Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

Diff: function_utilities/function_utilities.cpp

Revision:
15:bd0d12728506
Parent:
14:8e7590227d22
Child:
16:903b5a4433b4
--- a/function_utilities/function_utilities.cpp	Thu Aug 29 07:38:00 2019 +0000
+++ b/function_utilities/function_utilities.cpp	Fri Aug 30 02:26:11 2019 +0000
@@ -320,80 +320,296 @@
  ******************************************************************************/
 void ROM_INIT_DATA(void)
 {
-    static int16_t temp_check_num = LATEST_VERSION;
-    spi_eeprom_ready();
-    //if (spi_eeprom_read(RID_IS_FIRST) != temp_check_num) {
-        spi_eeprom_ready();
-        spi_eeprom_write(RID_IS_FIRST, temp_check_num);
-        ROM_RESET_DATA();
-    //}
+//    static int16_t temp_check_num = LATEST_VERSION;
+//    spi_eeprom_ready();
+//    if (spi_eeprom_read(RID_IS_FIRST) != temp_check_num) {
+//        spi_eeprom_ready();
+//        spi_eeprom_write(RID_IS_FIRST, temp_check_num);
+//        ROM_RESET_DATA();
+//    }
     ROM_CALL_DATA();
+    ROM_RESET_DATA();
 }
 
