Sungwoo Kim
For LIGHT
Diff: CAN/function_CAN.cpp
- Revision:
- 16:903b5a4433b4
- Parent:
- 15:bd0d12728506
- Child:
- 17:1865016ca2e7
--- a/CAN/function_CAN.cpp Fri Aug 30 02:26:11 2019 +0000
+++ b/CAN/function_CAN.cpp Mon Sep 02 13:32:33 2019 +0000
@@ -2,6 +2,8 @@
#include "setting.h"
#include "function_utilities.h"
#include "SPI_EEP_ENC.h"
+#include "stm32f4xx_flash.h"
+#include "FlashWriter.h"
// CAN ID Setting Variables
int CID_RX_CMD = 100;
@@ -57,7 +59,10 @@
}
case CRX_SET_BNO: {
BNO = (int16_t) msg.data[1];
- spi_eeprom_write(RID_BNO, (int16_t) BNO);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_BNO, (int16_t) BNO);
CAN_ID_INIT(); // can id init
break;
}
@@ -67,7 +72,10 @@
}
case CRX_SET_OPERATING_MODE: {
OPERATING_MODE = (int16_t) msg.data[1];
- spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
break;
}
case CRX_SET_ENC_ZERO: {
@@ -95,7 +103,10 @@
case CRX_SET_CAN_FREQ: {
CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
- spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
break;
}
@@ -138,7 +149,10 @@
DIR_JOINT_ENC = 1;
else
DIR_JOINT_ENC = -1;
- spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
break;
}
@@ -155,7 +169,10 @@
DIR_VALVE = 1;
else
DIR_VALVE = -1;
- spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
break;
}
@@ -172,8 +189,10 @@
DIR_VALVE_ENC = 1;
else
DIR_VALVE_ENC = -1;
+
+ ROM_RESET_DATA();
- spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
+ //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
break;
}
@@ -186,7 +205,10 @@
case CRX_SET_VOLTAGE_SUPPLY: {
SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
- spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
break;
}
@@ -199,7 +221,10 @@
case CRX_SET_VOLTAGE_VALVE: {
VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
- spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
break;
@@ -222,28 +247,34 @@
P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
-
- spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
- spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
- spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
+ //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
+ //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
} else if (msg.data[1] == 1) {
P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
+
+ ROM_RESET_DATA();
- spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
- spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
- spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
+ //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
+ //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
+ //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
} else if (msg.data[1] == 2) {
P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
-
- spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
- spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
- spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
+ //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
+ //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
}
break;
@@ -259,10 +290,12 @@
VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
-
- spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
- spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
- spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
+ //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
+ //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
break;
}
@@ -275,8 +308,10 @@
case CRX_SET_VELOCITY_COMP_GAIN: {
VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
-
- spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
break;
}
@@ -290,7 +325,9 @@
case CRX_SET_COMPLIANCE_GAIN: {
COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
- spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
break;
}
@@ -303,8 +340,10 @@
case CRX_SET_VALVE_FF: {
VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
-
- spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
break;
}
@@ -317,8 +356,10 @@
case CRX_SET_BULK_MODULUS: {
BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
-
- spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
break;
}
@@ -333,8 +374,10 @@
CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
- spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
- spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
+ //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
break;
}
@@ -349,17 +392,19 @@
PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
-
- spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
- spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
+
+ ROM_RESET_DATA();
+
+ //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
+ //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
break;
}
case CRX_ASK_PRES: {
CAN_TX_PRES_A_AND_B();
// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
- dac_1 = PRES_A_VREF;
- dac_2 = PRES_B_VREF;
+ //dac_1 = PRES_A_VREF;
+ //dac_2 = PRES_B_VREF;
break;
}
@@ -367,9 +412,9 @@
case CRX_SET_PRES: {
PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
-
- spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
- spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
+ //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
break;
@@ -384,9 +429,9 @@
case CRX_SET_ENC_LIMIT: {
ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
-
- spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
- spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
+ //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
break;
}
@@ -398,8 +443,8 @@
case CRX_SET_STROKE: {
STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
-
- spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
break;
}
@@ -413,9 +458,9 @@
case CRX_SET_VALVE_LIMIT: {
VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
-
- spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
- spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
+ //spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
break;
}
@@ -428,8 +473,8 @@
case CRX_SET_ENC_PULSE_PER_POSITION: {
ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
-
- spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
break;
}
@@ -442,8 +487,8 @@
case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
TORQUE_SENSOR_PULSE_PER_TORQUE = (int16_t) (msg.data[1] | msg.data[2] << 8);
-
- spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
break;
}
@@ -457,9 +502,9 @@
case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01;
PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01;
-
- spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
- spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
+ //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
break;
}
@@ -472,8 +517,8 @@
case CRX_SET_FRICTION: {
FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
-
- spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
break;
}
@@ -489,12 +534,12 @@
VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.;
VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.;
VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.;
-
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.));
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.));
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.));
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.));
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.));
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.));
+ //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.));
+ //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.));
+ //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.));
+ //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.));
break;
}
@@ -510,12 +555,12 @@
VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.;
VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.;
VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.;
-
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.));
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.));
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.));
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.));
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.));
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.));
+ //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.));
+ //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.));
+ //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.));
+ //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.));
break;
}
@@ -561,8 +606,8 @@
}
case CRX_SET_HOMEPOS_OFFSET: {
HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
-
- spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
break;
}
@@ -572,8 +617,8 @@
}
case CRX_SET_HOMEPOS_VALVE_OPENING: {
HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
-
- spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
+ ROM_RESET_DATA();
+ //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
break;
}