HydraulicControlBoard_LIGHT - For LIGHT

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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_LIGHT

For LIGHT

CAN/function_CAN.cpp@67:cfc88fd0591e, 2020-06-03 (annotated)

Committer:: Lightvalve
Date:: Wed Jun 03 08:46:45 2020 +0000
Revision:: 67:cfc88fd0591e
Parent:: 63:a3c7f31742c9

new ankle

Who changed what in which revision?

User	Revision	Line number	New contents of line
jobuuu	2:a1c0a37df760	1	#include "function_CAN.h"
Lightvalve	11:82d8768d7351	2	#include "setting.h"
Lightvalve	11:82d8768d7351	3	#include "function_utilities.h"
Lightvalve	11:82d8768d7351	4	#include "SPI_EEP_ENC.h"
Lightvalve	16:903b5a4433b4	5	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	6	#include "FlashWriter.h"
jobuuu	2:a1c0a37df760	7
jobuuu	2:a1c0a37df760	8	// CAN ID Setting Variables
jobuuu	2:a1c0a37df760	9	int CID_RX_CMD = 100;
jobuuu	2:a1c0a37df760	10	int CID_RX_REF_POSITION = 200;
Lightvalve	49:e7bcfc244d40	11	int CID_RX_REF_VALVE_POS = 300;
Lightvalve	49:e7bcfc244d40	12	int CID_RX_REF_PWM = 400;
jobuuu	2:a1c0a37df760	13
jobuuu	2:a1c0a37df760	14	int CID_TX_INFO = 1100;
jobuuu	2:a1c0a37df760	15	int CID_TX_POSITION = 1200;
jobuuu	2:a1c0a37df760	16	int CID_TX_TORQUE = 1300;
jobuuu	2:a1c0a37df760	17	int CID_TX_PRES = 1400;
jobuuu	7:e9086c72bb22	18	int CID_TX_VOUT = 1500;
jobuuu	2:a1c0a37df760	19	int CID_TX_VALVE_POSITION = 1600;
jobuuu	2:a1c0a37df760	20
Lightvalve	12:6f2531038ea4	21	// variables
Lightvalve	12:6f2531038ea4	22	uint8_t can_index = 0;
Lightvalve	12:6f2531038ea4	23
Lightvalve	48:889798ff9329	24	extern DigitalOut LED;
Lightvalve	11:82d8768d7351	25
Lightvalve	11:82d8768d7351	26	/*******************************************************************************
Lightvalve	11:82d8768d7351	27	* CAN functions
Lightvalve	11:82d8768d7351	28	******************************************************************************/
Lightvalve	11:82d8768d7351	29	void CAN_ID_INIT(void) {
jobuuu	7:e9086c72bb22	30
Lightvalve	11:82d8768d7351	31	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	32	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	33	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	34	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	35
Lightvalve	11:82d8768d7351	36	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	37	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	38	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	39	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	40	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	41	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve	11:82d8768d7351	42	}
jobuuu	2:a1c0a37df760	43
Lightvalve	28:2a62d73e3dd0	44	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	45	{
jobuuu	2:a1c0a37df760	46	switch(CMD){
Lightvalve	11:82d8768d7351	47	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	48	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	49	break;
Lightvalve	11:82d8768d7351	50	}
Lightvalve	11:82d8768d7351	51	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	52	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	53	break;
Lightvalve	11:82d8768d7351	54	}
Lightvalve	11:82d8768d7351	55	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	56	BNO = (int16_t) msg.data[1];
Lightvalve	16:903b5a4433b4	57
Lightvalve	16:903b5a4433b4	58	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	59
Lightvalve	16:903b5a4433b4	60	//spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	61	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	62	break;
Lightvalve	11:82d8768d7351	63	}
Lightvalve	11:82d8768d7351	64	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	65	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	66	break;
Lightvalve	11:82d8768d7351	67	}
Lightvalve	11:82d8768d7351	68	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	69	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	70	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	71	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	72	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	16:903b5a4433b4	73	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	74	break;
Lightvalve	11:82d8768d7351	75	}
Lightvalve	11:82d8768d7351	76	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	77	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	78
Lightvalve	11:82d8768d7351	79	break;
Lightvalve	11:82d8768d7351	80	}
Lightvalve	11:82d8768d7351	81	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	82
Lightvalve	11:82d8768d7351	83	break;
Lightvalve	11:82d8768d7351	84	}
Lightvalve	11:82d8768d7351	85
Lightvalve	45:35fa6884d0c6	86	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	87	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	88	/*
Lightvalve	45:35fa6884d0c6	89	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	90	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	91	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	92	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	93	*/
Lightvalve	11:82d8768d7351	94	break;
Lightvalve	11:82d8768d7351	95	}
Lightvalve	11:82d8768d7351	96
Lightvalve	11:82d8768d7351	97	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	98	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	99
Lightvalve	11:82d8768d7351	100	break;
Lightvalve	11:82d8768d7351	101	}
Lightvalve	11:82d8768d7351	102
Lightvalve	11:82d8768d7351	103	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	104	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	105	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	106	break;
Lightvalve	11:82d8768d7351	107	}
Lightvalve	11:82d8768d7351	108
Lightvalve	11:82d8768d7351	109	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	110	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	111
Lightvalve	11:82d8768d7351	112	break;
Lightvalve	11:82d8768d7351	113	}
Lightvalve	11:82d8768d7351	114
Lightvalve	11:82d8768d7351	115	case CRX_SET_CONTROL_MODE: {
Lightvalve	62:851cf7b7aa7a	116	//CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve	62:851cf7b7aa7a	117	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	118	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	119	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	120	}
Lightvalve	11:82d8768d7351	121	break;
Lightvalve	11:82d8768d7351	122	}
Lightvalve	11:82d8768d7351	123
Lightvalve	11:82d8768d7351	124	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	125	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	126	flag_data_request[request_type] = msg.data[1];
Lightvalve	14:8e7590227d22	127	//pc.printf("can middle %d\n", request_type);
Lightvalve	11:82d8768d7351	128
Lightvalve	12:6f2531038ea4	129	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	130	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	131	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	132	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	133
Lightvalve	11:82d8768d7351	134	break;
Lightvalve	11:82d8768d7351	135	}
Lightvalve	11:82d8768d7351	136
Lightvalve	11:82d8768d7351	137	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	138	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	139
Lightvalve	11:82d8768d7351	140	break;
Lightvalve	11:82d8768d7351	141	}
Lightvalve	11:82d8768d7351	142
Lightvalve	11:82d8768d7351	143	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	144	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	145	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	146	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	147	else
Lightvalve	11:82d8768d7351	148	DIR_JOINT_ENC = -1;
Lightvalve	16:903b5a4433b4	149
Lightvalve	16:903b5a4433b4	150	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	151
Lightvalve	16:903b5a4433b4	152	//spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	153
Lightvalve	11:82d8768d7351	154	break;
Lightvalve	11:82d8768d7351	155	}
Lightvalve	11:82d8768d7351	156
Lightvalve	11:82d8768d7351	157	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	158	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	159
Lightvalve	11:82d8768d7351	160	break;
Lightvalve	11:82d8768d7351	161	}
Lightvalve	11:82d8768d7351	162
Lightvalve	11:82d8768d7351	163	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	164	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	165	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	166	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	167	else
Lightvalve	11:82d8768d7351	168	DIR_VALVE = -1;
Lightvalve	16:903b5a4433b4	169
Lightvalve	16:903b5a4433b4	170	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	171
Lightvalve	16:903b5a4433b4	172	//spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	173
Lightvalve	11:82d8768d7351	174	break;
Lightvalve	11:82d8768d7351	175	}
Lightvalve	11:82d8768d7351	176
Lightvalve	11:82d8768d7351	177	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	178	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	179
