Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

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Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@254:725d7435dfa3, 2021-02-22 (annotated)

Committer:
Lightvalve
Date:
Mon Feb 22 13:25:19 2021 +0000
Revision:
254:725d7435dfa3
Parent:
253:0246366e0dcb
Child:
256:7c8cc8b56b88
210222 - spi - add cs = 0 cs=1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jobuuu 2:a1c0a37df760 1 #include "function_CAN.h"
Lightvalve 11:82d8768d7351 2 #include "setting.h"
Lightvalve 11:82d8768d7351 3 #include "function_utilities.h"
Lightvalve 11:82d8768d7351 4 #include "SPI_EEP_ENC.h"
Lightvalve 16:903b5a4433b4 5 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 6 #include "FlashWriter.h"
jobuuu 2:a1c0a37df760 7
jobuuu 2:a1c0a37df760 8 // CAN ID Setting Variables
jobuuu 2:a1c0a37df760 9 int CID_RX_CMD = 100;
jobuuu 2:a1c0a37df760 10 int CID_RX_REF_POSITION = 200;
Lightvalve 49:e7bcfc244d40 11 int CID_RX_REF_VALVE_POS = 300;
Lightvalve 49:e7bcfc244d40 12 int CID_RX_REF_PWM = 400;
jobuuu 2:a1c0a37df760 13
jobuuu 2:a1c0a37df760 14 int CID_TX_INFO = 1100;
jobuuu 2:a1c0a37df760 15 int CID_TX_POSITION = 1200;
jobuuu 2:a1c0a37df760 16 int CID_TX_TORQUE = 1300;
jobuuu 2:a1c0a37df760 17 int CID_TX_PRES = 1400;
jobuuu 7:e9086c72bb22 18 int CID_TX_VOUT = 1500;
jobuuu 2:a1c0a37df760 19 int CID_TX_VALVE_POSITION = 1600;
jobuuu 2:a1c0a37df760 20
Lightvalve 12:6f2531038ea4 21 // variables
Lightvalve 12:6f2531038ea4 22 uint8_t can_index = 0;
Lightvalve 67:c2812cf26c38 23
Lightvalve 66:a8e6799dbce3 24 extern DigitalOut LED;
Lightvalve 12:6f2531038ea4 25
Lightvalve 99:7bbcb3c0fb06 26 extern float u_past[];
Lightvalve 68:328e1be06f5d 27 extern float x_past[];
Lightvalve 85:a3b46118b5cd 28 extern float x_future[];
Lightvalve 68:328e1be06f5d 29 extern float f_past[];
Lightvalve 68:328e1be06f5d 30 extern float f_future[];
Lightvalve 73:f80dc3970c99 31 extern float input_NN[];
Lightvalve 68:328e1be06f5d 32
Lightvalve 233:0a37cdd59651 33
Lightvalve 11:82d8768d7351 34 /*******************************************************************************
Lightvalve 11:82d8768d7351 35 * CAN functions
Lightvalve 11:82d8768d7351 36 ******************************************************************************/
Lightvalve 170:42c938a40313 37 void CAN_ID_INIT(void)
Lightvalve 170:42c938a40313 38 {
jobuuu 7:e9086c72bb22 39
Lightvalve 11:82d8768d7351 40 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 41 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve 49:e7bcfc244d40 42 CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve 45:35fa6884d0c6 43 CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve 11:82d8768d7351 44
Lightvalve 11:82d8768d7351 45 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve 11:82d8768d7351 46 CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve 11:82d8768d7351 47 CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve 11:82d8768d7351 48 CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve 11:82d8768d7351 49 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 50 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve 11:82d8768d7351 51 }
jobuuu 2:a1c0a37df760 52
Lightvalve 28:2a62d73e3dd0 53 void ReadCMD(int16_t CMD)
jobuuu 2:a1c0a37df760 54 {
Lightvalve 170:42c938a40313 55 switch(CMD) {
Lightvalve 11:82d8768d7351 56 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 57 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 58 break;
Lightvalve 11:82d8768d7351 59 }
Lightvalve 11:82d8768d7351 60 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 61 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 62 break;
Lightvalve 11:82d8768d7351 63 }
Lightvalve 11:82d8768d7351 64 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 65 BNO = (int16_t) msg.data[1];
Lightvalve 170:42c938a40313 66
Lightvalve 170:42c938a40313 67 //ROM_RESET_DATA();
Lightvalve 170:42c938a40313 68 spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 69 CAN_ID_INIT(); // can id init
Lightvalve 11:82d8768d7351 70 break;
Lightvalve 11:82d8768d7351 71 }
Lightvalve 11:82d8768d7351 72 case CRX_ASK_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 73 CAN_TX_OPERATING_MODE();
Lightvalve 11:82d8768d7351 74 break;
Lightvalve 11:82d8768d7351 75 }
Lightvalve 11:82d8768d7351 76 case CRX_SET_OPERATING_MODE: {
Lightvalve 52:8ea76864368a 77 OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve 52:8ea76864368a 78 SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve 52:8ea76864368a 79 CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve 52:8ea76864368a 80 FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve 170:42c938a40313 81 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 82 spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve 170:42c938a40313 83 spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
Lightvalve 170:42c938a40313 84 spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
Lightvalve 170:42c938a40313 85 spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
Lightvalve 11:82d8768d7351 86 break;
