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distribution-201229
Diff: CAN/function_CAN.cpp
- Revision:
- 12:6f2531038ea4
- Parent:
- 11:82d8768d7351
- Child:
- 14:8e7590227d22
--- a/CAN/function_CAN.cpp Fri Aug 23 12:28:08 2019 +0000 +++ b/CAN/function_CAN.cpp Tue Aug 27 05:32:44 2019 +0000 @@ -18,6 +18,9 @@ int CID_TX_VOUT = 1500; int CID_TX_VALVE_POSITION = 1600; +// variables +uint8_t can_index = 0; + /******************************************************************************* * CAN functions @@ -39,7 +42,7 @@ CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION); } -void ReadCMD(char CMD) +void ReadCMD(int8_t CMD) { switch(CMD){ case CRX_ASK_INFO: { @@ -71,7 +74,7 @@ break; } case CRX_SET_FET_ON: { - LAT_MOT_EN = (int16_t) msg.data[1];; + //LAT_MOT_EN = (int16_t) msg.data[1];; break; } @@ -102,7 +105,7 @@ case CRX_SET_CONTROL_MODE: { CONTROL_MODE = (int16_t) (msg.data[1]); - if (CONTROL_MODE == MODE_FIND_HOME) { + if (CONTROL_MODE == 22) { //MODE_FIND_HOME FLAG_FIND_HOME = true; } break; @@ -112,8 +115,10 @@ int request_type = msg.data[2]; flag_data_request[request_type] = msg.data[1]; - if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC - if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC +// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC + if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3; +// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC + if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3; break; } @@ -196,7 +201,7 @@ break; } - /////////////////////////////////////////////////////////////////////////////////////////////////////////// + case CRX_SET_HOMEPOS: { CONTROL_MODE = 22; SETTING_SWITCH = (int16_t) (msg.data[1]); @@ -236,8 +241,6 @@ 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; @@ -351,7 +354,10 @@ case CRX_ASK_PRES: { CAN_TX_PRES_A_AND_B(); - SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); +// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); + dac_1 = PRES_A_VREF; + dac_2 = PRES_B_VREF; + break; } @@ -535,7 +541,7 @@ case CRX_SET_ERR_CLEAR: { - for (i = 0; i < num_err; i++) { + for (int i = 0; i < num_err; i++) { flag_err[i] = FALSE; flag_err_old[i] = FALSE; } @@ -621,28 +627,28 @@ *******************************************************************************/ void CAN_TX_INFO(void) { - CANmsg.data temp_msg; + CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 7; - temp_msg.data[0] = (unsigned char) CTX_SEND_INFO; - temp_msg.data[1] = (unsigned char) BNO; - temp_msg.data[2] = (unsigned char) CAN_FREQ; - temp_msg.data[3] = (unsigned char) (CAN_FREQ >> 8); - temp_msg.data[4] = (unsigned char) (flag_err[7] << 7 | flag_err[6] << 6 | flag_err[5] << 5 | flag_err[4] << 4 | flag_err[3] << 3 | flag_err[2] << 2 | flag_err[1] << 1 | flag_err[0]); - temp_msg.data[5] = (unsigned char) CONTROL_MODE; - temp_msg.data[6] = (unsigned char) OPERATING_MODE; + temp_msg.data[0] = (uint8_t) CTX_SEND_INFO; + temp_msg.data[1] = (uint8_t) BNO; + temp_msg.data[2] = (uint8_t) CAN_FREQ; + temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8); + temp_msg.data[4] = (uint8_t) (flag_err[7] << 7 | flag_err[6] << 6 | flag_err[5] << 5 | flag_err[4] << 4 | flag_err[3] << 3 | flag_err[2] << 2 | flag_err[1] << 1 | flag_err[0]); + temp_msg.data[5] = (uint8_t) CONTROL_MODE; + temp_msg.data[6] = (uint8_t) OPERATING_MODE; can.write(temp_msg); } void CAN_TX_BNO(void) { - CANmsg.data temp_msg; + CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 2; - temp_msg.data[0] = (unsigned char) CTX_SEND_BNO; - temp_msg.data[1] = (unsigned char) BNO; + temp_msg.data[0] = (uint8_t) CTX_SEND_BNO; + temp_msg.data[1] = (uint8_t) BNO; can.write(temp_msg); } @@ -652,8 +658,8 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 2; - temp_msg.data[0] = (unsigned char) CTX_SEND_OPERATING_MODE; - temp_msg.data[1] = (unsigned char) OPERATING_MODE; + temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE; + temp_msg.data[1] = (uint8_t) OPERATING_MODE; can.write(temp_msg); } @@ -675,8 +681,8 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 2; - temp_msg.data[0] = (unsigned char) CTX_SEND_CONTROL_MODE; - temp_msg.data[1] = (unsigned char) CONTROL_MODE; + temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE; + temp_msg.data[1] = (uint8_t) CONTROL_MODE; can.write(temp_msg); } @@ -686,9 +692,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_JOINT_ENC_DIR; - temp_msg.data[1] = (unsigned char) DIR_JOINT_ENC; - temp_msg.data[2] = (unsigned