Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@253:0246366e0dcb, 2021-02-19 (annotated)

Committer:
Lightvalve
Date:
Fri Feb 19 11:23:51 2021 +0000
Revision:
253:0246366e0dcb
Parent:
252:179a8c8791dc
Child:
254:725d7435dfa3
210219 - forcesensor sign changed

Who changed what in which revision?

UserRevisionLine numberNew 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 67:c2812cf26c38 23
Lightvalve 66:a8e6799dbce3 24 extern DigitalOut LED;
Lightvalve 12:6f2531038ea4 25
Lightvalve 99:7bbcb3c0fb06 26 extern float u_past[];
Lightvalve 68:328e1be06f5d 27 extern float x_past[];
Lightvalve 85:a3b46118b5cd 28 extern float x_future[];
Lightvalve 68:328e1be06f5d 29 extern float f_past[];
Lightvalve 68:328e1be06f5d 30 extern float f_future[];
Lightvalve 73:f80dc3970c99 31 extern float input_NN[];
Lightvalve 68:328e1be06f5d 32
Lightvalve 233:0a37cdd59651 33
Lightvalve 11:82d8768d7351 34 /*******************************************************************************
Lightvalve 11:82d8768d7351 35 * CAN functions
Lightvalve 11:82d8768d7351 36 ******************************************************************************/
Lightvalve 170:42c938a40313 37 void CAN_ID_INIT(void)
Lightvalve 170:42c938a40313 38 {
jobuuu 7:e9086c72bb22 39
Lightvalve 11:82d8768d7351 40 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 41 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve 49:e7bcfc244d40 42 CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve 45:35fa6884d0c6 43 CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve 11:82d8768d7351 44
Lightvalve 11:82d8768d7351 45 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve 11:82d8768d7351 46 CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve 11:82d8768d7351 47 CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve 11:82d8768d7351 48 CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve 11:82d8768d7351 49 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 50 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve 11:82d8768d7351 51 }
jobuuu 2:a1c0a37df760 52
Lightvalve 28:2a62d73e3dd0 53 void ReadCMD(int16_t CMD)
jobuuu 2:a1c0a37df760 54 {
Lightvalve 170:42c938a40313 55 switch(CMD) {
Lightvalve 11:82d8768d7351 56 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 57 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 58 break;
Lightvalve 11:82d8768d7351 59 }
Lightvalve 11:82d8768d7351 60 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 61 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 62 break;
Lightvalve 11:82d8768d7351 63 }
Lightvalve 11:82d8768d7351 64 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 65 BNO = (int16_t) msg.data[1];
Lightvalve 170:42c938a40313 66
Lightvalve 170:42c938a40313 67 //ROM_RESET_DATA();
Lightvalve 170:42c938a40313 68 spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 69 CAN_ID_INIT(); // can id init
Lightvalve 11:82d8768d7351 70 break;
Lightvalve 11:82d8768d7351 71 }
Lightvalve 11:82d8768d7351 72 case CRX_ASK_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 73 CAN_TX_OPERATING_MODE();
Lightvalve 11:82d8768d7351 74 break;
Lightvalve 11:82d8768d7351 75 }
Lightvalve 11:82d8768d7351 76 case CRX_SET_OPERATING_MODE: {
Lightvalve 52:8ea76864368a 77 OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve 52:8ea76864368a 78 SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve 52:8ea76864368a 79 CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve 52:8ea76864368a 80 FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve 170:42c938a40313 81 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 82 spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve 170:42c938a40313 83 spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
Lightvalve 170:42c938a40313 84 spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
Lightvalve 170:42c938a40313 85 spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
Lightvalve 11:82d8768d7351 86 break;
Lightvalve 11:82d8768d7351 87 }
Lightvalve 11:82d8768d7351 88 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 89 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 90
Lightvalve 11:82d8768d7351 91 break;
Lightvalve 11:82d8768d7351 92 }
Lightvalve 11:82d8768d7351 93 case CRX_SET_FET_ON: {
Lightvalve 11:82d8768d7351 94
Lightvalve 11:82d8768d7351 95 break;
Lightvalve 11:82d8768d7351 96 }
Lightvalve 11:82d8768d7351 97
Lightvalve 45:35fa6884d0c6 98 case CRX_SET_POS_TORQ_TRANS: {
Lightvalve 45:35fa6884d0c6 99 MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve 45:35fa6884d0c6 100 /*
Lightvalve 45:35fa6884d0c6 101 MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve 45:35fa6884d0c6 102 MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve 45:35fa6884d0c6 103 MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve 45:35fa6884d0c6 104 MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve 45:35fa6884d0c6 105 */
Lightvalve 11:82d8768d7351 106 break;
Lightvalve 11:82d8768d7351 107 }
Lightvalve 11:82d8768d7351 108
Lightvalve 11:82d8768d7351 109 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 110 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 111
Lightvalve 11:82d8768d7351 112 break;
Lightvalve 11:82d8768d7351 113 }
Lightvalve 11:82d8768d7351 114
Lightvalve 11:82d8768d7351 115 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 116 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 117 ROM_RESET_DATA();
Lightvalve 170:42c938a40313 118 spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 119 break;
Lightvalve 11:82d8768d7351 120 }
Lightvalve 11:82d8768d7351 121
Lightvalve 11:82d8768d7351 122 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 123 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 124
Lightvalve 11:82d8768d7351 125 break;
Lightvalve 11:82d8768d7351 126 }
Lightvalve 11:82d8768d7351 127
Lightvalve 11:82d8768d7351 128 case CRX_SET_CONTROL_MODE: {
Lightvalve 57:f4819de54e7a 129 //CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 57:f4819de54e7a 130 CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 131 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 132 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 133 }
Lightvalve 11:82d8768d7351 134 break;
Lightvalve 11:82d8768d7351 135 }
Lightvalve 11:82d8768d7351 136
Lightvalve 11:82d8768d7351 137 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 138 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 139 flag_data_request[request_type] = msg.data[1];
Lightvalve 14:8e7590227d22 140 //pc.printf("can middle %d\n", request_type);
Lightvalve 11:82d8768d7351 141
Lightvalve 12:6f2531038ea4 142 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 143 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 144 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 145 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 233:0a37cdd59651 146
Lightvalve 233:0a37cdd59651 147 // Position, Velocity, and Torque (ID:1200)
Lightvalve 233:0a37cdd59651 148 if (flag_data_request[0] == HIGH) {
Lightvalve 233:0a37cdd59651 149 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 233:0a37cdd59651 150 if (SENSING_MODE == 0) {
Lightvalve 233:0a37cdd59651 151 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 233:0a37cdd59651 152 } else if (SENSING_MODE == 1) {
Lightvalve 233:0a37cdd59651 153 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 233:0a37cdd59651 154 }
Lightvalve 233:0a37cdd59651 155 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 233:0a37cdd59651 156 if (SENSING_MODE == 0) {
Lightvalve 252:179a8c8791dc 157 CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 233:0a37cdd59651 158 } else if (SENSING_MODE == 1) {
Lightvalve 252:179a8c8791dc 159 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 233:0a37cdd59651 160 }
Lightvalve 233:0a37cdd59651 161 }
Lightvalve 233:0a37cdd59651 162 }
Lightvalve 233:0a37cdd59651 163 if (flag_data_request[1] == HIGH) {
Lightvalve 233:0a37cdd59651 164 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 233:0a37cdd59651 165 }
Lightvalve 233:0a37cdd59651 166
Lightvalve 233:0a37cdd59651 167
Lightvalve 233:0a37cdd59651 168 if (flag_data_request[2] == HIGH) {
Lightvalve 252:179a8c8791dc 169
Lightvalve 252:179a8c8791dc 170
Lightvalve 233:0a37cdd59651 171 double t_value = 0.0f;
Lightvalve 252:179a8c8791dc 172 double t_value_ref = 0.0f;
Lightvalve 252:179a8c8791dc 173
Lightvalve 252:179a8c8791dc 174 if (CURRENT_CONTROL_MODE) {
Lightvalve 252:179a8c8791dc 175 t_value = cur.sen;
Lightvalve 252:179a8c8791dc 176 t_value_ref = I_REF_fil;
Lightvalve 233:0a37cdd59651 177 } else {
Lightvalve 252:179a8c8791dc 178 if(value>=(float) VALVE_CENTER) {
Lightvalve 252:179a8c8791dc 179 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 180 } else {
Lightvalve 252:179a8c8791dc 181 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 182 }
Lightvalve 252:179a8c8791dc 183
Lightvalve 252:179a8c8791dc 184 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 252:179a8c8791dc 185 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 186 } else {
Lightvalve 252:179a8c8791dc 187 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 188 }
Lightvalve 233:0a37cdd59651 189 }
Lightvalve 233:0a37cdd59651 190
Lightvalve 252:179a8c8791dc 191 // CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 252:179a8c8791dc 192 CAN_TX_PRES((int16_t) (VALVE_DEADZONE_PLUS), (int16_t) (t_value_ref)); // 1400
Lightvalve 233:0a37cdd59651 193 }
Lightvalve 233:0a37cdd59651 194
Lightvalve 235:4be664734d36 195 // //If it doesn't rest, below can can not work.
