eeprom_test

Dependencies:   mbed FastPWM

Revision:
68:135a2d087198
Parent:
16:903b5a4433b4
--- 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){