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CAN/function_CAN.cpp@69:3995ffeaa786, 2020-05-15 (annotated)

Committer:: Lightvalve
Date:: Fri May 15 08:38:26 2020 +0000
Revision:: 69:3995ffeaa786
Parent:: 68:328e1be06f5d
Child:: 72:3436ce769b1e

200515_2

Who changed what in which revision?

User	Revision	Line number	New contents of line
jobuuu	2:a1c0a37df760	1	#include "function_CAN.h"
Lightvalve	11:82d8768d7351	2	#include "setting.h"
Lightvalve	11:82d8768d7351	3	#include "function_utilities.h"
Lightvalve	11:82d8768d7351	4	#include "SPI_EEP_ENC.h"
Lightvalve	16:903b5a4433b4	5	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	6	#include "FlashWriter.h"
jobuuu	2:a1c0a37df760	7
jobuuu	2:a1c0a37df760	8	// CAN ID Setting Variables
jobuuu	2:a1c0a37df760	9	int CID_RX_CMD = 100;
jobuuu	2:a1c0a37df760	10	int CID_RX_REF_POSITION = 200;
Lightvalve	49:e7bcfc244d40	11	int CID_RX_REF_VALVE_POS = 300;
Lightvalve	49:e7bcfc244d40	12	int CID_RX_REF_PWM = 400;
jobuuu	2:a1c0a37df760	13
jobuuu	2:a1c0a37df760	14	int CID_TX_INFO = 1100;
jobuuu	2:a1c0a37df760	15	int CID_TX_POSITION = 1200;
jobuuu	2:a1c0a37df760	16	int CID_TX_TORQUE = 1300;
jobuuu	2:a1c0a37df760	17	int CID_TX_PRES = 1400;
jobuuu	7:e9086c72bb22	18	int CID_TX_VOUT = 1500;
jobuuu	2:a1c0a37df760	19	int CID_TX_VALVE_POSITION = 1600;
jobuuu	2:a1c0a37df760	20
Lightvalve	12:6f2531038ea4	21	// variables
Lightvalve	12:6f2531038ea4	22	uint8_t can_index = 0;
Lightvalve	67:c2812cf26c38	23
Lightvalve	66:a8e6799dbce3	24	extern DigitalOut LED;
Lightvalve	12:6f2531038ea4	25
Lightvalve	68:328e1be06f5d	26	extern float x_past[];
Lightvalve	68:328e1be06f5d	27	extern float f_past[];
Lightvalve	68:328e1be06f5d	28	extern float f_future[];
Lightvalve	68:328e1be06f5d	29	extern float input[];
Lightvalve	68:328e1be06f5d	30
Lightvalve	11:82d8768d7351	31	/*******************************************************************************
Lightvalve	11:82d8768d7351	32	* CAN functions
Lightvalve	11:82d8768d7351	33	******************************************************************************/
Lightvalve	11:82d8768d7351	34	void CAN_ID_INIT(void) {
jobuuu	7:e9086c72bb22	35
Lightvalve	11:82d8768d7351	36	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	37	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	38	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	39	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	40
Lightvalve	11:82d8768d7351	41	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	42	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	43	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	44	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	45	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	46	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve	11:82d8768d7351	47	}
jobuuu	2:a1c0a37df760	48
Lightvalve	28:2a62d73e3dd0	49	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	50	{
jobuuu	2:a1c0a37df760	51	switch(CMD){
Lightvalve	11:82d8768d7351	52	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	53	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	54	break;
Lightvalve	11:82d8768d7351	55	}
Lightvalve	11:82d8768d7351	56	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	57	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	58	break;
Lightvalve	11:82d8768d7351	59	}
Lightvalve	11:82d8768d7351	60	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	61	BNO = (int16_t) msg.data[1];
Lightvalve	16:903b5a4433b4	62
Lightvalve	16:903b5a4433b4	63	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	64
Lightvalve	16:903b5a4433b4	65	//spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	66	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	67	break;
Lightvalve	11:82d8768d7351	68	}
Lightvalve	11:82d8768d7351	69	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	70	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	71	break;
Lightvalve	11:82d8768d7351	72	}
Lightvalve	11:82d8768d7351	73	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	74	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	75	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	76	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	77	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	16:903b5a4433b4	78	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	79	break;
Lightvalve	11:82d8768d7351	80	}
Lightvalve	11:82d8768d7351	81	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	82	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	83
Lightvalve	11:82d8768d7351	84	break;
Lightvalve	11:82d8768d7351	85	}
Lightvalve	11:82d8768d7351	86	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	87
Lightvalve	11:82d8768d7351	88	break;
Lightvalve	11:82d8768d7351	89	}
Lightvalve	11:82d8768d7351	90
Lightvalve	45:35fa6884d0c6	91	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	92	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	93	/*
Lightvalve	45:35fa6884d0c6	94	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	95	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	96	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	97	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	98	*/
Lightvalve	11:82d8768d7351	99	break;
Lightvalve	11:82d8768d7351	100	}
Lightvalve	11:82d8768d7351	101
Lightvalve	11:82d8768d7351	102	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	103	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	104
Lightvalve	11:82d8768d7351	105	break;
Lightvalve	11:82d8768d7351	106	}
Lightvalve	11:82d8768d7351	107
Lightvalve	11:82d8768d7351	108	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	109	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	110	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	111	break;
Lightvalve	11:82d8768d7351	112	}
Lightvalve	11:82d8768d7351	113
Lightvalve	11:82d8768d7351	114	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	115	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	116
Lightvalve	11:82d8768d7351	117	break;
Lightvalve	11:82d8768d7351	118	}
Lightvalve	11:82d8768d7351	119
Lightvalve	11:82d8768d7351	120	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	121	//CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve	57:f4819de54e7a	122	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	123	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	124	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	125	}
Lightvalve	11:82d8768d7351	126	break;
Lightvalve	11:82d8768d7351	127	}
Lightvalve	11:82d8768d7351	128
Lightvalve	11:82d8768d7351	129	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	130	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	131	flag_data_request[request_type] = msg.data[1];
Lightvalve	14:8e7590227d22	132	//pc.printf("can middle %d\n", request_type);
Lightvalve	11:82d8768d7351	133
Lightvalve	12:6f2531038ea4	134	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	135	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	136	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	137	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	138
Lightvalve	11:82d8768d7351	139	break;
Lightvalve	11:82d8768d7351	140	}
Lightvalve	11:82d8768d7351	141
Lightvalve	11:82d8768d7351	142	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	143	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	144
Lightvalve	11:82d8768d7351	145	break;
Lightvalve	11:82d8768d7351	146	}
Lightvalve	11:82d8768d7351	147
Lightvalve	11:82d8768d7351	148	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	149	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	150	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	151	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	152	else
Lightvalve	11:82d8768d7351	153	DIR_JOINT_ENC = -1;
Lightvalve	16:903b5a4433b4	154
Lightvalve	16:903b5a4433b4	155	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	156
Lightvalve	16:903b5a4433b4	157	//spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	158
Lightvalve	11:82d8768d7351	159	break;
Lightvalve	11:82d8768d7351	160	}
Lightvalve	11:82d8768d7351	161
Lightvalve	11:82d8768d7351	162	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	163	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	164
Lightvalve	11:82d8768d7351	165	break;
Lightvalve	11:82d8768d7351	166	}
Lightvalve	11:82d8768d7351	167
Lightvalve	11:82d8768d7351	168	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	169	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	170	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	171	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	172	else
Lightvalve	11:82d8768d7351	173	DIR_VALVE = -1;
Lightvalve	16:903b5a4433b4	174
Lightvalve	16:903b5a4433b4	175	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	176
Lightvalve	16:903b5a4433b4	177	//spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	178
Lightvalve	11:82d8768d7351	179	break;
Lightvalve	11:82d8768d7351	180	}
Lightvalve	11:82d8768d7351	181
Lightvalve	11:82d8768d7351	182	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	183	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	184