Lightvalve 235:4be664734d36 196 // for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 235:4be664734d36 197 // ;
Lightvalve 235:4be664734d36 198 // }
Lightvalve 235:4be664734d36 199 //
Lightvalve 233:0a37cdd59651 200 if (flag_data_request[3] == HIGH) {
Lightvalve 233:0a37cdd59651 201 //PWM
Lightvalve 233:0a37cdd59651 202 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 233:0a37cdd59651 203 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 233:0a37cdd59651 204 }
Lightvalve 233:0a37cdd59651 205
Lightvalve 233:0a37cdd59651 206 if (flag_data_request[4] == HIGH) {
Lightvalve 233:0a37cdd59651 207 //valve position
Lightvalve 233:0a37cdd59651 208 //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
Lightvalve 233:0a37cdd59651 209 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 233:0a37cdd59651 210 }
Lightvalve 233:0a37cdd59651 211
Lightvalve 11:82d8768d7351 212
Lightvalve 11:82d8768d7351 213 break;
Lightvalve 11:82d8768d7351 214 }
Lightvalve 11:82d8768d7351 215
Lightvalve 11:82d8768d7351 216 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 217 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 218
Lightvalve 11:82d8768d7351 219 break;
Lightvalve 11:82d8768d7351 220 }
Lightvalve 11:82d8768d7351 221
Lightvalve 11:82d8768d7351 222 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 223 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 224 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 225 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 226 else
Lightvalve 11:82d8768d7351 227 DIR_JOINT_ENC = -1;
Lightvalve 170:42c938a40313 228
Lightvalve 170:42c938a40313 229 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 230
Lightvalve 170:42c938a40313 231 spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 232
Lightvalve 11:82d8768d7351 233 break;
Lightvalve 11:82d8768d7351 234 }
Lightvalve 11:82d8768d7351 235
Lightvalve 11:82d8768d7351 236 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 237 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 238
Lightvalve 11:82d8768d7351 239 break;
Lightvalve 11:82d8768d7351 240 }
Lightvalve 11:82d8768d7351 241
Lightvalve 11:82d8768d7351 242 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 243 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 244 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 245 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 246 else
Lightvalve 11:82d8768d7351 247 DIR_VALVE = -1;
Lightvalve 170:42c938a40313 248
Lightvalve 170:42c938a40313 249 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 250
Lightvalve 170:42c938a40313 251 spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 252
Lightvalve 11:82d8768d7351 253 break;
Lightvalve 11:82d8768d7351 254 }
Lightvalve 11:82d8768d7351 255
Lightvalve 11:82d8768d7351 256 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 257 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 258
Lightvalve 11:82d8768d7351 259 break;
Lightvalve 11:82d8768d7351 260 }
Lightvalve 11:82d8768d7351 261
Lightvalve 11:82d8768d7351 262 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 263 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 264 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 265 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 266 else
Lightvalve 11:82d8768d7351 267 DIR_VALVE_ENC = -1;
Lightvalve 11:82d8768d7351 268
Lightvalve 170:42c938a40313 269 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 270
Lightvalve 170:42c938a40313 271 spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 272
Lightvalve 11:82d8768d7351 273 break;
Lightvalve 11:82d8768d7351 274 }
Lightvalve 11:82d8768d7351 275
Lightvalve 11:82d8768d7351 276 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 277 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 278
Lightvalve 11:82d8768d7351 279 break;
Lightvalve 11:82d8768d7351 280 }
Lightvalve 11:82d8768d7351 281
Lightvalve 11:82d8768d7351 282 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 30:8d561f16383b 283 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 170:42c938a40313 284
Lightvalve 170:42c938a40313 285 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 286
Lightvalve 170:42c938a40313 287 spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve 11:82d8768d7351 288
Lightvalve 11:82d8768d7351 289 break;
Lightvalve 11:82d8768d7351 290 }
Lightvalve 11:82d8768d7351 291
Lightvalve 11:82d8768d7351 292 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 293 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 294
Lightvalve 11:82d8768d7351 295 break;
Lightvalve 11:82d8768d7351 296 }
Lightvalve 11:82d8768d7351 297
Lightvalve 11:82d8768d7351 298 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 30:8d561f16383b 299 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 170:42c938a40313 300
Lightvalve 170:42c938a40313 301 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 302
Lightvalve 170:42c938a40313 303 spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve 11:82d8768d7351 304
Lightvalve 11:82d8768d7351 305
Lightvalve 11:82d8768d7351 306 break;
Lightvalve 11:82d8768d7351 307 }
Lightvalve 12:6f2531038ea4 308
Lightvalve 11:82d8768d7351 309 case CRX_SET_HOMEPOS: {
Lightvalve 57:f4819de54e7a 310 //CONTROL_MODE = 22;
Lightvalve 57:f4819de54e7a 311 CONTROL_UTILITY_MODE = 22;
Lightvalve 11:82d8768d7351 312 break;
Lightvalve 11:82d8768d7351 313 }
Lightvalve 11:82d8768d7351 314
Lightvalve 11:82d8768d7351 315 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 316 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 317
Lightvalve 11:82d8768d7351 318 break;
Lightvalve 11:82d8768d7351 319 }
Lightvalve 11:82d8768d7351 320
Lightvalve 11:82d8768d7351 321 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 322 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 323 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 324 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 325 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 326
Lightvalve 170:42c938a40313 327 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 328 spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 170:42c938a40313 329 spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 170:42c938a40313 330 spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 331
Lightvalve 11:82d8768d7351 332 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 333 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 334 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 335 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 336
Lightvalve 170:42c938a40313 337 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 338 spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 339 spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 340 spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 341
Lightvalve 11:82d8768d7351 342 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 343 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 344 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 345 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 346
Lightvalve 170:42c938a40313 347 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 348 spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 349 spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 350 spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 351
Lightvalve 46:2694daea349b 352 } else if (msg.data[1] == 3) {
Lightvalve 67:c2812cf26c38 353 K_SPRING = (float) (((float) ((int16_t) (msg.data[2] | msg.data[3] << 8))) * 0.1f);
Lightvalve 67:c2812cf26c38 354 D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f);
Lightvalve 170:42c938a40313 355
Lightvalve 67:c2812cf26c38 356 // ROM_RESET_DATA(); //For Real-time changing
Lightvalve 170:42c938a40313 357 // spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve 170:42c938a40313 358 // spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve 170:42c938a40313 359
Lightvalve 72:3436ce769b1e 360 } else if (msg.data[1] == 4) {
Lightvalve 72:3436ce769b1e 361 P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 72:3436ce769b1e 362 I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 72:3436ce769b1e 363 D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 364
Lightvalve 170:42c938a40313 365 // ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 366 }
Lightvalve 11:82d8768d7351 367
Lightvalve 11:82d8768d7351 368 break;
Lightvalve 11:82d8768d7351 369 }
Lightvalve 11:82d8768d7351 370
Lightvalve 11:82d8768d7351 371 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 372 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 373
Lightvalve 11:82d8768d7351 374 break;
Lightvalve 11:82d8768d7351 375 }
Lightvalve 11:82d8768d7351 376
Lightvalve 11:82d8768d7351 377 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 378 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 379 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 380 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 170:42c938a40313 381
Lightvalve 170:42c938a40313 382 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 383 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 252:179a8c8791dc 384 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 252:179a8c8791dc 385 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 11:82d8768d7351 386
Lightvalve 11:82d8768d7351 387 break;
Lightvalve 11:82d8768d7351 388 }
Lightvalve 11:82d8768d7351 389
Lightvalve 11:82d8768d7351 390 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 391 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 392
Lightvalve 11:82d8768d7351 393 break;
Lightvalve 11:82d8768d7351 394 }
Lightvalve 11:82d8768d7351 395
Lightvalve 11:82d8768d7351 396 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 397 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 398
Lightvalve 170:42c938a40313 399 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 400
Lightvalve 170:42c938a40313 401 spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 402
Lightvalve 11:82d8768d7351 403 break;
Lightvalve 11:82d8768d7351 404 }
Lightvalve 11:82d8768d7351 405
Lightvalve 11:82d8768d7351 406 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 407 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 408
Lightvalve 11:82d8768d7351 409 break;
Lightvalve 11:82d8768d7351 410 }
Lightvalve 11:82d8768d7351 411
Lightvalve 11:82d8768d7351 412 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 413 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 414
Lightvalve 170:42c938a40313 415 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 416
