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CAN/function_CAN.cpp@235:4be664734d36, 2021-01-01 (annotated)

Committer:: Lightvalve
Date:: Fri Jan 01 12:15:49 2021 +0000
Revision:: 235:4be664734d36
Parent:: 233:0a37cdd59651
Child:: 252:179a8c8791dc

210101-1 CAN modified

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	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	233:0a37cdd59651	157	CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (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	233:0a37cdd59651	159	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (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	233:0a37cdd59651	169	double t_value = 0.0f;
Lightvalve	233:0a37cdd59651	170	if(value>=(float) VALVE_CENTER) {
Lightvalve	233:0a37cdd59651	171	t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	233:0a37cdd59651	172	} else {
Lightvalve	233:0a37cdd59651	173	t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	233:0a37cdd59651	174	}
Lightvalve	233:0a37cdd59651	175	double t_value_ref = 0.0f;
Lightvalve	233:0a37cdd59651	176	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	233:0a37cdd59651	177	t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	233:0a37cdd59651	178	} else {
Lightvalve	233:0a37cdd59651	179	t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	233:0a37cdd59651	180	}
Lightvalve	233:0a37cdd59651	181
Lightvalve	233:0a37cdd59651	182
Lightvalve	233:0a37cdd59651	183	CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve	233:0a37cdd59651	184	}
Lightvalve	233:0a37cdd59651	185
Lightvalve	235:4be664734d36	186	// //If it doesn't rest, below can can not work.
Lightvalve	235:4be664734d36	187	// for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	235:4be664734d36	188	// ;
Lightvalve	235:4be664734d36	189	// }
Lightvalve	235:4be664734d36	190	//
Lightvalve	233:0a37cdd59651	191	if (flag_data_request[3] == HIGH) {
Lightvalve	233:0a37cdd59651	192	//PWM
Lightvalve	233:0a37cdd59651	193	CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve	233:0a37cdd59651	194	// CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve	233:0a37cdd59651	195	}
Lightvalve	233:0a37cdd59651	196
Lightvalve	233:0a37cdd59651	197	if (flag_data_request[4] == HIGH) {
Lightvalve	233:0a37cdd59651	198	//valve position
Lightvalve	233:0a37cdd59651	199	//CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging21000.0f), (int16_t) (logging41000.0f)); //1600
Lightvalve	233:0a37cdd59651	200	CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve	233:0a37cdd59651	201	}
Lightvalve	233:0a37cdd59651	202
Lightvalve	11:82d8768d7351	203
Lightvalve	11:82d8768d7351	204	break;
Lightvalve	11:82d8768d7351	205	}
Lightvalve	11:82d8768d7351	206
Lightvalve	11:82d8768d7351	207	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	208	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	209
Lightvalve	11:82d8768d7351	210	break;
Lightvalve	11:82d8768d7351	211	}
Lightvalve	11:82d8768d7351	212
Lightvalve	11:82d8768d7351	213	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	214	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	215	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	216	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	217	else
Lightvalve	11:82d8768d7351	218	DIR_JOINT_ENC = -1;
Lightvalve	170:42c938a40313	219
Lightvalve	170:42c938a40313	220	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	221
Lightvalve	170:42c938a40313	222	spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	223
Lightvalve	11:82d8768d7351	224	break;
Lightvalve	11:82d8768d7351	225	}
Lightvalve	11:82d8768d7351	226
Lightvalve	11:82d8768d7351	227	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	228	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	229
Lightvalve	11:82d8768d7351	230	break;
Lightvalve	11:82d8768d7351	231	}
Lightvalve	11:82d8768d7351	232
Lightvalve	11:82d8768d7351	233	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	234	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	235	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	236	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	237	else
Lightvalve	11:82d8768d7351	238	DIR_VALVE = -1;
Lightvalve	170:42c938a40313	239
Lightvalve	170:42c938a40313	240	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	241
Lightvalve	170:42c938a40313	242	spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	243
Lightvalve	11:82d8768d7351	244	break;
Lightvalve	11:82d8768d7351	245	}
Lightvalve	11:82d8768d7351	246
Lightvalve	11:82d8768d7351	247	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	248	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	249
Lightvalve	11:82d8768d7351	250	break;
Lightvalve	11:82d8768d7351	251	}
Lightvalve	11:82d8768d7351	252
Lightvalve	11:82d8768d7351	253	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	254	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	255	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	256	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	257	else
Lightvalve	11:82d8768d7351	258	DIR_VALVE_ENC = -1;
Lightvalve	11:82d8768d7351	259
Lightvalve	170:42c938a40313	260	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	261
Lightvalve	170:42c938a40313	262	spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	263
Lightvalve	11:82d8768d7351	264	break;
Lightvalve	11:82d8768d7351	265	}
Lightvalve	11:82d8768d7351	266
Lightvalve	11:82d8768d7351	267	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	268	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	269
Lightvalve	11:82d8768d7351	270	break;
Lightvalve	11:82d8768d7351	271	}
Lightvalve	11:82d8768d7351	272
Lightvalve	11:82d8768d7351	273	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	274	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	275
Lightvalve	170:42c938a40313	276	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	277
Lightvalve	170:42c938a40313	278	spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve	11:82d8768d7351	279
Lightvalve	11:82d8768d7351	280	break;
Lightvalve	11:82d8768d7351	281	}
Lightvalve	11:82d8768d7351	282
Lightvalve	11:82d8768d7351	283	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	284	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	285
Lightvalve	11:82d8768d7351	286	break;
Lightvalve	11:82d8768d7351	287	}
Lightvalve	11:82d8768d7351	288
Lightvalve	11:82d8768d7351	289	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	290	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	291
Lightvalve	170:42c938a40313	292	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	293
Lightvalve	170:42c938a40313	294	spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve	11:82d8768d7351	295
Lightvalve	11:82d8768d7351	296
Lightvalve	11:82d8768d7351	297	break;
Lightvalve	11:82d8768d7351	298	}
Lightvalve	12:6f2531038ea4	299
Lightvalve	11:82d8768d7351	300	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	301	//CONTROL_MODE = 22;
Lightvalve	57:f4819de54e7a	302	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	303	break;
Lightvalve	11:82d8768d7351	304	}
Lightvalve	11:82d8768d7351	305
Lightvalve	11:82d8768d7351	306	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	307	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	308
Lightvalve	11:82d8768d7351	309	break;
Lightvalve	11:82d8768d7351	310	}
Lightvalve	11:82d8768d7351	311
Lightvalve	11:82d8768d7351	312	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	313	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	314	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	315	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	316	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	317
Lightvalve	170:42c938a40313	318	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	319	spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	320	spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	321	spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	11:82d8768d7351	322
Lightvalve	11:82d8768d7351	323	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	324	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	325	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	326	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	327
Lightvalve	170:42c938a40313	328	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	329	spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	330	spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	331	spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	332
Lightvalve	11:82d8768d7351	333	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	334	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	335	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	336	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	337
Lightvalve	170:42c938a40313	338	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	339	spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	340	spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	341	spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	342
Lightvalve	46:2694daea349b	343	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	344	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	345	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	170:42c938a40313	346