Lightvalve 11:82d8768d7351 87 }
Lightvalve 11:82d8768d7351 88 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 89 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 90
Lightvalve 11:82d8768d7351 91 break;
Lightvalve 11:82d8768d7351 92 }
Lightvalve 11:82d8768d7351 93 case CRX_SET_FET_ON: {
Lightvalve 11:82d8768d7351 94
Lightvalve 11:82d8768d7351 95 break;
Lightvalve 11:82d8768d7351 96 }
Lightvalve 11:82d8768d7351 97
Lightvalve 45:35fa6884d0c6 98 case CRX_SET_POS_TORQ_TRANS: {
Lightvalve 45:35fa6884d0c6 99 MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve 45:35fa6884d0c6 100 /*
Lightvalve 45:35fa6884d0c6 101 MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve 45:35fa6884d0c6 102 MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve 45:35fa6884d0c6 103 MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve 45:35fa6884d0c6 104 MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve 45:35fa6884d0c6 105 */
Lightvalve 11:82d8768d7351 106 break;
Lightvalve 11:82d8768d7351 107 }
Lightvalve 11:82d8768d7351 108
Lightvalve 11:82d8768d7351 109 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 110 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 111
Lightvalve 11:82d8768d7351 112 break;
Lightvalve 11:82d8768d7351 113 }
Lightvalve 11:82d8768d7351 114
Lightvalve 11:82d8768d7351 115 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 116 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 117 ROM_RESET_DATA();
Lightvalve 170:42c938a40313 118 spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 119 break;
Lightvalve 11:82d8768d7351 120 }
Lightvalve 11:82d8768d7351 121
Lightvalve 11:82d8768d7351 122 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 123 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 124
Lightvalve 11:82d8768d7351 125 break;
Lightvalve 11:82d8768d7351 126 }
Lightvalve 11:82d8768d7351 127
Lightvalve 11:82d8768d7351 128 case CRX_SET_CONTROL_MODE: {
Lightvalve 57:f4819de54e7a 129 //CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 57:f4819de54e7a 130 CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 131 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 132 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 133 }
Lightvalve 11:82d8768d7351 134 break;
Lightvalve 11:82d8768d7351 135 }
Lightvalve 11:82d8768d7351 136
Lightvalve 11:82d8768d7351 137 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 138 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 139 flag_data_request[request_type] = msg.data[1];
Lightvalve 14:8e7590227d22 140 //pc.printf("can middle %d\n", request_type);
Lightvalve 11:82d8768d7351 141
Lightvalve 12:6f2531038ea4 142 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 143 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 144 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 145 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 233:0a37cdd59651 146
Lightvalve 233:0a37cdd59651 147 // Position, Velocity, and Torque (ID:1200)
Lightvalve 233:0a37cdd59651 148 if (flag_data_request[0] == HIGH) {
Lightvalve 233:0a37cdd59651 149 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 233:0a37cdd59651 150 if (SENSING_MODE == 0) {
Lightvalve 233:0a37cdd59651 151 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 233:0a37cdd59651 152 } else if (SENSING_MODE == 1) {
Lightvalve 233:0a37cdd59651 153 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 233:0a37cdd59651 154 }
Lightvalve 233:0a37cdd59651 155 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 233:0a37cdd59651 156 if (SENSING_MODE == 0) {
Lightvalve 254:725d7435dfa3 157 // CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 254:725d7435dfa3 158 CAN_TX_POSITION_FT((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) (pos.ref*0.001f));
Lightvalve 233:0a37cdd59651 159 } else if (SENSING_MODE == 1) {
Lightvalve 252:179a8c8791dc 160 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/16.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 233:0a37cdd59651 161 }
Lightvalve 233:0a37cdd59651 162 }
Lightvalve 233:0a37cdd59651 163 }
Lightvalve 233:0a37cdd59651 164 if (flag_data_request[1] == HIGH) {
Lightvalve 233:0a37cdd59651 165 CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300
Lightvalve 233:0a37cdd59651 166 }
Lightvalve 233:0a37cdd59651 167
Lightvalve 233:0a37cdd59651 168
Lightvalve 233:0a37cdd59651 169 if (flag_data_request[2] == HIGH) {
Lightvalve 252:179a8c8791dc 170
Lightvalve 252:179a8c8791dc 171
Lightvalve 233:0a37cdd59651 172 double t_value = 0.0f;
Lightvalve 252:179a8c8791dc 173 double t_value_ref = 0.0f;
Lightvalve 252:179a8c8791dc 174
Lightvalve 252:179a8c8791dc 175 if (CURRENT_CONTROL_MODE) {
Lightvalve 252:179a8c8791dc 176 t_value = cur.sen;
Lightvalve 252:179a8c8791dc 177 t_value_ref = I_REF_fil;
Lightvalve 233:0a37cdd59651 178 } else {
Lightvalve 252:179a8c8791dc 179 if(value>=(float) VALVE_CENTER) {
Lightvalve 252:179a8c8791dc 180 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 181 } else {
Lightvalve 252:179a8c8791dc 182 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 183 }