Lightvalve 170:42c938a40313 417 spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 418
Lightvalve 11:82d8768d7351 419 break;
Lightvalve 11:82d8768d7351 420 }
Lightvalve 11:82d8768d7351 421
Lightvalve 11:82d8768d7351 422 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 423 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 424
Lightvalve 11:82d8768d7351 425 break;
Lightvalve 11:82d8768d7351 426 }
Lightvalve 11:82d8768d7351 427
Lightvalve 11:82d8768d7351 428 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 429 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 430
Lightvalve 170:42c938a40313 431 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 432
Lightvalve 170:42c938a40313 433 spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 434
Lightvalve 11:82d8768d7351 435 break;
Lightvalve 11:82d8768d7351 436 }
Lightvalve 11:82d8768d7351 437
Lightvalve 11:82d8768d7351 438 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 439 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 440
Lightvalve 11:82d8768d7351 441 break;
Lightvalve 11:82d8768d7351 442 }
Lightvalve 11:82d8768d7351 443
Lightvalve 11:82d8768d7351 444 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 445 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 446
Lightvalve 170:42c938a40313 447 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 448
Lightvalve 170:42c938a40313 449 spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 450
Lightvalve 11:82d8768d7351 451 break;
Lightvalve 11:82d8768d7351 452 }
Lightvalve 11:82d8768d7351 453
Lightvalve 11:82d8768d7351 454 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 455 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 456
Lightvalve 11:82d8768d7351 457 break;
Lightvalve 11:82d8768d7351 458 }
Lightvalve 11:82d8768d7351 459
Lightvalve 11:82d8768d7351 460 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 461 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 462 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 463
Lightvalve 170:42c938a40313 464 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 465
Lightvalve 170:42c938a40313 466 spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 170:42c938a40313 467 spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 468
Lightvalve 11:82d8768d7351 469 break;
Lightvalve 11:82d8768d7351 470 }
Lightvalve 11:82d8768d7351 471
Lightvalve 11:82d8768d7351 472 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 473 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 474
Lightvalve 11:82d8768d7351 475 break;
Lightvalve 11:82d8768d7351 476 }
Lightvalve 11:82d8768d7351 477
Lightvalve 11:82d8768d7351 478 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 479 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 480 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 69:3995ffeaa786 481 PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve 57:f4819de54e7a 482 alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve 170:42c938a40313 483
Lightvalve 170:42c938a40313 484 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 485
Lightvalve 170:42c938a40313 486 spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 170:42c938a40313 487 spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 488 break;
Lightvalve 11:82d8768d7351 489 }
Lightvalve 11:82d8768d7351 490
Lightvalve 11:82d8768d7351 491 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 492 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 493 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 494 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 495 //dac_2 = PRES_B_VREF;
Lightvalve 170:42c938a40313 496
Lightvalve 11:82d8768d7351 497 break;
Lightvalve 11:82d8768d7351 498 }
Lightvalve 11:82d8768d7351 499
Lightvalve 11:82d8768d7351 500 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 501 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 502 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 170:42c938a40313 503 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 504 spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 170:42c938a40313 505 spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 506
Lightvalve 11:82d8768d7351 507
Lightvalve 11:82d8768d7351 508 break;
Lightvalve 11:82d8768d7351 509 }
Lightvalve 11:82d8768d7351 510
Lightvalve 11:82d8768d7351 511 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 512 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 513
Lightvalve 11:82d8768d7351 514 break;
Lightvalve 11:82d8768d7351 515 }
Lightvalve 11:82d8768d7351 516
Lightvalve 11:82d8768d7351 517 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 518 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 519 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 170:42c938a40313 520 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 521 spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 170:42c938a40313 522 spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 523
Lightvalve 11:82d8768d7351 524 break;
Lightvalve 11:82d8768d7351 525 }
Lightvalve 11:82d8768d7351 526
Lightvalve 11:82d8768d7351 527 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 528 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 529 break;
Lightvalve 11:82d8768d7351 530 }
Lightvalve 11:82d8768d7351 531
Lightvalve 11:82d8768d7351 532 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 533 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 534 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 535 spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 536
Lightvalve 11:82d8768d7351 537 break;
Lightvalve 11:82d8768d7351 538 }
Lightvalve 11:82d8768d7351 539
Lightvalve 11:82d8768d7351 540 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 541 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 542
Lightvalve 11:82d8768d7351 543 break;
Lightvalve 11:82d8768d7351 544 }
Lightvalve 11:82d8768d7351 545
Lightvalve 11:82d8768d7351 546 case CRX_SET_VALVE_LIMIT: {
Lightvalve 57:f4819de54e7a 547 VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 57:f4819de54e7a 548 VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 170:42c938a40313 549 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 550
Lightvalve 170:42c938a40313 551 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 552 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 11:82d8768d7351 553
Lightvalve 11:82d8768d7351 554 break;
Lightvalve 11:82d8768d7351 555 }
Lightvalve 11:82d8768d7351 556
Lightvalve 11:82d8768d7351 557 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 558 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 559
Lightvalve 11:82d8768d7351 560 break;
Lightvalve 11:82d8768d7351 561 }
Lightvalve 11:82d8768d7351 562
Lightvalve 11:82d8768d7351 563 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 564 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 565 // ROM_RESET_DATA();
Lightvalve 180:02be1711ee0b 566 spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
Lightvalve 11:82d8768d7351 567
Lightvalve 11:82d8768d7351 568 break;
Lightvalve 11:82d8768d7351 569 }
Lightvalve 11:82d8768d7351 570
Lightvalve 11:82d8768d7351 571 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 572 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 573
Lightvalve 11:82d8768d7351 574 break;
Lightvalve 11:82d8768d7351 575 }
Lightvalve 11:82d8768d7351 576
Lightvalve 11:82d8768d7351 577 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 139:15621998925b 578 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.0001f);
Lightvalve 170:42c938a40313 579 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 580 spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve 11:82d8768d7351 581
Lightvalve 11:82d8768d7351 582 break;
Lightvalve 11:82d8768d7351 583 }
Lightvalve 11:82d8768d7351 584
Lightvalve 11:82d8768d7351 585 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 586 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 587
Lightvalve 11:82d8768d7351 588 break;
Lightvalve 11:82d8768d7351 589 }
Lightvalve 11:82d8768d7351 590
Lightvalve 11:82d8768d7351 591 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 253:0246366e0dcb 592 PRES_SENSOR_A_PULSE_PER_BAR = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 253:0246366e0dcb 593 PRES_SENSOR_B_PULSE_PER_BAR = (float) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 170:42c938a40313 594 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 595 spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 170:42c938a40313 596 spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 11:82d8768d7351 597
Lightvalve 11:82d8768d7351 598 break;
Lightvalve 11:82d8768d7351 599 }
Lightvalve 11:82d8768d7351 600
Lightvalve 11:82d8768d7351 601 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 602 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 603
Lightvalve 11:82d8768d7351 604 break;
Lightvalve 11:82d8768d7351 605 }
Lightvalve 11:82d8768d7351 606
Lightvalve 11:82d8768d7351 607 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 608 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 170:42c938a40313 609 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 610 spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve 11:82d8768d7351 611
Lightvalve 11:82d8768d7351 612 break;
Lightvalve 11:82d8768d7351 613 }
Lightvalve 11:82d8768d7351 614
Lightvalve 11:82d8768d7351 615 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 616 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 617
Lightvalve 11:82d8768d7351 618 break;
Lightvalve 11:82d8768d7351 619 }
Lightvalve 11:82d8768d7351 620 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 621 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 622 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 623 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 624 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 625 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 170:42c938a40313 626 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 627 spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 170:42c938a40313 628 spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 170:42c938a40313 629 spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 170:42c938a40313 630 spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 170:42c938a40313 631 spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 632
Lightvalve 11:82d8768d7351 633 break;
Lightvalve 11:82d8768d7351 634 }
Lightvalve 11:82d8768d7351 635
Lightvalve 11:82d8768d7351 636 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 637 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 638
