Kim GiJeong
eeprom test
Diff: main.cpp
- Revision:
- 0:7c814979a859
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Jul 17 05:34:38 2020 +0000
@@ -0,0 +1,781 @@
+#include "mbed.h"
+// For EEPROM, 최대 16byte 씩 쓸 수 있음
+// M95128-WMN6P
+
+// Board Information
+uint8_t BNO = 0;
+uint8_t CONTROL_MODE = 0;
+uint8_t OPERATING_MODE = 0; // (00 : Moog & Rot, 01 : Moog & Lin, 10 : KNR & Rot, 11 : KNR & Lin, 101 : SW & Lin)
+uint8_t SENSING_MODE = 0; // (0 : torque, 1: pressure)
+uint8_t CONTROL_UTILITY_MODE = 0;
+uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control)
+uint8_t FLAG_VALVE_DEADZONE = 0;
+uint8_t REFERENCE_MODE = 0;
+int16_t CAN_FREQ = 500;
+int16_t DIR_JOINT_ENC = 0;
+int16_t DIR_VALVE = 0;
+int16_t DIR_VALVE_ENC = 0;
+
+float SUPPLY_VOLTAGE = 12.0f;
+float VALVE_VOLTAGE_LIMIT = 12.0f; //v
+
+float P_GAIN_VALVE_POSITION = 0.0f;
+float I_GAIN_VALVE_POSITION= 0.0f;
+float D_GAIN_VALVE_POSITION= 0.0f;
+float P_GAIN_JOINT_POSITION = 0.0f;
+float I_GAIN_JOINT_POSITION = 0.0f;
+float D_GAIN_JOINT_POSITION = 0.0f;
+float P_GAIN_JOINT_TORQUE = 0.0f;
+float I_GAIN_JOINT_TORQUE = 0.0;
+float D_GAIN_JOINT_TORQUE = 0.0;
+
+int16_t K_SPRING = 0.0;
+int16_t D_DAMPER = 12.0;
+int16_t flag_delay_test = 0;
+
+//float P_GAIN_VALVE_POSITION_OPP = 0.0f;
+//float I_GAIN_VALVE_POSITION_OPP= 0.0f;
+//float D_GAIN_VALVE_POSITION_OPP= 0.0f;
+//float P_GAIN_JOINT_POSITION_OPP = 0.0f;
+//float I_GAIN_JOINT_POSITION_OPP = 0.0f;
+//float D_GAIN_JOINT_POSITION_OPP = 0.0f;
+//float P_GAIN_JOINT_TORQUE_OPP = 0.0f;
+//float I_GAIN_JOINT_TORQUE_OPP = 0.0;
+//float D_GAIN_JOINT_TORQUE_OPP = 0.0;
+
+float VALVE_DEADZONE_PLUS;
+float VALVE_DEADZONE_MINUS;
+
+int16_t VELOCITY_COMP_GAIN;
+int16_t COMPLIANCE_GAIN;
+
+int16_t VALVE_CENTER;
+
+int16_t VALVE_FF;
+
+int16_t BULK_MODULUS;
+
+int16_t CHAMBER_VOLUME_A;
+int16_t CHAMBER_VOLUME_B;
+
+int16_t PISTON_AREA_A;
+int16_t PISTON_AREA_B;
+float PISTON_AREA_alpha;
+float alpha3 = 1.0f;
+
+
+int16_t PRES_SUPPLY;
+int16_t PRES_RETURN;
+
+int16_t ENC_LIMIT_PLUS;
+int16_t ENC_LIMIT_MINUS;
+
+int16_t STROKE;
+
+
+//int16_t VALVE_LIMIT_PLUS;
+//int16_t VALVE_LIMIT_MINUS;
+
+float ENC_PULSE_PER_POSITION;
+float TORQUE_SENSOR_PULSE_PER_TORQUE;
+float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
+float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
+
+int HOMEPOS_OFFSET;
+int HOMEPOS_VALVE_OPENING;
+
+float FRICTION;
+float REF_PERIOD;
+float REF_MAG;
+int REF_NUM;
+
+
+float DAC_REF;
+float DAC_RESOL;
+
+int REF_POSITION;
+int REF_VELOCITY;
+int16_t REF_TORQUE;
+int16_t REF_PRES_DIFF;
+int16_t REF_PWM;
+int16_t REF_VALVE_POSITION;
+int16_t REF_CURRENT;
+
+int REF_MOVE_TIME_5k;
+int INIT_REF_PWM;
+int INIT_REF_VALVE_POS;
+int INIT_REF_POS;
+int INIT_REF_VEL;
+int INIT_REF_TORQUE;
+int INIT_REF_PRES_DIFF;
+int INIT_REF_CURRENT;
+
+int CUR_POSITION;
+int CUR_VELOCITY;
+float CUR_TORQUE;
+float CUR_PRES_A;
+float CUR_PRES_B;
+int CUR_VALVE_POSITION;
+
+unsigned int TMR2_COUNT_LED1;
+unsigned int TMR2_COUNT_LED2;
+unsigned int TMR2_COUNT_CAN_TX = 0;