Lightvalve	11:82d8768d7351	185	break;
Lightvalve	11:82d8768d7351	186	}
Lightvalve	11:82d8768d7351	187
Lightvalve	11:82d8768d7351	188	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	189	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	190	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	191	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	192	else
Lightvalve	11:82d8768d7351	193	DIR_VALVE_ENC = -1;
Lightvalve	16:903b5a4433b4	194
Lightvalve	16:903b5a4433b4	195	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	196
Lightvalve	16:903b5a4433b4	197	//spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	198
Lightvalve	11:82d8768d7351	199	break;
Lightvalve	11:82d8768d7351	200	}
Lightvalve	11:82d8768d7351	201
Lightvalve	11:82d8768d7351	202	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	203	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	204
Lightvalve	11:82d8768d7351	205	break;
Lightvalve	11:82d8768d7351	206	}
Lightvalve	11:82d8768d7351	207
Lightvalve	11:82d8768d7351	208	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	209	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	210
Lightvalve	16:903b5a4433b4	211	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	212
Lightvalve	16:903b5a4433b4	213	//spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve	11:82d8768d7351	214
Lightvalve	11:82d8768d7351	215	break;
Lightvalve	11:82d8768d7351	216	}
Lightvalve	11:82d8768d7351	217
Lightvalve	11:82d8768d7351	218	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	219	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	220
Lightvalve	11:82d8768d7351	221	break;
Lightvalve	11:82d8768d7351	222	}
Lightvalve	11:82d8768d7351	223
Lightvalve	11:82d8768d7351	224	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	225	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	226
Lightvalve	16:903b5a4433b4	227	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	228
Lightvalve	16:903b5a4433b4	229	//spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve	11:82d8768d7351	230
Lightvalve	11:82d8768d7351	231
Lightvalve	11:82d8768d7351	232	break;
Lightvalve	11:82d8768d7351	233	}
Lightvalve	12:6f2531038ea4	234
Lightvalve	11:82d8768d7351	235	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	236	//CONTROL_MODE = 22;
Lightvalve	57:f4819de54e7a	237	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	238	break;
Lightvalve	11:82d8768d7351	239	}
Lightvalve	11:82d8768d7351	240
Lightvalve	11:82d8768d7351	241	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	242	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	243
Lightvalve	11:82d8768d7351	244	break;
Lightvalve	11:82d8768d7351	245	}
Lightvalve	11:82d8768d7351	246
Lightvalve	11:82d8768d7351	247	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	248	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	249	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	250	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	251	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	252
Lightvalve	16:903b5a4433b4	253	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	254
Lightvalve	11:82d8768d7351	255	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	256	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	257	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	258	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	259
Lightvalve	16:903b5a4433b4	260	ROM_RESET_DATA();
Lightvalve	48:889798ff9329	261
Lightvalve	11:82d8768d7351	262	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	263	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	264	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	265	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	266
Lightvalve	16:903b5a4433b4	267	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	268
Lightvalve	46:2694daea349b	269	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	270	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	271	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	46:2694daea349b	272
Lightvalve	67:c2812cf26c38	273	// ROM_RESET_DATA(); //For Real-time changing
Lightvalve	11:82d8768d7351	274	}
Lightvalve	11:82d8768d7351	275
Lightvalve	11:82d8768d7351	276	break;
Lightvalve	11:82d8768d7351	277	}
Lightvalve	11:82d8768d7351	278
Lightvalve	11:82d8768d7351	279	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	280	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	281
Lightvalve	11:82d8768d7351	282	break;
Lightvalve	11:82d8768d7351	283	}
Lightvalve	11:82d8768d7351	284
Lightvalve	11:82d8768d7351	285	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	286	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	287	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	288	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	16:903b5a4433b4	289
Lightvalve	16:903b5a4433b4	290	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	291
Lightvalve	11:82d8768d7351	292	break;
Lightvalve	11:82d8768d7351	293	}
Lightvalve	11:82d8768d7351	294
Lightvalve	11:82d8768d7351	295	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	296	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	297
Lightvalve	11:82d8768d7351	298	break;
Lightvalve	11:82d8768d7351	299	}
Lightvalve	11:82d8768d7351	300
Lightvalve	11:82d8768d7351	301	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	302	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	303
Lightvalve	16:903b5a4433b4	304	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	305
Lightvalve	16:903b5a4433b4	306	//spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	307
Lightvalve	11:82d8768d7351	308	break;
Lightvalve	11:82d8768d7351	309	}
Lightvalve	11:82d8768d7351	310
Lightvalve	11:82d8768d7351	311	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	312	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	313
Lightvalve	11:82d8768d7351	314	break;
Lightvalve	11:82d8768d7351	315	}
Lightvalve	11:82d8768d7351	316
Lightvalve	11:82d8768d7351	317	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	318	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	319
Lightvalve	16:903b5a4433b4	320	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	321
Lightvalve	16:903b5a4433b4	322	//spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	323
Lightvalve	11:82d8768d7351	324	break;
Lightvalve	11:82d8768d7351	325	}
Lightvalve	11:82d8768d7351	326
Lightvalve	11:82d8768d7351	327	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	328	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	329
Lightvalve	11:82d8768d7351	330	break;
Lightvalve	11:82d8768d7351	331	}
Lightvalve	11:82d8768d7351	332
Lightvalve	11:82d8768d7351	333	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	334	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	335
Lightvalve	16:903b5a4433b4	336	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	337
Lightvalve	16:903b5a4433b4	338	//spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	339
Lightvalve	11:82d8768d7351	340	break;
Lightvalve	11:82d8768d7351	341	}
Lightvalve	11:82d8768d7351	342
Lightvalve	11:82d8768d7351	343	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	344	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	345
Lightvalve	11:82d8768d7351	346	break;
Lightvalve	11:82d8768d7351	347	}
Lightvalve	11:82d8768d7351	348
Lightvalve	11:82d8768d7351	349	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	350	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	351
Lightvalve	16:903b5a4433b4	352	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	353
Lightvalve	16:903b5a4433b4	354	//spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	355
Lightvalve	11:82d8768d7351	356	break;
Lightvalve	11:82d8768d7351	357	}
Lightvalve	11:82d8768d7351	358
Lightvalve	11:82d8768d7351	359	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	360	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	361
Lightvalve	11:82d8768d7351	362	break;
Lightvalve	11:82d8768d7351	363	}
Lightvalve	11:82d8768d7351	364
Lightvalve	11:82d8768d7351	365	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	366	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	367	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	368
Lightvalve	16:903b5a4433b4	369	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	370
Lightvalve	16:903b5a4433b4	371	//spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	16:903b5a4433b4	372	//spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	373
Lightvalve	11:82d8768d7351	374	break;
Lightvalve	11:82d8768d7351	375	}
Lightvalve	11:82d8768d7351	376
Lightvalve	11:82d8768d7351	377	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	378	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	379
Lightvalve	11:82d8768d7351	380	break;
Lightvalve	11:82d8768d7351	381	}
Lightvalve	11:82d8768d7351	382
Lightvalve	11:82d8768d7351	383	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	384	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	385	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	69:3995ffeaa786	386	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	387	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	16:903b5a4433b4	388