Lightvalve 11:82d8768d7351 639 break;
Lightvalve 11:82d8768d7351 640 }
Lightvalve 11:82d8768d7351 641 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 642 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 643 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 644 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 645 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 646 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 170:42c938a40313 647 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 648 spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 170:42c938a40313 649 spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 170:42c938a40313 650 spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 170:42c938a40313 651 spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 170:42c938a40313 652 spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 653
Lightvalve 11:82d8768d7351 654 break;
Lightvalve 11:82d8768d7351 655 }
Lightvalve 11:82d8768d7351 656 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 657 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 658 break;
Lightvalve 11:82d8768d7351 659 }
Lightvalve 11:82d8768d7351 660
Lightvalve 11:82d8768d7351 661 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 662 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 663
Lightvalve 11:82d8768d7351 664 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 665 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 666 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 667 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 668 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 669
Lightvalve 11:82d8768d7351 670 break;
Lightvalve 11:82d8768d7351 671 }
Lightvalve 11:82d8768d7351 672
Lightvalve 11:82d8768d7351 673 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 674 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 675
Lightvalve 11:82d8768d7351 676 break;
Lightvalve 11:82d8768d7351 677 }
Lightvalve 11:82d8768d7351 678
Lightvalve 11:82d8768d7351 679 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 680
Lightvalve 12:6f2531038ea4 681 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 682 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 683 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 684 }
Lightvalve 11:82d8768d7351 685
Lightvalve 11:82d8768d7351 686 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 687
Lightvalve 11:82d8768d7351 688
Lightvalve 11:82d8768d7351 689 break;
Lightvalve 11:82d8768d7351 690 }
Lightvalve 11:82d8768d7351 691
Lightvalve 11:82d8768d7351 692 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 693 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 694 break;
Lightvalve 11:82d8768d7351 695 }
Lightvalve 11:82d8768d7351 696 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 697 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 698 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 699 spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 700 break;
Lightvalve 11:82d8768d7351 701 }
Lightvalve 11:82d8768d7351 702
Lightvalve 11:82d8768d7351 703 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 704 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 705 break;
Lightvalve 11:82d8768d7351 706 }
Lightvalve 11:82d8768d7351 707 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 708 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 709 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 710 spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 711 break;
Lightvalve 11:82d8768d7351 712 }
Lightvalve 11:82d8768d7351 713
Lightvalve 11:82d8768d7351 714 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 715 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 716 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 717 break;
Lightvalve 11:82d8768d7351 718 }
Lightvalve 11:82d8768d7351 719 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 720 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 721 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 722 break;
Lightvalve 11:82d8768d7351 723 }
Lightvalve 11:82d8768d7351 724 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 725 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 726 break;
Lightvalve 11:82d8768d7351 727 }
Lightvalve 170:42c938a40313 728
Lightvalve 28:2a62d73e3dd0 729 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 730 ROM_RESET_DATA();
Lightvalve 28:2a62d73e3dd0 731 break;
Lightvalve 28:2a62d73e3dd0 732 }
Lightvalve 32:4b8c0fedaf2c 733 case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve 252:179a8c8791dc 734 VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8)));
Lightvalve 57:f4819de54e7a 735 VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve 170:42c938a40313 736 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 737 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 738
Lightvalve 33:91b17819ec30 739 break;
Lightvalve 33:91b17819ec30 740 }
Lightvalve 33:91b17819ec30 741 case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve 252:179a8c8791dc 742 VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8)));
Lightvalve 33:91b17819ec30 743 VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve 170:42c938a40313 744 // ROM_RESET_DATA();
Lightvalve 252:179a8c8791dc 745 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 170:42c938a40313 746
Lightvalve 33:91b17819ec30 747 break;
Lightvalve 33:91b17819ec30 748 }
Lightvalve 33:91b17819ec30 749 case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve 252:179a8c8791dc 750 VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8)));
Lightvalve 33:91b17819ec30 751 VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve 170:42c938a40313 752 // ROM_RESET_DATA();
Lightvalve 252:179a8c8791dc 753 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 32:4b8c0fedaf2c 754 break;
Lightvalve 32:4b8c0fedaf2c 755 }
Lightvalve 36:a46e63505ed8 756 case CRX_SET_PID_GAIN_OPP: {
Lightvalve 36:a46e63505ed8 757 if (msg.data[1] == 0) {
Lightvalve 36:a46e63505ed8 758 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 759 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 760 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 761
Lightvalve 170:42c938a40313 762 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 763
Lightvalve 36:a46e63505ed8 764 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 765 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 766 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 767
Lightvalve 36:a46e63505ed8 768
Lightvalve 36:a46e63505ed8 769 } else if (msg.data[1] == 1) {
Lightvalve 36:a46e63505ed8 770 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 771 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 772 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 773
Lightvalve 170:42c938a40313 774 // ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 775
Lightvalve 36:a46e63505ed8 776 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 777 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 778 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 779 } else if (msg.data[1] == 2) {
Lightvalve 36:a46e63505ed8 780 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 781 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 782 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 783
Lightvalve 170:42c938a40313 784 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 785
Lightvalve 36:a46e63505ed8 786 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 787 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 788 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 789 }
Lightvalve 36:a46e63505ed8 790 break;
Lightvalve 36:a46e63505ed8 791 }
Lightvalve 38:118df027d851 792 case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve 57:f4819de54e7a 793 //CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 38:118df027d851 794 CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve 38:118df027d851 795 break;
Lightvalve 38:118df027d851 796 }
Lightvalve 170:42c938a40313 797 case CRX_DELAY_TEST: {
Lightvalve 54:647072f5307a 798 flag_delay_test = 1;
Lightvalve 54:647072f5307a 799 break;
Lightvalve 54:647072f5307a 800 }
Lightvalve 68:328e1be06f5d 801 case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve 68:328e1be06f5d 802 NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve 68:328e1be06f5d 803 CONTROL_UTILITY_MODE = 1;
Lightvalve 68:328e1be06f5d 804 break;
Lightvalve 68:328e1be06f5d 805 }
Lightvalve 169:645207e160ca 806 case CRX_SET_FREQ_TEST: {
Lightvalve 169:645207e160ca 807 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 808 CONTROL_UTILITY_MODE = 34;
Lightvalve 169:645207e160ca 809 break;
Lightvalve 169:645207e160ca 810 }
Lightvalve 170:42c938a40313 811
Lightvalve 169:645207e160ca 812 case CRX_ASK_BUFFER: {
Lightvalve 169:645207e160ca 813 cnt_buffer = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 169:645207e160ca 814 CAN_TX_BUFFER(cnt_buffer);
Lightvalve 169:645207e160ca 815 break;
Lightvalve 169:645207e160ca 816 }
Lightvalve 170:42c938a40313 817
Lightvalve 169:645207e160ca 818 case CRX_SET_STEP_TEST: {
Lightvalve 169:645207e160ca 819 cnt_step_test = 0;
Lightvalve 169:645207e160ca 820 CONTROL_UTILITY_MODE = 37;
Lightvalve 169:645207e160ca 821 break;
Lightvalve 169:645207e160ca 822 }
Lightvalve 38:118df027d851 823
Lightvalve 192:637092202815 824 case CRX_SET_CHANGE_EVERY_REFERNCE: {
Lightvalve 192:637092202815 825 flag_every_reference = 1;
Lightvalve 192:637092202815 826 break;
Lightvalve 192:637092202815 827 }
Lightvalve 192:637092202815 828
Lightvalve 170:42c938a40313 829 default:
Lightvalve 170:42c938a40313 830 break;
jobuuu 2:a1c0a37df760 831 }
jobuuu 2:a1c0a37df760 832 }
jobuuu 2:a1c0a37df760 833
jobuuu 2:a1c0a37df760 834 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 835 {
Lightvalve 170:42c938a40313 836
jobuuu 2:a1c0a37df760 837 can.read(msg);
jobuuu 2:a1c0a37df760 838 unsigned int address = msg.id;
Lightvalve 170:42c938a40313 839 if(address==CID_RX_CMD) {
jobuuu 2:a1c0a37df760 840 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 841 ReadCMD(CMD);
Lightvalve 170:42c938a40313 842
jobuuu 7:e9086c72bb22 843 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 170:42c938a40313 844
Lightvalve 43:b084e5f5d0d5 845 int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 43:b084e5f5d0d5 846 int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 57:f4819de54e7a 847 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 170:42c938a40313 848