Lightvalve 252:179a8c8791dc 184
Lightvalve 252:179a8c8791dc 185 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 252:179a8c8791dc 186 t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 187 } else {
Lightvalve 252:179a8c8791dc 188 t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 252:179a8c8791dc 189 }
Lightvalve 233:0a37cdd59651 190 }
Lightvalve 233:0a37cdd59651 191
Lightvalve 252:179a8c8791dc 192 // CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
Lightvalve 252:179a8c8791dc 193 CAN_TX_PRES((int16_t) (VALVE_DEADZONE_PLUS), (int16_t) (t_value_ref)); // 1400
Lightvalve 233:0a37cdd59651 194 }
Lightvalve 233:0a37cdd59651 195
Lightvalve 235:4be664734d36 196 // //If it doesn't rest, below can can not work.
Lightvalve 235:4be664734d36 197 // for (int can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 235:4be664734d36 198 // ;
Lightvalve 235:4be664734d36 199 // }
Lightvalve 235:4be664734d36 200 //
Lightvalve 233:0a37cdd59651 201 if (flag_data_request[3] == HIGH) {
Lightvalve 233:0a37cdd59651 202 //PWM
Lightvalve 233:0a37cdd59651 203 CAN_TX_PWM((int16_t) (torq.ref)); //1500
Lightvalve 233:0a37cdd59651 204 // CAN_TX_PWM((int16_t) (f_future[1])); //1500
Lightvalve 233:0a37cdd59651 205 }
Lightvalve 233:0a37cdd59651 206
Lightvalve 233:0a37cdd59651 207 if (flag_data_request[4] == HIGH) {
Lightvalve 233:0a37cdd59651 208 //valve position
Lightvalve 233:0a37cdd59651 209 //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600
Lightvalve 233:0a37cdd59651 210 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
Lightvalve 233:0a37cdd59651 211 }
Lightvalve 233:0a37cdd59651 212
Lightvalve 11:82d8768d7351 213
Lightvalve 11:82d8768d7351 214 break;
Lightvalve 11:82d8768d7351 215 }
Lightvalve 11:82d8768d7351 216
Lightvalve 11:82d8768d7351 217 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 218 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 219
Lightvalve 11:82d8768d7351 220 break;
Lightvalve 11:82d8768d7351 221 }
Lightvalve 11:82d8768d7351 222
Lightvalve 11:82d8768d7351 223 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 224 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 225 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 226 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 227 else
Lightvalve 11:82d8768d7351 228 DIR_JOINT_ENC = -1;
Lightvalve 170:42c938a40313 229
Lightvalve 170:42c938a40313 230 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 231
Lightvalve 170:42c938a40313 232 spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 233
Lightvalve 11:82d8768d7351 234 break;
Lightvalve 11:82d8768d7351 235 }
Lightvalve 11:82d8768d7351 236
Lightvalve 11:82d8768d7351 237 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 238 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 239
Lightvalve 11:82d8768d7351 240 break;
Lightvalve 11:82d8768d7351 241 }
Lightvalve 11:82d8768d7351 242
Lightvalve 11:82d8768d7351 243 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 244 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 245 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 246 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 247 else
Lightvalve 11:82d8768d7351 248 DIR_VALVE = -1;
Lightvalve 170:42c938a40313 249
Lightvalve 170:42c938a40313 250 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 251
Lightvalve 170:42c938a40313 252 spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 253
Lightvalve 11:82d8768d7351 254 break;
Lightvalve 11:82d8768d7351 255 }
Lightvalve 11:82d8768d7351 256
Lightvalve 11:82d8768d7351 257 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 258 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 259
Lightvalve 11:82d8768d7351 260 break;
Lightvalve 11:82d8768d7351 261 }
Lightvalve 11:82d8768d7351 262
Lightvalve 11:82d8768d7351 263 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 264 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 265 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 266 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 267 else
Lightvalve 11:82d8768d7351 268 DIR_VALVE_ENC = -1;
Lightvalve 11:82d8768d7351 269
Lightvalve 170:42c938a40313 270 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 271
Lightvalve 170:42c938a40313 272 spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 273
Lightvalve 11:82d8768d7351 274 break;
Lightvalve 11:82d8768d7351 275 }
Lightvalve 11:82d8768d7351 276
Lightvalve 11:82d8768d7351 277 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 278 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 279
Lightvalve 11:82d8768d7351 280 break;
Lightvalve 11:82d8768d7351 281 }
Lightvalve 11:82d8768d7351 282
Lightvalve 11:82d8768d7351 283 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 30:8d561f16383b 284 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 170:42c938a40313 285
Lightvalve 170:42c938a40313 286 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 287
Lightvalve 170:42c938a40313 288 spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve 11:82d8768d7351 289