 void ROM_RESET_DATA(void) {
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_BNO, (int) BNO);
+    spi_eeprom_ready();
+    BNO = spi_eeprom_read(RID_BNO);
+    BNO = 11;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_OPERATING_MODE, (int) OPERATING_MODE);
+    spi_eeprom_ready();
+    OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_CAN_FREQ, (int) CAN_FREQ);
+    spi_eeprom_ready();
+    CAN_FREQ = spi_eeprom_read(RID_CAN_FREQ);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_JOINT_ENC_DIR, (int) DIR_JOINT_ENC);
+    spi_eeprom_ready();
+    DIR_JOINT_ENC = spi_eeprom_read(RID_JOINT_ENC_DIR);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_DIR, (int) DIR_VALVE);
+    spi_eeprom_ready();
+    DIR_VALVE = spi_eeprom_read(RID_VALVE_DIR);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_ENC_DIR, (int) DIR_VALVE_ENC);
+    spi_eeprom_ready();
+    DIR_VALVE_ENC = spi_eeprom_read(RID_VALVE_ENC_DIR);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VOLATGE_SUPPLY, (int) (SUPPLY_VOLTAGE * 10.0));
+    spi_eeprom_ready();
+    SUPPLY_VOLTAGE = (double) spi_eeprom_read(RID_VOLATGE_SUPPLY) / 10.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VOLTAGE_VALVE, (int) (VALVE_VOLTAGE_LIMIT * 10.0));
+    spi_eeprom_ready();
+    VALVE_VOLTAGE_LIMIT = (double) spi_eeprom_read(RID_VOLTAGE_VALVE) / 10.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int) P_GAIN_VALVE_POSITION);
+    spi_eeprom_ready();
+    P_GAIN_VALVE_POSITION = spi_eeprom_read(RID_P_GAIN_VALVE_POSITION);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int) I_GAIN_VALVE_POSITION);
+    spi_eeprom_ready();
+    I_GAIN_VALVE_POSITION = spi_eeprom_read(RID_I_GAIN_VALVE_POSITION);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int) D_GAIN_VALVE_POSITION);
+    spi_eeprom_ready();
+    D_GAIN_VALVE_POSITION = spi_eeprom_read(RID_D_GAIN_VALVE_POSITION);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int) P_GAIN_JOINT_POSITION);
+    spi_eeprom_ready();
+    P_GAIN_JOINT_POSITION = spi_eeprom_read(RID_P_GAIN_JOINT_POSITION);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int) I_GAIN_JOINT_POSITION);
+    spi_eeprom_ready();
+    I_GAIN_JOINT_POSITION = spi_eeprom_read(RID_I_GAIN_JOINT_POSITION);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int) D_GAIN_JOINT_POSITION);
+    spi_eeprom_ready();
+    D_GAIN_JOINT_POSITION = spi_eeprom_read(RID_D_GAIN_JOINT_POSITION);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int) P_GAIN_JOINT_TORQUE);
+    spi_eeprom_ready();
+    P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int) I_GAIN_JOINT_TORQUE);
+    spi_eeprom_ready();
+    I_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_I_GAIN_JOINT_TORQUE);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int) D_GAIN_JOINT_TORQUE);
+    spi_eeprom_ready();
+    D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int) (VALVE_DEADZONE_PLUS));
+    spi_eeprom_ready();
+    VALVE_DEADZONE_PLUS = spi_eeprom_read(RID_VALVE_DEADZONE_PLUS);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int) (VALVE_DEADZONE_MINUS));
+    spi_eeprom_ready();
+    VALVE_DEADZONE_MINUS = spi_eeprom_read(RID_VALVE_DEADZONE_MINUS);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int) VELOCITY_COMP_GAIN);
+    spi_eeprom_ready();
+    VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_COMPLIANCE_GAIN, (int) COMPLIANCE_GAIN);
+    spi_eeprom_ready();
+    COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_CNETER, (int) VALVE_CENTER);
+    spi_eeprom_ready();
+    VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_FF, (int) VALVE_FF);
+    spi_eeprom_ready();
+    VALVE_FF = spi_eeprom_read(RID_VALVE_FF);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_BULK_MODULUS, (int) BULK_MODULUS);
+    spi_eeprom_ready();
+    BULK_MODULUS = spi_eeprom_read(RID_BULK_MODULUS);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int) CHAMBER_VOLUME_A);
+    spi_eeprom_ready();
+    CHAMBER_VOLUME_A = spi_eeprom_read(RID_CHAMBER_VOLUME_A);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int) CHAMBER_VOLUME_B);
+    spi_eeprom_ready();
+    CHAMBER_VOLUME_B = spi_eeprom_read(RID_CHAMBER_VOLUME_B);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_PISTON_AREA_A, (int) PISTON_AREA_A);
+    spi_eeprom_ready();
+    PISTON_AREA_A = spi_eeprom_read(RID_PISTON_AREA_A);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_PISTON_AREA_B, (int) PISTON_AREA_B);
+    spi_eeprom_ready();
+    PISTON_AREA_B = spi_eeprom_read(RID_PISTON_AREA_B);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_PRES_SUPPLY, (int) PRES_SUPPLY);
+    spi_eeprom_ready();
+    PRES_SUPPLY = spi_eeprom_read(RID_PRES_SUPPLY);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_PRES_RETURN, (int) PRES_RETURN);
+    spi_eeprom_ready();
+    PRES_RETURN = spi_eeprom_read(RID_PRES_RETURN);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int) ENC_LIMIT_MINUS);
+    spi_eeprom_ready();
+    ENC_LIMIT_MINUS = spi_eeprom_read(RID_ENC_LIMIT_MINUS);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int) ENC_LIMIT_PLUS);
+    spi_eeprom_ready();
+    ENC_LIMIT_PLUS = spi_eeprom_read(RID_ENC_LIMIT_PLUS);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_STROKE, (int) STROKE);
+    spi_eeprom_ready();
+    STROKE = spi_eeprom_read(RID_STROKE);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int) VALVE_LIMIT_MINUS);
+    spi_eeprom_ready();
+    VALVE_LIMIT_MINUS = spi_eeprom_read(RID_VALVE_LIMIT_MINUS);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int) VALVE_LIMIT_PLUS);
+    spi_eeprom_ready();
+    VALVE_LIMIT_PLUS = spi_eeprom_read(RID_VALVE_LIMIT_PLUS);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int) ENC_PULSE_PER_POSITION);
+    spi_eeprom_ready();
+    ENC_PULSE_PER_POSITION = spi_eeprom_read(RID_ENC_PULSE_PER_POSITION);
+    
+    TORQUE_SENSOR_PULSE_PER_TORQUE = 4096.0 / 200.0;
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int) TORQUE_SENSOR_PULSE_PER_TORQUE);
+    spi_eeprom_ready();
+    TORQUE_SENSOR_PULSE_PER_TORQUE = spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE);
+    
+    PRES_SENSOR_A_PULSE_PER_BAR = 4096.0 / 200.0;
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
+    spi_eeprom_ready();
+    PRES_SENSOR_A_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR) * 0.01;
 
