Diff: CAN/function_CAN.cpp

Revision:

2:a1c0a37df760

Child:

3:aa28672362bb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CAN/function_CAN.cpp	Tue Aug 20 07:38:55 2019 +0000
@@ -0,0 +1,347 @@
+#include "mbed.h"
+#include "function_CAN.h"
+
+// CAN ID Setting Variables
+int CID_RX_CMD = 100;
+int CID_RX_REF_POSITION = 200;
+int CID_RX_REF_TORQUE = 300;
+int CID_RX_REF_PRES_DIFF = 400;
+int CID_RX_REF_PWM = 500;
+int CID_RX_REF_VALVE_POSITION = 600;
+
+int CID_TX_INFO = 1100;
+int CID_TX_POSITION = 1200;
+int CID_TX_TORQUE = 1300;
+int CID_TX_PRES = 1400;
+int CID_TX_PWM = 1500;
+int CID_TX_VALVE_POSITION = 1600;
+
+extern CAN can;
+extern CANMessage msg;
+
+void ReadCMD(char CMD)
+{
+    switch(CMD){
+    case CRX_ASK_INFO:
+        CAN_TX_INFO();
+        break;
+    case CRX_ASK_BNO:
+        CAN_TX_BNO();
+        break;
+    default:
+        break;
+    }
+}
+
+void CAN_RX_HANDLER()
+{
+    can.read(msg);
+    unsigned int address = msg.id;
+    
+    if(address==100){
+        unsigned int CMD = msg.data[0];
+        ReadCMD(CMD);
+    }
+}
+
+/******************************************************************************
+ Information Transmission Functions
+*******************************************************************************/
+
+inline void CAN_TX_INFO(void) {
+    CANMessage temp_msg;
+    
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 7;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_INFO;
+    temp_msg.data[1] = (unsigned char) BNO;
+    temp_msg.data[2] = (unsigned char) CAN_FREQ;
+    temp_msg.data[3] = (unsigned char) (CAN_FREQ >> 8);
+    temp_msg.data[4] = (unsigned char) (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]);
+    temp_msg.data[5] = (unsigned char) CONTROL_MODE;
+    temp_msg.data[6] = (unsigned char) OPERATING_MODE;
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_BNO(void) {
+    CANMessage temp_msg;
+    
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 2;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_BNO;
+    temp_msg.data[1] = (unsigned char) BNO;
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_OPERATING_MODE(void) {
+    CANMessage temp_msg;
+    
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 2;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_OPERATING_MODE;
+    temp_msg.data[1] = (unsigned char) OPERATING_MODE;
+
+    can.write(temp_msg);
+}
+
+
+inline void CAN_TX_CAN_FREQ(void) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 3;
+    temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
+    temp_msg.data[1] = (uint8_t) CAN_FREQ;
+    temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_CONTROL_MODE(void) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 2;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_CONTROL_MODE;
+    temp_msg.data[1] = (unsigned char) CONTROL_MODE;
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_JOINT_ENC_DIR(void) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 3;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_JOINT_ENC_DIR;
+    temp_msg.data[1] = (unsigned char) DIR_JOINT_ENC;
+    temp_msg.data[2] = (unsigned char) (DIR_JOINT_ENC >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_VALVE_DIR(void) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 3;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DIR;
+    temp_msg.data[1] = (unsigned char) DIR_VALVE;
+    temp_msg.data[2] = (unsigned char) (DIR_VALVE >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_VALVE_ENC_DIR(void) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 3;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_ENC_DIR;
+    temp_msg.data[1] = (unsigned char) DIR_VALVE_ENC;
+    temp_msg.data[2] = (unsigned char) (DIR_VALVE_ENC >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_VOLTAGE_SUPPLY(void) {
+    long send_voltage_supply = (long) (SUPPLY_VOLTAGE * 10);
+
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 3;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_SUPPLY;
+    temp_msg.data[1] = (unsigned char) (send_voltage_supply);
+    temp_msg.data[2] = (unsigned char) (send_voltage_supply >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_VOLTAGE_VALVE(void) {
+    long send_voltage_valve = (long) (VALVE_VOLTAGE_LIMIT * 10);
+
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 3;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_VALVE;
+    temp_msg.data[1] = (unsigned char) send_voltage_valve;
+    temp_msg.data[2] = (unsigned char) (send_voltage_valve >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_PID_GAIN(int t_type) {
+    // t_type = 0 : valve position control gain
+    // t_type = 1 : joint position control gain
+    // t_type = 2 : joint torque control gain
+
+    long sendPgain, sendIgain, sendDgain;
+    if (t_type == 0) {
+        sendPgain = (long) (P_GAIN_VALVE_POSITION);
+        sendIgain = (long) (I_GAIN_VALVE_POSITION);