Lightvalve	11:82d8768d7351	180	break;
Lightvalve	11:82d8768d7351	181	}
Lightvalve	11:82d8768d7351	182
Lightvalve	11:82d8768d7351	183	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	184	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	185	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	186	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	187	else
Lightvalve	11:82d8768d7351	188	DIR_VALVE_ENC = -1;
Lightvalve	16:903b5a4433b4	189
Lightvalve	16:903b5a4433b4	190	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	191
Lightvalve	16:903b5a4433b4	192	//spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	193
Lightvalve	11:82d8768d7351	194	break;
Lightvalve	11:82d8768d7351	195	}
Lightvalve	11:82d8768d7351	196
Lightvalve	11:82d8768d7351	197	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	198	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	199
Lightvalve	11:82d8768d7351	200	break;
Lightvalve	11:82d8768d7351	201	}
Lightvalve	11:82d8768d7351	202
Lightvalve	11:82d8768d7351	203	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	204	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	205
Lightvalve	16:903b5a4433b4	206	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	207
Lightvalve	16:903b5a4433b4	208	//spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve	11:82d8768d7351	209
Lightvalve	11:82d8768d7351	210	break;
Lightvalve	11:82d8768d7351	211	}
Lightvalve	11:82d8768d7351	212
Lightvalve	11:82d8768d7351	213	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	214	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	215
Lightvalve	11:82d8768d7351	216	break;
Lightvalve	11:82d8768d7351	217	}
Lightvalve	11:82d8768d7351	218
Lightvalve	11:82d8768d7351	219	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	220	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	221
Lightvalve	16:903b5a4433b4	222	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	223
Lightvalve	16:903b5a4433b4	224	//spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve	11:82d8768d7351	225
Lightvalve	11:82d8768d7351	226
Lightvalve	11:82d8768d7351	227	break;
Lightvalve	11:82d8768d7351	228	}
Lightvalve	12:6f2531038ea4	229
Lightvalve	11:82d8768d7351	230	case CRX_SET_HOMEPOS: {
Lightvalve	62:851cf7b7aa7a	231	//CONTROL_MODE = 22;
Lightvalve	62:851cf7b7aa7a	232	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	233	break;
Lightvalve	11:82d8768d7351	234	}
Lightvalve	11:82d8768d7351	235
Lightvalve	11:82d8768d7351	236	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	237	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	238
Lightvalve	11:82d8768d7351	239	break;
Lightvalve	11:82d8768d7351	240	}
Lightvalve	11:82d8768d7351	241
Lightvalve	11:82d8768d7351	242	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	243	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	244	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	245	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	246	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	247
Lightvalve	16:903b5a4433b4	248	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	249
Lightvalve	11:82d8768d7351	250	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	251	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	252	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	253	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	254
Lightvalve	16:903b5a4433b4	255	ROM_RESET_DATA();
Lightvalve	48:889798ff9329	256
Lightvalve	11:82d8768d7351	257	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	258	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	259	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	260	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	261
Lightvalve	16:903b5a4433b4	262	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	263
Lightvalve	46:2694daea349b	264	} else if (msg.data[1] == 3) {
Lightvalve	62:851cf7b7aa7a	265	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	62:851cf7b7aa7a	266	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	46:2694daea349b	267
Lightvalve	62:851cf7b7aa7a	268	// ROM_RESET_DATA(); //For Real-time changing
Lightvalve	11:82d8768d7351	269	}
Lightvalve	11:82d8768d7351	270
Lightvalve	11:82d8768d7351	271	break;
Lightvalve	11:82d8768d7351	272	}
Lightvalve	11:82d8768d7351	273
Lightvalve	11:82d8768d7351	274	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	275	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	276
Lightvalve	11:82d8768d7351	277	break;
Lightvalve	11:82d8768d7351	278	}
Lightvalve	11:82d8768d7351	279
Lightvalve	11:82d8768d7351	280	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	281	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	282	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	283	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	16:903b5a4433b4	284
Lightvalve	16:903b5a4433b4	285	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	286
Lightvalve	11:82d8768d7351	287	break;
Lightvalve	11:82d8768d7351	288	}
Lightvalve	11:82d8768d7351	289
Lightvalve	11:82d8768d7351	290	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	291	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	292
Lightvalve	11:82d8768d7351	293	break;
Lightvalve	11:82d8768d7351	294	}
Lightvalve	11:82d8768d7351	295
Lightvalve	11:82d8768d7351	296	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	297	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	298
Lightvalve	16:903b5a4433b4	299	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	300
Lightvalve	16:903b5a4433b4	301	//spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	302
Lightvalve	11:82d8768d7351	303	break;
Lightvalve	11:82d8768d7351	304	}
Lightvalve	11:82d8768d7351	305
Lightvalve	11:82d8768d7351	306	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	307	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	308
Lightvalve	11:82d8768d7351	309	break;
Lightvalve	11:82d8768d7351	310	}
Lightvalve	11:82d8768d7351	311
Lightvalve	11:82d8768d7351	312	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	313	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	314
Lightvalve	16:903b5a4433b4	315	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	316
Lightvalve	16:903b5a4433b4	317	//spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	318
Lightvalve	11:82d8768d7351	319	break;
Lightvalve	11:82d8768d7351	320	}
Lightvalve	11:82d8768d7351	321
Lightvalve	11:82d8768d7351	322	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	323	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	324
Lightvalve	11:82d8768d7351	325	break;
Lightvalve	11:82d8768d7351	326	}
Lightvalve	11:82d8768d7351	327
Lightvalve	11:82d8768d7351	328	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	329	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	330
Lightvalve	16:903b5a4433b4	331	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	332
Lightvalve	16:903b5a4433b4	333	//spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	334
Lightvalve	11:82d8768d7351	335	break;
Lightvalve	11:82d8768d7351	336	}
Lightvalve	11:82d8768d7351	337
Lightvalve	11:82d8768d7351	338	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	339	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	340
Lightvalve	11:82d8768d7351	341	break;
Lightvalve	11:82d8768d7351	342	}
Lightvalve	11:82d8768d7351	343
Lightvalve	11:82d8768d7351	344	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	345	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	346
Lightvalve	16:903b5a4433b4	347	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	348
Lightvalve	16:903b5a4433b4	349	//spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	350
Lightvalve	11:82d8768d7351	351	break;
Lightvalve	11:82d8768d7351	352	}
Lightvalve	11:82d8768d7351	353
Lightvalve	11:82d8768d7351	354	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	355	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	356
Lightvalve	11:82d8768d7351	357	break;
Lightvalve	11:82d8768d7351	358	}
Lightvalve	11:82d8768d7351	359
Lightvalve	11:82d8768d7351	360	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	361	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	362	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	363
Lightvalve	16:903b5a4433b4	364	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	365
Lightvalve	16:903b5a4433b4	366	//spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	16:903b5a4433b4	367	//spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	368
Lightvalve	11:82d8768d7351	369	break;
Lightvalve	11:82d8768d7351	370	}
Lightvalve	11:82d8768d7351	371
Lightvalve	11:82d8768d7351	372	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	373	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	374
Lightvalve	11:82d8768d7351	375	break;
Lightvalve	11:82d8768d7351	376	}
Lightvalve	11:82d8768d7351	377