+unsigned int TMR3_COUNT_TEST = 0;
+
+int num_err;
+int flag_err[8];
+int flag_err_old[8];
+int flag_err_rt;
+
+int flag_ref_enable;
+
+int flag_data_request[5];
+
+int MODE_POS_FT_TRANS = 0;
+
+float CUR_CURRENT_mA = 0.0f;
+float CUR_PRES_A_BAR = 0.0f;
+float CUR_PRES_B_BAR = 0.0f;
+float CUR_TORQUE_NM = 0.0f;
+float CUR_TORQUE_NM_PRESS = 0.0f;
+
+float PRES_A_VREF = 0.0f;
+float PRES_B_VREF = 0.0f;
+float TORQUE_VREF = 0.0f;
+
+float VALVE_PWM_RAW_FB = 0.0f;
+float VALVE_PWM_RAW_FF = 0.0f;
+float VALVE_PWM_RAW = 0.0f;
+int VALVE_PWM_VALVE_DZ = 0;
+
+float VALVE_GAIN_LPM_PER_V[10];
+float VALVE_POS_VS_PWM[25];
+long JOINT_VEL[100];
+
+int VALVE_MAX_POS;
+int VALVE_MIN_POS;
+int VALVE_POS_NUM;
+float VALVE_CENTER_OFFSET;
+float VALVE_DZ_MINUS_OFFSET;
+float VALVE_DZ_PLUS_OFFSET;
+
+
+
+//SPI device(PB_15, PB_14, PB_13);
+//DigitalOut cs(PB_12);
+SPI eeprom(PB_15, PB_14, PB_13); //MOSI, MISO, SCK
+DigitalOut eeprom_cs(PB_12); // Chip select
+//DigitalOut check(PA_10);
+Serial pc(PA_9,PA_10);
+int temp1, temp2;
+void spi_eeprom_ready(void);
+void spi_eeprom_write(unsigned int data);
+void spi_eeprom_write_long(void);
+void spi_eeprom_write_long_1(unsigned int add);
+void spi_eeprom_write_long_2(unsigned int add);
+void spi_eeprom_write_long_3(unsigned int add);
+void spi_eeprom_write_long_4(unsigned int add);
+void spi_eeprom_write_long_5(unsigned int add);
+void spi_eeprom_write_long_6(unsigned int add);
+void spi_eeprom_write_long_7(unsigned int add);
+void spi_eeprom_write_long_8(unsigned int add);
+void spi_eeprom_write_long_9(unsigned int add);
+void spi_eeprom_write_long_10(unsigned int add);
+void spi_eeprom_write_long_11(unsigned int add);
+void spi_eeprom_write_long_12(unsigned int add);
+void spi_eeprom_write_long_13(unsigned int add);
+unsigned int spi_eeprom_read(void);
+void spi_eeprom_read_long(void);
+void spi_eeprom_read_long_1(unsigned int add);
+void spi_eeprom_read_long_2(unsigned int add);
+void spi_eeprom_read_long_3(unsigned int add);
+void spi_eeprom_read_long_4(unsigned int add);
+void spi_eeprom_read_long_5(unsigned int add);
+void spi_eeprom_read_long_6(unsigned int add);
+void spi_eeprom_read_long_7(unsigned int add);
+void spi_eeprom_read_long_8(unsigned int add);
+void spi_eeprom_read_long_9(unsigned int add);
+void spi_eeprom_read_long_10(unsigned int add);
+void spi_eeprom_read_long_11(unsigned int add);
+void spi_eeprom_read_long_12(unsigned int add);
+void spi_eeprom_read_long_13(unsigned int add);
+ int a=0x41233212;
+ int b=0x32222222;
+ int c=0x11112222;
+ int d=0x11111111;
+ int e=0x00002222;
+
+int main() {
+ eeprom.format(8,3);
+ eeprom.frequency(5000000); // max freq of eeprom
+ spi_eeprom_write_long();
+
+
+ while(1){
+ wait(3.0f);
+ spi_eeprom_read_long();
+ pc.printf("right=%d, ans=%d\n",b,D_DAMPER);
+ for(int i=90; i<100; i++) {
+ pc.printf("%dth right=%d, ans=%d\n",i,b,JOINT_VEL[i]);
+ }
+ for(int i=0; i<15; i++) {
+ pc.printf("%dth right=%d, ans=%d\n",i,a,JOINT_VEL[i]);
+ }
+ wait(10.0f);
+
+ /*
+ pc.printf("a right=%d, ans=%d\n",a,BNO);