Lightvalve 57:f4819de54e7a 849 if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve 57:f4819de54e7a 850 pos.ref = (double)temp_pos * 1.0f;
Lightvalve 57:f4819de54e7a 851 vel.ref = (double)temp_vel * 10.0f;
Lightvalve 170:42c938a40313 852 } else { //Linear Actuator
Lightvalve 67:c2812cf26c38 853 pos.ref = (double)temp_pos * 10.0f;
Lightvalve 67:c2812cf26c38 854 vel.ref = (double)temp_vel * 256.0f;
Lightvalve 57:f4819de54e7a 855 }
Lightvalve 170:42c938a40313 856
Lightvalve 68:328e1be06f5d 857 torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve 133:22ab22818e01 858 torq.ref_diff = torq.ref - torq.ref_old;
Lightvalve 209:ebc69d6ee6f1 859 torq_dot.sen = torq.sen-totq_sen_past;
Lightvalve 133:22ab22818e01 860 torq.ref_old = torq.ref;
Lightvalve 209:ebc69d6ee6f1 861 totq_sen_past = torq.sen;
Lightvalve 170:42c938a40313 862
Lightvalve 68:328e1be06f5d 863 ///////////////Make Data///////////////////
Lightvalve 170:42c938a40313 864 for(int i=0; i<num_array_u_past-1; i++) {
Lightvalve 99:7bbcb3c0fb06 865 u_past[i] = u_past[i+1];
Lightvalve 99:7bbcb3c0fb06 866 }
Lightvalve 99:7bbcb3c0fb06 867 u_past[num_array_u_past-1] = output_normalized;
Lightvalve 170:42c938a40313 868
Lightvalve 170:42c938a40313 869 for(int i=0; i<num_array_x_past-1; i++) {
Lightvalve 68:328e1be06f5d 870 x_past[i] = x_past[i+1];
Lightvalve 68:328e1be06f5d 871 }
Lightvalve 68:328e1be06f5d 872 x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve 170:42c938a40313 873
Lightvalve 122:dcb3ce3056a0 874 // for(int i=0;i<num_array_x_future-1;i++){
Lightvalve 122:dcb3ce3056a0 875 // x_future[i] = x_future[i+1];
Lightvalve 122:dcb3ce3056a0 876 // }
Lightvalve 122:dcb3ce3056a0 877 // x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve 170:42c938a40313 878
Lightvalve 170:42c938a40313 879 for(int i=0; i<num_array_f_past-1; i++) {
Lightvalve 68:328e1be06f5d 880 f_past[i] = f_past[i+1];
Lightvalve 68:328e1be06f5d 881 }
Lightvalve 101:50159049a518 882 f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve 170:42c938a40313 883
Lightvalve 68:328e1be06f5d 884 f_future[0] = torq.sen; //N
Lightvalve 192:637092202815 885
Lightvalve 192:637092202815 886 if(flag_every_reference == 1) {
Lightvalve 192:637092202815 887 for(int i=1; i<num_array_f_future-1; i++) {
Lightvalve 192:637092202815 888 f_future[i] = 500.0f;
Lightvalve 192:637092202815 889 }
Lightvalve 192:637092202815 890 f_future[num_array_f_future-1] = 500.0f; //N
Lightvalve 192:637092202815 891 } else {
Lightvalve 192:637092202815 892 for(int i=1; i<num_array_f_future-1; i++) {
Lightvalve 192:637092202815 893 f_future[i] = f_future[i+1];
Lightvalve 192:637092202815 894 }
Lightvalve 192:637092202815 895 f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve 68:328e1be06f5d 896 }
Lightvalve 68:328e1be06f5d 897
Lightvalve 101:50159049a518 898
Lightvalve 49:e7bcfc244d40 899 } else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve 47:fdcb8bd86fd6 900 int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 170:42c938a40313 901
Lightvalve 57:f4819de54e7a 902 if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve 57:f4819de54e7a 903 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 57:f4819de54e7a 904 } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve 57:f4819de54e7a 905 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 57:f4819de54e7a 906 } else { //SW Valve
Lightvalve 57:f4819de54e7a 907 if(temp_ref_valve_pos >= 0) {
Lightvalve 57:f4819de54e7a 908 valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 57:f4819de54e7a 909 } else {
Lightvalve 57:f4819de54e7a 910 valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 57:f4819de54e7a 911 }
Lightvalve 47:fdcb8bd86fd6 912 }
Lightvalve 170:42c938a40313 913 } else if(address==CID_RX_REF_PWM) {
Lightvalve 49:e7bcfc244d40 914 int temp_ref_pwm = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 49:e7bcfc244d40 915 Vout.ref = (double) temp_ref_pwm;
Lightvalve 170:42c938a40313 916 }
jobuuu 2:a1c0a37df760 917 }
jobuuu 2:a1c0a37df760 918
jobuuu 2:a1c0a37df760 919 /******************************************************************************
jobuuu 2:a1c0a37df760 920 Information Transmission Functions
jobuuu 2:a1c0a37df760 921 *******************************************************************************/
Lightvalve 11:82d8768d7351 922
Lightvalve 170:42c938a40313 923 void CAN_TX_INFO(void)
Lightvalve 170:42c938a40313 924 {
Lightvalve 12:6f2531038ea4 925 CANMessage temp_msg;
Lightvalve 170:42c938a40313 926
jobuuu 2:a1c0a37df760 927 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 928 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 929 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 930 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 931 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 932 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 933 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 57:f4819de54e7a 934 temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve 12:6f2531038ea4 935 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 936
jobuuu 2:a1c0a37df760 937 can.write(temp_msg);
jobuuu 2:a1c0a37df760 938 }
jobuuu 2:a1c0a37df760 939
Lightvalve 170:42c938a40313 940 void CAN_TX_BNO(void)
Lightvalve 170:42c938a40313 941 {
Lightvalve 12:6f2531038ea4 942 CANMessage temp_msg;
Lightvalve 170:42c938a40313 943
jobuuu 2:a1c0a37df760 944 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 945 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 946 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 947 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 948
jobuuu 2:a1c0a37df760 949 can.write(temp_msg);
jobuuu 2:a1c0a37df760 950 }
jobuuu 2:a1c0a37df760 951
Lightvalve 170:42c938a40313 952 void CAN_TX_OPERATING_MODE(void)
Lightvalve 170:42c938a40313 953 {
jobuuu 2:a1c0a37df760 954 CANMessage temp_msg;
Lightvalve 170:42c938a40313 955
jobuuu 2:a1c0a37df760 956 temp_msg.id = CID_TX_INFO;
Lightvalve 52:8ea76864368a 957 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 958 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 959 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve 52:8ea76864368a 960 temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve 52:8ea76864368a 961 temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 962 temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu 2:a1c0a37df760 963
jobuuu 2:a1c0a37df760 964 can.write(temp_msg);
jobuuu 2:a1c0a37df760 965 }
jobuuu 2:a1c0a37df760 966
Lightvalve 170:42c938a40313 967 void CAN_TX_CAN_FREQ(void)
Lightvalve 170:42c938a40313 968 {
jobuuu 2:a1c0a37df760 969 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 970
jobuuu 2:a1c0a37df760 971 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 972 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 973 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 974 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 975 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 976
jobuuu 2:a1c0a37df760 977 can.write(temp_msg);
jobuuu 2:a1c0a37df760 978 }
Lightvalve 11:82d8768d7351 979
Lightvalve 170:42c938a40313 980 void CAN_TX_CONTROL_MODE(void)
Lightvalve 170:42c938a40313 981 {
jobuuu 2:a1c0a37df760 982 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 983
jobuuu 2:a1c0a37df760 984 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 985 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 986 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 57:f4819de54e7a 987 temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu 2:a1c0a37df760 988
jobuuu 2:a1c0a37df760 989 can.write(temp_msg);
jobuuu 2:a1c0a37df760 990 }
Lightvalve 11:82d8768d7351 991
Lightvalve 170:42c938a40313 992 void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve 170:42c938a40313 993 {
jobuuu 2:a1c0a37df760 994 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 995
jobuuu 2:a1c0a37df760 996 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 997 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 998 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 999 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 1000 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 1001
jobuuu 2:a1c0a37df760 1002 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1003 }
jobuuu 2:a1c0a37df760 1004
Lightvalve 170:42c938a40313 1005 void CAN_TX_VALVE_DIR(void)
Lightvalve 170:42c938a40313 1006 {
jobuuu 2:a1c0a37df760 1007 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1008
jobuuu 2:a1c0a37df760 1009 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1010 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1011 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 1012 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 1013 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 1014
jobuuu 2:a1c0a37df760 1015 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1016 }
jobuuu 2:a1c0a37df760 1017
Lightvalve 170:42c938a40313 1018 void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve 170:42c938a40313 1019 {
jobuuu 2:a1c0a37df760 1020 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1021
jobuuu 2:a1c0a37df760 1022 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1023 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1024 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 1025 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 1026 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 1027
jobuuu 2:a1c0a37df760 1028 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1029 }
jobuuu 2:a1c0a37df760 1030
Lightvalve 170:42c938a40313 1031 void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve 170:42c938a40313 1032 {
Lightvalve 49:e7bcfc244d40 1033 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu 2:a1c0a37df760 1034
jobuuu 2:a1c0a37df760 1035 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1036
jobuuu 2:a1c0a37df760 1037 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1038 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1039 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 1040 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 1041 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 1042
jobuuu 2:a1c0a37df760 1043 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1044 }
jobuuu 2:a1c0a37df760 1045
Lightvalve 170:42c938a40313 1046 void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve 170:42c938a40313 1047 {
Lightvalve 49:e7bcfc244d40 1048 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu 2:a1c0a37df760 1049
jobuuu 2:a1c0a37df760 1050 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1051