Lightvalve	16:903b5a4433b4	389	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	390
Lightvalve	16:903b5a4433b4	391	//spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	16:903b5a4433b4	392	//spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	393	break;
Lightvalve	11:82d8768d7351	394	}
Lightvalve	11:82d8768d7351	395
Lightvalve	11:82d8768d7351	396	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	397	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	398	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	399	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	400	//dac_2 = PRES_B_VREF;
Lightvalve	12:6f2531038ea4	401
Lightvalve	11:82d8768d7351	402	break;
Lightvalve	11:82d8768d7351	403	}
Lightvalve	11:82d8768d7351	404
Lightvalve	11:82d8768d7351	405	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	406	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	407	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	408	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	409	//spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	16:903b5a4433b4	410	//spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	411
Lightvalve	11:82d8768d7351	412
Lightvalve	11:82d8768d7351	413	break;
Lightvalve	11:82d8768d7351	414	}
Lightvalve	11:82d8768d7351	415
Lightvalve	11:82d8768d7351	416	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	417	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	418
Lightvalve	11:82d8768d7351	419	break;
Lightvalve	11:82d8768d7351	420	}
Lightvalve	11:82d8768d7351	421
Lightvalve	11:82d8768d7351	422	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	423	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	424	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	425	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	426	//spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	16:903b5a4433b4	427	//spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	428
Lightvalve	11:82d8768d7351	429	break;
Lightvalve	11:82d8768d7351	430	}
Lightvalve	11:82d8768d7351	431
Lightvalve	11:82d8768d7351	432	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	433	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	434	break;
Lightvalve	11:82d8768d7351	435	}
Lightvalve	11:82d8768d7351	436
Lightvalve	11:82d8768d7351	437	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	438	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	439	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	440	//spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	441
Lightvalve	11:82d8768d7351	442	break;
Lightvalve	11:82d8768d7351	443	}
Lightvalve	11:82d8768d7351	444
Lightvalve	11:82d8768d7351	445	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	446	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	447
Lightvalve	11:82d8768d7351	448	break;
Lightvalve	11:82d8768d7351	449	}
Lightvalve	11:82d8768d7351	450
Lightvalve	11:82d8768d7351	451	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	452	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	453	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	454	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	455
Lightvalve	11:82d8768d7351	456	break;
Lightvalve	11:82d8768d7351	457	}
Lightvalve	11:82d8768d7351	458
Lightvalve	11:82d8768d7351	459	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	460	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	461
Lightvalve	11:82d8768d7351	462	break;
Lightvalve	11:82d8768d7351	463	}
Lightvalve	11:82d8768d7351	464
Lightvalve	11:82d8768d7351	465	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	466	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	467	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	468	//spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve	11:82d8768d7351	469
Lightvalve	11:82d8768d7351	470	break;
Lightvalve	11:82d8768d7351	471	}
Lightvalve	11:82d8768d7351	472
Lightvalve	11:82d8768d7351	473	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	474	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	475
Lightvalve	11:82d8768d7351	476	break;
Lightvalve	11:82d8768d7351	477	}
Lightvalve	11:82d8768d7351	478
Lightvalve	11:82d8768d7351	479	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	48:889798ff9329	480	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.01f);
Lightvalve	16:903b5a4433b4	481	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	482	//spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve	11:82d8768d7351	483
Lightvalve	11:82d8768d7351	484	break;
Lightvalve	11:82d8768d7351	485	}
Lightvalve	11:82d8768d7351	486
Lightvalve	11:82d8768d7351	487	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	488	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	489
Lightvalve	11:82d8768d7351	490	break;
Lightvalve	11:82d8768d7351	491	}
Lightvalve	11:82d8768d7351	492
Lightvalve	11:82d8768d7351	493	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	494	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	495	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	16:903b5a4433b4	496	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	497	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve	16:903b5a4433b4	498	//(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve	11:82d8768d7351	499
Lightvalve	11:82d8768d7351	500	break;
Lightvalve	11:82d8768d7351	501	}
Lightvalve	11:82d8768d7351	502
Lightvalve	11:82d8768d7351	503	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	504	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	505
Lightvalve	11:82d8768d7351	506	break;
Lightvalve	11:82d8768d7351	507	}
Lightvalve	11:82d8768d7351	508
Lightvalve	11:82d8768d7351	509	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	510	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	511	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	512	//spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve	11:82d8768d7351	513
Lightvalve	11:82d8768d7351	514	break;
Lightvalve	11:82d8768d7351	515	}
Lightvalve	11:82d8768d7351	516
Lightvalve	11:82d8768d7351	517	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	518	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	519
Lightvalve	11:82d8768d7351	520	break;
Lightvalve	11:82d8768d7351	521	}
Lightvalve	11:82d8768d7351	522	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	523	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	524	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	525	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	526	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	527	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	528	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	529	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	30:8d561f16383b	530	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	30:8d561f16383b	531	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	30:8d561f16383b	532	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	30:8d561f16383b	533	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	534
Lightvalve	11:82d8768d7351	535	break;
Lightvalve	11:82d8768d7351	536	}
Lightvalve	11:82d8768d7351	537
Lightvalve	11:82d8768d7351	538	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	539	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	540
Lightvalve	11:82d8768d7351	541	break;
Lightvalve	11:82d8768d7351	542	}
Lightvalve	11:82d8768d7351	543	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	544	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	545	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	546	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	547	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	548	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	549	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	550	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	30:8d561f16383b	551	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	30:8d561f16383b	552	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	30:8d561f16383b	553	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	30:8d561f16383b	554	//(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	555
Lightvalve	11:82d8768d7351	556	break;
Lightvalve	11:82d8768d7351	557	}
Lightvalve	11:82d8768d7351	558	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	559	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	560	break;
Lightvalve	11:82d8768d7351	561	}
Lightvalve	11:82d8768d7351	562
Lightvalve	11:82d8768d7351	563	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	564	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	565
Lightvalve	11:82d8768d7351	566	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	567	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	568	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	569	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	570	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	571
Lightvalve	11:82d8768d7351	572	break;
