Kim GiJeong
eeprom_test
Diff: SPI_EEP_ENC/SPI_EEP_ENC.cpp
- Revision:
- 68:135a2d087198
- Parent:
- 16:903b5a4433b4
diff -r cfc88fd0591e -r 135a2d087198 SPI_EEP_ENC/SPI_EEP_ENC.cpp
--- a/SPI_EEP_ENC/SPI_EEP_ENC.cpp Wed Jun 03 08:46:45 2020 +0000
+++ b/SPI_EEP_ENC/SPI_EEP_ENC.cpp Mon Jul 20 06:58:38 2020 +0000
@@ -3,49 +3,139 @@
#include "SPI_EEP_ENC.h"
// EEPROM
-//void spi_eeprom_ready(void){
-// int temp1, temp2;
-// do{
-// eeprom_cs=0;
-// eeprom.write(0x06); //write enable
-// eeprom_cs=1;
-//
-// eeprom_cs=0;
-// temp1 = eeprom.write(0x05);
-// temp2 = eeprom.write(0x00);
-// eeprom_cs=1;
-// temp2=(temp2&(0x03))!= 0x02;
-// } while(temp2); // before writing or reading
-// }
+void spi_eeprom_ready(void){
+ int temp1, temp2;
+ do{
+ eeprom_cs=0;
+ eeprom.write(0x06); //write enable
+ eeprom_cs=1;
+
+ eeprom_cs=0;
+ temp1 = eeprom.write(0x05);
+ temp2 = eeprom.write(0x00);
+ eeprom_cs=1;
+ temp2=(temp2&(0x03))!= 0x02;
+ } while(temp2); // before writing or reading
+}
+//
+ void spi_eeprom_write(unsigned short add, unsigned int data){
+ spi_eeprom_ready();
+ add=add*4;
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+ eeprom.write(0xff&data);
+ eeprom.write(0xff&(data>>8));
+ eeprom.write(0xff&(data>>16));
+ eeprom.write(0xff&(data>>24));
+ eeprom_cs=1;
+}
//
-// void spi_eeprom_write(unsigned short add, unsigned int data){
-// eeprom_cs=0;
-// eeprom.write(0x02);
-// eeprom.write(0xff&(add>>8));
-// eeprom.write(0xff&add);
-// eeprom.write(0xff&data);
-// eeprom.write(0xff&(data>>8));
-// eeprom.write(0xff&(data>>16));
-// eeprom.write(0xff&(data>>24));
-// eeprom_cs=1;
-//}
-//
-//unsigned int spi_eeprom_read(unsigned short add){
-// eeprom_cs=0;
-// eeprom.write(0x03);
-// eeprom.write(0xff&(add>>8));
-// eeprom.write(0xff&add);
+unsigned int spi_eeprom_read(unsigned short add){
+ add=add*4;
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
//
-// int a1 = eeprom.write(0x00);
-// int a2 = eeprom.write(0x00);
-// int a3 = eeprom.write(0x00);
-// int a4 = eeprom.write(0x00);
-// eeprom_cs=1;
-// //unsigned int final = (a4<<24)+(a3<<16) + (a2<<8) + a1;
-// unsigned int final = (int32_t) (a1 | a2 << 8 | a3 << 16 | a4 << 24);
-// return final;
-// }
-
+ int a1 = eeprom.write(0x00);
+ int a2 = eeprom.write(0x00);
+ int a3 = eeprom.write(0x00);
+ int a4 = eeprom.write(0x00);
+ eeprom_cs=1;
+ //unsigned int final = (a4<<24)+(a3<<16) + (a2<<8) + a1;
+ unsigned int final = (int32_t) (a1 | a2 << 8 | a3 << 16 | a4 << 24);
+ return final;
+}
+
+void spi_eeprom_call_data(void)
+{
+ BNO = spi_eeprom_read(RID_BNO);
+ BNO = 11;
+ OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE);
+ SENSING_MODE = spi_eeprom_read(RID_SENSING_MODE);
+ SENSING_MODE = 1;
+ CURRENT_CONTROL_MODE = spi_eeprom_read(RID_CURRENT_CONTROL_MODE);
+ CURRENT_CONTROL_MODE = 1;
+ FLAG_VALVE_DEADZONE = spi_eeprom_read(RID_FLAG_VALVE_DEADZONE);
+ CAN_FREQ = spi_eeprom_read(RID_CAN_FREQ);
+ CAN_FREQ = 500;
+ DIR_JOINT_ENC = spi_eeprom_read(RID_JOINT_ENC_DIR);
+ DIR_VALVE = spi_eeprom_read(RID_VALVE_DIR);
+ DIR_VALVE_ENC = spi_eeprom_read(RID_VALVE_ENC_DIR);
+ SUPPLY_VOLTAGE = (float) (spi_eeprom_read(RID_VOLATGE_SUPPLY)) *0.1f;
+ VALVE_VOLTAGE_LIMIT = (float) (spi_eeprom_read(RID_VOLTAGE_VALVE)) * 0.1f;
+ P_GAIN_VALVE_POSITION = spi_eeprom_read(RID_P_GAIN_VALVE_POSITION);
+ I_GAIN_VALVE_POSITION = spi_eeprom_read(RID_I_GAIN_VALVE_POSITION);
+ D_GAIN_VALVE_POSITION = spi_eeprom_read(RID_D_GAIN_VALVE_POSITION);
+ P_GAIN_JOINT_POSITION = spi_eeprom_read(RID_P_GAIN_JOINT_POSITION);
+ I_GAIN_JOINT_POSITION = spi_eeprom_read(RID_I_GAIN_JOINT_POSITION);
+ D_GAIN_JOINT_POSITION = spi_eeprom_read(RID_D_GAIN_JOINT_POSITION);
+ P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE);
+ I_GAIN_JOINT_TORQUE = spi_eeprom_read( RID_I_GAIN_JOINT_TORQUE);
+ D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE);