jobuuu 2:a1c0a37df760 1052 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1053 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1054 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 1055 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 1056 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 1057
jobuuu 2:a1c0a37df760 1058 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1059 }
Lightvalve 11:82d8768d7351 1060
jobuuu 2:a1c0a37df760 1061
Lightvalve 170:42c938a40313 1062 void CAN_TX_PID_GAIN(int t_type)
Lightvalve 170:42c938a40313 1063 {
jobuuu 2:a1c0a37df760 1064 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 1065 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 1066 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 1067
Lightvalve 12:6f2531038ea4 1068 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 1069 if (t_type == 0) {
Lightvalve 30:8d561f16383b 1070 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 1071 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 1072 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 1073 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 1074 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 1075 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 1076 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 1077 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 1078 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 1079 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 1080 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve 46:2694daea349b 1081 } else if (t_type == 3) {
Lightvalve 67:c2812cf26c38 1082 sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve 67:c2812cf26c38 1083 sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu 2:a1c0a37df760 1084 }
jobuuu 2:a1c0a37df760 1085
jobuuu 2:a1c0a37df760 1086 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1087
jobuuu 2:a1c0a37df760 1088 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1089 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1090 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 1091 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 1092 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 1093 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 1094 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 1095 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 1096 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 1097 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 1098
jobuuu 2:a1c0a37df760 1099 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1100 }
jobuuu 2:a1c0a37df760 1101
Lightvalve 11:82d8768d7351 1102
Lightvalve 170:42c938a40313 1103 void CAN_TX_VALVE_DEADZONE(void)
Lightvalve 170:42c938a40313 1104 {
jobuuu 2:a1c0a37df760 1105 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1106
jobuuu 2:a1c0a37df760 1107 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1108 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1109 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 57:f4819de54e7a 1110 temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve 57:f4819de54e7a 1111 temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve 12:6f2531038ea4 1112 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 1113 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 1114 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 1115 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 1116
jobuuu 2:a1c0a37df760 1117 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1118 }
jobuuu 2:a1c0a37df760 1119
Lightvalve 170:42c938a40313 1120 void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve 170:42c938a40313 1121 {
Lightvalve 11:82d8768d7351 1122 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1123
Lightvalve 11:82d8768d7351 1124 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1125 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1126 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 1127 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 1128 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 1129
Lightvalve 11:82d8768d7351 1130 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1131 }
Lightvalve 11:82d8768d7351 1132
Lightvalve 170:42c938a40313 1133 void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve 170:42c938a40313 1134 {
Lightvalve 11:82d8768d7351 1135 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1136
Lightvalve 11:82d8768d7351 1137 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1138 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1139 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 1140 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 1141 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 1142
Lightvalve 11:82d8768d7351 1143 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1144 }
Lightvalve 11:82d8768d7351 1145
Lightvalve 170:42c938a40313 1146 void CAN_TX_VALVE_FF(void)
Lightvalve 170:42c938a40313 1147 {
Lightvalve 11:82d8768d7351 1148 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1149
Lightvalve 11:82d8768d7351 1150 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1151 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1152 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 1153 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 1154 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 1155
Lightvalve 11:82d8768d7351 1156 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1157 }
Lightvalve 11:82d8768d7351 1158
Lightvalve 170:42c938a40313 1159 void CAN_TX_BULK_MODULUS(void)
Lightvalve 170:42c938a40313 1160 {
Lightvalve 11:82d8768d7351 1161 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1162
Lightvalve 11:82d8768d7351 1163 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1164 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1165 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 1166 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 1167 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 1168
Lightvalve 11:82d8768d7351 1169 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1170 }
Lightvalve 11:82d8768d7351 1171
Lightvalve 170:42c938a40313 1172 void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve 170:42c938a40313 1173 {
Lightvalve 11:82d8768d7351 1174 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1175
Lightvalve 11:82d8768d7351 1176 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1177 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1178 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 1179 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 1180 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 1181 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 1182 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 1183
Lightvalve 11:82d8768d7351 1184 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1185 }
Lightvalve 11:82d8768d7351 1186
Lightvalve 170:42c938a40313 1187 void CAN_TX_PISTON_AREA(void)
Lightvalve 170:42c938a40313 1188 {
jobuuu 2:a1c0a37df760 1189 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1190
Lightvalve 11:82d8768d7351 1191 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1192 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1193 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 1194 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 1195 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 1196 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 1197 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 1198
Lightvalve 11:82d8768d7351 1199 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1200 }
Lightvalve 11:82d8768d7351 1201
Lightvalve 170:42c938a40313 1202 void CAN_TX_PRES_A_AND_B(void)
Lightvalve 170:42c938a40313 1203 {
Lightvalve 11:82d8768d7351 1204 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1205
Lightvalve 11:82d8768d7351 1206 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1207 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1208 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 1209 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 1210 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 1211 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 1212 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 1213
Lightvalve 11:82d8768d7351 1214 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1215 }
Lightvalve 11:82d8768d7351 1216
Lightvalve 170:42c938a40313 1217 void CAN_TX_ENC_LIMIT(void)
Lightvalve 170:42c938a40313 1218 {
Lightvalve 11:82d8768d7351 1219 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1220
Lightvalve 11:82d8768d7351 1221 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1222 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1223 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1224 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1225 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1226 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1227 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1228
Lightvalve 11:82d8768d7351 1229 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1230 }
Lightvalve 11:82d8768d7351 1231
Lightvalve 170:42c938a40313 1232 void CAN_TX_STROKE(void)
Lightvalve 170:42c938a40313 1233 {
Lightvalve 11:82d8768d7351 1234 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1235
Lightvalve 11:82d8768d7351 1236 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1237 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1238 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1239 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1240 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1241
Lightvalve 11:82d8768d7351 1242 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1243 }
Lightvalve 11:82d8768d7351 1244
Lightvalve 170:42c938a40313 1245 void CAN_TX_VALVE_LIMIT(void)
Lightvalve 170:42c938a40313 1246 {
Lightvalve 11:82d8768d7351 1247 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1248
Lightvalve 11:82d8768d7351 1249 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1250 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1251 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 57:f4819de54e7a 1252 temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1253 temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve 57:f4819de54e7a 1254 temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1255 temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve 11:82d8768d7351 1256