Lightvalve	11:82d8768d7351	573	}
Lightvalve	11:82d8768d7351	574
Lightvalve	11:82d8768d7351	575	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	576	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	577
Lightvalve	11:82d8768d7351	578	break;
Lightvalve	11:82d8768d7351	579	}
Lightvalve	11:82d8768d7351	580
Lightvalve	11:82d8768d7351	581	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	582
Lightvalve	12:6f2531038ea4	583	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	584	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	585	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	586	}
Lightvalve	11:82d8768d7351	587
Lightvalve	11:82d8768d7351	588	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	589
Lightvalve	11:82d8768d7351	590
Lightvalve	11:82d8768d7351	591	break;
Lightvalve	11:82d8768d7351	592	}
Lightvalve	11:82d8768d7351	593
Lightvalve	11:82d8768d7351	594	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	595	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	596	break;
Lightvalve	11:82d8768d7351	597	}
Lightvalve	11:82d8768d7351	598	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	599	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	600	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	601	//spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	602	break;
Lightvalve	11:82d8768d7351	603	}
Lightvalve	11:82d8768d7351	604
Lightvalve	11:82d8768d7351	605	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	606	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	607	break;
Lightvalve	11:82d8768d7351	608	}
Lightvalve	11:82d8768d7351	609	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	610	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	611	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	612	//spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	613	break;
Lightvalve	11:82d8768d7351	614	}
Lightvalve	11:82d8768d7351	615
Lightvalve	11:82d8768d7351	616	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	617	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	618	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	619	break;
Lightvalve	11:82d8768d7351	620	}
Lightvalve	11:82d8768d7351	621	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	622	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	623	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	624	break;
Lightvalve	11:82d8768d7351	625	}
Lightvalve	11:82d8768d7351	626	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	627	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	628	break;
Lightvalve	11:82d8768d7351	629	}
Lightvalve	28:2a62d73e3dd0	630
Lightvalve	28:2a62d73e3dd0	631	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	632	ROM_RESET_DATA();
Lightvalve	28:2a62d73e3dd0	633	break;
Lightvalve	28:2a62d73e3dd0	634	}
Lightvalve	32:4b8c0fedaf2c	635	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	636	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	637	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	33:91b17819ec30	638	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	639	break;
Lightvalve	33:91b17819ec30	640	}
Lightvalve	33:91b17819ec30	641	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	642	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	643	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	33:91b17819ec30	644	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	645	break;
Lightvalve	33:91b17819ec30	646	}
Lightvalve	33:91b17819ec30	647	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	648	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	649	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	32:4b8c0fedaf2c	650	ROM_RESET_DATA();
Lightvalve	32:4b8c0fedaf2c	651	break;
Lightvalve	32:4b8c0fedaf2c	652	}
Lightvalve	36:a46e63505ed8	653	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	654	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	655	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	656	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	657	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	658
Lightvalve	36:a46e63505ed8	659	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	660
Lightvalve	36:a46e63505ed8	661	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	662	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	663	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	664
Lightvalve	36:a46e63505ed8	665
Lightvalve	36:a46e63505ed8	666	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	667	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	668	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	669	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	670
Lightvalve	36:a46e63505ed8	671	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	672
Lightvalve	36:a46e63505ed8	673	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	674	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	675	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	676	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	677	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	678	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	679	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	680
Lightvalve	36:a46e63505ed8	681	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	682
Lightvalve	36:a46e63505ed8	683	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	684	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	685	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	686	}
Lightvalve	36:a46e63505ed8	687	break;
Lightvalve	36:a46e63505ed8	688	}
Lightvalve	38:118df027d851	689	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	57:f4819de54e7a	690	//CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	38:118df027d851	691	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	692	break;
Lightvalve	38:118df027d851	693	}
Lightvalve	54:647072f5307a	694	case CRX_DELAY_TEST:{
Lightvalve	54:647072f5307a	695	flag_delay_test = 1;
Lightvalve	54:647072f5307a	696	break;
Lightvalve	54:647072f5307a	697	}
Lightvalve	68:328e1be06f5d	698	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	68:328e1be06f5d	699	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	68:328e1be06f5d	700	CONTROL_UTILITY_MODE = 1;
Lightvalve	68:328e1be06f5d	701	break;
Lightvalve	68:328e1be06f5d	702	}
Lightvalve	38:118df027d851	703
jobuuu	2:a1c0a37df760	704	default:
jobuuu	2:a1c0a37df760	705	break;
jobuuu	2:a1c0a37df760	706	}
jobuuu	2:a1c0a37df760	707	}
jobuuu	2:a1c0a37df760	708
jobuuu	2:a1c0a37df760	709	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	710	{
Lightvalve	23:59218d4a256d	711
jobuuu	2:a1c0a37df760	712	can.read(msg);
jobuuu	2:a1c0a37df760	713	unsigned int address = msg.id;
jobuuu	7:e9086c72bb22	714	if(address==CID_RX_CMD){
jobuuu	2:a1c0a37df760	715	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	716	ReadCMD(CMD);
Lightvalve	57:f4819de54e7a	717
jobuuu	7:e9086c72bb22	718	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	57:f4819de54e7a	719
Lightvalve	43:b084e5f5d0d5	720	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	721	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	722	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	41:abbd4e2af68b	723
Lightvalve	57:f4819de54e7a	724	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	725	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	726	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	57:f4819de54e7a	727	}
Lightvalve	57:f4819de54e7a	728	else { //Linear Actuator
Lightvalve	67:c2812cf26c38	729	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	67:c2812cf26c38	730	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	57:f4819de54e7a	731	}
Lightvalve	57:f4819de54e7a	732
Lightvalve	68:328e1be06f5d	733	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	68:328e1be06f5d	734
Lightvalve	68:328e1be06f5d	735
Lightvalve	68:328e1be06f5d	736	///////////////Make Data///////////////////
Lightvalve	68:328e1be06f5d	737	for(int i=0; i<num_array_x_past-1;i++){
Lightvalve	68:328e1be06f5d	738	x_past[i] = x_past[i+1];
Lightvalve	68:328e1be06f5d	739	}
Lightvalve	68:328e1be06f5d	740	x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	68:328e1be06f5d	741
Lightvalve	68:328e1be06f5d	742	for(int i=0; i<num_array_f_past-1;i++){
Lightvalve	68:328e1be06f5d	743	f_past[i] = f_past[i+1];
Lightvalve	68:328e1be06f5d	744	}
Lightvalve	68:328e1be06f5d	745	f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve	68:328e1be06f5d	746
Lightvalve	68:328e1be06f5d	747	f_future[0] = torq.sen; //N
Lightvalve	68:328e1be06f5d	748	for(int i=1;i<num_array_f_future-1;i++){
Lightvalve	68:328e1be06f5d	749	f_future[i] = f_future[i+1];
Lightvalve	68:328e1be06f5d	750	}
Lightvalve	68:328e1be06f5d	751	f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve	68:328e1be06f5d	752
Lightvalve	68:328e1be06f5d	753	int ind = 0;
Lightvalve	68:328e1be06f5d	754	for(int i=0;i<numpast_x;i++){
Lightvalve	68:328e1be06f5d	755	input[ind] = x_past[2*i] / 60.0f;
Lightvalve	68:328e1be06f5d	756	ind = ind + 1;
Lightvalve	68:328e1be06f5d	757	}