char) (DIR_JOINT_ENC >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR; + temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC; + temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8); can.write(temp_msg); } @@ -698,9 +704,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DIR; - temp_msg.data[1] = (unsigned char) DIR_VALVE; - temp_msg.data[2] = (unsigned char) (DIR_VALVE >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR; + temp_msg.data[1] = (uint8_t) DIR_VALVE; + temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8); can.write(temp_msg); } @@ -710,37 +716,37 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_ENC_DIR; - temp_msg.data[1] = (unsigned char) DIR_VALVE_ENC; - temp_msg.data[2] = (unsigned char) (DIR_VALVE_ENC >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR; + temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC; + temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8); can.write(temp_msg); } void CAN_TX_VOLTAGE_SUPPLY(void) { - long send_voltage_supply = (long) (SUPPLY_VOLTAGE * 10); + int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10); CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_SUPPLY; - temp_msg.data[1] = (unsigned char) (send_voltage_supply); - temp_msg.data[2] = (unsigned char) (send_voltage_supply >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY; + temp_msg.data[1] = (uint8_t) (send_voltage_supply); + temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8); can.write(temp_msg); } void CAN_TX_VOLTAGE_VALVE(void) { - long send_voltage_valve = (long) (VALVE_VOLTAGE_LIMIT * 10); + int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10); CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_VALVE; - temp_msg.data[1] = (unsigned char) send_voltage_valve; - temp_msg.data[2] = (unsigned char) (send_voltage_valve >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE; + temp_msg.data[1] = (uint8_t) send_voltage_valve; + temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8); can.write(temp_msg); } @@ -751,33 +757,33 @@ // t_type = 1 : joint position control gain // t_type = 2 : joint torque control gain - long sendPgain=0, sendIgain=0, sendDgain=0; + int16_t sendPgain=0, sendIgain=0, sendDgain=0; if (t_type == 0) { -// sendPgain = (long) (P_GAIN_VALVE_POSITION); -// sendIgain = (long) (I_GAIN_VALVE_POSITION); -// sendDgain = (long) (D_GAIN_VALVE_POSITION); +// sendPgain = (int16_t) (P_GAIN_VALVE_POSITION); +// sendIgain = (int16_t) (I_GAIN_VALVE_POSITION); +// sendDgain = (int16_t) (D_GAIN_VALVE_POSITION); } else if (t_type == 1) { - sendPgain = (long) (P_GAIN_JOINT_POSITION); - sendIgain = (long) (I_GAIN_JOINT_POSITION); - sendDgain = (long) (D_GAIN_JOINT_POSITION); + sendPgain = (int16_t) (P_GAIN_JOINT_POSITION); + sendIgain = (int16_t) (I_GAIN_JOINT_POSITION); + sendDgain = (int16_t) (D_GAIN_JOINT_POSITION); } else if (t_type == 2) { - sendPgain = (long) (P_GAIN_JOINT_TORQUE); - sendIgain = (long) (I_GAIN_JOINT_TORQUE); - sendDgain = (long) (D_GAIN_JOINT_TORQUE); + sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE); + sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE); + sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE); } CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 8; - temp_msg.data[0] = (unsigned char) CTX_SEND_PID_GAIN; - temp_msg.data[1] = (unsigned char) t_type; - temp_msg.data[2] = (unsigned char) sendPgain; - temp_msg.data[3] = (unsigned char) (sendPgain >> 8); - temp_msg.data[4] = (unsigned char) sendIgain; - temp_msg.data[5] = (unsigned char) (sendIgain >> 8); - temp_msg.data[6] = (unsigned char) sendDgain; - temp_msg.data[7] = (unsigned char) (sendDgain >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN; + temp_msg.data[1] = (uint8_t) t_type; + temp_msg.data[2] = (uint8_t) sendPgain; + temp_msg.data[3] = (uint8_t) (sendPgain >> 8); + temp_msg.data[4] = (uint8_t) sendIgain; + temp_msg.data[5] = (uint8_t) (sendIgain >> 8); + temp_msg.data[6] = (uint8_t) sendDgain; + temp_msg.data[7] = (uint8_t) (sendDgain >> 8); can.write(temp_msg); } @@ -788,13 +794,13 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 7; - temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DEADZONE; - temp_msg.data[1] = (unsigned char) (int) (VALVE_CENTER); - temp_msg.data[2] = (unsigned char) ((int) (VALVE_CENTER) >> 8); - temp_msg.data[3] = (unsigned char) (int) (VALVE_DEADZONE_PLUS); - temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8); - temp_msg.data[5] = (unsigned