Lightvalve	67:c2812cf26c38	347	// ROM_RESET_DATA(); //For Real-time changing
Lightvalve	170:42c938a40313	348	// spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve	170:42c938a40313	349	// spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve	170:42c938a40313	350
Lightvalve	72:3436ce769b1e	351	} else if (msg.data[1] == 4) {
Lightvalve	72:3436ce769b1e	352	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	72:3436ce769b1e	353	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	72:3436ce769b1e	354	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	355
Lightvalve	170:42c938a40313	356	// ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	357	}
Lightvalve	11:82d8768d7351	358
Lightvalve	11:82d8768d7351	359	break;
Lightvalve	11:82d8768d7351	360	}
Lightvalve	11:82d8768d7351	361
Lightvalve	11:82d8768d7351	362	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	363	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	364
Lightvalve	11:82d8768d7351	365	break;
Lightvalve	11:82d8768d7351	366	}
Lightvalve	11:82d8768d7351	367
Lightvalve	11:82d8768d7351	368	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	369	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	370	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	371	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	170:42c938a40313	372
Lightvalve	170:42c938a40313	373	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	374	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	375	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	170:42c938a40313	376	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	11:82d8768d7351	377
Lightvalve	11:82d8768d7351	378	break;
Lightvalve	11:82d8768d7351	379	}
Lightvalve	11:82d8768d7351	380
Lightvalve	11:82d8768d7351	381	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	382	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	383
Lightvalve	11:82d8768d7351	384	break;
Lightvalve	11:82d8768d7351	385	}
Lightvalve	11:82d8768d7351	386
Lightvalve	11:82d8768d7351	387	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	388	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	389
Lightvalve	170:42c938a40313	390	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	391
Lightvalve	170:42c938a40313	392	spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	393
Lightvalve	11:82d8768d7351	394	break;
Lightvalve	11:82d8768d7351	395	}
Lightvalve	11:82d8768d7351	396
Lightvalve	11:82d8768d7351	397	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	398	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	399
Lightvalve	11:82d8768d7351	400	break;
Lightvalve	11:82d8768d7351	401	}
Lightvalve	11:82d8768d7351	402
Lightvalve	11:82d8768d7351	403	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	404	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	405
Lightvalve	170:42c938a40313	406	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	407
Lightvalve	170:42c938a40313	408	spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	409
Lightvalve	11:82d8768d7351	410	break;
Lightvalve	11:82d8768d7351	411	}
Lightvalve	11:82d8768d7351	412
Lightvalve	11:82d8768d7351	413	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	414	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	415
Lightvalve	11:82d8768d7351	416	break;
Lightvalve	11:82d8768d7351	417	}
Lightvalve	11:82d8768d7351	418
Lightvalve	11:82d8768d7351	419	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	420	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	421
Lightvalve	170:42c938a40313	422	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	423
Lightvalve	170:42c938a40313	424	spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	425
Lightvalve	11:82d8768d7351	426	break;
Lightvalve	11:82d8768d7351	427	}
Lightvalve	11:82d8768d7351	428
Lightvalve	11:82d8768d7351	429	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	430	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	431
Lightvalve	11:82d8768d7351	432	break;
Lightvalve	11:82d8768d7351	433	}
Lightvalve	11:82d8768d7351	434
Lightvalve	11:82d8768d7351	435	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	436	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	437
Lightvalve	170:42c938a40313	438	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	439
Lightvalve	170:42c938a40313	440	spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	441
Lightvalve	11:82d8768d7351	442	break;
Lightvalve	11:82d8768d7351	443	}
Lightvalve	11:82d8768d7351	444
Lightvalve	11:82d8768d7351	445	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	446	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	447
Lightvalve	11:82d8768d7351	448	break;
Lightvalve	11:82d8768d7351	449	}
Lightvalve	11:82d8768d7351	450
Lightvalve	11:82d8768d7351	451	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	452	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	453	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	454
Lightvalve	170:42c938a40313	455	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	456
Lightvalve	170:42c938a40313	457	spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	170:42c938a40313	458	spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	459
Lightvalve	11:82d8768d7351	460	break;
Lightvalve	11:82d8768d7351	461	}
Lightvalve	11:82d8768d7351	462
Lightvalve	11:82d8768d7351	463	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	464	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	465
Lightvalve	11:82d8768d7351	466	break;
Lightvalve	11:82d8768d7351	467	}
Lightvalve	11:82d8768d7351	468
Lightvalve	11:82d8768d7351	469	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	470	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	471	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	69:3995ffeaa786	472	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	473	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	170:42c938a40313	474
Lightvalve	170:42c938a40313	475	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	476
Lightvalve	170:42c938a40313	477	spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	170:42c938a40313	478	spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	479	break;
Lightvalve	11:82d8768d7351	480	}
Lightvalve	11:82d8768d7351	481
Lightvalve	11:82d8768d7351	482	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	483	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	484	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	485	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	486	//dac_2 = PRES_B_VREF;
Lightvalve	170:42c938a40313	487
Lightvalve	11:82d8768d7351	488	break;
Lightvalve	11:82d8768d7351	489	}
Lightvalve	11:82d8768d7351	490
Lightvalve	11:82d8768d7351	491	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	492	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	493	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	494	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	495	spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	170:42c938a40313	496	spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	497
Lightvalve	11:82d8768d7351	498
Lightvalve	11:82d8768d7351	499	break;
Lightvalve	11:82d8768d7351	500	}
Lightvalve	11:82d8768d7351	501
Lightvalve	11:82d8768d7351	502	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	503	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	504
Lightvalve	11:82d8768d7351	505	break;
Lightvalve	11:82d8768d7351	506	}
Lightvalve	11:82d8768d7351	507
Lightvalve	11:82d8768d7351	508	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	509	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	510	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	511	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	512	spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	170:42c938a40313	513	spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	514
Lightvalve	11:82d8768d7351	515	break;
Lightvalve	11:82d8768d7351	516	}
Lightvalve	11:82d8768d7351	517
Lightvalve	11:82d8768d7351	518	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	519	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	520	break;
Lightvalve	11:82d8768d7351	521	}
Lightvalve	11:82d8768d7351	522
Lightvalve	11:82d8768d7351	523	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	524	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	525	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	526	spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	527
Lightvalve	11:82d8768d7351	528	break;
Lightvalve	11:82d8768d7351	529	}
Lightvalve	11:82d8768d7351	530
Lightvalve	11:82d8768d7351	531	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	532	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	533
Lightvalve	11:82d8768d7351	534	break;
Lightvalve	11:82d8768d7351	535	}
Lightvalve	11:82d8768d7351	536
Lightvalve	11:82d8768d7351	537	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	538	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	539	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	540	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	541
Lightvalve	170:42c938a40313	542	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	543	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	11:82d8768d7351	544
Lightvalve	11:82d8768d7351	545	break;