+ pc.printf("a right=%d, ans=%f\n",a,P_GAIN_VALVE_POSITION);
+ pc.printf("a right=%d, ans=%f\n",a,D_GAIN_JOINT_TORQUE);
+ pc.printf("b right=%d, ans=%d\n",a,VALVE_FF);
+ */
+ /*
+ pc.printf("c right=%d, ans=%f\n",c,VALVE_POS_VS_PWM[11]);
+ pc.printf("d right=%d, ans=%d\n",d,JOINT_VEL[99]);
+ pc.printf("e right=%d, ans=%d\n",e,D_DAMPER);
+ */
+ }
+}
+
+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 int data){
+ eeprom.write(0xff&data);
+ eeprom.write(0xff&(data>>8));
+ eeprom.write(0xff&(data>>16));
+ eeprom.write(0xff&(data>>24));
+}
+
+void spi_eeprom_write_long(void){
+
+ spi_eeprom_write_long_1(0x0000);
+ spi_eeprom_write_long_2(0x0100);
+ spi_eeprom_write_long_3(0x0200);
+ spi_eeprom_write_long_4(0x0300);
+ spi_eeprom_write_long_5(0x0400);
+ spi_eeprom_write_long_6(0x0500);
+ spi_eeprom_write_long_7(0x0600);
+ spi_eeprom_write_long_8(0x0700);
+ spi_eeprom_write_long_9(0x0800);
+ spi_eeprom_write_long_10(0x0900);
+ spi_eeprom_write_long_11(0x1000);
+ spi_eeprom_write_long_12(0x1100);
+ spi_eeprom_write_long_13(0x1200);
+}
+
+
+void spi_eeprom_write_long_1(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ spi_eeprom_write((int) BNO); // write at address, 쓸때도 4byte씩 씀
+ spi_eeprom_write((int) OPERATING_MODE);
+ spi_eeprom_write((int) SENSING_MODE);
+ spi_eeprom_write((int) CURRENT_CONTROL_MODE);
+ spi_eeprom_write((int) FLAG_VALVE_DEADZONE);
+ spi_eeprom_write((int) CAN_FREQ);
+ spi_eeprom_write((int) DIR_JOINT_ENC);
+ spi_eeprom_write((int) DIR_VALVE);
+ spi_eeprom_write((int) DIR_VALVE_ENC);
+ spi_eeprom_write((int) (SUPPLY_VOLTAGE * 10.0f));
+ spi_eeprom_write((int) (VALVE_VOLTAGE_LIMIT * 10.0f));
+ spi_eeprom_write((int) P_GAIN_VALVE_POSITION);
+ spi_eeprom_write((int) I_GAIN_VALVE_POSITION);
+ spi_eeprom_write((int) D_GAIN_VALVE_POSITION);
+ spi_eeprom_write((int) P_GAIN_JOINT_POSITION);
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_2(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ spi_eeprom_write((int) I_GAIN_JOINT_POSITION);
+ spi_eeprom_write((int) D_GAIN_JOINT_POSITION);
+ spi_eeprom_write((int) P_GAIN_JOINT_TORQUE);
+ spi_eeprom_write((int) I_GAIN_JOINT_TORQUE);
+ spi_eeprom_write((int) D_GAIN_JOINT_TORQUE);
+ spi_eeprom_write((int) (VALVE_DEADZONE_PLUS * 10.0f));
+ spi_eeprom_write((int) (VALVE_DEADZONE_MINUS * 10.0f));
+ spi_eeprom_write((int) VELOCITY_COMP_GAIN);
+ spi_eeprom_write((int) COMPLIANCE_GAIN);
+ spi_eeprom_write((int) VALVE_CENTER);
+ spi_eeprom_write((int) VALVE_FF);
+ spi_eeprom_write((int) BNO);
+ spi_eeprom_write((int) CHAMBER_VOLUME_A);
+ spi_eeprom_write((int) CHAMBER_VOLUME_B);
+ spi_eeprom_write((int) PISTON_AREA_A);
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_3(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ spi_eeprom_write((int) PISTON_AREA_B);
+ spi_eeprom_write((int) PRES_SUPPLY);
+ spi_eeprom_write((int) PRES_RETURN);
+ spi_eeprom_write((int) ENC_LIMIT_MINUS);
+ spi_eeprom_write((int) ENC_LIMIT_PLUS);
+ spi_eeprom_write((int) STROKE);
+ //writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS);
+ //writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS);
