Diff: function_utilities/function_utilities.cpp

Revision:

19:23b7c1ad8683

Parent:

18:b8adf1582ea3

Child:

23:59218d4a256d

--- a/function_utilities/function_utilities.cpp	Wed Sep 04 11:02:57 2019 +0000
+++ b/function_utilities/function_utilities.cpp	Mon Sep 09 06:29:56 2019 +0000
@@ -9,6 +9,21 @@
 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
 
 
+//int CID_RX_CMD = 100;
+//int CID_RX_REF_POSITION = 200;
+//int CID_RX_REF_TORQUE = 300;
+//int CID_RX_REF_PRES_DIFF = 400;
+//int CID_RX_REF_VOUT = 500;
+//int CID_RX_REF_VALVE_POSITION = 600;
+//int CID_RX_REF_CURRENT = 700;
+//
+//int CID_TX_INFO = 1100;
+//int CID_TX_POSITION = 1200;
+//int CID_TX_TORQUE = 1300;
+//int CID_TX_PRES = 1400;
+//int CID_TX_VOUT = 1500;
+//int CID_TX_VALVE_POSITION = 1600;
+
 /*******************************************************************************
  * VARIABLE
  ******************************************************************************/
@@ -206,13 +221,12 @@
 int VALVE_POS_TMP = 0;
 int JOINT_VEL_TMP = 0;
 int DDV_POS_AVG = 0;
-int VALVE_POS_AVG[100] = {0};
+int VALVE_POS_AVG[50] = {0};
 int VALVE_POS_AVG_OLD = 0;
 int data_num = 0;
 int ID_index = 0;
 int DZ_index = 1;
-int ID_index_array[100] = {0};
-int FR_index_array[100] = {0};
+int ID_index_array[50] = {0};
 int first_check = 0;
 double init_time = 0.0;
 int VEL_POINT = 0;
@@ -226,7 +240,8 @@
 int one_period_end = 0;
 double Ref_Vel_Test = 0.0;
 long TMR2_FOR_SLOW_LOGGING = 0;
-int velcount = 0;
+//int velcount = 0;
+int Ref_Valve_Pos_FF_CAN = 0;
 char max_check = 0;
 char min_check = 0; 
 
@@ -284,6 +299,8 @@
 double CUR_CURRENT = 0.0;
 double u_CUR[3] = {0.0,0.0,0.0};
 
+//int Ref_Valve_Pos_FF_CAN = 0;
+
 /*******************************************************************************
  * General math functions
  ******************************************************************************/
@@ -324,12 +341,6 @@
 /*******************************************************************************
  * ROM functions
  ******************************************************************************/
-void ROM_INIT_DATA(void)
-{
-    //ROM_RESET_DATA();
-    ROM_CALL_DATA();
-}
-
 void ROM_RESET_DATA(void) {
     FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
     if (!writer.ready()) writer.open();
@@ -395,8 +406,8 @@
     }
     for(int i=0; i<100; i++)
     {
-        writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[ID_index] & 0xFFFF));
-        writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
+        writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[i] & 0xFFFF));
+        writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[i] >> 16) & 0xFFFF));
     }
     writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS);
     writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS);
@@ -550,3 +561,4 @@
 
 }
 
+