Lightvalve	11:82d8768d7351	546	}
Lightvalve	11:82d8768d7351	547
Lightvalve	11:82d8768d7351	548	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	549	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	550
Lightvalve	11:82d8768d7351	551	break;
Lightvalve	11:82d8768d7351	552	}
Lightvalve	11:82d8768d7351	553
Lightvalve	11:82d8768d7351	554	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	555	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	556	// ROM_RESET_DATA();
Lightvalve	180:02be1711ee0b	557	spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
Lightvalve	11:82d8768d7351	558
Lightvalve	11:82d8768d7351	559	break;
Lightvalve	11:82d8768d7351	560	}
Lightvalve	11:82d8768d7351	561
Lightvalve	11:82d8768d7351	562	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	563	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	564
Lightvalve	11:82d8768d7351	565	break;
Lightvalve	11:82d8768d7351	566	}
Lightvalve	11:82d8768d7351	567
Lightvalve	11:82d8768d7351	568	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	139:15621998925b	569	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.0001f);
Lightvalve	170:42c938a40313	570	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	571	spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve	11:82d8768d7351	572
Lightvalve	11:82d8768d7351	573	break;
Lightvalve	11:82d8768d7351	574	}
Lightvalve	11:82d8768d7351	575
Lightvalve	11:82d8768d7351	576	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	577	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	578
Lightvalve	11:82d8768d7351	579	break;
Lightvalve	11:82d8768d7351	580	}
Lightvalve	11:82d8768d7351	581
Lightvalve	11:82d8768d7351	582	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	583	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	584	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	170:42c938a40313	585	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	586	spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	170:42c938a40313	587	spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	11:82d8768d7351	588
Lightvalve	11:82d8768d7351	589	break;
Lightvalve	11:82d8768d7351	590	}
Lightvalve	11:82d8768d7351	591
Lightvalve	11:82d8768d7351	592	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	593	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	594
Lightvalve	11:82d8768d7351	595	break;
Lightvalve	11:82d8768d7351	596	}
Lightvalve	11:82d8768d7351	597
Lightvalve	11:82d8768d7351	598	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	599	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	600	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	601	spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve	11:82d8768d7351	602
Lightvalve	11:82d8768d7351	603	break;
Lightvalve	11:82d8768d7351	604	}
Lightvalve	11:82d8768d7351	605
Lightvalve	11:82d8768d7351	606	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	607	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	608
Lightvalve	11:82d8768d7351	609	break;
Lightvalve	11:82d8768d7351	610	}
Lightvalve	11:82d8768d7351	611	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	612	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	613	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	614	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	615	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	616	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	617	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	618	spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	170:42c938a40313	619	spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	170:42c938a40313	620	spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	170:42c938a40313	621	spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	170:42c938a40313	622	spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	623
Lightvalve	11:82d8768d7351	624	break;
Lightvalve	11:82d8768d7351	625	}
Lightvalve	11:82d8768d7351	626
Lightvalve	11:82d8768d7351	627	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	628	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	629
Lightvalve	11:82d8768d7351	630	break;
Lightvalve	11:82d8768d7351	631	}
Lightvalve	11:82d8768d7351	632	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	633	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	634	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	635	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	636	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	637	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	638	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	639	spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	170:42c938a40313	640	spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	170:42c938a40313	641	spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	170:42c938a40313	642	spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	170:42c938a40313	643	spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	644
Lightvalve	11:82d8768d7351	645	break;
Lightvalve	11:82d8768d7351	646	}
Lightvalve	11:82d8768d7351	647	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	648	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	649	break;
Lightvalve	11:82d8768d7351	650	}
Lightvalve	11:82d8768d7351	651
Lightvalve	11:82d8768d7351	652	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	653	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	654
Lightvalve	11:82d8768d7351	655	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	656	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	657	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	658	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	659	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	660
Lightvalve	11:82d8768d7351	661	break;
Lightvalve	11:82d8768d7351	662	}
Lightvalve	11:82d8768d7351	663
Lightvalve	11:82d8768d7351	664	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	665	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	666
Lightvalve	11:82d8768d7351	667	break;
Lightvalve	11:82d8768d7351	668	}
Lightvalve	11:82d8768d7351	669
Lightvalve	11:82d8768d7351	670	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	671
Lightvalve	12:6f2531038ea4	672	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	673	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	674	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	675	}
Lightvalve	11:82d8768d7351	676
Lightvalve	11:82d8768d7351	677	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	678
Lightvalve	11:82d8768d7351	679
Lightvalve	11:82d8768d7351	680	break;
Lightvalve	11:82d8768d7351	681	}
Lightvalve	11:82d8768d7351	682
Lightvalve	11:82d8768d7351	683	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	684	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	685	break;
Lightvalve	11:82d8768d7351	686	}
Lightvalve	11:82d8768d7351	687	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	688	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	689	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	690	spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	691	break;
Lightvalve	11:82d8768d7351	692	}
Lightvalve	11:82d8768d7351	693
Lightvalve	11:82d8768d7351	694	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	695	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	696	break;
Lightvalve	11:82d8768d7351	697	}
Lightvalve	11:82d8768d7351	698	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	699	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	700	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	701	spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	702	break;
Lightvalve	11:82d8768d7351	703	}
Lightvalve	11:82d8768d7351	704
Lightvalve	11:82d8768d7351	705	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	706	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	707	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	708	break;
Lightvalve	11:82d8768d7351	709	}
Lightvalve	11:82d8768d7351	710	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	711	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	712	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	713	break;
Lightvalve	11:82d8768d7351	714	}
Lightvalve	11:82d8768d7351	715	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	716	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	717	break;
Lightvalve	11:82d8768d7351	718	}
Lightvalve	170:42c938a40313	719
Lightvalve	28:2a62d73e3dd0	720	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	721	ROM_RESET_DATA();
Lightvalve	28:2a62d73e3dd0	722	break;
Lightvalve	28:2a62d73e3dd0	723	}
Lightvalve	32:4b8c0fedaf2c	724	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	725	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	726	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	170:42c938a40313	727	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	728	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	729
Lightvalve	33:91b17819ec30	730	break;
Lightvalve	33:91b17819ec30	731	}
Lightvalve	33:91b17819ec30	732	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	733	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	734	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	170:42c938a40313	735	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	736	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	170:42c938a40313	737