Lightvalve	11:82d8768d7351	378	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	379	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	380	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	63:a3c7f31742c9	381	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	62:851cf7b7aa7a	382	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	16:903b5a4433b4	383
Lightvalve	16:903b5a4433b4	384	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	385
Lightvalve	16:903b5a4433b4	386	//spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	16:903b5a4433b4	387	//spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	388	break;
Lightvalve	11:82d8768d7351	389	}
Lightvalve	11:82d8768d7351	390
Lightvalve	11:82d8768d7351	391	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	392	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	393	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	394	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	395	//dac_2 = PRES_B_VREF;
Lightvalve	12:6f2531038ea4	396
Lightvalve	11:82d8768d7351	397	break;
Lightvalve	11:82d8768d7351	398	}
Lightvalve	11:82d8768d7351	399
Lightvalve	11:82d8768d7351	400	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	401	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	402	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	403	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	404	//spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	16:903b5a4433b4	405	//spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	406
Lightvalve	11:82d8768d7351	407
Lightvalve	11:82d8768d7351	408	break;
Lightvalve	11:82d8768d7351	409	}
Lightvalve	11:82d8768d7351	410
Lightvalve	11:82d8768d7351	411	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	412	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	413
Lightvalve	11:82d8768d7351	414	break;
Lightvalve	11:82d8768d7351	415	}
Lightvalve	11:82d8768d7351	416
Lightvalve	11:82d8768d7351	417	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	418	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	419	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	420	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	421	//spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	16:903b5a4433b4	422	//spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	423
Lightvalve	11:82d8768d7351	424	break;
Lightvalve	11:82d8768d7351	425	}
Lightvalve	11:82d8768d7351	426
Lightvalve	11:82d8768d7351	427	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	428	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	429	break;
Lightvalve	11:82d8768d7351	430	}
Lightvalve	11:82d8768d7351	431
Lightvalve	11:82d8768d7351	432	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	433	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	434	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	435	//spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	436
Lightvalve	11:82d8768d7351	437	break;
Lightvalve	11:82d8768d7351	438	}
Lightvalve	11:82d8768d7351	439
Lightvalve	11:82d8768d7351	440	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	441	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	442
Lightvalve	11:82d8768d7351	443	break;
Lightvalve	11:82d8768d7351	444	}
Lightvalve	11:82d8768d7351	445
Lightvalve	11:82d8768d7351	446	case CRX_SET_VALVE_LIMIT: {
Lightvalve	62:851cf7b7aa7a	447	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	62:851cf7b7aa7a	448	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	449	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	450
Lightvalve	11:82d8768d7351	451	break;
Lightvalve	11:82d8768d7351	452	}
Lightvalve	11:82d8768d7351	453
Lightvalve	11:82d8768d7351	454	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	455	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	456
Lightvalve	11:82d8768d7351	457	break;
Lightvalve	11:82d8768d7351	458	}
Lightvalve	11:82d8768d7351	459
Lightvalve	11:82d8768d7351	460	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	461	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	462	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	463	//spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve	11:82d8768d7351	464
Lightvalve	11:82d8768d7351	465	break;
Lightvalve	11:82d8768d7351	466	}
Lightvalve	11:82d8768d7351	467
Lightvalve	11:82d8768d7351	468	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	469	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	470
Lightvalve	11:82d8768d7351	471	break;
Lightvalve	11:82d8768d7351	472	}
Lightvalve	11:82d8768d7351	473
Lightvalve	11:82d8768d7351	474	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	48:889798ff9329	475	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.01f);
Lightvalve	16:903b5a4433b4	476	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	477	//spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve	11:82d8768d7351	478
Lightvalve	11:82d8768d7351	479	break;
Lightvalve	11:82d8768d7351	480	}
Lightvalve	11:82d8768d7351	481
Lightvalve	11:82d8768d7351	482	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	483	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	484
Lightvalve	11:82d8768d7351	485	break;
Lightvalve	11:82d8768d7351	486	}
Lightvalve	11:82d8768d7351	487
Lightvalve	11:82d8768d7351	488	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	489	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	490	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	16:903b5a4433b4	491	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	492	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve	16:903b5a4433b4	493	//(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve	11:82d8768d7351	494
Lightvalve	11:82d8768d7351	495	break;
Lightvalve	11:82d8768d7351	496	}
Lightvalve	11:82d8768d7351	497
Lightvalve	11:82d8768d7351	498	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	499	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	500
Lightvalve	11:82d8768d7351	501	break;
Lightvalve	11:82d8768d7351	502	}
Lightvalve	11:82d8768d7351	503
Lightvalve	11:82d8768d7351	504	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	505	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	506	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	507	//spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve	11:82d8768d7351	508
Lightvalve	11:82d8768d7351	509	break;
Lightvalve	11:82d8768d7351	510	}
Lightvalve	11:82d8768d7351	511
Lightvalve	11:82d8768d7351	512	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	513	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	514
Lightvalve	11:82d8768d7351	515	break;
Lightvalve	11:82d8768d7351	516	}
Lightvalve	11:82d8768d7351	517	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	518	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	519	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	520	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	521	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	522	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	523	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	524	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	30:8d561f16383b	525	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	30:8d561f16383b	526	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	30:8d561f16383b	527	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	30:8d561f16383b	528	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	529
Lightvalve	11:82d8768d7351	530	break;
Lightvalve	11:82d8768d7351	531	}
Lightvalve	11:82d8768d7351	532
Lightvalve	11:82d8768d7351	533	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	534	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	535
Lightvalve	11:82d8768d7351	536	break;
Lightvalve	11:82d8768d7351	537	}
Lightvalve	11:82d8768d7351	538	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	539	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	540	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	541	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	542	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	543	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	544	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	545	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	30:8d561f16383b	546	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	30:8d561f16383b	547	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	30:8d561f16383b	548	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	30:8d561f16383b	549	//(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	550
Lightvalve	11:82d8768d7351	551	break;
Lightvalve	11:82d8768d7351	552	}
Lightvalve	11:82d8768d7351	553	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	554	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	555	break;
Lightvalve	11:82d8768d7351	556	}
Lightvalve	11:82d8768d7351	557
Lightvalve	11:82d8768d7351	558	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	559	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	560