Lightvalve	68:328e1be06f5d	758	input[ind] = pos.sen / ENC_PULSE_PER_POSITION / 60.0f;
Lightvalve	68:328e1be06f5d	759	ind = ind + 1;
Lightvalve	68:328e1be06f5d	760	for(int i=0;i<numpast_f;i++){
Lightvalve	68:328e1be06f5d	761	input[ind] = f_past[2*i] / 10000.0f + 0.5f;
Lightvalve	68:328e1be06f5d	762	ind = ind + 1;
Lightvalve	68:328e1be06f5d	763	}
Lightvalve	68:328e1be06f5d	764	input[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	68:328e1be06f5d	765	ind = ind + 1;
Lightvalve	68:328e1be06f5d	766	for(int i=0;i<numfuture_f;i++){
Lightvalve	68:328e1be06f5d	767	input[ind] = (f_future[2*i+2] - f_future[0])/10000.0f+0.5f;
Lightvalve	68:328e1be06f5d	768	ind = ind + 1;
Lightvalve	68:328e1be06f5d	769	}
Lightvalve	66:a8e6799dbce3	770
Lightvalve	49:e7bcfc244d40	771	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	772	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	57:f4819de54e7a	773
Lightvalve	57:f4819de54e7a	774	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	775	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	776	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	777	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	778	} else { //SW Valve
Lightvalve	57:f4819de54e7a	779	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	780	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	781	} else {
Lightvalve	57:f4819de54e7a	782	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	783	}
Lightvalve	47:fdcb8bd86fd6	784	}
Lightvalve	49:e7bcfc244d40	785	} else if(address==CID_RX_REF_PWM){
Lightvalve	49:e7bcfc244d40	786	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	787	Vout.ref = (double) temp_ref_pwm;
Lightvalve	45:35fa6884d0c6	788	}
jobuuu	2:a1c0a37df760	789	}
jobuuu	2:a1c0a37df760	790
jobuuu	2:a1c0a37df760	791	/******************************************************************************
jobuuu	2:a1c0a37df760	792	Information Transmission Functions
jobuuu	2:a1c0a37df760	793	*******************************************************************************/
Lightvalve	11:82d8768d7351	794
Lightvalve	11:82d8768d7351	795	void CAN_TX_INFO(void) {
Lightvalve	12:6f2531038ea4	796	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	797
jobuuu	2:a1c0a37df760	798	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	799	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	800	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	801	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	802	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	803	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	804	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	805	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	806	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	807
jobuuu	2:a1c0a37df760	808	can.write(temp_msg);
jobuuu	2:a1c0a37df760	809	}
jobuuu	2:a1c0a37df760	810
Lightvalve	11:82d8768d7351	811	void CAN_TX_BNO(void) {
Lightvalve	12:6f2531038ea4	812	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	813
jobuuu	2:a1c0a37df760	814	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	815	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	816	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	817	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	818
jobuuu	2:a1c0a37df760	819	can.write(temp_msg);
jobuuu	2:a1c0a37df760	820	}
jobuuu	2:a1c0a37df760	821
Lightvalve	11:82d8768d7351	822	void CAN_TX_OPERATING_MODE(void) {
jobuuu	2:a1c0a37df760	823	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	824
jobuuu	2:a1c0a37df760	825	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	826	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	827	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	828	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	829	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	830	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	831	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	832
jobuuu	2:a1c0a37df760	833	can.write(temp_msg);
jobuuu	2:a1c0a37df760	834	}
jobuuu	2:a1c0a37df760	835
Lightvalve	11:82d8768d7351	836	void CAN_TX_CAN_FREQ(void) {
jobuuu	2:a1c0a37df760	837	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	838
jobuuu	2:a1c0a37df760	839	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	840	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	841	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	842	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	843	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	844
jobuuu	2:a1c0a37df760	845	can.write(temp_msg);
jobuuu	2:a1c0a37df760	846	}
Lightvalve	11:82d8768d7351	847
Lightvalve	11:82d8768d7351	848	void CAN_TX_CONTROL_MODE(void) {
jobuuu	2:a1c0a37df760	849	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	850
jobuuu	2:a1c0a37df760	851	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	852	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	853	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	854	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	855
jobuuu	2:a1c0a37df760	856	can.write(temp_msg);
jobuuu	2:a1c0a37df760	857	}
Lightvalve	11:82d8768d7351	858
Lightvalve	11:82d8768d7351	859	void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	860	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	861
jobuuu	2:a1c0a37df760	862	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	863	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	864	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	865	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	866	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	867
jobuuu	2:a1c0a37df760	868	can.write(temp_msg);
jobuuu	2:a1c0a37df760	869	}
jobuuu	2:a1c0a37df760	870
Lightvalve	11:82d8768d7351	871	void CAN_TX_VALVE_DIR(void) {
jobuuu	2:a1c0a37df760	872	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	873
jobuuu	2:a1c0a37df760	874	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	875	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	876	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	877	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	878	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	879
jobuuu	2:a1c0a37df760	880	can.write(temp_msg);
jobuuu	2:a1c0a37df760	881	}
jobuuu	2:a1c0a37df760	882
Lightvalve	11:82d8768d7351	883	void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	884	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	885
jobuuu	2:a1c0a37df760	886	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	887	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	888	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	889	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	890	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	891
jobuuu	2:a1c0a37df760	892	can.write(temp_msg);
jobuuu	2:a1c0a37df760	893	}
jobuuu	2:a1c0a37df760	894
Lightvalve	11:82d8768d7351	895	void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve	49:e7bcfc244d40	896	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	897
jobuuu	2:a1c0a37df760	898	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	899
jobuuu	2:a1c0a37df760	900	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	901	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	902	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	903	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	904	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	905
jobuuu	2:a1c0a37df760	906	can.write(temp_msg);
jobuuu	2:a1c0a37df760	907	}
jobuuu	2:a1c0a37df760	908
Lightvalve	11:82d8768d7351	909	void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve	49:e7bcfc244d40	910	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	911
jobuuu	2:a1c0a37df760	912	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	913
jobuuu	2:a1c0a37df760	914	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	915	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	916	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	917	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	918	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	919
jobuuu	2:a1c0a37df760	920	can.write(temp_msg);
jobuuu	2:a1c0a37df760	921	}
Lightvalve	11:82d8768d7351	922
jobuuu	2:a1c0a37df760	923
Lightvalve	11:82d8768d7351	924	void CAN_TX_PID_GAIN(int t_type) {
jobuuu	2:a1c0a37df760	925	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	926	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	927	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	928
Lightvalve	12:6f2531038ea4	929	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	930	if (t_type == 0) {
Lightvalve	30:8d561f16383b	931	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	932	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	933	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	934	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	935	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	936	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	937	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	938	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	939	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	940	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	941	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	942	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	943	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	944	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	945	}