Lightvalve	33:91b17819ec30	738	break;
Lightvalve	33:91b17819ec30	739	}
Lightvalve	33:91b17819ec30	740	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	741	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	742	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	170:42c938a40313	743	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	744	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	32:4b8c0fedaf2c	745	break;
Lightvalve	32:4b8c0fedaf2c	746	}
Lightvalve	36:a46e63505ed8	747	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	748	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	749	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	750	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	751	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	752
Lightvalve	170:42c938a40313	753	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	754
Lightvalve	36:a46e63505ed8	755	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	756	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	757	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	758
Lightvalve	36:a46e63505ed8	759
Lightvalve	36:a46e63505ed8	760	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	761	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	762	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	763	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	764
Lightvalve	170:42c938a40313	765	// ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	766
Lightvalve	36:a46e63505ed8	767	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	768	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	769	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	770	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	771	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	772	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	773	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	774
Lightvalve	170:42c938a40313	775	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	776
Lightvalve	36:a46e63505ed8	777	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	778	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	779	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	780	}
Lightvalve	36:a46e63505ed8	781	break;
Lightvalve	36:a46e63505ed8	782	}
Lightvalve	38:118df027d851	783	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	57:f4819de54e7a	784	//CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	38:118df027d851	785	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	786	break;
Lightvalve	38:118df027d851	787	}
Lightvalve	170:42c938a40313	788	case CRX_DELAY_TEST: {
Lightvalve	54:647072f5307a	789	flag_delay_test = 1;
Lightvalve	54:647072f5307a	790	break;
Lightvalve	54:647072f5307a	791	}
Lightvalve	68:328e1be06f5d	792	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	68:328e1be06f5d	793	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	68:328e1be06f5d	794	CONTROL_UTILITY_MODE = 1;
Lightvalve	68:328e1be06f5d	795	break;
Lightvalve	68:328e1be06f5d	796	}
Lightvalve	169:645207e160ca	797	case CRX_SET_FREQ_TEST: {
Lightvalve	169:645207e160ca	798	cnt_freq_test = 0;
Lightvalve	169:645207e160ca	799	CONTROL_UTILITY_MODE = 34;
Lightvalve	169:645207e160ca	800	break;
Lightvalve	169:645207e160ca	801	}
Lightvalve	170:42c938a40313	802
Lightvalve	169:645207e160ca	803	case CRX_ASK_BUFFER: {
Lightvalve	169:645207e160ca	804	cnt_buffer = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	169:645207e160ca	805	CAN_TX_BUFFER(cnt_buffer);
Lightvalve	169:645207e160ca	806	break;
Lightvalve	169:645207e160ca	807	}
Lightvalve	170:42c938a40313	808
Lightvalve	169:645207e160ca	809	case CRX_SET_STEP_TEST: {
Lightvalve	169:645207e160ca	810	cnt_step_test = 0;
Lightvalve	169:645207e160ca	811	CONTROL_UTILITY_MODE = 37;
Lightvalve	169:645207e160ca	812	break;
Lightvalve	169:645207e160ca	813	}
Lightvalve	38:118df027d851	814
Lightvalve	192:637092202815	815	case CRX_SET_CHANGE_EVERY_REFERNCE: {
Lightvalve	192:637092202815	816	flag_every_reference = 1;
Lightvalve	192:637092202815	817	break;
Lightvalve	192:637092202815	818	}
Lightvalve	192:637092202815	819
Lightvalve	170:42c938a40313	820	default:
Lightvalve	170:42c938a40313	821	break;
jobuuu	2:a1c0a37df760	822	}
jobuuu	2:a1c0a37df760	823	}
jobuuu	2:a1c0a37df760	824
jobuuu	2:a1c0a37df760	825	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	826	{
Lightvalve	170:42c938a40313	827
jobuuu	2:a1c0a37df760	828	can.read(msg);
jobuuu	2:a1c0a37df760	829	unsigned int address = msg.id;
Lightvalve	170:42c938a40313	830	if(address==CID_RX_CMD) {
jobuuu	2:a1c0a37df760	831	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	832	ReadCMD(CMD);
Lightvalve	170:42c938a40313	833
jobuuu	7:e9086c72bb22	834	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	170:42c938a40313	835
Lightvalve	43:b084e5f5d0d5	836	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	837	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	838	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	170:42c938a40313	839
Lightvalve	57:f4819de54e7a	840	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	841	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	842	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	170:42c938a40313	843	} else { //Linear Actuator
Lightvalve	67:c2812cf26c38	844	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	67:c2812cf26c38	845	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	57:f4819de54e7a	846	}
Lightvalve	170:42c938a40313	847
Lightvalve	68:328e1be06f5d	848	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	133:22ab22818e01	849	torq.ref_diff = torq.ref - torq.ref_old;
Lightvalve	209:ebc69d6ee6f1	850	torq_dot.sen = torq.sen-totq_sen_past;
Lightvalve	133:22ab22818e01	851	torq.ref_old = torq.ref;
Lightvalve	209:ebc69d6ee6f1	852	totq_sen_past = torq.sen;
Lightvalve	170:42c938a40313	853
Lightvalve	68:328e1be06f5d	854	///////////////Make Data///////////////////
Lightvalve	170:42c938a40313	855	for(int i=0; i<num_array_u_past-1; i++) {
Lightvalve	99:7bbcb3c0fb06	856	u_past[i] = u_past[i+1];
Lightvalve	99:7bbcb3c0fb06	857	}
Lightvalve	99:7bbcb3c0fb06	858	u_past[num_array_u_past-1] = output_normalized;
Lightvalve	170:42c938a40313	859
Lightvalve	170:42c938a40313	860	for(int i=0; i<num_array_x_past-1; i++) {
Lightvalve	68:328e1be06f5d	861	x_past[i] = x_past[i+1];
Lightvalve	68:328e1be06f5d	862	}
Lightvalve	68:328e1be06f5d	863	x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	170:42c938a40313	864
Lightvalve	122:dcb3ce3056a0	865	// for(int i=0;i<num_array_x_future-1;i++){
Lightvalve	122:dcb3ce3056a0	866	// x_future[i] = x_future[i+1];
Lightvalve	122:dcb3ce3056a0	867	// }
Lightvalve	122:dcb3ce3056a0	868	// x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	170:42c938a40313	869
Lightvalve	170:42c938a40313	870	for(int i=0; i<num_array_f_past-1; i++) {
Lightvalve	68:328e1be06f5d	871	f_past[i] = f_past[i+1];
Lightvalve	68:328e1be06f5d	872	}
Lightvalve	101:50159049a518	873	f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve	170:42c938a40313	874
Lightvalve	68:328e1be06f5d	875	f_future[0] = torq.sen; //N
Lightvalve	192:637092202815	876
Lightvalve	192:637092202815	877	if(flag_every_reference == 1) {
Lightvalve	192:637092202815	878	for(int i=1; i<num_array_f_future-1; i++) {
Lightvalve	192:637092202815	879	f_future[i] = 500.0f;
Lightvalve	192:637092202815	880	}
Lightvalve	192:637092202815	881	f_future[num_array_f_future-1] = 500.0f; //N
Lightvalve	192:637092202815	882	} else {
Lightvalve	192:637092202815	883	for(int i=1; i<num_array_f_future-1; i++) {
Lightvalve	192:637092202815	884	f_future[i] = f_future[i+1];
Lightvalve	192:637092202815	885	}
Lightvalve	192:637092202815	886	f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve	68:328e1be06f5d	887	}
Lightvalve	68:328e1be06f5d	888
Lightvalve	101:50159049a518	889
Lightvalve	49:e7bcfc244d40	890	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	891	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	170:42c938a40313	892
Lightvalve	57:f4819de54e7a	893	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	894	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	895	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	896	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	897	} else { //SW Valve
Lightvalve	57:f4819de54e7a	898	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	899	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	900	} else {
Lightvalve	57:f4819de54e7a	901	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	902	}
Lightvalve	47:fdcb8bd86fd6	903	}
Lightvalve	170:42c938a40313	904	} else if(address==CID_RX_REF_PWM) {
Lightvalve	49:e7bcfc244d40	905	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	906	Vout.ref = (double) temp_ref_pwm;
Lightvalve	170:42c938a40313	907	}
jobuuu	2:a1c0a37df760	908	}
jobuuu	2:a1c0a37df760	909
jobuuu	2:a1c0a37df760	910	/******************************************************************************
jobuuu	2:a1c0a37df760	911	Information Transmission Functions
jobuuu	2:a1c0a37df760	912	*******************************************************************************/
Lightvalve	11:82d8768d7351	913