Lightvalve 11:82d8768d7351 1257 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1258 }
Lightvalve 11:82d8768d7351 1259
Lightvalve 170:42c938a40313 1260 void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve 170:42c938a40313 1261 {
Lightvalve 11:82d8768d7351 1262 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1263
jobuuu 2:a1c0a37df760 1264 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1265 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1266 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 54:647072f5307a 1267 int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve 48:889798ff9329 1268 temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve 48:889798ff9329 1269 temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu 2:a1c0a37df760 1270
jobuuu 2:a1c0a37df760 1271 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1272 }
jobuuu 2:a1c0a37df760 1273
Lightvalve 170:42c938a40313 1274 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve 170:42c938a40313 1275 {
jobuuu 2:a1c0a37df760 1276 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1277
jobuuu 2:a1c0a37df760 1278 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1279 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1280 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 139:15621998925b 1281 int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve 48:889798ff9329 1282 temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve 48:889798ff9329 1283 temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu 2:a1c0a37df760 1284
jobuuu 2:a1c0a37df760 1285 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1286 }
jobuuu 2:a1c0a37df760 1287
Lightvalve 170:42c938a40313 1288 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve 170:42c938a40313 1289 {
jobuuu 2:a1c0a37df760 1290 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1291
jobuuu 2:a1c0a37df760 1292 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1293 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1294 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1295 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1296 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1297 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1298 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1299
jobuuu 2:a1c0a37df760 1300 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1301 }
jobuuu 2:a1c0a37df760 1302
Lightvalve 170:42c938a40313 1303 void CAN_TX_FRICTION(void)
Lightvalve 170:42c938a40313 1304 {
Lightvalve 11:82d8768d7351 1305 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1306 int16_t send_friction;
Lightvalve 30:8d561f16383b 1307 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 170:42c938a40313 1308
Lightvalve 11:82d8768d7351 1309 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1310 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1311 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1312 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1313 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1314
Lightvalve 11:82d8768d7351 1315 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1316 }
Lightvalve 11:82d8768d7351 1317
Lightvalve 170:42c938a40313 1318 void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve 170:42c938a40313 1319 {
Lightvalve 11:82d8768d7351 1320 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1321
Lightvalve 11:82d8768d7351 1322 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1323 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1324 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1325 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1326 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1327 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1328 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1329 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve 11:82d8768d7351 1330
Lightvalve 11:82d8768d7351 1331 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1332 }
Lightvalve 11:82d8768d7351 1333
Lightvalve 170:42c938a40313 1334 void CAN_TX_DDV_VALVE_DEADZONE(void)
Lightvalve 170:42c938a40313 1335 {
Lightvalve 11:82d8768d7351 1336 CANMessage temp_msg;
Lightvalve 48:889798ff9329 1337 float temp_valve_deadzone_minus = 0.0f;
Lightvalve 48:889798ff9329 1338 float temp_valve_deadzone_plus = 0.0f;
Lightvalve 48:889798ff9329 1339 float temp_ddv_center = 0.0f;
Lightvalve 170:42c938a40313 1340
Lightvalve 57:f4819de54e7a 1341 //temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1342 //temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1343 temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1344 temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1345 temp_ddv_center = (double)VALVE_CENTER;
Lightvalve 170:42c938a40313 1346
Lightvalve 11:82d8768d7351 1347 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1348 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1349 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 48:889798ff9329 1350 temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve 48:889798ff9329 1351 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve 48:889798ff9329 1352 temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve 48:889798ff9329 1353 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve 48:889798ff9329 1354 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1355 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 11:82d8768d7351 1356
Lightvalve 11:82d8768d7351 1357 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1358 }
Lightvalve 11:82d8768d7351 1359
Lightvalve 170:42c938a40313 1360 void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve 170:42c938a40313 1361 {
Lightvalve 11:82d8768d7351 1362 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1363
Lightvalve 11:82d8768d7351 1364 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1365 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1366 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1367 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1368 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1369 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1370 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1371 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1372
Lightvalve 11:82d8768d7351 1373 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1374 }
Lightvalve 11:82d8768d7351 1375
Lightvalve 170:42c938a40313 1376 void CAN_TX_REFENCE_MODE(void)
Lightvalve 170:42c938a40313 1377 {
Lightvalve 11:82d8768d7351 1378 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1379
Lightvalve 11:82d8768d7351 1380 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1381 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1382 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1383 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1384 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1385 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1386 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1387 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1388
Lightvalve 11:82d8768d7351 1389 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1390 }
Lightvalve 11:82d8768d7351 1391
Lightvalve 170:42c938a40313 1392 void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve 170:42c938a40313 1393 {
Lightvalve 11:82d8768d7351 1394 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1395 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1396 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 170:42c938a40313 1397
jobuuu 2:a1c0a37df760 1398 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1399 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1400 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1401 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1402 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1403
jobuuu 2:a1c0a37df760 1404 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1405 }
Lightvalve 11:82d8768d7351 1406
Lightvalve 170:42c938a40313 1407 void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve 170:42c938a40313 1408 {
Lightvalve 11:82d8768d7351 1409 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1410 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1411 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 170:42c938a40313 1412
Lightvalve 11:82d8768d7351 1413 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1414 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1415 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1416 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1417 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1418
Lightvalve 11:82d8768d7351 1419 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1420 }
Lightvalve 11:82d8768d7351 1421
Lightvalve 170:42c938a40313 1422 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve 170:42c938a40313 1423 {
Lightvalve 11:82d8768d7351 1424 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1425 int16_t valve_pos_vs_pwm;
Lightvalve 49:e7bcfc244d40 1426 // valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 170:42c938a40313 1427
Lightvalve 57:f4819de54e7a 1428 if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1429 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 1430 } else {
Lightvalve 57:f4819de54e7a 1431 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 1432 }
Lightvalve 170:42c938a40313 1433
Lightvalve 12:6f2531038ea4 1434 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1435 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 170:42c938a40313 1436
Lightvalve 11:82d8768d7351 1437 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1438 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1439 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1440 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1441 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1442 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1443 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1444
Lightvalve 11:82d8768d7351 1445 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1446 }
Lightvalve 11:82d8768d7351 1447
Lightvalve 170:42c938a40313 1448 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve 170:42c938a40313 1449 {
Lightvalve 11:82d8768d7351 1450 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1451 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1452 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1453
Lightvalve 57:f4819de54e7a 1454 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve 49:e7bcfc244d40 1455 int16_t temp_valve_pos = 0;
Lightvalve 57:f4819de54e7a 1456 if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1457 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 1458 } else {
Lightvalve 57:f4819de54e7a 1459 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 1460 }
Lightvalve 170:42c938a40313 1461
Lightvalve 11:82d8768d7351 1462 temp_msg.id = CID_TX_INFO;
Lightvalve 49:e7bcfc244d40 1463 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1464 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 49:e7bcfc244d40 1465 temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve 49:e7bcfc244d40 1466 temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve 49:e7bcfc244d40 1467 temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 49:e7bcfc244d40 1468 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 49:e7bcfc244d40 1469 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 49:e7bcfc244d40 1470 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1471
Lightvalve 11:82d8768d7351 1472 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1473 }
Lightvalve 11:82d8768d7351 1474
Lightvalve 170:42c938a40313 1475 void CAN_TX_VALVE_POS_NUM(void)
Lightvalve 170:42c938a40313 1476 {
Lightvalve 11:82d8768d7351 1477 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1478 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1479 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 170:42c938a40313 1480
Lightvalve 11:82d8768d7351 1481 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1482 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1483 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1484 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1485 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1486
Lightvalve 11:82d8768d7351 1487 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1488 }
Lightvalve 11:82d8768d7351 1489
Lightvalve 170:42c938a40313 1490 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve 170:42c938a40313 1491 {
Lightvalve 38:118df027d851 1492 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1493
Lightvalve 48:889798ff9329 1494 float temp_valve_max_pos = 0.0f;
Lightvalve 48:889798ff9329 1495 float temp_valve_min_pos = 0.0f;
Lightvalve 48:889798ff9329 1496 float temp_ddv_center = 0.0f;
Lightvalve 170:42c938a40313 1497
Lightvalve 57:f4819de54e7a 1498 temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1499 temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1500 temp_ddv_center = VALVE_CENTER;
Lightvalve 170:42c938a40313 1501
Lightvalve 38:118df027d851 1502 temp_msg.id = CID_TX_INFO;
Lightvalve 38:118df027d851 1503 temp_msg.len = 7;
Lightvalve 38:118df027d851 1504 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 48:889798ff9329 1505 temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve 48:889798ff9329 1506 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve 48:889798ff9329 1507 temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve 48:889798ff9329 1508 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve 48:889798ff9329 1509 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1510 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 38:118df027d851 1511
Lightvalve 38:118df027d851 1512 can.write(temp_msg);
Lightvalve 38:118df027d851 1513 }
Lightvalve 38:118df027d851 1514
Lightvalve 169:645207e160ca 1515
Lightvalve 170:42c938a40313 1516 void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve 170:42c938a40313 1517 {
Lightvalve 169:645207e160ca 1518 CANMessage temp_msg;
Lightvalve 169:645207e160ca 1519 int16_t send_pos_array, send_ref_array;
Lightvalve 169:645207e160ca 1520 send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve 169:645207e160ca 1521 send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve 170:42c938a40313 1522
Lightvalve 169:645207e160ca 1523 temp_msg.id = CID_TX_INFO;
Lightvalve 169:645207e160ca 1524 temp_msg.len = 5;
Lightvalve 169:645207e160ca 1525 temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve 169:645207e160ca 1526 temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve 169:645207e160ca 1527 temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve 169:645207e160ca 1528 temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve 169:645207e160ca 1529 temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve 169:645207e160ca 1530
Lightvalve 169:645207e160ca 1531 can.write(temp_msg);
Lightvalve 169:645207e160ca 1532 }
Lightvalve 169:645207e160ca 1533
Lightvalve 169:645207e160ca 1534
jobuuu 2:a1c0a37df760 1535 /******************************************************************************
jobuuu 2:a1c0a37df760 1536 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1537 *******************************************************************************/
jobuuu 2:a1c0a37df760 1538
Lightvalve 170:42c938a40313 1539 void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve 170:42c938a40313 1540 {
Lightvalve 52:8ea76864368a 1541 CANMessage temp_msg;
Lightvalve 52:8ea76864368a 1542
Lightvalve 52:8ea76864368a 1543 temp_msg.id = CID_TX_POSITION;
Lightvalve 52:8ea76864368a 1544 temp_msg.len = 6;
Lightvalve 52:8ea76864368a 1545 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 52:8ea76864368a 1546 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 52:8ea76864368a 1547 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 52:8ea76864368a 1548 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1549 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 52:8ea76864368a 1550 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve 52:8ea76864368a 1551
Lightvalve 52:8ea76864368a 1552 can.write(temp_msg);
Lightvalve 52:8ea76864368a 1553 }
Lightvalve 52:8ea76864368a 1554
Lightvalve 170:42c938a40313 1555 void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve 170:42c938a40313 1556 {
Lightvalve 170:42c938a40313 1557
jobuuu 2:a1c0a37df760 1558 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1559
jobuuu 2:a1c0a37df760 1560 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1561 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1562 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1563 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 41:abbd4e2af68b 1564 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 41:abbd4e2af68b 1565 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1566 temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve 52:8ea76864368a 1567 temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve 52:8ea76864368a 1568 temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve 52:8ea76864368a 1569 temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu 2:a1c0a37df760 1570
jobuuu 2:a1c0a37df760 1571 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1572 }
jobuuu 2:a1c0a37df760 1573
Lightvalve 67:c2812cf26c38 1574 //void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve 67:c2812cf26c38 1575 // CANMessage temp_msg;
Lightvalve 67:c2812cf26c38 1576 //
Lightvalve 67:c2812cf26c38 1577 // temp_msg.id = CID_TX_TORQUE;
Lightvalve 67:c2812cf26c38 1578 // temp_msg.len = 4;
Lightvalve 67:c2812cf26c38 1579 // temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 67:c2812cf26c38 1580 // temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve 67:c2812cf26c38 1581 // temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve 67:c2812cf26c38 1582 // temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve 67:c2812cf26c38 1583 //
Lightvalve 67:c2812cf26c38 1584 // can.write(temp_msg);
Lightvalve 67:c2812cf26c38 1585 //}
Lightvalve 67:c2812cf26c38 1586
Lightvalve 170:42c938a40313 1587 void CAN_TX_TORQUE(int16_t t_valve_pos)
Lightvalve 170:42c938a40313 1588 {
jobuuu 2:a1c0a37df760 1589 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1590
jobuuu 2:a1c0a37df760 1591 temp_msg.id = CID_TX_TORQUE;
Lightvalve 67:c2812cf26c38 1592 temp_msg.len = 2;
Lightvalve 48:889798ff9329 1593 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 48:889798ff9329 1594 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 1595
jobuuu 2:a1c0a37df760 1596 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1597 }
jobuuu 2:a1c0a37df760 1598
Lightvalve 170:42c938a40313 1599 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve 170:42c938a40313 1600 {
jobuuu 2:a1c0a37df760 1601 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1602
jobuuu 2:a1c0a37df760 1603 temp_msg.id = CID_TX_PRES;
Lightvalve 57:f4819de54e7a 1604 temp_msg.len = 4;
Lightvalve 12:6f2531038ea4 1605 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1606 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1607 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1608 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1609
jobuuu 2:a1c0a37df760 1610 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1611 }
jobuuu 2:a1c0a37df760 1612
Lightvalve 170:42c938a40313 1613 void CAN_TX_PWM(int16_t t_pwm)
Lightvalve 170:42c938a40313 1614 {
jobuuu 2:a1c0a37df760 1615 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1616
Lightvalve 57:f4819de54e7a 1617 temp_msg.id = CID_TX_VOUT;
Lightvalve 57:f4819de54e7a 1618 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 1619 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1620 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1621
jobuuu 2:a1c0a37df760 1622 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1623 }
jobuuu 2:a1c0a37df760 1624
Lightvalve 73:f80dc3970c99 1625 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos_1, int16_t t_valve_pos_2, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve 27:a2254a485f23 1626 {
jobuuu 2:a1c0a37df760 1627 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1628
jobuuu 2:a1c0a37df760 1629 temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve 73:f80dc3970c99 1630 temp_msg.len = 8;
Lightvalve 73:f80dc3970c99 1631 temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve 73:f80dc3970c99 1632 temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve 73:f80dc3970c99 1633 temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve 73:f80dc3970c99 1634 temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve 73:f80dc3970c99 1635 temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve 73:f80dc3970c99 1636 temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 73:f80dc3970c99 1637 temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve 73:f80dc3970c99 1638 temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve 170:42c938a40313 1639
jobuuu 2:a1c0a37df760 1640
jobuuu 2:a1c0a37df760 1641 can.write(temp_msg);
Lightvalve 67:c2812cf26c38 1642 }