a

--- a/function_utilities/function_utilities.cpp	Wed Feb 19 00:44:07 2020 +0000
+++ b/function_utilities/function_utilities.cpp	Wed Feb 19 05:48:57 2020 +0000
@@ -15,7 +15,10 @@
 // Board Information
 uint8_t BNO = 0;
 uint8_t CONTROL_MODE = 0;
-uint8_t OPERATING_MODE = 0;
+uint8_t OPERATING_MODE = 0; // (00 : Moog & Rot, 01 : Moog & Lin, 10 : KNR & Rot, 11 : KNR & Lin)
+uint8_t SENSING_MODE = 0; // (0 : torque, 1: pressure)
+uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control)
+uint8_t FLAG_VALVE_DEADZONE = 0;
 uint8_t SETTING_SWITCH = 0;
 uint8_t SETTING_SWITCH_OLD = 0;
 uint8_t REFERENCE_MODE = 0;
@@ -360,6 +363,9 @@
 
     writer.write(RID_BNO,(int) BNO);           // write at address, 쓸때도 4byte씩 씀
     writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE);
+    writer.write(RID_SENSING_MODE, (int) SENSING_MODE);
+    writer.write(RID_CURRENT_CONTROL_MODE, (int) CURRENT_CONTROL_MODE);
+    writer.write(RID_FLAG_VALVE_DEADZONE, (int) FLAG_VALVE_DEADZONE);
     writer.write(RID_CAN_FREQ,(int) CAN_FREQ);
     writer.write(RID_JOINT_ENC_DIR,(int) DIR_JOINT_ENC);
     writer.write(RID_VALVE_DIR,(int) DIR_VALVE);
@@ -436,6 +442,9 @@
 {
     BNO = flashReadInt(Rom_Sector, RID_BNO);
     OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
+    SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE);
+    CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE);
+    FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE);
     CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
     DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR);
     DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR);