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distribution-201229
Diff: function_utilities/function_utilities.cpp
- Revision:
- 16:903b5a4433b4
- Parent:
- 15:bd0d12728506
- Child:
- 17:1865016ca2e7
diff -r bd0d12728506 -r 903b5a4433b4 function_utilities/function_utilities.cpp --- a/function_utilities/function_utilities.cpp Fri Aug 30 02:26:11 2019 +0000 +++ b/function_utilities/function_utilities.cpp Mon Sep 02 13:32:33 2019 +0000 @@ -2,6 +2,12 @@ #include "SPI_EEP_ENC.h" #include "function_utilities.h" #include "function_CAN.h" +#include "stm32f4xx_flash.h" +#include "FlashWriter.h" + +int Rom_Sector = 6; +//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector + /******************************************************************************* * VARIABLE @@ -130,7 +136,9 @@ double CUR_TORQUE_NM_PRESS; double PRES_A_VREF; +double PRES_A_VREF_TEST; double PRES_B_VREF; +double PRES_B_VREF_TEST; double TORQUE_VREF; double VALVE_PWM_RAW; @@ -188,8 +196,8 @@ double CUR_PRES_B_mean = 0.0; double CUR_TORQUE_sum = 0.0; double CUR_TORQUE_mean = 0.0; -double PRES_A_NULL = 200.0; -double PRES_B_NULL = 200.0; +double PRES_A_NULL = 10.0; +double PRES_B_NULL = 10.0; double TORQUE_NULL = 3900; double Ref_Valve_Pos_Old = 0.0; @@ -320,395 +328,147 @@ ******************************************************************************/ void ROM_INIT_DATA(void) { -// static int16_t temp_check_num = LATEST_VERSION; -// spi_eeprom_ready(); -// if (spi_eeprom_read(RID_IS_FIRST) != temp_check_num) { -// spi_eeprom_ready(); -// spi_eeprom_write(RID_IS_FIRST, temp_check_num); -// ROM_RESET_DATA(); -// } + //ROM_RESET_DATA(); ROM_CALL_DATA(); - ROM_RESET_DATA(); } void ROM_RESET_DATA(void) { - spi_eeprom_ready(); - spi_eeprom_write(RID_BNO, (int) BNO); - spi_eeprom_ready(); - BNO = spi_eeprom_read(RID_BNO); - BNO = 11; - - spi_eeprom_ready(); - spi_eeprom_write(RID_OPERATING_MODE, (int) OPERATING_MODE); - spi_eeprom_ready(); - OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE); - - spi_eeprom_ready(); - spi_eeprom_write(RID_CAN_FREQ, (int) CAN_FREQ); - spi_eeprom_ready(); - CAN_FREQ = spi_eeprom_read(RID_CAN_FREQ); - - spi_eeprom_ready(); - spi_eeprom_write(RID_JOINT_ENC_DIR, (int) DIR_JOINT_ENC); - spi_eeprom_ready(); - DIR_JOINT_ENC = spi_eeprom_read(RID_JOINT_ENC_DIR); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_DIR, (int) DIR_VALVE); - spi_eeprom_ready(); - DIR_VALVE = spi_eeprom_read(RID_VALVE_DIR); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_ENC_DIR, (int) DIR_VALVE_ENC); - spi_eeprom_ready(); - DIR_VALVE_ENC = spi_eeprom_read(RID_VALVE_ENC_DIR); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VOLATGE_SUPPLY, (int) (SUPPLY_VOLTAGE * 10.0)); - spi_eeprom_ready(); - SUPPLY_VOLTAGE = (double) spi_eeprom_read(RID_VOLATGE_SUPPLY) / 10.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VOLTAGE_VALVE, (int) (VALVE_VOLTAGE_LIMIT * 10.0)); - spi_eeprom_ready(); - VALVE_VOLTAGE_LIMIT = (double) spi_eeprom_read(RID_VOLTAGE_VALVE) / 10.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int) P_GAIN_VALVE_POSITION); - spi_eeprom_ready(); - P_GAIN_VALVE_POSITION = spi_eeprom_read(RID_P_GAIN_VALVE_POSITION); - - spi_eeprom_ready(); - spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int) I_GAIN_VALVE_POSITION); - spi_eeprom_ready(); - I_GAIN_VALVE_POSITION = spi_eeprom_read(RID_I_GAIN_VALVE_POSITION); - - spi_eeprom_ready(); - spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int) D_GAIN_VALVE_POSITION); - spi_eeprom_ready(); - D_GAIN_VALVE_POSITION = spi_eeprom_read(RID_D_GAIN_VALVE_POSITION); - - spi_eeprom_ready(); - spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int) P_GAIN_JOINT_POSITION); - spi_eeprom_ready(); - P_GAIN_JOINT_POSITION = spi_eeprom_read(RID_P_GAIN_JOINT_POSITION); - - spi_eeprom_ready(); - spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int) I_GAIN_JOINT_POSITION); - spi_eeprom_ready(); - I_GAIN_JOINT_POSITION = spi_eeprom_read(RID_I_GAIN_JOINT_POSITION); - - spi_eeprom_ready(); - spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int) D_GAIN_JOINT_POSITION); - spi_eeprom_ready(); - D_GAIN_JOINT_POSITION = spi_eeprom_read(RID_D_GAIN_JOINT_POSITION); - - spi_eeprom_ready(); - spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int) P_GAIN_JOINT_TORQUE); - spi_eeprom_ready(); - P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE); - - spi_eeprom_ready(); - spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int) I_GAIN_JOINT_TORQUE); - spi_eeprom_ready(); - I_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_I_GAIN_JOINT_TORQUE); - - spi_eeprom_ready(); - spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int) D_GAIN_JOINT_TORQUE); - spi_eeprom_ready(); - D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int) (VALVE_DEADZONE_PLUS)); - spi_eeprom_ready(); - VALVE_DEADZONE_PLUS = spi_eeprom_read(RID_VALVE_DEADZONE_PLUS); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int) (VALVE_DEADZONE_MINUS)); - spi_eeprom_ready(); - VALVE_DEADZONE_MINUS = spi_eeprom_read(RID_VALVE_DEADZONE_MINUS); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int) VELOCITY_COMP_GAIN); - spi_eeprom_ready(); - VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN); - - spi_eeprom_ready(); - spi_eeprom_write(RID_COMPLIANCE_GAIN, (int) COMPLIANCE_GAIN); - spi_eeprom_ready(); - COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_CNETER, (int) VALVE_CENTER); - spi_eeprom_ready(); - VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_FF, (int) VALVE_FF); - spi_eeprom_ready(); - VALVE_FF = spi_eeprom_read(RID_VALVE_FF); - - spi_eeprom_ready(); - spi_eeprom_write(RID_BULK_MODULUS, (int) BULK_MODULUS); - spi_eeprom_ready(); - BULK_MODULUS = spi_eeprom_read(RID_BULK_MODULUS); - - spi_eeprom_ready(); - spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int) CHAMBER_VOLUME_A); - spi_eeprom_ready(); - CHAMBER_VOLUME_A = spi_eeprom_read(RID_CHAMBER_VOLUME_A); - - spi_eeprom_ready(); - spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int) CHAMBER_VOLUME_B); - spi_eeprom_ready(); - CHAMBER_VOLUME_B = spi_eeprom_read(RID_CHAMBER_VOLUME_B); - - spi_eeprom_ready(); - spi_eeprom_write(RID_PISTON_AREA_A, (int) PISTON_AREA_A); - spi_eeprom_ready(); - PISTON_AREA_A = spi_eeprom_read(RID_PISTON_AREA_A); + FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector + if (!writer.ready()) writer.open(); - spi_eeprom_ready(); - spi_eeprom_write(RID_PISTON_AREA_B, (int) PISTON_AREA_B); - spi_eeprom_ready(); - PISTON_AREA_B = spi_eeprom_read(RID_PISTON_AREA_B); - - spi_eeprom_ready(); - spi_eeprom_write(RID_PRES_SUPPLY, (int) PRES_SUPPLY); - spi_eeprom_ready(); - PRES_SUPPLY = spi_eeprom_read(RID_PRES_SUPPLY); - - spi_eeprom_ready(); - spi_eeprom_write(RID_PRES_RETURN, (int) PRES_RETURN); - spi_eeprom_ready(); - PRES_RETURN = spi_eeprom_read(RID_PRES_RETURN); - - spi_eeprom_ready(); - spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int) ENC_LIMIT_MINUS); - spi_eeprom_ready(); - ENC_LIMIT_MINUS = spi_eeprom_read(RID_ENC_LIMIT_MINUS); - - spi_eeprom_ready(); - spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int) ENC_LIMIT_PLUS); - spi_eeprom_ready(); - ENC_LIMIT_PLUS = spi_eeprom_read(RID_ENC_LIMIT_PLUS); - - spi_eeprom_ready(); - spi_eeprom_write(RID_STROKE, (int) STROKE); - spi_eeprom_ready(); - STROKE = spi_eeprom_read(RID_STROKE); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int) VALVE_LIMIT_MINUS); - spi_eeprom_ready(); - VALVE_LIMIT_MINUS = spi_eeprom_read(RID_VALVE_LIMIT_MINUS); - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int) VALVE_LIMIT_PLUS); - spi_eeprom_ready(); - VALVE_LIMIT_PLUS = spi_eeprom_read(RID_VALVE_LIMIT_PLUS); - - spi_eeprom_ready(); - spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int) ENC_PULSE_PER_POSITION); - spi_eeprom_ready(); - ENC_PULSE_PER_POSITION = spi_eeprom_read(RID_ENC_PULSE_PER_POSITION); - - TORQUE_SENSOR_PULSE_PER_TORQUE = 4096.0 / 200.0; - spi_eeprom_ready(); - spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int) TORQUE_SENSOR_PULSE_PER_TORQUE); - spi_eeprom_ready(); - TORQUE_SENSOR_PULSE_PER_TORQUE = spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE); - - PRES_SENSOR_A_PULSE_PER_BAR = 4096.0 / 200.0; - spi_eeprom_ready(); - spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0)); - spi_eeprom_ready(); - PRES_SENSOR_A_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR) * 0.01; + writer.write(RID_BNO,(int) BNO); // write at address, 쓸때도 4byte씩 씀 + writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE); + writer.write(RID_CAN_FREQ,(int) CAN_FREQ); + writer.write(RID_JOINT_ENC_DIR,(int) DIR_JOINT_ENC); + writer.write(RID_VALVE_DIR,(int) DIR_VALVE); + writer.write(RID_VALVE_ENC_DIR,(int) DIR_VALVE_ENC); + writer.write(RID_VOLATGE_SUPPLY,(int) (SUPPLY_VOLTAGE * 10.0)); + writer.write(RID_VOLTAGE_VALVE,(int) (VALVE_VOLTAGE_LIMIT * 10.0)); + writer.write(RID_P_GAIN_VALVE_POSITION,(int) P_GAIN_VALVE_POSITION); + writer.write(RID_I_GAIN_VALVE_POSITION,(int) I_GAIN_VALVE_POSITION); + writer.write(RID_D_GAIN_VALVE_POSITION,(int) D_GAIN_VALVE_POSITION); + writer.write(RID_P_GAIN_JOINT_POSITION,(int) P_GAIN_JOINT_POSITION); + writer.write(RID_I_GAIN_JOINT_POSITION,(int) I_GAIN_JOINT_POSITION); + writer.write(RID_D_GAIN_JOINT_POSITION,(int) D_GAIN_JOINT_POSITION); + writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE); + writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE); + writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE); + writer.write(RID_VALVE_DEADZONE_PLUS,(int) VALVE_DEADZONE_PLUS); + writer.write(RID_VALVE_DEADZONE_MINUS,(int) VALVE_DEADZONE_MINUS); + writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN); + writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN); + writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER); + writer.write(RID_VALVE_FF,(int) VALVE_FF); + writer.write(RID_BULK_MODULUS,(int) BNO); + writer.write(RID_CHAMBER_VOLUME_A,(int) CHAMBER_VOLUME_A); + writer.write(RID_CHAMBER_VOLUME_B,(int) CHAMBER_VOLUME_B); + writer.write(RID_PISTON_AREA_A,(int) PISTON_AREA_A); + writer.write(RID_PISTON_AREA_B,(int) PISTON_AREA_B); + writer.write(RID_PRES_SUPPLY,(int) PRES_SUPPLY); + writer.write(RID_PRES_RETURN,(int) PRES_RETURN); + writer.write(RID_ENC_LIMIT_MINUS,(int) ENC_LIMIT_MINUS); + writer.write(RID_ENC_LIMIT_PLUS,(int) ENC_LIMIT_PLUS); + writer.write(RID_STROKE,(int) STROKE); + writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS); + writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS); + writer.write(RID_ENC_PULSE_PER_POSITION,(int) ENC_PULSE_PER_POSITION); + writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) TORQUE_SENSOR_PULSE_PER_TORQUE); + writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0)); + writer.write(RID_PRES_SENSOR_B_PULSE_PER_BAR,(int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0)); + writer.write(RID_FRICTION,(int) (FRICTION * 10.0)); + writer.write(RID_HOMEPOS_OFFSET,(int) HOMEPOS_OFFSET); + writer.write(RID_HOMEPOS_VALVE_OPENING,(int) HOMEPOS_VALVE_OPENING); + writer.write(RID_TORQUE_SENSOR_VREF,(int) (TORQUE_VREF * 1000.0)); + writer.write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0)); + writer.write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0)); + writer.write(RID_VALVE_GAIN_PLUS_1,(int) (VALVE_GAIN_LPM_PER_V[0] * 100.0)); + writer.write(RID_VALVE_GAIN_PLUS_2,(int) (VALVE_GAIN_LPM_PER_V[2] * 100.0)); + writer.write(RID_VALVE_GAIN_PLUS_3,(int) (VALVE_GAIN_LPM_PER_V[4] * 