+        sendDgain = (long) (D_GAIN_VALVE_POSITION);
+    } else if (t_type == 1) {
+        sendPgain = (long) (P_GAIN_JOINT_POSITION);
+        sendIgain = (long) (I_GAIN_JOINT_POSITION);
+        sendDgain = (long) (D_GAIN_JOINT_POSITION);
+    } else if (t_type == 2) {
+        sendPgain = (long) (P_GAIN_JOINT_TORQUE);
+        sendIgain = (long) (I_GAIN_JOINT_TORQUE);
+        sendDgain = (long) (D_GAIN_JOINT_TORQUE);
+    }
+
+    CANMessage temp_msg;
+    
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 8;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_PID_GAIN;
+    temp_msg.data[1] = (unsigned char) t_type;
+    temp_msg.data[2] = (unsigned char) sendPgain;
+    temp_msg.data[3] = (unsigned char) (sendPgain >> 8);
+    temp_msg.data[4] = (unsigned char) sendIgain;
+    temp_msg.data[5] = (unsigned char) (sendIgain >> 8);
+    temp_msg.data[6] = (unsigned char) sendDgain;
+    temp_msg.data[7] = (unsigned char) (sendDgain >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_VALVE_DEADZONE(void) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 7;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DEADZONE;
+    temp_msg.data[1] = (unsigned char) (int) (VALVE_CENTER);
+    temp_msg.data[2] = (unsigned char) ((int) (VALVE_CENTER) >> 8);
+    temp_msg.data[3] = (unsigned char) (int) (VALVE_DEADZONE_PLUS);
+    temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8);
+    temp_msg.data[5] = (unsigned char) (int) (VALVE_DEADZONE_MINUS);
+    temp_msg.data[6] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_ENC_PULSE_PER_POSITION(void) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 3;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_PULSE_PER_POSITION;
+    temp_msg.data[1] = (unsigned char) ENC_PULSE_PER_POSITION;
+    temp_msg.data[2] = (unsigned char) (ENC_PULSE_PER_POSITION >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 3;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
+    temp_msg.data[1] = (unsigned char) TORQUE_SENSOR_PULSE_PER_TORQUE;
+    temp_msg.data[2] = (unsigned char) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 5;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
+    temp_msg.data[1] = (unsigned char) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.);
+    temp_msg.data[2] = (unsigned char) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8);
+    temp_msg.data[3] = (unsigned char) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.);
+    temp_msg.data[4] = (unsigned char) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_HOMEPOS_OFFSET(void) {
+    long send_homepos_offset;
+    send_homepos_offset = (long) (HOMEPOS_OFFSET);
+
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_INFO;
+    temp_msg.len = 3;
+    temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_OFFSET;
+    temp_msg.data[1] = (unsigned char) send_homepos_offset;
+    temp_msg.data[2] = (unsigned char) (send_homepos_offset >> 8);
+
+    can.write(temp_msg);
+}
+
+/******************************************************************************
+ Sensor & State Transmission Functions
+*******************************************************************************/
+
+inline void CAN_TX_POSITION(long t_pos, long t_vel) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_POSITION;
+    temp_msg.len = 8;
+    temp_msg.data[0] = (unsigned char) t_pos;
+    temp_msg.data[1] = (unsigned char) (t_pos >> 8);
+    temp_msg.data[2] = (unsigned char) (t_pos >> 16);
+    temp_msg.data[3] = (unsigned char) (t_pos >> 24);
+    temp_msg.data[4] = (unsigned char) t_vel;
+    temp_msg.data[5] = (unsigned char) (t_vel >> 8);
+    temp_msg.data[6] = (unsigned char) (t_vel >> 16);
+    temp_msg.data[7] = (unsigned char) (t_vel >> 24);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_TORQUE(int16_t t_torque) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_TORQUE;
+    temp_msg.len = 2;
+    temp_msg.data[0] = (unsigned char) t_torque;
+    temp_msg.data[1] = (unsigned char) (t_torque >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_PRES;
+    temp_msg.len = 8;
+    temp_msg.data[0] = (unsigned char) t_pres_a;
+    temp_msg.data[1] = (unsigned char) (t_pres_a >> 8);
+    temp_msg.data[2] = (unsigned char) t_pres_b;
+    temp_msg.data[3] = (unsigned char) (t_pres_b >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_PWM(int16_t t_pwm) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_POSITION;
+    temp_msg.len = 8;
+    temp_msg.data[0] = (unsigned char) t_pwm;
+    temp_msg.data[1] = (unsigned char) (t_pwm >> 8);
+
+    can.write(temp_msg);
+}
+
+inline void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) {
+    CANMessage temp_msg;
+
+    temp_msg.id = CID_TX_VALVE_POSITION;
+    temp_msg.len = 8;
+    temp_msg.data[0] = (unsigned char) t_valve_pos;
+    temp_msg.data[1] = (unsigned char) (t_valve_pos >> 8);
+
+    can.write(temp_msg);
+}