Lightvalve	170:42c938a40313	914	void CAN_TX_INFO(void)
Lightvalve	170:42c938a40313	915	{
Lightvalve	12:6f2531038ea4	916	CANMessage temp_msg;
Lightvalve	170:42c938a40313	917
jobuuu	2:a1c0a37df760	918	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	919	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	920	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	921	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	922	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	923	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	924	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	925	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	926	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	927
jobuuu	2:a1c0a37df760	928	can.write(temp_msg);
jobuuu	2:a1c0a37df760	929	}
jobuuu	2:a1c0a37df760	930
Lightvalve	170:42c938a40313	931	void CAN_TX_BNO(void)
Lightvalve	170:42c938a40313	932	{
Lightvalve	12:6f2531038ea4	933	CANMessage temp_msg;
Lightvalve	170:42c938a40313	934
jobuuu	2:a1c0a37df760	935	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	936	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	937	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	938	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	939
jobuuu	2:a1c0a37df760	940	can.write(temp_msg);
jobuuu	2:a1c0a37df760	941	}
jobuuu	2:a1c0a37df760	942
Lightvalve	170:42c938a40313	943	void CAN_TX_OPERATING_MODE(void)
Lightvalve	170:42c938a40313	944	{
jobuuu	2:a1c0a37df760	945	CANMessage temp_msg;
Lightvalve	170:42c938a40313	946
jobuuu	2:a1c0a37df760	947	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	948	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	949	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	950	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	951	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	952	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	953	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	954
jobuuu	2:a1c0a37df760	955	can.write(temp_msg);
jobuuu	2:a1c0a37df760	956	}
jobuuu	2:a1c0a37df760	957
Lightvalve	170:42c938a40313	958	void CAN_TX_CAN_FREQ(void)
Lightvalve	170:42c938a40313	959	{
jobuuu	2:a1c0a37df760	960	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	961
jobuuu	2:a1c0a37df760	962	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	963	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	964	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	965	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	966	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	967
jobuuu	2:a1c0a37df760	968	can.write(temp_msg);
jobuuu	2:a1c0a37df760	969	}
Lightvalve	11:82d8768d7351	970
Lightvalve	170:42c938a40313	971	void CAN_TX_CONTROL_MODE(void)
Lightvalve	170:42c938a40313	972	{
jobuuu	2:a1c0a37df760	973	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	974
jobuuu	2:a1c0a37df760	975	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	976	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	977	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	978	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	979
jobuuu	2:a1c0a37df760	980	can.write(temp_msg);
jobuuu	2:a1c0a37df760	981	}
Lightvalve	11:82d8768d7351	982
Lightvalve	170:42c938a40313	983	void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve	170:42c938a40313	984	{
jobuuu	2:a1c0a37df760	985	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	986
jobuuu	2:a1c0a37df760	987	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	988	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	989	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	990	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	991	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	992
jobuuu	2:a1c0a37df760	993	can.write(temp_msg);
jobuuu	2:a1c0a37df760	994	}
jobuuu	2:a1c0a37df760	995
Lightvalve	170:42c938a40313	996	void CAN_TX_VALVE_DIR(void)
Lightvalve	170:42c938a40313	997	{
jobuuu	2:a1c0a37df760	998	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	999
jobuuu	2:a1c0a37df760	1000	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1001	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1002	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	1003	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	1004	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	1005
jobuuu	2:a1c0a37df760	1006	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1007	}
jobuuu	2:a1c0a37df760	1008
Lightvalve	170:42c938a40313	1009	void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve	170:42c938a40313	1010	{
jobuuu	2:a1c0a37df760	1011	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1012
jobuuu	2:a1c0a37df760	1013	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1014	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1015	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	1016	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	1017	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	1018
jobuuu	2:a1c0a37df760	1019	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1020	}
jobuuu	2:a1c0a37df760	1021
Lightvalve	170:42c938a40313	1022	void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve	170:42c938a40313	1023	{
Lightvalve	49:e7bcfc244d40	1024	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	1025
jobuuu	2:a1c0a37df760	1026	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1027
jobuuu	2:a1c0a37df760	1028	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1029	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1030	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	1031	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	1032	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	1033
jobuuu	2:a1c0a37df760	1034	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1035	}
jobuuu	2:a1c0a37df760	1036
Lightvalve	170:42c938a40313	1037	void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve	170:42c938a40313	1038	{
Lightvalve	49:e7bcfc244d40	1039	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	1040
jobuuu	2:a1c0a37df760	1041	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1042
jobuuu	2:a1c0a37df760	1043	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1044	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1045	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	1046	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	1047	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	1048
jobuuu	2:a1c0a37df760	1049	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1050	}
Lightvalve	11:82d8768d7351	1051
jobuuu	2:a1c0a37df760	1052
Lightvalve	170:42c938a40313	1053	void CAN_TX_PID_GAIN(int t_type)
Lightvalve	170:42c938a40313	1054	{
jobuuu	2:a1c0a37df760	1055	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	1056	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	1057	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	1058
Lightvalve	12:6f2531038ea4	1059	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	1060	if (t_type == 0) {
Lightvalve	30:8d561f16383b	1061	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	1062	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	1063	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	1064	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	1065	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	1066	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	1067	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	1068	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	1069	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	1070	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	1071	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	1072	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	1073	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	1074	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	1075	}
jobuuu	2:a1c0a37df760	1076
jobuuu	2:a1c0a37df760	1077	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1078
jobuuu	2:a1c0a37df760	1079	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1080	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1081	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	1082	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	1083	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	1084	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	1085	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	1086	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	1087	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	1088	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	1089
jobuuu	2:a1c0a37df760	1090	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1091	}
jobuuu	2:a1c0a37df760	1092
Lightvalve	11:82d8768d7351	1093
Lightvalve	170:42c938a40313	1094	void CAN_TX_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	1095	{
jobuuu	2:a1c0a37df760	1096	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1097
jobuuu	2:a1c0a37df760	1098	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1099	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1100	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	1101	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	1102	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	1103	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	1104	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	1105	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	1106	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	1107