+ spi_eeprom_write((int) (ENC_PULSE_PER_POSITION*10.0f));
+ spi_eeprom_write((int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f));
+ spi_eeprom_write((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
+ spi_eeprom_write((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
+ spi_eeprom_write((int) (FRICTION * 10.0f));
+ spi_eeprom_write((int) HOMEPOS_OFFSET);
+ spi_eeprom_write((int) HOMEPOS_VALVE_OPENING);
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_4(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ spi_eeprom_write((int) (TORQUE_VREF * 1000.0f));
+ spi_eeprom_write( (int) (PRES_A_VREF * 1000.0f));
+ spi_eeprom_write((int) (PRES_B_VREF * 1000.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
+ spi_eeprom_write((int) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_5(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ for(int i=0; i<15; i++) {
+ spi_eeprom_write( (int) VALVE_POS_VS_PWM[i]);
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_6(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ for(int i=15; i<25; i++) {
+ spi_eeprom_write( (int) VALVE_POS_VS_PWM[i]);
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_7(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ for(int i=0; i<15; i++) {
+ spi_eeprom_write((int) (JOINT_VEL[i] & 0xFFFFFFFF));
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_8(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ for(int i=15; i<30; i++) {
+ spi_eeprom_write((int) (JOINT_VEL[i] & 0xFFFFFFFF));
+ }
+
+ eeprom_cs=1;
+}
+void spi_eeprom_write_long_9(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ for(int i=30; i<45; i++) {
+ spi_eeprom_write((int) (JOINT_VEL[i] & 0xFFFFFFFF));
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_10(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ for(int i=45; i<60; i++) {
+ spi_eeprom_write((int) (JOINT_VEL[i] & 0xFFFFFFFF));
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_11(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ for(int i=60; i<75; i++) {
+ spi_eeprom_write((int) (JOINT_VEL[i] & 0xFFFFFFFF));
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_12(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ for(int i=75; i<90; i++) {
+ spi_eeprom_write((int) (JOINT_VEL[i] & 0xFFFFFFFF));
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_write_long_13(unsigned int add){
+
+ spi_eeprom_ready();
+ eeprom_cs=0;
+ eeprom.write(0x02);
+ eeprom.write(0xff&(add>>8));
+ eeprom.write(0xff&add);
+
+ for(int i=90; i<100; i++) {
+ spi_eeprom_write((int) (JOINT_VEL[i] & 0xFFFFFFFF));
+ }
+
+ spi_eeprom_write((int) VALVE_MAX_POS);
+ spi_eeprom_write((int) VALVE_MIN_POS);
+ //writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f));
+ spi_eeprom_write((int) VALVE_POS_NUM);
+ spi_eeprom_write((int) K_SPRING);
+ spi_eeprom_write((int) D_DAMPER);
+
+ eeprom_cs=1;
+}
+
+unsigned int spi_eeprom_read(void){
+ int a1 = eeprom.write(0x00);
+ int a2 = eeprom.write(0x00);
+ int a3 = eeprom.write(0x00);
+ int a4 = eeprom.write(0x00);
