Revision 68:135a2d087198, committed 2020-07-20

Comitter:

GiJeongKim

Date:

Mon Jul 20 06:58:38 2020 +0000

Parent:

67:cfc88fd0591e

Commit message:

control;

Changed in this revision

--- a/CAN/function_CAN.cpp	Wed Jun 03 08:46:45 2020 +0000
+++ b/CAN/function_CAN.cpp	Mon Jul 20 06:58:38 2020 +0000
@@ -55,9 +55,9 @@
         case CRX_SET_BNO: {
             BNO = (int16_t) msg.data[1];
             
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             
-            //spi_eeprom_write(RID_BNO, (int16_t) BNO);
+            spi_eeprom_write(RID_BNO, (int16_t) BNO);
             CAN_ID_INIT(); // can id init
             break;
         }
@@ -70,7 +70,7 @@
             SENSING_MODE = (uint8_t) msg.data[2];
             CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
             FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             break;
         }
         case CRX_SET_ENC_ZERO: {
@@ -102,7 +102,7 @@
 
         case CRX_SET_CAN_FREQ: {
             CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             break;
         }
 
@@ -147,9 +147,9 @@
             else
                 DIR_JOINT_ENC = -1;
                 
-            ROM_RESET_DATA();   
+            ////ROM_RESET_DATA();   
             
-            //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
+            spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
 
             break;
         }
@@ -167,9 +167,9 @@
             else
                 DIR_VALVE = -1;
                 
-            ROM_RESET_DATA();    
+            ////ROM_RESET_DATA();    
             
-            //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
+            spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
 
             break;
         }
@@ -187,9 +187,9 @@
             else
                 DIR_VALVE_ENC = -1;
                 
-            ROM_RESET_DATA();
+            ////////ROM_RESET_DATA();
 
-            //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
+            spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
 
             break;
         }
@@ -203,9 +203,9 @@
         case CRX_SET_VOLTAGE_SUPPLY: {
             SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
             
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             
-            //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
+            spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
 
             break;
         }
@@ -219,9 +219,9 @@
         case CRX_SET_VOLTAGE_VALVE: {
             VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
             
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             
-            //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
+            spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
 
 
             break;
@@ -245,27 +245,27 @@
                 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
                 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
                 
-                ROM_RESET_DATA();
+                ////ROM_RESET_DATA();
 
             } else if (msg.data[1] == 1) {
                 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
                 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
                 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
                 
-                ROM_RESET_DATA();
+                ////ROM_RESET_DATA();
                 
             } else if (msg.data[1] == 2) {
                 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
                 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
                 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
                 
-                ROM_RESET_DATA();
+                ////ROM_RESET_DATA();
                 
             } else if (msg.data[1] == 3) {
                 K_SPRING = (float) (((float) ((int16_t) (msg.data[2] | msg.data[3] << 8))) * 0.1f);
                 D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f);
                 
-//                ROM_RESET_DATA();     //For Real-time changing
+//                //////ROM_RESET_DATA();     //For Real-time changing
             }
 
             break;
@@ -282,7 +282,7 @@
             VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
             VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
             
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
 
             break;
         }
@@ -296,9 +296,9 @@
         case CRX_SET_VELOCITY_COMP_GAIN: {
             VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
             
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             
-            //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
+            spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
 
             break;
         }
@@ -312,9 +312,9 @@
         case CRX_SET_COMPLIANCE_GAIN: {
             COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
 
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             
-            //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
+            spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
 
             break;
         }
@@ -328,9 +328,9 @@
         case CRX_SET_VALVE_FF: {
             VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
             
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             
-            //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
+            spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
 
             break;
         }
@@ -344,9 +344,9 @@
         case CRX_SET_BULK_MODULUS: {
             BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
             
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             
-            //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
+            spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
 
             break;
         }
@@ -361,10 +361,10 @@
             CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
             CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
 
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
     
-            //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_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
+            spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
 
             break;
         }
@@ -381,10 +381,10 @@
             PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
             alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
             
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             
-            //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_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
+            spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
             break;
         }
 
