Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

Diff: function_utilities/function_utilities.cpp

Revision:
39:e961db3b93f8
Parent:
38:118df027d851
--- a/function_utilities/function_utilities.cpp	Thu Nov 28 09:18:03 2019 +0000
+++ b/function_utilities/function_utilities.cpp	Thu Dec 05 14:29:22 2019 +0000
@@ -440,7 +440,7 @@
 
 void ROM_CALL_DATA(void)
 {
-    BNO = flashReadInt(Rom_Sector, RID_BNO);
+//    BNO = flashReadInt(Rom_Sector, RID_BNO);
     BNO = 0;
     OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
     CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
@@ -448,69 +448,69 @@
     DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR);
     DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR);
     SUPPLY_VOLTAGE = (float) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1f;
-    SUPPLY_VOLTAGE = 12000.0f;
-    VALVE_VOLTAGE_LIMIT = (float) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1f;
-    VALVE_VOLTAGE_LIMIT = 12000.0f;
-    P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION);
-    I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION);
-    D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION);
-    P_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_POSITION);
-    I_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_POSITION);
-    D_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_POSITION);
-    P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE);
-    I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE);
-    D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE);
-    VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f;
-    VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f;
-    VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN);
-    COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN);
-    VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER);
-    VALVE_FF = flashReadInt(Rom_Sector, RID_VALVE_FF);
-    BULK_MODULUS = flashReadInt(Rom_Sector, RID_BULK_MODULUS);
-    CHAMBER_VOLUME_A = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_A);
-    CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B);
-    PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A);
-    PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B);
-    PISTON_AREA_alpha = (float)PISTON_AREA_B/(float)PISTON_AREA_A;
-    PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY);
-    PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN);
-    ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS);
-    ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS);
-    STROKE = flashReadInt(Rom_Sector, RID_STROKE);
-    VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS);
-    VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS);
-    ENC_PULSE_PER_POSITION = flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION);
-    TORQUE_SENSOR_PULSE_PER_TORQUE = flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE);
-    PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f;
-    PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
-    PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f;
-    PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
-    FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f;
-    HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET);
-    HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING);
-    TORQUE_VREF = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_VREF)) *0.001f;
-    PRES_A_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_A_SENSOR_VREF) * 0.001f;
-    PRES_B_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_B_SENSOR_VREF) * 0.001f;
-    VALVE_GAIN_LPM_PER_V[0] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_1)) * 0.01f;
-    VALVE_GAIN_LPM_PER_V[2] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_2)) * 0.01f;
-    VALVE_GAIN_LPM_PER_V[4] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_3)) * 0.01f;
-    VALVE_GAIN_LPM_PER_V[6] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_4)) * 0.01f;
-    VALVE_GAIN_LPM_PER_V[8] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_5)) * 0.01f;
-    VALVE_GAIN_LPM_PER_V[1] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_1)) * 0.01f;
-    VALVE_GAIN_LPM_PER_V[3] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_2)) * 0.01f;
-    VALVE_GAIN_LPM_PER_V[5] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01f;
-    VALVE_GAIN_LPM_PER_V[7] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01f;
-    VALVE_GAIN_LPM_PER_V[9] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01f;
-    for(int i=0; i<25; i++) {
-        VALVE_POS_VS_PWM[i] = (float) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i));
-    }
-    for(int i=0; i<100; i++) {
-        JOINT_VEL[i] = ( ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ;
-    }
-    VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS);
-    VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS);
-    DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
-    VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM);
+    SUPPLY_VOLTAGE = 8000.0f;
+//    VALVE_VOLTAGE_LIMIT = (float) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1f;
+    VALVE_VOLTAGE_LIMIT = 8000.0f;
+//    P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION);
+//    I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION);
+//    D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION);
+//    P_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_POSITION);
+//    I_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_POSITION);
+//    D_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_POSITION);
+//    P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE);
+//    I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE);
+//    D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE);
+//    VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f;
+//    VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f;
+//    VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN);
+//    COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN);
+//    VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER);
+//    VALVE_FF = flashReadInt(Rom_Sector, RID_VALVE_FF);
+//    BULK_MODULUS = flashReadInt(Rom_Sector, RID_BULK_MODULUS);
+//    CHAMBER_VOLUME_A = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_A);
+//    CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B);
+//    PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A);
+//    PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B);
+//    PISTON_AREA_alpha = (float)PISTON_AREA_B/(float)PISTON_AREA_A;
+//    PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY);
+//    PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN);
+//    ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS);
+//    ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS);
+//    STROKE = flashReadInt(Rom_Sector, RID_STROKE);
+//    VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS);
+//    VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS);
+//    ENC_PULSE_PER_POSITION = flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION);
+//    TORQUE_SENSOR_PULSE_PER_TORQUE = flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE);
+//    PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f;
+//    PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
+//    PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f;
+//    PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
+//    FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f;
+//    HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET);
+//    HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING);
+//    TORQUE_VREF = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_VREF)) *0.001f;
+//    PRES_A_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_A_SENSOR_VREF) * 0.001f;
+//    PRES_B_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_B_SENSOR_VREF) * 0.001f;
+//    VALVE_GAIN_LPM_PER_V[0] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_1)) * 0.01f;
+//    VALVE_GAIN_LPM_PER_V[2] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_2)) * 0.01f;
+//    VALVE_GAIN_LPM_PER_V[4] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_3)) * 0.01f;
+//    VALVE_GAIN_LPM_PER_V[6] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_4)) * 0.01f;
+//    VALVE_GAIN_LPM_PER_V[8] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_5)) * 0.01f;
+//    VALVE_GAIN_LPM_PER_V[1] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_1)) * 0.01f;
+//    VALVE_GAIN_LPM_PER_V[3] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_2)) * 0.01f;
+//    VALVE_GAIN_LPM_PER_V[5] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01f;
+//    VALVE_GAIN_LPM_PER_V[7] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01f;
+//    VALVE_GAIN_LPM_PER_V[9] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01f;
+//    for(int i=0; i<25; i++) {
+//        VALVE_POS_VS_PWM[i] = (float) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i));
+//    }
+//    for(int i=0; i<100; i++) {
+//        JOINT_VEL[i] = ( ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ;
+//    }
+//    VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS);
+//    VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS);
+//    DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
+//    VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM);
 
 }