char) (int) (VALVE_DEADZONE_MINUS); - temp_msg.data[6] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE; + temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER); + temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8); + temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS); + temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8); + temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS); + temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8); can.write(temp_msg); } @@ -804,9 +810,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_VELOCITY_COMP_GAIN; - temp_msg.data[1] = (unsigned char) VELOCITY_COMP_GAIN; - temp_msg.data[2] = (unsigned char) (VELOCITY_COMP_GAIN >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN; + temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN; + temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8); can.write(temp_msg); } @@ -816,9 +822,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_COMPLIANCE_GAIN; - temp_msg.data[1] = (unsigned char) COMPLIANCE_GAIN; - temp_msg.data[2] = (unsigned char) (COMPLIANCE_GAIN >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN; + temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN; + temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8); can.write(temp_msg); } @@ -828,9 +834,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_FF; - temp_msg.data[1] = (unsigned char) VALVE_FF; - temp_msg.data[2] = (unsigned char) (VALVE_FF >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF; + temp_msg.data[1] = (uint8_t) VALVE_FF; + temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8); can.write(temp_msg); } @@ -840,9 +846,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_BULK_MODULUS; - temp_msg.data[1] = (unsigned char) BULK_MODULUS; - temp_msg.data[2] = (unsigned char) (BULK_MODULUS >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS; + temp_msg.data[1] = (uint8_t) BULK_MODULUS; + temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8); can.write(temp_msg); } @@ -852,11 +858,11 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 5; - temp_msg.data[0] = (unsigned char) CTX_SEND_CHAMBER_VOLUME; - temp_msg.data[1] = (unsigned char) CHAMBER_VOLUME_A; - temp_msg.data[2] = (unsigned char) (CHAMBER_VOLUME_A >> 8); - temp_msg.data[3] = (unsigned char) CHAMBER_VOLUME_B; - temp_msg.data[4] = (unsigned char) (CHAMBER_VOLUME_B >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME; + temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A; + temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8); + temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B; + temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8); can.write(temp_msg); } @@ -866,11 +872,11 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 5; - temp_msg.data[0] = (unsigned char) CTX_SEND_PISTON_AREA; - temp_msg.data[1] = (unsigned char) PISTON_AREA_A; - temp_msg.data[2] = (unsigned char) (PISTON_AREA_A >> 8); - temp_msg.data[3] = (unsigned char) PISTON_AREA_B; - temp_msg.data[4] = (unsigned char) (PISTON_AREA_B >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA; + temp_msg.data[1] = (uint8_t) PISTON_AREA_A; + temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8); + temp_msg.data[3] = (uint8_t) PISTON_AREA_B; + temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8); can.write(temp_msg); } @@ -880,11 +886,11 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 5; - temp_msg.data[0] = (unsigned char) CTX_SEND_PRES; - temp_msg.data[1] = (unsigned char) PRES_SUPPLY; - temp_msg.data[2] = (unsigned char) (PRES_SUPPLY >> 8); - temp_msg.data[3] = (unsigned char) PRES_RETURN; - temp_msg.data[4] = (unsigned char) (PRES_RETURN >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_PRES; + temp_msg.data[1] = (uint8_t) PRES_SUPPLY; + temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8); + temp_msg.data[3] = (uint8_t) PRES_RETURN; + temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8); can.write(temp_msg); } @@ -894,11 +900,11 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 5; - temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_LIMIT; - temp_msg.data[1] = (unsigned char) ENC_LIMIT_MINUS; - temp_msg.data[2] = (unsigned char) (ENC_LIMIT_MINUS >> 8); - temp_msg.data[3] = (unsigned char) ENC_LIMIT_PLUS; - temp_msg.data[4] = (unsigned char) (ENC_LIMIT_PLUS >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT; + temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS; + temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8); + temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS; + temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8); can.write(temp_msg); } @@ -908,9 +914,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_STROKE; - temp_msg.data[1] = (unsigned char) STROKE; - temp_msg.data[2] = (unsigned char) (STROKE >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE; + temp_msg.data[1] = (uint8_t) STROKE; + temp_msg.data[2] = (uint8_t) (STROKE >> 8); can.write(temp_msg); } @@ -920,11 +926,11 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 5; - temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_LIMIT; - temp_msg.data[1] = (unsigned char) VALVE_LIMIT_MINUS; - temp_msg.data[2] = (unsigned char) (VALVE_LIMIT_MINUS >> 8); - temp_msg.data[3] = (unsigned char) VALVE_LIMIT_PLUS; - temp_msg.data[4] = (unsigned char) (VALVE_LIMIT_PLUS >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT; + temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS; + temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8); + temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS; + temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 8); can.write(temp_msg); } @@ -934,9 +940,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_PULSE_PER_POSITION; - temp_msg.data[1] = (unsigned char) ENC_PULSE_PER_POSITION; - temp_msg.data[2] = (unsigned char) (ENC_PULSE_PER_POSITION >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION; + temp_msg.data[1] = (uint8_t) ENC_PULSE_PER_POSITION; + temp_msg.data[2] = (uint8_t) (ENC_PULSE_PER_POSITION >> 8); can.write(temp_msg); } @@ -946,9 +952,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE; - temp_msg.data[1] = (unsigned char) TORQUE_SENSOR_PULSE_PER_TORQUE; - temp_msg.data[2] = (unsigned char) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE; + temp_msg.data[1] = (uint8_t) TORQUE_SENSOR_PULSE_PER_TORQUE; + temp_msg.data[2] = (uint8_t) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8); can.write(temp_msg); } @@ -958,25 +964,25 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 5; - temp_msg.data[0] = (unsigned char) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR; - temp_msg.data[1] = (unsigned char) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.); - temp_msg.data[2] = (unsigned char) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8); - temp_msg.data[3] = (unsigned char) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.); - temp_msg.data[4] = (unsigned char) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR; + temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.); + temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8); + temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.); + temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8); can.write(temp_msg); } void CAN_TX_FRICTION(void) { CANMessage temp_msg; - long send_friction; - send_friction = (long) (FRICTION * 10.); + int16_t send_friction; + send_friction = (int16_t) (FRICTION * 10.); temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_FRICTION; - temp_msg.data[1] = (unsigned char) send_friction; - temp_msg.data[2] = (unsigned char) (send_friction >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION; + temp_msg.data[1] = (uint8_t) send_friction; + temp_msg.data[2] = (uint8_t) (send_friction >> 8); can.write(temp_msg); } @@ -986,12 +992,12 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 6; - temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_PLUS; - temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[0] * 50.); - temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[2] * 50.); - temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[4] * 50.); - temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[6] * 50.); - temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[8] * 50.); + temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS; + temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.); + temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.); + temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.); + temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.); + temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.); can.write(temp_msg); } @@ -1001,13 +1007,13 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 7; - temp_msg.data[0] = (unsigned