Lightvalve	11:82d8768d7351	561	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	562	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	563	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	564	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	565	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	566
Lightvalve	11:82d8768d7351	567	break;
Lightvalve	11:82d8768d7351	568	}
Lightvalve	11:82d8768d7351	569
Lightvalve	11:82d8768d7351	570	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	571	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	572
Lightvalve	11:82d8768d7351	573	break;
Lightvalve	11:82d8768d7351	574	}
Lightvalve	11:82d8768d7351	575
Lightvalve	11:82d8768d7351	576	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	577
Lightvalve	12:6f2531038ea4	578	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	579	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	580	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	581	}
Lightvalve	11:82d8768d7351	582
Lightvalve	11:82d8768d7351	583	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	584
Lightvalve	11:82d8768d7351	585
Lightvalve	11:82d8768d7351	586	break;
Lightvalve	11:82d8768d7351	587	}
Lightvalve	11:82d8768d7351	588
Lightvalve	11:82d8768d7351	589	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	590	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	591	break;
Lightvalve	11:82d8768d7351	592	}
Lightvalve	11:82d8768d7351	593	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	594	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	595	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	596	//spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	597	break;
Lightvalve	11:82d8768d7351	598	}
Lightvalve	11:82d8768d7351	599
Lightvalve	11:82d8768d7351	600	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	601	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	602	break;
Lightvalve	11:82d8768d7351	603	}
Lightvalve	11:82d8768d7351	604	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	605	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	606	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	607	//spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	608	break;
Lightvalve	11:82d8768d7351	609	}
Lightvalve	11:82d8768d7351	610
Lightvalve	11:82d8768d7351	611	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	612	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	613	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	614	break;
Lightvalve	11:82d8768d7351	615	}
Lightvalve	11:82d8768d7351	616	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	617	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	618	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	619	break;
Lightvalve	11:82d8768d7351	620	}
Lightvalve	11:82d8768d7351	621	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	622	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	623	break;
Lightvalve	11:82d8768d7351	624	}
Lightvalve	28:2a62d73e3dd0	625
Lightvalve	28:2a62d73e3dd0	626	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	627	ROM_RESET_DATA();
Lightvalve	28:2a62d73e3dd0	628	break;
Lightvalve	28:2a62d73e3dd0	629	}
Lightvalve	32:4b8c0fedaf2c	630	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	62:851cf7b7aa7a	631	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	62:851cf7b7aa7a	632	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	33:91b17819ec30	633	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	634	break;
Lightvalve	33:91b17819ec30	635	}
Lightvalve	33:91b17819ec30	636	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	637	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	638	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	33:91b17819ec30	639	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	640	break;
Lightvalve	33:91b17819ec30	641	}
Lightvalve	33:91b17819ec30	642	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	643	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	644	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	32:4b8c0fedaf2c	645	ROM_RESET_DATA();
Lightvalve	32:4b8c0fedaf2c	646	break;
Lightvalve	32:4b8c0fedaf2c	647	}
Lightvalve	36:a46e63505ed8	648	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	649	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	650	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	651	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	652	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	653
Lightvalve	36:a46e63505ed8	654	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	655
Lightvalve	36:a46e63505ed8	656	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	657	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	658	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	659
Lightvalve	36:a46e63505ed8	660
Lightvalve	36:a46e63505ed8	661	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	662	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	663	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	664	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	665
Lightvalve	36:a46e63505ed8	666	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	667
Lightvalve	36:a46e63505ed8	668	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	669	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	670	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	671	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	672	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	673	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	674	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	675
Lightvalve	36:a46e63505ed8	676	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	677
Lightvalve	36:a46e63505ed8	678	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	679	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	680	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	681	}
Lightvalve	36:a46e63505ed8	682	break;
Lightvalve	36:a46e63505ed8	683	}
Lightvalve	38:118df027d851	684	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	62:851cf7b7aa7a	685	//CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	38:118df027d851	686	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	687	break;
Lightvalve	38:118df027d851	688	}
Lightvalve	54:647072f5307a	689	case CRX_DELAY_TEST:{
Lightvalve	54:647072f5307a	690	flag_delay_test = 1;
Lightvalve	54:647072f5307a	691	break;
Lightvalve	54:647072f5307a	692	}
Lightvalve	38:118df027d851	693
jobuuu	2:a1c0a37df760	694	default:
jobuuu	2:a1c0a37df760	695	break;
jobuuu	2:a1c0a37df760	696	}
jobuuu	2:a1c0a37df760	697	}
jobuuu	2:a1c0a37df760	698
jobuuu	2:a1c0a37df760	699	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	700	{
Lightvalve	67:cfc88fd0591e	701	CAN_TX_PWM((int16_t) 20); //1500
jobuuu	2:a1c0a37df760	702	can.read(msg);
jobuuu	2:a1c0a37df760	703	unsigned int address = msg.id;
jobuuu	7:e9086c72bb22	704	if(address==CID_RX_CMD){
jobuuu	2:a1c0a37df760	705	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	706	ReadCMD(CMD);
Lightvalve	62:851cf7b7aa7a	707
jobuuu	7:e9086c72bb22	708	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	62:851cf7b7aa7a	709
Lightvalve	43:b084e5f5d0d5	710	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	711	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	62:851cf7b7aa7a	712	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	41:abbd4e2af68b	713
Lightvalve	62:851cf7b7aa7a	714	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	62:851cf7b7aa7a	715	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	62:851cf7b7aa7a	716	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	62:851cf7b7aa7a	717	}
Lightvalve	62:851cf7b7aa7a	718	else { //Linear Actuator
Lightvalve	62:851cf7b7aa7a	719	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	62:851cf7b7aa7a	720	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	62:851cf7b7aa7a	721	}
Lightvalve	62:851cf7b7aa7a	722
Lightvalve	63:a3c7f31742c9	723	torq.ref = (double)temp_torq * 0.1f /(float)(TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve	62:851cf7b7aa7a	724
Lightvalve	49:e7bcfc244d40	725	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	726	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	62:851cf7b7aa7a	727
Lightvalve	62:851cf7b7aa7a	728	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	62:851cf7b7aa7a	729	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	62:851cf7b7aa7a	730	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	62:851cf7b7aa7a	731	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	62:851cf7b7aa7a	732	} else { //SW Valve
Lightvalve	62:851cf7b7aa7a	733	if(temp_ref_valve_pos >= 0) {
Lightvalve	62:851cf7b7aa7a	734	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	62:851cf7b7aa7a	735	} else {
Lightvalve	62:851cf7b7aa7a	736	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	62:851cf7b7aa7a	737	}