100.0)); + writer.write(RID_VALVE_GAIN_PLUS_4,(int) (VALVE_GAIN_LPM_PER_V[6] * 100.0)); + writer.write(RID_VALVE_GAIN_PLUS_5,(int) (VALVE_GAIN_LPM_PER_V[8] * 100.0)); + writer.write(RID_VALVE_GAIN_MINUS_1,(int) (VALVE_GAIN_LPM_PER_V[1] * 100.0)); + writer.write(RID_VALVE_GAIN_MINUS_2,(int) (VALVE_GAIN_LPM_PER_V[3] * 100.0)); + writer.write(RID_VALVE_GAIN_MINUS_3,(int) (VALVE_GAIN_LPM_PER_V[5] * 100.0)); + writer.write(RID_VALVE_GAIN_MINUS_4,(int) (VALVE_GAIN_LPM_PER_V[7] * 100.0)); + writer.write(RID_VALVE_GAIN_MINUS_5,(int) (VALVE_GAIN_LPM_PER_V[9] * 100.0)); - PRES_SENSOR_B_PULSE_PER_BAR = 4096.0 / 200.0; - spi_eeprom_ready(); - spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0)); - spi_eeprom_ready(); - PRES_SENSOR_B_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR) * 0.01; - - spi_eeprom_ready(); - spi_eeprom_write(RID_FRICTION, (int) (FRICTION * 10.0)); - spi_eeprom_ready(); - FRICTION = (double) spi_eeprom_read(RID_FRICTION) / 10.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_HOMEPOS_OFFSET, (int) HOMEPOS_OFFSET); - spi_eeprom_ready(); - HOMEPOS_OFFSET = (int) spi_eeprom_read(RID_HOMEPOS_OFFSET); - - spi_eeprom_ready(); - spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int) HOMEPOS_VALVE_OPENING); - spi_eeprom_ready(); - HOMEPOS_VALVE_OPENING = (int) spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING); - - spi_eeprom_ready(); - spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int) (TORQUE_VREF * 1000.0)); - spi_eeprom_ready(); - TORQUE_VREF = (double) spi_eeprom_read(RID_TORQUE_SENSOR_VREF) / 1000.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0)); - spi_eeprom_ready(); - PRES_A_VREF = (double) spi_eeprom_read(RID_PRES_A_SENSOR_VREF) / 1000.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0)); - spi_eeprom_ready(); - PRES_B_VREF = (double) spi_eeprom_read(RID_PRES_B_SENSOR_VREF) / 1000.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int) (VALVE_GAIN_LPM_PER_V[0] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[0] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_1) / 100.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int) (VALVE_GAIN_LPM_PER_V[2] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[2] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_2) / 100.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int) (VALVE_GAIN_LPM_PER_V[4] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[4] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_3) / 100.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int) (VALVE_GAIN_LPM_PER_V[6] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[6] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_4) / 100.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int) (VALVE_GAIN_LPM_PER_V[8] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[8] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_5) / 100.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int) (VALVE_GAIN_LPM_PER_V[1] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[1] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_1) / 100.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int) (VALVE_GAIN_LPM_PER_V[3] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[3] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_2) / 100.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int) (VALVE_GAIN_LPM_PER_V[5] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[5] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_3) / 100.