char) CTX_SEND_DDV_VALVE_DEADZONE; - temp_msg.data[1] = (unsigned char) VALVE_DEADZONE_MINUS; - temp_msg.data[2] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8); - temp_msg.data[3] = (unsigned char) (VALVE_DEADZONE_PLUS); - temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8); - temp_msg.data[5] = (unsigned char) (DDV_CENTER); - temp_msg.data[6] = (unsigned char) ((int) (DDV_CENTER) >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE; + temp_msg.data[1] = (uint8_t) VALVE_DEADZONE_MINUS; + temp_msg.data[2] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8); + temp_msg.data[3] = (uint8_t) (VALVE_DEADZONE_PLUS); + temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8); + temp_msg.data[5] = (uint8_t) (DDV_CENTER); + temp_msg.data[6] = (uint8_t) ((int) (DDV_CENTER) >> 8); can.write(temp_msg); } @@ -1017,12 +1023,12 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 6; - temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_MINUS; - temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[1] * 50.); - temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[3] * 50.); - temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[5] * 50.); - temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[7] * 50.); - temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[9] * 50.); + temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS; + temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.); + temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.); + temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.); + temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.); + temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.); can.write(temp_msg); } @@ -1032,63 +1038,64 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 6; - temp_msg.data[0] = (unsigned char) CTX_SEND_REFENCE_MODE; - temp_msg.data[1] = (unsigned char) REFERENCE_MODE; - temp_msg.data[2] = (unsigned char) (int) (REFERENCE_FREQ * 100.); - temp_msg.data[3] = (unsigned char) ((int) (REFERENCE_FREQ * 100.) >> 8); - temp_msg.data[4] = (unsigned char) (int) (REFERENCE_MAG * 100.); - temp_msg.data[5] = (unsigned char) ((int) (REFERENCE_MAG * 100.) >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE; + temp_msg.data[1] = (uint8_t) REFERENCE_MODE; + temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.); + temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.) >> 8); + temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.); + temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.) >> 8); can.write(temp_msg); } void CAN_TX_HOMEPOS_OFFSET(void) { CANMessage temp_msg; - long send_homepos_offset; - send_homepos_offset = (long) (HOMEPOS_OFFSET); + int16_t send_homepos_offset; + send_homepos_offset = (int16_t) (HOMEPOS_OFFSET); temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_OFFSET; - temp_msg.data[1] = (unsigned char) send_homepos_offset; - temp_msg.data[2] = (unsigned char) (send_homepos_offset >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET; + temp_msg.data[1] = (uint8_t) send_homepos_offset; + temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8); can.write(temp_msg); } void CAN_TX_HOMPOS_VALVE_OPENING(void) { CANMessage temp_msg; - long send_homepos_valve_opening; - send_homepos_valve_opening = (long) (HOMEPOS_VALVE_OPENING); + int16_t send_homepos_valve_opening; + send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING); temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_VALVE_OPENING; - temp_msg.data[1] = (unsigned char) send_homepos_valve_opening; - temp_msg.data[2] = (unsigned char) (send_homepos_valve_opening >> 8); + temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING; + temp_msg.data[1] = (uint8_t) send_homepos_valve_opening; + temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8); can.write(temp_msg); } -void CAN_TX_VALVE_PWM_VS_VALVE_POS(char canindex) { +void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) { CANMessage temp_msg; int16_t valve_pos_vs_pwm; valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]); - int16_t PWM_VALVE_ID = ID_index_array[canindex] * 1000; + int16_t PWM_VALVE_ID; + PWM_VALVE_ID = ID_index_array[canindex] * 1000; temp_msg.id = CID_TX_INFO; temp_msg.len = 5; - temp_msg.data[0] = (unsigned char) CTX_VALVE_PWM_VS_VALVE_POS; - temp_msg.data[1] = (unsigned char) PWM_VALVE_ID; - temp_msg.data[2] = (unsigned char) (PWM_VALVE_ID >> 8); - temp_msg.data[3] = (unsigned