+ VALVE_DEADZONE_PLUS = (float) (spi_eeprom_read( RID_VALVE_DEADZONE_PLUS)) * 0.1f;
+ VALVE_DEADZONE_MINUS = (float) (spi_eeprom_read(RID_VALVE_DEADZONE_MINUS)) * 0.1f;
+ VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN);
+ COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN);
+ VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER);
+ VALVE_FF = spi_eeprom_read(RID_VALVE_FF);
+ BULK_MODULUS = spi_eeprom_read(RID_BULK_MODULUS);
+ CHAMBER_VOLUME_A = spi_eeprom_read(RID_CHAMBER_VOLUME_A);
+ CHAMBER_VOLUME_B = spi_eeprom_read(RID_CHAMBER_VOLUME_B);
+ PISTON_AREA_A = spi_eeprom_read(RID_PISTON_AREA_A);
+ PISTON_AREA_B = spi_eeprom_read(RID_PISTON_AREA_B);
+ PISTON_AREA_alpha = (float)PISTON_AREA_A/(float)PISTON_AREA_B;
+ alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
+ PRES_SUPPLY = spi_eeprom_read(RID_PRES_SUPPLY);
+ PRES_RETURN = spi_eeprom_read(RID_PRES_RETURN);
+ ENC_LIMIT_MINUS = spi_eeprom_read(RID_ENC_LIMIT_MINUS);
+ ENC_LIMIT_PLUS = spi_eeprom_read(RID_ENC_LIMIT_PLUS);
+ STROKE = spi_eeprom_read(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 = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION)) * 0.1f;
+// ENC_PULSE_PER_POSITION = (float) 1024.0f;
+ TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.0001f;
+ //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle
+// TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee
+ PRES_SENSOR_A_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f;
+ PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f * 946.0f / 3.3f / 300.0f / 210.0f;
+ PRES_SENSOR_B_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f;
+ PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f * 946.0f / 3.3f / 300.0f / 210.0f;
+ FRICTION = (float) (spi_eeprom_read(RID_FRICTION)) * 0.1f;
+ HOMEPOS_OFFSET = spi_eeprom_read(RID_HOMEPOS_OFFSET);
+ HOMEPOS_VALVE_OPENING = spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING);
+ TORQUE_VREF = (float) (spi_eeprom_read(RID_TORQUE_SENSOR_VREF)) *0.001f;
+ PRES_A_VREF = (float) spi_eeprom_read(RID_PRES_A_SENSOR_VREF) * 0.001f;
+ PRES_B_VREF = (float) spi_eeprom_read(RID_PRES_B_SENSOR_VREF) * 0.001f;
+ VALVE_GAIN_LPM_PER_V[0] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_1)) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[2] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_2)) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[4] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_3)) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[6] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_4)) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[8] = (float) (spi_eeprom_read(RID_VALVE_GAIN_PLUS_5)) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[1] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_1)) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[3] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_2)) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[5] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_3)) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[7] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_4)) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[9] = (float) (spi_eeprom_read(RID_VALVE_GAIN_MINUS_5)) * 0.01f;
+ for(int i=0; i<25; i++) {
+ VALVE_POS_VS_PWM[i] = (float) (spi_eeprom_read(RID_VALVE_POS_VS_PWM_0 + i));
+ }
+ for(int i=0; i<100; i++) {
+ JOINT_VEL[i] = ( ((spi_eeprom_read( RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((spi_eeprom_read(RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ;
+ }
+ VALVE_MAX_POS = spi_eeprom_read(RID_VALVE_MAX_POS);
+ VALVE_MIN_POS = spi_eeprom_read(RID_VALVE_MIN_POS);
+ //DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
+ VALVE_POS_NUM = spi_eeprom_read(RID_VALVE_POS_NUM);
+
+ K_SPRING = spi_eeprom_read(RID_K_SPRING);
+ D_DAMPER = spi_eeprom_read(RID_D_DAMPER);
+
+
+}
// ENCODER
void spi_enc_set_clear(void){