@@ -400,9 +400,9 @@
         case CRX_SET_PRES: {
             PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
             PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
-            //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
+            spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
 
 
             break;
@@ -417,9 +417,9 @@
         case CRX_SET_ENC_LIMIT: {
             ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
             ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
-            //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
+            spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
 
             break;
         }
@@ -431,8 +431,8 @@
 
         case CRX_SET_STROKE: {
             STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
 
             break;
         }
@@ -446,7 +446,7 @@
         case CRX_SET_VALVE_LIMIT: {
             VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
             VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
 
             break;
         }
@@ -459,8 +459,8 @@
 
         case CRX_SET_ENC_PULSE_PER_POSITION: {
             ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
 
             break;
         }
@@ -473,8 +473,8 @@
 
         case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
             TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.01f);
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
 
             break;
         }
@@ -488,8 +488,8 @@
         case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
             PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
             PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
             //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
 
             break;
@@ -503,8 +503,8 @@
 
         case CRX_SET_FRICTION: {
             FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
 
             break;
         }
@@ -520,12 +520,12 @@
             VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
             VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
             VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
-            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
-            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
-            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
-            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
+            spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
+            spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
+            spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
+            spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
 
             break;
         }
@@ -541,11 +541,11 @@
             VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
             VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
             VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
-            //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
-            //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
-            //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
+            spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
+            spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
+            spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
             //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
 
             break;
@@ -592,8 +592,8 @@
         }
         case CRX_SET_HOMEPOS_OFFSET: {
             HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
             break;
         }
 
@@ -603,8 +603,8 @@
         }
         case CRX_SET_HOMEPOS_VALVE_OPENING: {
             HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
-            ROM_RESET_DATA();
-            //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
+            ////ROM_RESET_DATA();
+            spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
             break;
         }
 
@@ -624,25 +624,25 @@
         }
         
         case CRX_SET_ROM: {
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             break;
         }
         case CRX_SET_VALVE_CENTER_OFFSET: {
             VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
             VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             break;
         }
         case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
             VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
             VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             break;
         }
         case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
             VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
             VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
-            ROM_RESET_DATA();
+            ////ROM_RESET_DATA();
             break;
         }
         case CRX_SET_PID_GAIN_OPP: {
@@ -651,11 +651,11 @@
                 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
                 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
                 
-                ROM_RESET_DATA();
+                ////ROM_RESET_DATA();
                 
-                //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_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);
 
 
             } else if (msg.data[1] == 1) {
@@ -663,21 +663,21 @@
                 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
                 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
                 
-                ROM_RESET_DATA();
+                ////ROM_RESET_DATA();
 
-                //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_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);
             } else if (msg.data[1] == 2) {
                 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
                 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
                 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
                 
-                ROM_RESET_DATA();
+                ////ROM_RESET_DATA();
                 
-                //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_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);
             }
             break;
         }

--- 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){

--- a/SPI_EEP_ENC/SPI_EEP_ENC.h	Wed Jun 03 08:46:45 2020 +0000
+++ b/SPI_EEP_ENC/SPI_EEP_ENC.h	Mon Jul 20 06:58:38 2020 +0000
@@ -4,9 +4,10 @@
 #include "mbed.h"
 
 
-//void spi_eeprom_ready(void);
-//void spi_eeprom_write(unsigned short add, unsigned int data);
-//unsigned int spi_eeprom_read(unsigned short add);
+void spi_eeprom_ready(void);
+void spi_eeprom_write(unsigned short add, unsigned int data);
+unsigned int spi_eeprom_read(unsigned short add);
+void spi_eeprom_call_data(void);
 
 void spi_enc_set_clear(void);
 void spi_enc_set_init(void);

--- a/main.cpp	Wed Jun 03 08:46:45 2020 +0000
+++ b/main.cpp	Mon Jul 20 06:58:38 2020 +0000
@@ -32,8 +32,8 @@
 unsigned int value; // 10bit output of reading sensor AS5510
 
 // SPI ///////////////////////////////////////////
-//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
-//DigitalOut eeprom_cs(PB_12);
+SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
+DigitalOut eeprom_cs(PB_12);
 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
 SPI enc(PC_12,PC_11,PC_10);
 DigitalOut enc_cs(PD_2);
@@ -163,7 +163,8 @@
     make_delay();
 
     //rom
-    ROM_CALL_DATA();
+    //ROM_CALL_DATA();
+    spi_eeprom_call_data();
     make_delay();
 
     // ADC init

--- a/setting.h	Wed Jun 03 08:46:45 2020 +0000
+++ b/setting.h	Mon Jul 20 06:58:38 2020 +0000
@@ -38,8 +38,8 @@
 extern unsigned int value; // 10bit output of reading sensor AS5510
 
 // SPI
-//extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
-//extern DigitalOut eeprom_cs;
+extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
+extern DigitalOut eeprom_cs;
 extern SPI enc;
 extern DigitalOut enc_cs;