Lightvalve	47:fdcb8bd86fd6	738	}
Lightvalve	67:cfc88fd0591e	739
Lightvalve	49:e7bcfc244d40	740	} else if(address==CID_RX_REF_PWM){
Lightvalve	49:e7bcfc244d40	741	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	742	Vout.ref = (double) temp_ref_pwm;
Lightvalve	45:35fa6884d0c6	743	}
jobuuu	2:a1c0a37df760	744	}
jobuuu	2:a1c0a37df760	745
jobuuu	2:a1c0a37df760	746	/******************************************************************************
jobuuu	2:a1c0a37df760	747	Information Transmission Functions
jobuuu	2:a1c0a37df760	748	*******************************************************************************/
Lightvalve	11:82d8768d7351	749
Lightvalve	11:82d8768d7351	750	void CAN_TX_INFO(void) {
Lightvalve	12:6f2531038ea4	751	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	752
jobuuu	2:a1c0a37df760	753	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	754	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	755	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	756	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	757	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	758	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	759	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]);
Lightvalve	62:851cf7b7aa7a	760	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	761	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	762
jobuuu	2:a1c0a37df760	763	can.write(temp_msg);
jobuuu	2:a1c0a37df760	764	}
jobuuu	2:a1c0a37df760	765
Lightvalve	11:82d8768d7351	766	void CAN_TX_BNO(void) {
Lightvalve	12:6f2531038ea4	767	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	768
jobuuu	2:a1c0a37df760	769	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	770	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	771	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	772	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	773
jobuuu	2:a1c0a37df760	774	can.write(temp_msg);
jobuuu	2:a1c0a37df760	775	}
jobuuu	2:a1c0a37df760	776
Lightvalve	11:82d8768d7351	777	void CAN_TX_OPERATING_MODE(void) {
jobuuu	2:a1c0a37df760	778	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	779
jobuuu	2:a1c0a37df760	780	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	781	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	782	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	783	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	784	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	785	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	786	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	787
jobuuu	2:a1c0a37df760	788	can.write(temp_msg);
jobuuu	2:a1c0a37df760	789	}
jobuuu	2:a1c0a37df760	790
Lightvalve	11:82d8768d7351	791	void CAN_TX_CAN_FREQ(void) {
jobuuu	2:a1c0a37df760	792	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	793
jobuuu	2:a1c0a37df760	794	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	795	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	796	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	797	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	798	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	799
jobuuu	2:a1c0a37df760	800	can.write(temp_msg);
jobuuu	2:a1c0a37df760	801	}
Lightvalve	11:82d8768d7351	802
Lightvalve	11:82d8768d7351	803	void CAN_TX_CONTROL_MODE(void) {
jobuuu	2:a1c0a37df760	804	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	805
jobuuu	2:a1c0a37df760	806	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	807	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	808	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	62:851cf7b7aa7a	809	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	810
jobuuu	2:a1c0a37df760	811	can.write(temp_msg);
jobuuu	2:a1c0a37df760	812	}
Lightvalve	11:82d8768d7351	813
Lightvalve	11:82d8768d7351	814	void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	815	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	816
jobuuu	2:a1c0a37df760	817	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	818	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	819	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	820	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	821	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	822
jobuuu	2:a1c0a37df760	823	can.write(temp_msg);
jobuuu	2:a1c0a37df760	824	}
jobuuu	2:a1c0a37df760	825
Lightvalve	11:82d8768d7351	826	void CAN_TX_VALVE_DIR(void) {
jobuuu	2:a1c0a37df760	827	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	828
jobuuu	2:a1c0a37df760	829	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	830	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	831	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	832	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	833	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	834
jobuuu	2:a1c0a37df760	835	can.write(temp_msg);
jobuuu	2:a1c0a37df760	836	}
jobuuu	2:a1c0a37df760	837
Lightvalve	11:82d8768d7351	838	void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	839	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	840
jobuuu	2:a1c0a37df760	841	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	842	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	843	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	844	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	845	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	846
jobuuu	2:a1c0a37df760	847	can.write(temp_msg);
jobuuu	2:a1c0a37df760	848	}
jobuuu	2:a1c0a37df760	849
Lightvalve	11:82d8768d7351	850	void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve	49:e7bcfc244d40	851	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	852
jobuuu	2:a1c0a37df760	853	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	854
jobuuu	2:a1c0a37df760	855	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	856	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	857	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	858	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	859	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	860
jobuuu	2:a1c0a37df760	861	can.write(temp_msg);
jobuuu	2:a1c0a37df760	862	}
jobuuu	2:a1c0a37df760	863
Lightvalve	11:82d8768d7351	864	void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve	49:e7bcfc244d40	865	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	866
jobuuu	2:a1c0a37df760	867	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	868
jobuuu	2:a1c0a37df760	869	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	870	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	871	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	872	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	873	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	874
jobuuu	2:a1c0a37df760	875	can.write(temp_msg);
jobuuu	2:a1c0a37df760	876	}
Lightvalve	11:82d8768d7351	877
jobuuu	2:a1c0a37df760	878
Lightvalve	11:82d8768d7351	879	void CAN_TX_PID_GAIN(int t_type) {
jobuuu	2:a1c0a37df760	880	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	881	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	882	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	883
Lightvalve	12:6f2531038ea4	884	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	885	if (t_type == 0) {
Lightvalve	30:8d561f16383b	886	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	887	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	888	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	889	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	890	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	891	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	892	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	893	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	894	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	895	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	896	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	897	} else if (t_type == 3) {
Lightvalve	62:851cf7b7aa7a	898	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	62:851cf7b7aa7a	899	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	900	}
jobuuu	2:a1c0a37df760	901
jobuuu	2:a1c0a37df760	902	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	903
jobuuu	2:a1c0a37df760	904	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	905	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	906	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	907	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	908	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	909	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	910	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	911	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	912	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	913	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	914
jobuuu	2:a1c0a37df760	915	can.write(temp_msg);