+ unsigned int final = (a4<<24)+(a3<<16) + (a2<<8) + a1;
+ return final;
+}
+
+void spi_eeprom_read_long(void){
+ spi_eeprom_read_long_1(0x0000);
+ spi_eeprom_read_long_2(0x0100);
+ spi_eeprom_read_long_3(0x0200);
+ spi_eeprom_read_long_4(0x0300);
+ spi_eeprom_read_long_5(0x0400);
+ spi_eeprom_read_long_6(0x0500);
+ spi_eeprom_read_long_7(0x0600);
+ spi_eeprom_read_long_8(0x0700);
+ spi_eeprom_read_long_9(0x0800);
+ spi_eeprom_read_long_10(0x0900);
+ spi_eeprom_read_long_11(0x1000);
+ spi_eeprom_read_long_12(0x1100);
+ spi_eeprom_read_long_13(0x1200);
+}
+
+void spi_eeprom_read_long_1(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ BNO = spi_eeprom_read();
+ BNO = 1;
+ OPERATING_MODE = spi_eeprom_read();
+ SENSING_MODE = spi_eeprom_read();
+ CURRENT_CONTROL_MODE = spi_eeprom_read();
+ FLAG_VALVE_DEADZONE = spi_eeprom_read();
+ CAN_FREQ = spi_eeprom_read();
+ DIR_JOINT_ENC = spi_eeprom_read();
+ DIR_VALVE = spi_eeprom_read();
+ DIR_VALVE_ENC = spi_eeprom_read();
+ SUPPLY_VOLTAGE = (float) (spi_eeprom_read()) *0.1f;
+ VALVE_VOLTAGE_LIMIT = (float) (spi_eeprom_read()) * 0.1f;
+ P_GAIN_VALVE_POSITION = spi_eeprom_read();
+ I_GAIN_VALVE_POSITION = spi_eeprom_read();
+ D_GAIN_VALVE_POSITION = spi_eeprom_read();
+ P_GAIN_JOINT_POSITION = spi_eeprom_read();
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_2(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ I_GAIN_JOINT_POSITION = spi_eeprom_read();
+ D_GAIN_JOINT_POSITION = spi_eeprom_read();
+ P_GAIN_JOINT_TORQUE = spi_eeprom_read();
+ I_GAIN_JOINT_TORQUE = spi_eeprom_read();
+ D_GAIN_JOINT_TORQUE = spi_eeprom_read();
+ VALVE_DEADZONE_PLUS = (float) (spi_eeprom_read()) * 0.1f;
+ VALVE_DEADZONE_MINUS = (float) (spi_eeprom_read()) * 0.1f;
+ VELOCITY_COMP_GAIN = spi_eeprom_read();
+ COMPLIANCE_GAIN = spi_eeprom_read();
+ VALVE_CENTER = spi_eeprom_read();
+ VALVE_FF = spi_eeprom_read();
+ BULK_MODULUS = spi_eeprom_read();
+ CHAMBER_VOLUME_A = spi_eeprom_read();
+ CHAMBER_VOLUME_B = spi_eeprom_read();
+ PISTON_AREA_A = spi_eeprom_read();
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_3(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ PISTON_AREA_B = spi_eeprom_read();
+ PISTON_AREA_alpha = (float)PISTON_AREA_B/(float)PISTON_AREA_A;
+ alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
+ PRES_SUPPLY = spi_eeprom_read();
+ PRES_RETURN = spi_eeprom_read();
+ ENC_LIMIT_MINUS = spi_eeprom_read();
+ ENC_LIMIT_PLUS = spi_eeprom_read();
+ STROKE = spi_eeprom_read();
+ //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()) * 0.1f;
+ // ENC_PULSE_PER_POSITION = (float) 1024.0f;
+ TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (spi_eeprom_read()) * 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()) * 0.01f;
+ // PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
+ PRES_SENSOR_B_PULSE_PER_BAR = (float) (spi_eeprom_read()) * 0.01f;
+ // PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
+ FRICTION = (float) (spi_eeprom_read()) * 0.1f;
+ HOMEPOS_OFFSET = spi_eeprom_read();
+ HOMEPOS_VALVE_OPENING = spi_eeprom_read();