jobuuu	2:a1c0a37df760	1108	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1109	}
jobuuu	2:a1c0a37df760	1110
Lightvalve	170:42c938a40313	1111	void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve	170:42c938a40313	1112	{
Lightvalve	11:82d8768d7351	1113	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1114
Lightvalve	11:82d8768d7351	1115	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1116	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1117	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1118	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1119	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	1120
Lightvalve	11:82d8768d7351	1121	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1122	}
Lightvalve	11:82d8768d7351	1123
Lightvalve	170:42c938a40313	1124	void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve	170:42c938a40313	1125	{
Lightvalve	11:82d8768d7351	1126	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1127
Lightvalve	11:82d8768d7351	1128	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1129	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1130	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1131	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1132	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	1133
Lightvalve	11:82d8768d7351	1134	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1135	}
Lightvalve	11:82d8768d7351	1136
Lightvalve	170:42c938a40313	1137	void CAN_TX_VALVE_FF(void)
Lightvalve	170:42c938a40313	1138	{
Lightvalve	11:82d8768d7351	1139	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1140
Lightvalve	11:82d8768d7351	1141	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1142	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1143	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	1144	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	1145	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	1146
Lightvalve	11:82d8768d7351	1147	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1148	}
Lightvalve	11:82d8768d7351	1149
Lightvalve	170:42c938a40313	1150	void CAN_TX_BULK_MODULUS(void)
Lightvalve	170:42c938a40313	1151	{
Lightvalve	11:82d8768d7351	1152	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1153
Lightvalve	11:82d8768d7351	1154	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1155	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1156	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1157	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1158	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	1159
Lightvalve	11:82d8768d7351	1160	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1161	}
Lightvalve	11:82d8768d7351	1162
Lightvalve	170:42c938a40313	1163	void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve	170:42c938a40313	1164	{
Lightvalve	11:82d8768d7351	1165	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1166
Lightvalve	11:82d8768d7351	1167	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1168	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1169	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1170	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1171	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1172	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1173	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1174
Lightvalve	11:82d8768d7351	1175	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1176	}
Lightvalve	11:82d8768d7351	1177
Lightvalve	170:42c938a40313	1178	void CAN_TX_PISTON_AREA(void)
Lightvalve	170:42c938a40313	1179	{
jobuuu	2:a1c0a37df760	1180	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1181
Lightvalve	11:82d8768d7351	1182	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1183	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1184	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1185	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1186	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1187	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1188	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1189
Lightvalve	11:82d8768d7351	1190	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1191	}
Lightvalve	11:82d8768d7351	1192
Lightvalve	170:42c938a40313	1193	void CAN_TX_PRES_A_AND_B(void)
Lightvalve	170:42c938a40313	1194	{
Lightvalve	11:82d8768d7351	1195	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1196
Lightvalve	11:82d8768d7351	1197	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1198	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1199	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1200	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1201	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1202	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1203	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1204
Lightvalve	11:82d8768d7351	1205	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1206	}
Lightvalve	11:82d8768d7351	1207
Lightvalve	170:42c938a40313	1208	void CAN_TX_ENC_LIMIT(void)
Lightvalve	170:42c938a40313	1209	{
Lightvalve	11:82d8768d7351	1210	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1211
Lightvalve	11:82d8768d7351	1212	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1213	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1214	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1215	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1216	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1217	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1218	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1219
Lightvalve	11:82d8768d7351	1220	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1221	}
Lightvalve	11:82d8768d7351	1222
Lightvalve	170:42c938a40313	1223	void CAN_TX_STROKE(void)
Lightvalve	170:42c938a40313	1224	{
Lightvalve	11:82d8768d7351	1225	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1226
Lightvalve	11:82d8768d7351	1227	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1228	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1229	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1230	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1231	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1232
Lightvalve	11:82d8768d7351	1233	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1234	}
Lightvalve	11:82d8768d7351	1235
Lightvalve	170:42c938a40313	1236	void CAN_TX_VALVE_LIMIT(void)
Lightvalve	170:42c938a40313	1237	{
Lightvalve	11:82d8768d7351	1238	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1239
Lightvalve	11:82d8768d7351	1240	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1241	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1242	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1243	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1244	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1245	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1246	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1247
Lightvalve	11:82d8768d7351	1248	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1249	}
Lightvalve	11:82d8768d7351	1250
Lightvalve	170:42c938a40313	1251	void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve	170:42c938a40313	1252	{
Lightvalve	11:82d8768d7351	1253	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1254
jobuuu	2:a1c0a37df760	1255	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1256	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1257	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1258	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1259	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1260	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1261
jobuuu	2:a1c0a37df760	1262	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1263	}
jobuuu	2:a1c0a37df760	1264
Lightvalve	170:42c938a40313	1265	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve	170:42c938a40313	1266	{
jobuuu	2:a1c0a37df760	1267	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1268
jobuuu	2:a1c0a37df760	1269	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1270	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1271	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	139:15621998925b	1272	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve	48:889798ff9329	1273	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1274	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1275
jobuuu	2:a1c0a37df760	1276	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1277	}
jobuuu	2:a1c0a37df760	1278
Lightvalve	170:42c938a40313	1279	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve	170:42c938a40313	1280	{
jobuuu	2:a1c0a37df760	1281	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1282
jobuuu	2:a1c0a37df760	1283	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1284	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1285	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1286	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1287	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1288	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1289	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1290