char) valve_pos_vs_pwm; - temp_msg.data[4] = (unsigned char) (valve_pos_vs_pwm >> 8); + temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS; + temp_msg.data[1] = (uint8_t) PWM_VALVE_ID; + temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8); + temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm; + temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8); can.write(temp_msg); } -void CAN_TX_VALVE_POS_VS_FLOWRATE(char canindex) { +void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) { CANMessage temp_msg; int32_t valve_pos_vs_flowrate; valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]); @@ -1097,13 +1104,13 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 7; - temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_VS_FLOWRATE; - temp_msg.data[1] = (unsigned char) VALVE_POS_VALVE_ID; - temp_msg.data[2] = (unsigned char) (VALVE_POS_VALVE_ID >> 8); - temp_msg.data[3] = (unsigned char) valve_pos_vs_flowrate; - temp_msg.data[4] = (unsigned char) (valve_pos_vs_flowrate >> 8); - temp_msg.data[5] = (unsigned char) (valve_pos_vs_flowrate >> 16); - temp_msg.data[6] = (unsigned char) (valve_pos_vs_flowrate >> 24); + temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE; + temp_msg.data[1] = (uint8_t) VALVE_POS_VALVE_ID; + temp_msg.data[2] = (uint8_t) (VALVE_POS_VALVE_ID >> 8); + temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate; + temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8); + temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16); + temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24); can.write(temp_msg); } @@ -1115,9 +1122,9 @@ temp_msg.id = CID_TX_INFO; temp_msg.len = 3; - temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_NUM; - temp_msg.data[1] = (unsigned char) valve_pos_num; - temp_msg.data[2] = (unsigned char) (valve_pos_num >> 8); + temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM; + temp_msg.data[1] = (uint8_t) valve_pos_num; + temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8); can.write(temp_msg); } @@ -1126,19 +1133,19 @@ Sensor & State Transmission Functions *******************************************************************************/ -void CAN_TX_POSITION(long t_pos, long t_vel) { +void CAN_TX_POSITION(int32_t t_pos, int32_t t_vel) { CANMessage temp_msg; temp_msg.id = CID_TX_POSITION; temp_msg.len = 8; - temp_msg.data[0] = (unsigned char) t_pos; - temp_msg.data[1] = (unsigned char) (t_pos >> 8); - temp_msg.data[2] = (unsigned char) (t_pos >> 16); - temp_msg.data[3] = (unsigned char) (t_pos >> 24); - temp_msg.data[4] = (unsigned char) t_vel; - temp_msg.data[5] = (unsigned char) (t_vel >> 8); - temp_msg.data[6] = (unsigned char) (t_vel >> 16); - temp_msg.data[7] = (unsigned char) (t_vel >> 24); + temp_msg.data[0] = (uint8_t) t_pos; + temp_msg.data[1] = (uint8_t) (t_pos >> 8); + temp_msg.data[2] = (uint8_t) (t_pos >> 16); + temp_msg.data[3] = (uint8_t) (t_pos >> 24); + temp_msg.data[4] = (uint8_t) t_vel; + temp_msg.data[5] = (uint8_t) (t_vel >> 8); + temp_msg.data[6] = (uint8_t) (t_vel >> 16); + temp_msg.data[7] = (uint8_t) (t_vel >> 24); can.write(temp_msg); } @@ -1148,8 +1155,8 @@ temp_msg.id = CID_TX_TORQUE; temp_msg.len = 2; - temp_msg.data[0] = (unsigned char) t_torque; - temp_msg.data[1] = (unsigned char) (t_torque >> 8); + temp_msg.data[0] = (uint8_t) t_torque; + temp_msg.data[1] = (uint8_t) (t_torque >> 8); can.write(temp_msg); } @@ -1159,10 +1166,10 @@ temp_msg.id = CID_TX_PRES; temp_msg.len = 8; - temp_msg.data[0] = (unsigned char) t_pres_a; - temp_msg.data[1] = (unsigned char) (t_pres_a >> 8); - temp_msg.data[2] = (unsigned char) t_pres_b; - temp_msg.data[3] = (unsigned char) (t_pres_b >> 8); + temp_msg.data[0] = (uint8_t) t_pres_a; + temp_msg.data[1] = (uint8_t) (t_pres_a >> 8); + temp_msg.data[2] = (uint8_t) t_pres_b; + temp_msg.data[3] = (uint8_t) (t_pres_b >> 8); can.write(temp_msg); } @@ -1172,8 +1179,8 @@ temp_msg.id = CID_TX_POSITION; temp_msg.len = 8; - temp_msg.data[0] = (unsigned char) t_pwm; - temp_msg.data[1] = (unsigned char) (t_pwm >> 8); + temp_msg.data[0] = (uint8_t) t_pwm; + temp_msg.data[1] = (uint8_t) (t_pwm >> 8); can.write(temp_msg); } @@ -1183,8 +1190,8 @@ temp_msg.id = CID_TX_VALVE_POSITION; temp_msg.len = 8; - temp_msg.data[0] = (unsigned char) t_valve_pos; - temp_msg.data[1] = (unsigned char) (t_valve_pos >> 8); + temp_msg.data[0] = (uint8_t) t_valve_pos; + temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8); can.write(temp_msg); }