jobuuu	2:a1c0a37df760	946
jobuuu	2:a1c0a37df760	947	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	948
jobuuu	2:a1c0a37df760	949	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	950	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	951	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	952	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	953	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	954	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	955	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	956	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	957	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	958	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	959
jobuuu	2:a1c0a37df760	960	can.write(temp_msg);
jobuuu	2:a1c0a37df760	961	}
jobuuu	2:a1c0a37df760	962
Lightvalve	11:82d8768d7351	963
Lightvalve	11:82d8768d7351	964	void CAN_TX_VALVE_DEADZONE(void) {
jobuuu	2:a1c0a37df760	965	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	966
jobuuu	2:a1c0a37df760	967	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	968	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	969	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	970	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	971	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	972	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	973	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	974	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	975	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	976
jobuuu	2:a1c0a37df760	977	can.write(temp_msg);
jobuuu	2:a1c0a37df760	978	}
jobuuu	2:a1c0a37df760	979
Lightvalve	11:82d8768d7351	980	void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve	11:82d8768d7351	981	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	982
Lightvalve	11:82d8768d7351	983	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	984	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	985	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	986	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	987	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	988
Lightvalve	11:82d8768d7351	989	can.write(temp_msg);
Lightvalve	11:82d8768d7351	990	}
Lightvalve	11:82d8768d7351	991
Lightvalve	11:82d8768d7351	992	void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve	11:82d8768d7351	993	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	994
Lightvalve	11:82d8768d7351	995	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	996	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	997	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	998	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	999	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	1000
Lightvalve	11:82d8768d7351	1001	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1002	}
Lightvalve	11:82d8768d7351	1003
Lightvalve	11:82d8768d7351	1004	void CAN_TX_VALVE_FF(void) {
Lightvalve	11:82d8768d7351	1005	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1006
Lightvalve	11:82d8768d7351	1007	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1008	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1009	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	1010	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	1011	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	1012
Lightvalve	11:82d8768d7351	1013	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1014	}
Lightvalve	11:82d8768d7351	1015
Lightvalve	11:82d8768d7351	1016	void CAN_TX_BULK_MODULUS(void) {
Lightvalve	11:82d8768d7351	1017	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1018
Lightvalve	11:82d8768d7351	1019	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1020	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1021	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1022	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1023	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	1024
Lightvalve	11:82d8768d7351	1025	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1026	}
Lightvalve	11:82d8768d7351	1027
Lightvalve	11:82d8768d7351	1028	void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve	11:82d8768d7351	1029	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1030
Lightvalve	11:82d8768d7351	1031	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1032	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1033	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1034	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1035	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1036	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1037	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1038
Lightvalve	11:82d8768d7351	1039	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1040	}
Lightvalve	11:82d8768d7351	1041
Lightvalve	11:82d8768d7351	1042	void CAN_TX_PISTON_AREA(void) {
jobuuu	2:a1c0a37df760	1043	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1044
Lightvalve	11:82d8768d7351	1045	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1046	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1047	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1048	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1049	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1050	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1051	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1052
Lightvalve	11:82d8768d7351	1053	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1054	}
Lightvalve	11:82d8768d7351	1055
Lightvalve	11:82d8768d7351	1056	void CAN_TX_PRES_A_AND_B(void) {
Lightvalve	11:82d8768d7351	1057	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1058
Lightvalve	11:82d8768d7351	1059	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1060	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1061	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1062	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1063	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1064	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1065	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1066
Lightvalve	11:82d8768d7351	1067	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1068	}
Lightvalve	11:82d8768d7351	1069
Lightvalve	11:82d8768d7351	1070	void CAN_TX_ENC_LIMIT(void) {
Lightvalve	11:82d8768d7351	1071	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1072
Lightvalve	11:82d8768d7351	1073	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1074	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1075	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1076	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1077	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1078	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1079	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1080
Lightvalve	11:82d8768d7351	1081	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1082	}
Lightvalve	11:82d8768d7351	1083
Lightvalve	11:82d8768d7351	1084	void CAN_TX_STROKE(void) {
Lightvalve	11:82d8768d7351	1085	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1086
Lightvalve	11:82d8768d7351	1087	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1088	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1089	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1090	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1091	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1092
Lightvalve	11:82d8768d7351	1093	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1094	}
Lightvalve	11:82d8768d7351	1095
Lightvalve	11:82d8768d7351	1096	void CAN_TX_VALVE_LIMIT(void) {
Lightvalve	11:82d8768d7351	1097	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1098
Lightvalve	11:82d8768d7351	1099	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1100	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1101	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1102	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1103	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1104	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1105	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1106
Lightvalve	11:82d8768d7351	1107	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1108	}
Lightvalve	11:82d8768d7351	1109
Lightvalve	11:82d8768d7351	1110	void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve	11:82d8768d7351	1111	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1112
jobuuu	2:a1c0a37df760	1113	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1114	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1115	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1116	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1117	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1118	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1119