jobuuu	2:a1c0a37df760	916	}
jobuuu	2:a1c0a37df760	917
Lightvalve	11:82d8768d7351	918
Lightvalve	11:82d8768d7351	919	void CAN_TX_VALVE_DEADZONE(void) {
jobuuu	2:a1c0a37df760	920	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	921
jobuuu	2:a1c0a37df760	922	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	923	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	924	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	62:851cf7b7aa7a	925	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	62:851cf7b7aa7a	926	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	927	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	928	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	929	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	930	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	931
jobuuu	2:a1c0a37df760	932	can.write(temp_msg);
jobuuu	2:a1c0a37df760	933	}
jobuuu	2:a1c0a37df760	934
Lightvalve	11:82d8768d7351	935	void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve	11:82d8768d7351	936	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	937
Lightvalve	11:82d8768d7351	938	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	939	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	940	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	941	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	942	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	943
Lightvalve	11:82d8768d7351	944	can.write(temp_msg);
Lightvalve	11:82d8768d7351	945	}
Lightvalve	11:82d8768d7351	946
Lightvalve	11:82d8768d7351	947	void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve	11:82d8768d7351	948	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	949
Lightvalve	11:82d8768d7351	950	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	951	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	952	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	953	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	954	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	955
Lightvalve	11:82d8768d7351	956	can.write(temp_msg);
Lightvalve	11:82d8768d7351	957	}
Lightvalve	11:82d8768d7351	958
Lightvalve	11:82d8768d7351	959	void CAN_TX_VALVE_FF(void) {
Lightvalve	11:82d8768d7351	960	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	961
Lightvalve	11:82d8768d7351	962	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	963	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	964	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	965	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	966	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	967
Lightvalve	11:82d8768d7351	968	can.write(temp_msg);
Lightvalve	11:82d8768d7351	969	}
Lightvalve	11:82d8768d7351	970
Lightvalve	11:82d8768d7351	971	void CAN_TX_BULK_MODULUS(void) {
Lightvalve	11:82d8768d7351	972	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	973
Lightvalve	11:82d8768d7351	974	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	975	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	976	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	977	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	978	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	979
Lightvalve	11:82d8768d7351	980	can.write(temp_msg);
Lightvalve	11:82d8768d7351	981	}
Lightvalve	11:82d8768d7351	982
Lightvalve	11:82d8768d7351	983	void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve	11:82d8768d7351	984	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	985
Lightvalve	11:82d8768d7351	986	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	987	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	988	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	989	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	990	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	991	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	992	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	993
Lightvalve	11:82d8768d7351	994	can.write(temp_msg);
Lightvalve	11:82d8768d7351	995	}
Lightvalve	11:82d8768d7351	996
Lightvalve	11:82d8768d7351	997	void CAN_TX_PISTON_AREA(void) {
jobuuu	2:a1c0a37df760	998	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	999
Lightvalve	11:82d8768d7351	1000	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1001	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1002	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1003	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1004	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1005	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1006	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1007
Lightvalve	11:82d8768d7351	1008	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1009	}
Lightvalve	11:82d8768d7351	1010
Lightvalve	11:82d8768d7351	1011	void CAN_TX_PRES_A_AND_B(void) {
Lightvalve	11:82d8768d7351	1012	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1013
Lightvalve	11:82d8768d7351	1014	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1015	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1016	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1017	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1018	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1019	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1020	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1021
Lightvalve	11:82d8768d7351	1022	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1023	}
Lightvalve	11:82d8768d7351	1024
Lightvalve	11:82d8768d7351	1025	void CAN_TX_ENC_LIMIT(void) {
Lightvalve	11:82d8768d7351	1026	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1027
Lightvalve	11:82d8768d7351	1028	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1029	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1030	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1031	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1032	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1033	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1034	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1035
Lightvalve	11:82d8768d7351	1036	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1037	}
Lightvalve	11:82d8768d7351	1038
Lightvalve	11:82d8768d7351	1039	void CAN_TX_STROKE(void) {
Lightvalve	11:82d8768d7351	1040	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1041
Lightvalve	11:82d8768d7351	1042	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1043	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1044	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1045	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1046	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1047
Lightvalve	11:82d8768d7351	1048	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1049	}
Lightvalve	11:82d8768d7351	1050
Lightvalve	11:82d8768d7351	1051	void CAN_TX_VALVE_LIMIT(void) {
Lightvalve	11:82d8768d7351	1052	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1053
Lightvalve	11:82d8768d7351	1054	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1055	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1056	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	62:851cf7b7aa7a	1057	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	62:851cf7b7aa7a	1058	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	62:851cf7b7aa7a	1059	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	62:851cf7b7aa7a	1060	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1061
Lightvalve	11:82d8768d7351	1062	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1063	}
Lightvalve	11:82d8768d7351	1064
Lightvalve	11:82d8768d7351	1065	void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve	11:82d8768d7351	1066	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1067
jobuuu	2:a1c0a37df760	1068	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1069	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1070	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1071	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1072	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1073	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1074
jobuuu	2:a1c0a37df760	1075	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1076	}
jobuuu	2:a1c0a37df760	1077
Lightvalve	11:82d8768d7351	1078	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu	2:a1c0a37df760	1079	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1080
jobuuu	2:a1c0a37df760	1081	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1082	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1083	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	48:889798ff9329	1084	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve	48:889798ff9329	1085	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1086	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1087
jobuuu	2:a1c0a37df760	1088	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1089	}