jobuuu	2:a1c0a37df760	1291	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1292	}
jobuuu	2:a1c0a37df760	1293
Lightvalve	170:42c938a40313	1294	void CAN_TX_FRICTION(void)
Lightvalve	170:42c938a40313	1295	{
Lightvalve	11:82d8768d7351	1296	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1297	int16_t send_friction;
Lightvalve	30:8d561f16383b	1298	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	170:42c938a40313	1299
Lightvalve	11:82d8768d7351	1300	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1301	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1302	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1303	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1304	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1305
Lightvalve	11:82d8768d7351	1306	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1307	}
Lightvalve	11:82d8768d7351	1308
Lightvalve	170:42c938a40313	1309	void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve	170:42c938a40313	1310	{
Lightvalve	11:82d8768d7351	1311	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1312
Lightvalve	11:82d8768d7351	1313	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1314	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1315	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1316	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1317	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1318	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1319	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1320	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1321
Lightvalve	11:82d8768d7351	1322	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1323	}
Lightvalve	11:82d8768d7351	1324
Lightvalve	170:42c938a40313	1325	void CAN_TX_DDV_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	1326	{
Lightvalve	11:82d8768d7351	1327	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1328	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1329	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1330	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1331
Lightvalve	57:f4819de54e7a	1332	//temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1333	//temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1334	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1335	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1336	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	170:42c938a40313	1337
Lightvalve	11:82d8768d7351	1338	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1339	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1340	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1341	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1342	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1343	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1344	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 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	11:82d8768d7351	1347
Lightvalve	11:82d8768d7351	1348	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1349	}
Lightvalve	11:82d8768d7351	1350
Lightvalve	170:42c938a40313	1351	void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve	170:42c938a40313	1352	{
Lightvalve	11:82d8768d7351	1353	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1354
Lightvalve	11:82d8768d7351	1355	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1356	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1357	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1358	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1359	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1360	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1361	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1362	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1363
Lightvalve	11:82d8768d7351	1364	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1365	}
Lightvalve	11:82d8768d7351	1366
Lightvalve	170:42c938a40313	1367	void CAN_TX_REFENCE_MODE(void)
Lightvalve	170:42c938a40313	1368	{
Lightvalve	11:82d8768d7351	1369	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1370
Lightvalve	11:82d8768d7351	1371	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1372	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1373	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1374	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1375	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1376	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1377	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1378	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1379
Lightvalve	11:82d8768d7351	1380	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1381	}
Lightvalve	11:82d8768d7351	1382
Lightvalve	170:42c938a40313	1383	void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve	170:42c938a40313	1384	{
Lightvalve	11:82d8768d7351	1385	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1386	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1387	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	170:42c938a40313	1388
jobuuu	2:a1c0a37df760	1389	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1390	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1391	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1392	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1393	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1394
jobuuu	2:a1c0a37df760	1395	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1396	}
Lightvalve	11:82d8768d7351	1397
Lightvalve	170:42c938a40313	1398	void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve	170:42c938a40313	1399	{
Lightvalve	11:82d8768d7351	1400	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1401	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1402	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	170:42c938a40313	1403
Lightvalve	11:82d8768d7351	1404	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1405	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1406	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1407	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1408	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1409
Lightvalve	11:82d8768d7351	1410	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1411	}
Lightvalve	11:82d8768d7351	1412
Lightvalve	170:42c938a40313	1413	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve	170:42c938a40313	1414	{
Lightvalve	11:82d8768d7351	1415	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1416	int16_t valve_pos_vs_pwm;
Lightvalve	49:e7bcfc244d40	1417	// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve	170:42c938a40313	1418
Lightvalve	57:f4819de54e7a	1419	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1420	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	1421	} else {
Lightvalve	57:f4819de54e7a	1422	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	1423	}
Lightvalve	170:42c938a40313	1424
Lightvalve	12:6f2531038ea4	1425	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1426	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	170:42c938a40313	1427
Lightvalve	11:82d8768d7351	1428	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1429	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1430	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1431	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1432	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1433	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1434	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1435
Lightvalve	11:82d8768d7351	1436	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1437	}
Lightvalve	11:82d8768d7351	1438
Lightvalve	170:42c938a40313	1439	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve	170:42c938a40313	1440	{
Lightvalve	11:82d8768d7351	1441	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1442	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1443	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1444
Lightvalve	57:f4819de54e7a	1445	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1446	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1447	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1448	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	1449	} else {
Lightvalve	57:f4819de54e7a	1450	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	1451	}
Lightvalve	170:42c938a40313	1452
Lightvalve	11:82d8768d7351	1453	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1454	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1455	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1456	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1457	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1458	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1459	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1460	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1461	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1462
Lightvalve	11:82d8768d7351	1463	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1464	}
