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distribution-201229
Diff: CAN/function_CAN.cpp
- Revision:
- 36:a46e63505ed8
- Parent:
- 35:34ce7b0347b8
- Child:
- 38:118df027d851
--- a/CAN/function_CAN.cpp Wed Nov 20 12:55:18 2019 +0000 +++ b/CAN/function_CAN.cpp Fri Nov 22 08:03:52 2019 +0000 @@ -659,6 +659,43 @@ ROM_RESET_DATA(); break; } + case CRX_SET_PID_GAIN_OPP: { + if (msg.data[1] == 0) { + P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8); + 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(); + + //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) { + 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(); + + //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(); + + //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; + } default: break; }