jobuuu	2:a1c0a37df760	1090
Lightvalve	11:82d8768d7351	1091	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu	2:a1c0a37df760	1092	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1093
jobuuu	2:a1c0a37df760	1094	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1095	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1096	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1097	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1098	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1099	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1100	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1101
jobuuu	2:a1c0a37df760	1102	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1103	}
jobuuu	2:a1c0a37df760	1104
Lightvalve	11:82d8768d7351	1105	void CAN_TX_FRICTION(void) {
Lightvalve	11:82d8768d7351	1106	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1107	int16_t send_friction;
Lightvalve	30:8d561f16383b	1108	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	11:82d8768d7351	1109
Lightvalve	11:82d8768d7351	1110	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1111	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1112	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1113	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1114	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1115
Lightvalve	11:82d8768d7351	1116	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1117	}
Lightvalve	11:82d8768d7351	1118
Lightvalve	11:82d8768d7351	1119	void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve	11:82d8768d7351	1120	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1121
Lightvalve	11:82d8768d7351	1122	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1123	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1124	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1125	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1126	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1127	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1128	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1129	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1130
Lightvalve	11:82d8768d7351	1131	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1132	}
Lightvalve	11:82d8768d7351	1133
Lightvalve	11:82d8768d7351	1134	void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve	11:82d8768d7351	1135	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1136	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1137	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1138	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1139
Lightvalve	62:851cf7b7aa7a	1140	//temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	62:851cf7b7aa7a	1141	//temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	62:851cf7b7aa7a	1142	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	62:851cf7b7aa7a	1143	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	62:851cf7b7aa7a	1144	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	11:82d8768d7351	1145
Lightvalve	11:82d8768d7351	1146	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1147	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1148	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1149	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1150	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1151	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1152	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1153	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1154	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1155
Lightvalve	11:82d8768d7351	1156	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1157	}
Lightvalve	11:82d8768d7351	1158
Lightvalve	11:82d8768d7351	1159	void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve	11:82d8768d7351	1160	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1161
Lightvalve	11:82d8768d7351	1162	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1163	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1164	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1165	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1166	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1167	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1168	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1169	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1170
Lightvalve	11:82d8768d7351	1171	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1172	}
Lightvalve	11:82d8768d7351	1173
Lightvalve	11:82d8768d7351	1174	void CAN_TX_REFENCE_MODE(void) {
Lightvalve	11:82d8768d7351	1175	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1176
Lightvalve	11:82d8768d7351	1177	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1178	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1179	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1180	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1181	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1182	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1183	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1184	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1185
Lightvalve	11:82d8768d7351	1186	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1187	}
Lightvalve	11:82d8768d7351	1188
Lightvalve	11:82d8768d7351	1189	void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve	11:82d8768d7351	1190	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1191	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1192	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	1193
jobuuu	2:a1c0a37df760	1194	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1195	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1196	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1197	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1198	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1199
jobuuu	2:a1c0a37df760	1200	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1201	}
Lightvalve	11:82d8768d7351	1202
Lightvalve	11:82d8768d7351	1203	void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve	11:82d8768d7351	1204	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1205	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1206	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	1207
Lightvalve	11:82d8768d7351	1208	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1209	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1210	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1211	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1212	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1213
Lightvalve	11:82d8768d7351	1214	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1215	}
Lightvalve	11:82d8768d7351	1216
Lightvalve	12:6f2531038ea4	1217	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve	11:82d8768d7351	1218	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1219	int16_t valve_pos_vs_pwm;
Lightvalve	49:e7bcfc244d40	1220	// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve	49:e7bcfc244d40	1221
Lightvalve	62:851cf7b7aa7a	1222	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	62:851cf7b7aa7a	1223	valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	49:e7bcfc244d40	1224	} else {
Lightvalve	62:851cf7b7aa7a	1225	valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	49:e7bcfc244d40	1226	}
Lightvalve	11:82d8768d7351	1227
Lightvalve	12:6f2531038ea4	1228	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1229	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	11:82d8768d7351	1230
Lightvalve	11:82d8768d7351	1231	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1232	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1233	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1234	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1235	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1236	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1237	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1238
Lightvalve	11:82d8768d7351	1239	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1240	}
Lightvalve	11:82d8768d7351	1241
Lightvalve	12:6f2531038ea4	1242	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve	11:82d8768d7351	1243	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1244	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1245	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1246
Lightvalve	62:851cf7b7aa7a	1247	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1248	int16_t temp_valve_pos = 0;
Lightvalve	62:851cf7b7aa7a	1249	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	62:851cf7b7aa7a	1250	temp_valve_pos = (int16_t) (10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER));
Lightvalve	49:e7bcfc244d40	1251	} else {
Lightvalve	62:851cf7b7aa7a	1252	temp_valve_pos = (int16_t) (-10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER));