-    spi_eeprom_write(RID_BNO, (int16_t) BNO);
-    spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
-    spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
-    spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
-    spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
-    spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
-    spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
-    spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
-    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_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_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_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
-    spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
-    spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
-    spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
-    spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
-    spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
-    spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
-    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_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
-    spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
-    spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
-    spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
-    spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
-    spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
-    spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
-    spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
-    spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
-    spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
-    spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
+    PRES_SENSOR_B_PULSE_PER_BAR = 4096.0 / 200.0;
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
+    spi_eeprom_ready();
+    PRES_SENSOR_B_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR) * 0.01;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_FRICTION, (int) (FRICTION * 10.0));
+    spi_eeprom_ready();
+    FRICTION = (double) spi_eeprom_read(RID_FRICTION) / 10.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_HOMEPOS_OFFSET, (int) HOMEPOS_OFFSET);
+    spi_eeprom_ready();
+    HOMEPOS_OFFSET = (int) spi_eeprom_read(RID_HOMEPOS_OFFSET);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int) HOMEPOS_VALVE_OPENING);
+    spi_eeprom_ready();
+    HOMEPOS_VALVE_OPENING = (int) spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING);
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int) (TORQUE_VREF * 1000.0));
+    spi_eeprom_ready();
+    TORQUE_VREF = (double) spi_eeprom_read(RID_TORQUE_SENSOR_VREF) / 1000.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0));
+    spi_eeprom_ready();
+    PRES_A_VREF = (double) spi_eeprom_read(RID_PRES_A_SENSOR_VREF) / 1000.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0));
+    spi_eeprom_ready();
+    PRES_B_VREF = (double) spi_eeprom_read(RID_PRES_B_SENSOR_VREF) / 1000.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int) (VALVE_GAIN_LPM_PER_V[0] * 100.0));
+    spi_eeprom_ready();
+    VALVE_GAIN_LPM_PER_V[0] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_1) / 100.0;
+    
     spi_eeprom_ready();
-    PRES_SENSOR_A_PULSE_PER_BAR = 4096.0 / 200.0;
-    PRES_SENSOR_A_PULSE_PER_BAR = 1.0;
-    //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
-    spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int) (6));
+    spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int) (VALVE_GAIN_LPM_PER_V[2] * 100.0));
+    spi_eeprom_ready();
+    VALVE_GAIN_LPM_PER_V[2] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_2) / 100.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int) (VALVE_GAIN_LPM_PER_V[4] * 100.0));
+    spi_eeprom_ready();
+    VALVE_GAIN_LPM_PER_V[4] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_3) / 100.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int) (VALVE_GAIN_LPM_PER_V[6] * 100.0));
+    spi_eeprom_ready();
+    VALVE_GAIN_LPM_PER_V[6] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_4) / 100.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int) (VALVE_GAIN_LPM_PER_V[8] * 100.0));
+    spi_eeprom_ready();
+    VALVE_GAIN_LPM_PER_V[8] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_5) / 100.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int) (VALVE_GAIN_LPM_PER_V[1] * 100.0));
     spi_eeprom_ready();
-    PRES_SENSOR_B_PULSE_PER_BAR = 4096.0 / 200.0;
-    spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
-    spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
-    spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
-    spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
-    spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
-    spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
-    spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
-    spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0));
-    spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0));
-    spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0));
-    spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0));
-    spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0));
-    spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0));
-    spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0));
-    spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0));
-    spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0));
-    spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0));
+    VALVE_GAIN_LPM_PER_V[1] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_1) / 100.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int) (VALVE_GAIN_LPM_PER_V[3] * 100.0));
+    spi_eeprom_ready();
+    VALVE_GAIN_LPM_PER_V[3] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_2) / 100.0;
     
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int) (VALVE_GAIN_LPM_PER_V[5] * 100.0));
+    spi_eeprom_ready();
+    VALVE_GAIN_LPM_PER_V[5] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_3) / 100.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int) (VALVE_GAIN_LPM_PER_V[7] * 100.0));
+    spi_eeprom_ready();
+    VALVE_GAIN_LPM_PER_V[7] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_4) / 100.0;
+    
+    spi_eeprom_ready();
+    spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int) (VALVE_GAIN_LPM_PER_V[9] * 100.0));
+    spi_eeprom_ready();
+    VALVE_GAIN_LPM_PER_V[9] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_5) / 100.0;   
     
 }
 
@@ -453,7 +669,9 @@
 
     ENC_PULSE_PER_POSITION = spi_eeprom_read(RID_ENC_PULSE_PER_POSITION);
     TORQUE_SENSOR_PULSE_PER_TORQUE = spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE);
+    spi_eeprom_ready();
     PRES_SENSOR_A_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR) * 0.01;
+    spi_eeprom_ready();
     PRES_SENSOR_B_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR) * 0.01;
 
     FRICTION = (double) spi_eeprom_read(RID_FRICTION) / 10.0;