jobuuu	2:a1c0a37df760	1120	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1121	}
jobuuu	2:a1c0a37df760	1122
Lightvalve	11:82d8768d7351	1123	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu	2:a1c0a37df760	1124	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1125
jobuuu	2:a1c0a37df760	1126	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1127	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1128	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	48:889798ff9329	1129	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve	48:889798ff9329	1130	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1131	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1132
jobuuu	2:a1c0a37df760	1133	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1134	}
jobuuu	2:a1c0a37df760	1135
Lightvalve	11:82d8768d7351	1136	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu	2:a1c0a37df760	1137	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1138
jobuuu	2:a1c0a37df760	1139	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1140	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1141	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1142	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1143	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1144	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1145	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1146
jobuuu	2:a1c0a37df760	1147	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1148	}
jobuuu	2:a1c0a37df760	1149
Lightvalve	11:82d8768d7351	1150	void CAN_TX_FRICTION(void) {
Lightvalve	11:82d8768d7351	1151	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1152	int16_t send_friction;
Lightvalve	30:8d561f16383b	1153	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	11:82d8768d7351	1154
Lightvalve	11:82d8768d7351	1155	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1156	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1157	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1158	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1159	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1160
Lightvalve	11:82d8768d7351	1161	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1162	}
Lightvalve	11:82d8768d7351	1163
Lightvalve	11:82d8768d7351	1164	void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve	11:82d8768d7351	1165	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1166
Lightvalve	11:82d8768d7351	1167	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1168	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1169	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1170	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1171	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1172	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1173	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1174	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1175
Lightvalve	11:82d8768d7351	1176	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1177	}
Lightvalve	11:82d8768d7351	1178
Lightvalve	11:82d8768d7351	1179	void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve	11:82d8768d7351	1180	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1181	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1182	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1183	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1184
Lightvalve	57:f4819de54e7a	1185	//temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1186	//temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1187	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1188	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1189	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	11:82d8768d7351	1190
Lightvalve	11:82d8768d7351	1191	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1192	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1193	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1194	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1195	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1196	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1197	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1198	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1199	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1200
Lightvalve	11:82d8768d7351	1201	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1202	}
Lightvalve	11:82d8768d7351	1203
Lightvalve	11:82d8768d7351	1204	void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve	11:82d8768d7351	1205	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1206
Lightvalve	11:82d8768d7351	1207	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1208	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1209	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1210	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1211	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1212	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1213	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1214	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1215
Lightvalve	11:82d8768d7351	1216	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1217	}
Lightvalve	11:82d8768d7351	1218
Lightvalve	11:82d8768d7351	1219	void CAN_TX_REFENCE_MODE(void) {
Lightvalve	11:82d8768d7351	1220	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1221
Lightvalve	11:82d8768d7351	1222	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1223	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1224	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1225	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1226	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1227	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1228	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1229	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1230
Lightvalve	11:82d8768d7351	1231	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1232	}
Lightvalve	11:82d8768d7351	1233
Lightvalve	11:82d8768d7351	1234	void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve	11:82d8768d7351	1235	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1236	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1237	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	1238
jobuuu	2:a1c0a37df760	1239	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1240	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1241	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1242	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1243	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1244
jobuuu	2:a1c0a37df760	1245	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1246	}
Lightvalve	11:82d8768d7351	1247
Lightvalve	11:82d8768d7351	1248	void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve	11:82d8768d7351	1249	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1250	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1251	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	1252
Lightvalve	11:82d8768d7351	1253	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1254	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1255	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1256	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1257	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1258
Lightvalve	11:82d8768d7351	1259	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1260	}
Lightvalve	11:82d8768d7351	1261
Lightvalve	12:6f2531038ea4	1262	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve	11:82d8768d7351	1263	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1264	int16_t valve_pos_vs_pwm;
Lightvalve	49:e7bcfc244d40	1265	// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve	49:e7bcfc244d40	1266
Lightvalve	57:f4819de54e7a	1267	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1268	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	1269	} else {
Lightvalve	57:f4819de54e7a	1270	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	1271	}
Lightvalve	11:82d8768d7351	1272
Lightvalve	12:6f2531038ea4	1273	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1274	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	11:82d8768d7351	1275
Lightvalve	11:82d8768d7351	1276	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1277	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1278	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1279	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1280	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1281	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1282	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1283
Lightvalve	11:82d8768d7351	1284	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1285	}
Lightvalve	11:82d8768d7351	1286