Lightvalve	49:e7bcfc244d40	1253	}
Lightvalve	11:82d8768d7351	1254
Lightvalve	11:82d8768d7351	1255	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1256	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1257	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1258	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1259	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1260	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1261	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1262	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1263	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1264
Lightvalve	11:82d8768d7351	1265	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1266	}
Lightvalve	11:82d8768d7351	1267
Lightvalve	11:82d8768d7351	1268	void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve	11:82d8768d7351	1269	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1270	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1271	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	11:82d8768d7351	1272
Lightvalve	11:82d8768d7351	1273	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1274	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1275	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1276	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1277	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1278
Lightvalve	11:82d8768d7351	1279	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1280	}
Lightvalve	11:82d8768d7351	1281
Lightvalve	38:118df027d851	1282	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve	38:118df027d851	1283	CANMessage temp_msg;
Lightvalve	38:118df027d851	1284
Lightvalve	48:889798ff9329	1285	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1286	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1287	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1288
Lightvalve	62:851cf7b7aa7a	1289	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	62:851cf7b7aa7a	1290	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	62:851cf7b7aa7a	1291	temp_ddv_center = VALVE_CENTER;
Lightvalve	48:889798ff9329	1292
Lightvalve	38:118df027d851	1293	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1294	temp_msg.len = 7;
Lightvalve	38:118df027d851	1295	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1296	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1297	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1298	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1299	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1300	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1301	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1302
Lightvalve	38:118df027d851	1303	can.write(temp_msg);
Lightvalve	38:118df027d851	1304	}
Lightvalve	38:118df027d851	1305
jobuuu	2:a1c0a37df760	1306	/******************************************************************************
jobuuu	2:a1c0a37df760	1307	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1308	*******************************************************************************/
jobuuu	2:a1c0a37df760	1309
Lightvalve	52:8ea76864368a	1310	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
Lightvalve	52:8ea76864368a	1311	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1312
Lightvalve	52:8ea76864368a	1313	temp_msg.id = CID_TX_POSITION;
Lightvalve	52:8ea76864368a	1314	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1315	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1316	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1317	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1318	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1319	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1320	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1321
Lightvalve	52:8ea76864368a	1322	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1323	}
Lightvalve	52:8ea76864368a	1324
Lightvalve	52:8ea76864368a	1325	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) {
Lightvalve	52:8ea76864368a	1326
jobuuu	2:a1c0a37df760	1327	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1328
jobuuu	2:a1c0a37df760	1329	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1330	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1331	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1332	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1333	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1334	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1335	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1336	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1337	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1338	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1339
jobuuu	2:a1c0a37df760	1340	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1341	}
jobuuu	2:a1c0a37df760	1342
Lightvalve	62:851cf7b7aa7a	1343	//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve	62:851cf7b7aa7a	1344	// CANMessage temp_msg;
Lightvalve	62:851cf7b7aa7a	1345	//
Lightvalve	62:851cf7b7aa7a	1346	// temp_msg.id = CID_TX_TORQUE;
Lightvalve	62:851cf7b7aa7a	1347	// temp_msg.len = 4;
Lightvalve	62:851cf7b7aa7a	1348	// temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	62:851cf7b7aa7a	1349	// temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	62:851cf7b7aa7a	1350	// temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve	62:851cf7b7aa7a	1351	// temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve	62:851cf7b7aa7a	1352	//
Lightvalve	62:851cf7b7aa7a	1353	// can.write(temp_msg);
Lightvalve	62:851cf7b7aa7a	1354	//}
Lightvalve	62:851cf7b7aa7a	1355
Lightvalve	48:889798ff9329	1356	void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu	2:a1c0a37df760	1357	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1358
jobuuu	2:a1c0a37df760	1359	temp_msg.id = CID_TX_TORQUE;
jobuuu	2:a1c0a37df760	1360	temp_msg.len = 2;
Lightvalve	48:889798ff9329	1361	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1362	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1363
jobuuu	2:a1c0a37df760	1364	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1365	}
jobuuu	2:a1c0a37df760	1366
Lightvalve	11:82d8768d7351	1367	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu	2:a1c0a37df760	1368	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1369
jobuuu	2:a1c0a37df760	1370	temp_msg.id = CID_TX_PRES;
Lightvalve	62:851cf7b7aa7a	1371	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1372	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1373	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1374	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1375	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1376
jobuuu	2:a1c0a37df760	1377	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1378	}
jobuuu	2:a1c0a37df760	1379
Lightvalve	11:82d8768d7351	1380	void CAN_TX_PWM(int16_t t_pwm) {
jobuuu	2:a1c0a37df760	1381	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1382
Lightvalve	62:851cf7b7aa7a	1383	temp_msg.id = CID_TX_VOUT;
Lightvalve	62:851cf7b7aa7a	1384	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1385	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1386	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1387
jobuuu	2:a1c0a37df760	1388	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1389	}
jobuuu	2:a1c0a37df760	1390
Lightvalve	27:a2254a485f23	1391	void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve	27:a2254a485f23	1392	{
jobuuu	2:a1c0a37df760	1393	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1394
jobuuu	2:a1c0a37df760	1395	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	48:889798ff9329	1396	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1397	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	12:6f2531038ea4	1398	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	27:a2254a485f23	1399	temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
Lightvalve	27:a2254a485f23	1400	temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	27:a2254a485f23	1401	temp_msg.data[4] = (uint8_t) t_pwm;
Lightvalve	27:a2254a485f23	1402	temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
Lightvalve	27:a2254a485f23	1403
jobuuu	2:a1c0a37df760	1404
jobuuu	2:a1c0a37df760	1405	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1406	}
Lightvalve	23:59218d4a256d	1407
Lightvalve	23:59218d4a256d	1408
Lightvalve	32:4b8c0fedaf2c	1409
Lightvalve	38:118df027d851	1410
Lightvalve	48:889798ff9329	1411
Lightvalve	49:e7bcfc244d40	1412
Lightvalve	52:8ea76864368a	1413
Lightvalve	54:647072f5307a	1414
Lightvalve	62:851cf7b7aa7a	1415
Lightvalve	62:851cf7b7aa7a	1416

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	10 Mar 2020
Imports:	4
Forks:	0
Commits:	68
Dependents:	0
Dependencies:	2
Followers:	1

CAN/function_CAN.cpp@67:cfc88fd0591e, 2020-06-03 (annotated)

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