Lightvalve	11:82d8768d7351	1465
Lightvalve	170:42c938a40313	1466	void CAN_TX_VALVE_POS_NUM(void)
Lightvalve	170:42c938a40313	1467	{
Lightvalve	11:82d8768d7351	1468	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1469	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1470	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	170:42c938a40313	1471
Lightvalve	11:82d8768d7351	1472	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1473	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1474	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1475	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1476	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1477
Lightvalve	11:82d8768d7351	1478	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1479	}
Lightvalve	11:82d8768d7351	1480
Lightvalve	170:42c938a40313	1481	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve	170:42c938a40313	1482	{
Lightvalve	38:118df027d851	1483	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1484
Lightvalve	48:889798ff9329	1485	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1486	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1487	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1488
Lightvalve	57:f4819de54e7a	1489	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1490	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1491	temp_ddv_center = VALVE_CENTER;
Lightvalve	170:42c938a40313	1492
Lightvalve	38:118df027d851	1493	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1494	temp_msg.len = 7;
Lightvalve	38:118df027d851	1495	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1496	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1497	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1498	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1499	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1500	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1501	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1502
Lightvalve	38:118df027d851	1503	can.write(temp_msg);
Lightvalve	38:118df027d851	1504	}
Lightvalve	38:118df027d851	1505
Lightvalve	169:645207e160ca	1506
Lightvalve	170:42c938a40313	1507	void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve	170:42c938a40313	1508	{
Lightvalve	169:645207e160ca	1509	CANMessage temp_msg;
Lightvalve	169:645207e160ca	1510	int16_t send_pos_array, send_ref_array;
Lightvalve	169:645207e160ca	1511	send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve	169:645207e160ca	1512	send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve	170:42c938a40313	1513
Lightvalve	169:645207e160ca	1514	temp_msg.id = CID_TX_INFO;
Lightvalve	169:645207e160ca	1515	temp_msg.len = 5;
Lightvalve	169:645207e160ca	1516	temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve	169:645207e160ca	1517	temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve	169:645207e160ca	1518	temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve	169:645207e160ca	1519	temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve	169:645207e160ca	1520	temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve	169:645207e160ca	1521
Lightvalve	169:645207e160ca	1522	can.write(temp_msg);
Lightvalve	169:645207e160ca	1523	}
Lightvalve	169:645207e160ca	1524
Lightvalve	169:645207e160ca	1525
jobuuu	2:a1c0a37df760	1526	/******************************************************************************
jobuuu	2:a1c0a37df760	1527	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1528	*******************************************************************************/
jobuuu	2:a1c0a37df760	1529
Lightvalve	170:42c938a40313	1530	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve	170:42c938a40313	1531	{
Lightvalve	52:8ea76864368a	1532	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1533
Lightvalve	52:8ea76864368a	1534	temp_msg.id = CID_TX_POSITION;
Lightvalve	52:8ea76864368a	1535	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1536	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1537	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1538	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1539	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1540	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1541	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1542
Lightvalve	52:8ea76864368a	1543	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1544	}
Lightvalve	52:8ea76864368a	1545
Lightvalve	170:42c938a40313	1546	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve	170:42c938a40313	1547	{
Lightvalve	170:42c938a40313	1548
jobuuu	2:a1c0a37df760	1549	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1550
jobuuu	2:a1c0a37df760	1551	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1552	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1553	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1554	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1555	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1556	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1557	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1558	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1559	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1560	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1561
jobuuu	2:a1c0a37df760	1562	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1563	}
jobuuu	2:a1c0a37df760	1564
Lightvalve	67:c2812cf26c38	1565	//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve	67:c2812cf26c38	1566	// CANMessage temp_msg;
Lightvalve	67:c2812cf26c38	1567	//
Lightvalve	67:c2812cf26c38	1568	// temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1569	// temp_msg.len = 4;
Lightvalve	67:c2812cf26c38	1570	// temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	67:c2812cf26c38	1571	// temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	67:c2812cf26c38	1572	// temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve	67:c2812cf26c38	1573	// temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve	67:c2812cf26c38	1574	//
Lightvalve	67:c2812cf26c38	1575	// can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1576	//}
Lightvalve	67:c2812cf26c38	1577
Lightvalve	170:42c938a40313	1578	void CAN_TX_TORQUE(int16_t t_valve_pos)
Lightvalve	170:42c938a40313	1579	{
jobuuu	2:a1c0a37df760	1580	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1581
jobuuu	2:a1c0a37df760	1582	temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1583	temp_msg.len = 2;
Lightvalve	48:889798ff9329	1584	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1585	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1586
jobuuu	2:a1c0a37df760	1587	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1588	}
jobuuu	2:a1c0a37df760	1589
Lightvalve	170:42c938a40313	1590	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve	170:42c938a40313	1591	{
jobuuu	2:a1c0a37df760	1592	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1593
jobuuu	2:a1c0a37df760	1594	temp_msg.id = CID_TX_PRES;
Lightvalve	57:f4819de54e7a	1595	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1596	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1597	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1598	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1599	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1600
jobuuu	2:a1c0a37df760	1601	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1602	}
jobuuu	2:a1c0a37df760	1603
Lightvalve	170:42c938a40313	1604	void CAN_TX_PWM(int16_t t_pwm)
Lightvalve	170:42c938a40313	1605	{
jobuuu	2:a1c0a37df760	1606	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1607
Lightvalve	57:f4819de54e7a	1608	temp_msg.id = CID_TX_VOUT;
Lightvalve	57:f4819de54e7a	1609	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1610	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1611	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1612
jobuuu	2:a1c0a37df760	1613	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1614	}
jobuuu	2:a1c0a37df760	1615
Lightvalve	73:f80dc3970c99	1616	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	1617	{
jobuuu	2:a1c0a37df760	1618	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1619
jobuuu	2:a1c0a37df760	1620	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	73:f80dc3970c99	1621	temp_msg.len = 8;
Lightvalve	73:f80dc3970c99	1622	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	73:f80dc3970c99	1623	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	73:f80dc3970c99	1624	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	73:f80dc3970c99	1625	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	73:f80dc3970c99	1626	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	73:f80dc3970c99	1627	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	73:f80dc3970c99	1628	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	73:f80dc3970c99	1629	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	170:42c938a40313	1630
jobuuu	2:a1c0a37df760	1631
jobuuu	2:a1c0a37df760	1632	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1633	}

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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@235:4be664734d36, 2021-01-01 (annotated)

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