Lightvalve	12:6f2531038ea4	1287	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve	11:82d8768d7351	1288	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1289	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1290	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1291
Lightvalve	57:f4819de54e7a	1292	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1293	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1294	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1295	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	1296	} else {
Lightvalve	57:f4819de54e7a	1297	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	1298	}
Lightvalve	11:82d8768d7351	1299
Lightvalve	11:82d8768d7351	1300	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1301	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1302	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1303	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1304	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1305	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1306	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1307	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1308	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1309
Lightvalve	11:82d8768d7351	1310	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1311	}
Lightvalve	11:82d8768d7351	1312
Lightvalve	11:82d8768d7351	1313	void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve	11:82d8768d7351	1314	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1315	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1316	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	11:82d8768d7351	1317
Lightvalve	11:82d8768d7351	1318	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1319	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1320	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1321	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1322	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1323
Lightvalve	11:82d8768d7351	1324	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1325	}
Lightvalve	11:82d8768d7351	1326
Lightvalve	38:118df027d851	1327	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve	38:118df027d851	1328	CANMessage temp_msg;
Lightvalve	38:118df027d851	1329
Lightvalve	48:889798ff9329	1330	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1331	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1332	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1333
Lightvalve	57:f4819de54e7a	1334	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1335	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1336	temp_ddv_center = VALVE_CENTER;
Lightvalve	48:889798ff9329	1337
Lightvalve	38:118df027d851	1338	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1339	temp_msg.len = 7;
Lightvalve	38:118df027d851	1340	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1341	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1342	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1343	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1344	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1345	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1346	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1347
Lightvalve	38:118df027d851	1348	can.write(temp_msg);
Lightvalve	38:118df027d851	1349	}
Lightvalve	38:118df027d851	1350
jobuuu	2:a1c0a37df760	1351	/******************************************************************************
jobuuu	2:a1c0a37df760	1352	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1353	*******************************************************************************/
jobuuu	2:a1c0a37df760	1354
Lightvalve	52:8ea76864368a	1355	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
Lightvalve	52:8ea76864368a	1356	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1357
Lightvalve	52:8ea76864368a	1358	temp_msg.id = CID_TX_POSITION;
Lightvalve	52:8ea76864368a	1359	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1360	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1361	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1362	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1363	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1364	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1365	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1366
Lightvalve	52:8ea76864368a	1367	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1368	}
Lightvalve	52:8ea76864368a	1369
Lightvalve	52:8ea76864368a	1370	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) {
Lightvalve	52:8ea76864368a	1371
jobuuu	2:a1c0a37df760	1372	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1373
jobuuu	2:a1c0a37df760	1374	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1375	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1376	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1377	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1378	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1379	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1380	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1381	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1382	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1383	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1384
jobuuu	2:a1c0a37df760	1385	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1386	}
jobuuu	2:a1c0a37df760	1387
Lightvalve	67:c2812cf26c38	1388	//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve	67:c2812cf26c38	1389	// CANMessage temp_msg;
Lightvalve	67:c2812cf26c38	1390	//
Lightvalve	67:c2812cf26c38	1391	// temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1392	// temp_msg.len = 4;
Lightvalve	67:c2812cf26c38	1393	// temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	67:c2812cf26c38	1394	// temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	67:c2812cf26c38	1395	// temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve	67:c2812cf26c38	1396	// temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve	67:c2812cf26c38	1397	//
Lightvalve	67:c2812cf26c38	1398	// can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1399	//}
Lightvalve	67:c2812cf26c38	1400
Lightvalve	67:c2812cf26c38	1401	void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu	2:a1c0a37df760	1402	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1403
jobuuu	2:a1c0a37df760	1404	temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1405	temp_msg.len = 2;
Lightvalve	48:889798ff9329	1406	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1407	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1408
jobuuu	2:a1c0a37df760	1409	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1410	}
jobuuu	2:a1c0a37df760	1411
Lightvalve	11:82d8768d7351	1412	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu	2:a1c0a37df760	1413	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1414
jobuuu	2:a1c0a37df760	1415	temp_msg.id = CID_TX_PRES;
Lightvalve	57:f4819de54e7a	1416	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1417	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1418	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1419	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1420	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1421
jobuuu	2:a1c0a37df760	1422	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1423	}
jobuuu	2:a1c0a37df760	1424
Lightvalve	11:82d8768d7351	1425	void CAN_TX_PWM(int16_t t_pwm) {
jobuuu	2:a1c0a37df760	1426	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1427
Lightvalve	57:f4819de54e7a	1428	temp_msg.id = CID_TX_VOUT;
Lightvalve	57:f4819de54e7a	1429	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1430	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1431	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1432
jobuuu	2:a1c0a37df760	1433	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1434	}
jobuuu	2:a1c0a37df760	1435
Lightvalve	27:a2254a485f23	1436	void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve	27:a2254a485f23	1437	{
jobuuu	2:a1c0a37df760	1438	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1439
jobuuu	2:a1c0a37df760	1440	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	48:889798ff9329	1441	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1442	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	12:6f2531038ea4	1443	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	27:a2254a485f23	1444	temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
Lightvalve	27:a2254a485f23	1445	temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	27:a2254a485f23	1446	temp_msg.data[4] = (uint8_t) t_pwm;
Lightvalve	27:a2254a485f23	1447	temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
Lightvalve	27:a2254a485f23	1448
jobuuu	2:a1c0a37df760	1449
jobuuu	2:a1c0a37df760	1450	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1451	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	03 Apr 2020
Imports:	5
Forks:	0
Commits:	257
Dependents:	0
Dependencies:	2
Followers:	1

CAN/function_CAN.cpp@69:3995ffeaa786, 2020-05-15 (annotated)

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