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int) (VALVE_GAIN_LPM_PER_V[7] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[7] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_4) / 100.0; - - spi_eeprom_ready(); - spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int) (VALVE_GAIN_LPM_PER_V[9] * 100.0)); - spi_eeprom_ready(); - VALVE_GAIN_LPM_PER_V[9] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_5) / 100.0; + writer.close(); } void ROM_CALL_DATA(void) { - int i = 0; - BNO = spi_eeprom_read(RID_BNO); + BNO = flashReadInt(Rom_Sector, RID_BNO); BNO = 11; - OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE); - CAN_FREQ = spi_eeprom_read(RID_CAN_FREQ); - - 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 = (double) spi_eeprom_read(RID_VOLATGE_SUPPLY) / 10.0; - VALVE_VOLTAGE_LIMIT = (double) spi_eeprom_read(RID_VOLTAGE_VALVE) / 10.0; - - 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 = spi_eeprom_read(RID_VALVE_DEADZONE_PLUS); - VALVE_DEADZONE_MINUS = spi_eeprom_read(RID_VALVE_DEADZONE_MINUS); - - 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); + OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE); + CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ); + DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR); + DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR); + DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR); + SUPPLY_VOLTAGE = (double) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1; + VALVE_VOLTAGE_LIMIT = (double) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1; + P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION); + I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION); + D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION); + P_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_POSITION); + I_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_POSITION); + D_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_POSITION); + P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE); + I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE); + D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE); + VALVE_DEADZONE_PLUS = flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS); + VALVE_DEADZONE_MINUS = flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS); + VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN); + COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN); + VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER); + VALVE_FF = flashReadInt(Rom_Sector, RID_VALVE_FF); + BULK_MODULUS = flashReadInt(Rom_Sector, RID_BULK_MODULUS); + CHAMBER_VOLUME_A = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_A); + CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B); + PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A); + PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B); PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A; - - 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); + PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY); + PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN); + ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS); + ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS); + STROKE = flashReadInt(Rom_Sector, 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 = flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION); + TORQUE_SENSOR_PULSE_PER_TORQUE = flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE); + PRES_SENSOR_A_PULSE_PER_BAR = (double) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01; + PRES_SENSOR_A_PULSE_PER_BAR = 4096.0 / 200.0; + PRES_SENSOR_B_PULSE_PER_BAR = (double) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01; + PRES_SENSOR_B_PULSE_PER_BAR = 4096.0 / 200.0; + FRICTION = (double) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1; + HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET); + HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING); + TORQUE_VREF = (double) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_VREF)) *0.001; + PRES_A_VREF = (double) flashReadInt(6, RID_PRES_A_SENSOR_VREF) * 0.001; + PRES_B_VREF = (double) flashReadInt(6, RID_PRES_B_SENSOR_VREF) * 0.001; + VALVE_GAIN_LPM_PER_V[0] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_1)) * 0.01; + VALVE_GAIN_LPM_PER_V[2] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_2)) * 0.01; + VALVE_GAIN_LPM_PER_V[4] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_3)) * 0.01; + VALVE_GAIN_LPM_PER_V[6] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_4)) * 0.01; + VALVE_GAIN_LPM_PER_V[8] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_5)) * 0.01; + VALVE_GAIN_LPM_PER_V[1] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_1)) * 0.01; + VALVE_GAIN_LPM_PER_V[3] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_2)) * 0.01; + VALVE_GAIN_LPM_PER_V[5] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01; + VALVE_GAIN_LPM_PER_V[7] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01; + VALVE_GAIN_LPM_PER_V[9] = (double) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01; + for(int i=0; i<18; i++) + { + VALVE_POS_VS_PWM[i] = (double) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i)); + } + for(int i=0; i<100; i++) + { + JOINT_VEL[i] = ( ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ; + } + VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS); + VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS); + DDV_CENTER = flashReadInt(Rom_Sector, RID_DDV_CNETER); + VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM); - STROKE = spi_eeprom_read(RID_STROKE); - - VALVE_LIMIT_MINUS = spi_eeprom_read(RID_VALVE_LIMIT_MINUS); - VALVE_LIMIT_PLUS = spi_eeprom_read(RID_VALVE_LIMIT_PLUS); - - ENC_PULSE_PER_POSITION = spi_eeprom_read(RID_ENC_PULSE_PER_POSITION); - TORQUE_SENSOR_PULSE_PER_TORQUE = spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE); - spi_eeprom_ready(); - PRES_SENSOR_A_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR) * 0.01; - spi_eeprom_ready(); - PRES_SENSOR_B_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR) * 0.01; - - FRICTION = (double) spi_eeprom_read(RID_FRICTION) / 10.0; - HOMEPOS_OFFSET = (int) spi_eeprom_read(RID_HOMEPOS_OFFSET); - HOMEPOS_VALVE_OPENING = (int) spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING); - - TORQUE_VREF = (double) spi_eeprom_read(RID_TORQUE_SENSOR_VREF) / 1000.0; - - PRES_A_VREF = (double) spi_eeprom_read(RID_PRES_A_SENSOR_VREF) / 1000.0; - PRES_B_VREF = (double) spi_eeprom_read(RID_PRES_B_SENSOR_VREF) / 1000.0; - - VALVE_GAIN_LPM_PER_V[0] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_1) / 100.0; - VALVE_GAIN_LPM_PER_V[2] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_2) / 100.0; - VALVE_GAIN_LPM_PER_V[4] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_3) / 100.0; - VALVE_GAIN_LPM_PER_V[6] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_4) / 100.0; - VALVE_GAIN_LPM_PER_V[8] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_5) / 100.0; - VALVE_GAIN_LPM_PER_V[1] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_1) / 100.0; - VALVE_GAIN_LPM_PER_V[3] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_2) / 100.0; - VALVE_GAIN_LPM_PER_V[5] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_3) / 100.0; - VALVE_GAIN_LPM_PER_V[7] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_4) / 100.0; - VALVE_GAIN_LPM_PER_V[9] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_5) / 100.0; - - for(i=0; i<18; i++) - { - VALVE_POS_VS_PWM[i] = (double) spi_eeprom_read(RID_VALVE_POS_VS_PWM_0 + i); - } - for(i=0; i<100; i++) - { - JOINT_VEL[i] = (int32_t) ( (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 = (int) spi_eeprom_read(RID_VALVE_MAX_POS); - VALVE_MIN_POS = (int) spi_eeprom_read(RID_VALVE_MIN_POS); - DDV_CENTER = (int) spi_eeprom_read(RID_DDV_CNETER); - - VALVE_POS_NUM = (int) spi_eeprom_read(RID_VALVE_POS_NUM); - } /*******************************************************************************