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_4(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ TORQUE_VREF = (float) (spi_eeprom_read()) *0.001f;
+ PRES_A_VREF = (float) spi_eeprom_read() * 0.001f;
+ PRES_B_VREF = (float) spi_eeprom_read() * 0.001f;
+ VALVE_GAIN_LPM_PER_V[0] = (float) (spi_eeprom_read()) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[2] = (float) (spi_eeprom_read()) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[4] = (float) (spi_eeprom_read()) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[6] = (float) (spi_eeprom_read()) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[8] = (float) (spi_eeprom_read()) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[1] = (float) (spi_eeprom_read()) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[3] = (float) (spi_eeprom_read()) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[5] = (float) (spi_eeprom_read()) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[7] = (float) (spi_eeprom_read()) * 0.01f;
+ VALVE_GAIN_LPM_PER_V[9] = (float) (spi_eeprom_read()) * 0.01f;
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_5(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ for(int i=0; i<15; i++) {
+ VALVE_POS_VS_PWM[i] = (float) (spi_eeprom_read());
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_6(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ for(int i=15; i<25; i++) {
+ VALVE_POS_VS_PWM[i] = (float) (spi_eeprom_read());
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_7(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ for(int i=0; i<15; i++) {
+ JOINT_VEL[i] = spi_eeprom_read() ;
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_8(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ for(int i=15; i<30; i++) {
+ JOINT_VEL[i] = spi_eeprom_read() ;
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_9(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ for(int i=30; i<45; i++) {
+ JOINT_VEL[i] = spi_eeprom_read() ;
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_10(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ for(int i=45; i<60; i++) {
+ JOINT_VEL[i] = spi_eeprom_read() ;
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_11(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ for(int i=60; i<75; i++) {
+ JOINT_VEL[i] = spi_eeprom_read() ;
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_12(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ for(int i=75; i<90; i++) {
+ JOINT_VEL[i] = spi_eeprom_read() ;
+ }
+
+ eeprom_cs=1;
+}
+
+void spi_eeprom_read_long_13(unsigned int add){
+ eeprom_cs=0;
+ eeprom.write(0x03);
+ eeprom.write(0xff&((add)>>8));
+ eeprom.write(0xff&(add));
+
+ for(int i=90; i<100; i++) {
+ JOINT_VEL[i] = spi_eeprom_read() ;
+ }
+
+ VALVE_MAX_POS = spi_eeprom_read();
+ VALVE_MIN_POS = spi_eeprom_read();
+ //DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
+ VALVE_POS_NUM = spi_eeprom_read();
+
+ K_SPRING = spi_eeprom_read();
+ D_DAMPER = spi_eeprom_read();
+
+ eeprom_cs=1;
+}
\ No newline at end of file