Lightvalve 11:82d8768d7351 290 break;
Lightvalve 11:82d8768d7351 291 }
Lightvalve 11:82d8768d7351 292
Lightvalve 11:82d8768d7351 293 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 294 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 295
Lightvalve 11:82d8768d7351 296 break;
Lightvalve 11:82d8768d7351 297 }
Lightvalve 11:82d8768d7351 298
Lightvalve 11:82d8768d7351 299 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 30:8d561f16383b 300 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 170:42c938a40313 301
Lightvalve 170:42c938a40313 302 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 303
Lightvalve 170:42c938a40313 304 spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve 11:82d8768d7351 305
Lightvalve 11:82d8768d7351 306
Lightvalve 11:82d8768d7351 307 break;
Lightvalve 11:82d8768d7351 308 }
Lightvalve 12:6f2531038ea4 309
Lightvalve 11:82d8768d7351 310 case CRX_SET_HOMEPOS: {
Lightvalve 57:f4819de54e7a 311 //CONTROL_MODE = 22;
Lightvalve 57:f4819de54e7a 312 CONTROL_UTILITY_MODE = 22;
Lightvalve 11:82d8768d7351 313 break;
Lightvalve 11:82d8768d7351 314 }
Lightvalve 11:82d8768d7351 315
Lightvalve 11:82d8768d7351 316 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 317 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 318
Lightvalve 11:82d8768d7351 319 break;
Lightvalve 11:82d8768d7351 320 }
Lightvalve 11:82d8768d7351 321
Lightvalve 11:82d8768d7351 322 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 323 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 324 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 325 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 326 D_GAIN_VALVE_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_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 170:42c938a40313 330 spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 170:42c938a40313 331 spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 332
Lightvalve 11:82d8768d7351 333 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 334 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 335 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 336 D_GAIN_JOINT_POSITION = (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_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 340 spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 341 spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 342
Lightvalve 11:82d8768d7351 343 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 344 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 345 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 346 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 347
Lightvalve 170:42c938a40313 348 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 349 spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 350 spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 351 spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 352
Lightvalve 46:2694daea349b 353 } else if (msg.data[1] == 3) {
Lightvalve 67:c2812cf26c38 354 K_SPRING = (float) (((float) ((int16_t) (msg.data[2] | msg.data[3] << 8))) * 0.1f);
Lightvalve 67:c2812cf26c38 355 D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f);
Lightvalve 170:42c938a40313 356
Lightvalve 67:c2812cf26c38 357 // ROM_RESET_DATA(); //For Real-time changing
Lightvalve 170:42c938a40313 358 // spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve 170:42c938a40313 359 // spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve 170:42c938a40313 360
Lightvalve 72:3436ce769b1e 361 } else if (msg.data[1] == 4) {
Lightvalve 72:3436ce769b1e 362 P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 72:3436ce769b1e 363 I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 72:3436ce769b1e 364 D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 365
Lightvalve 170:42c938a40313 366 // ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 367 }
Lightvalve 11:82d8768d7351 368
Lightvalve 11:82d8768d7351 369 break;
Lightvalve 11:82d8768d7351 370 }
Lightvalve 11:82d8768d7351 371
Lightvalve 11:82d8768d7351 372 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 373 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 374
Lightvalve 11:82d8768d7351 375 break;
Lightvalve 11:82d8768d7351 376 }
Lightvalve 11:82d8768d7351 377
Lightvalve 11:82d8768d7351 378 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 379 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 380 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 381 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 170:42c938a40313 382
Lightvalve 170:42c938a40313 383 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 384 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 252:179a8c8791dc 385 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 252:179a8c8791dc 386 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 11:82d8768d7351 387
Lightvalve 11:82d8768d7351 388 break;
Lightvalve 11:82d8768d7351 389 }
Lightvalve 11:82d8768d7351 390
Lightvalve 11:82d8768d7351 391 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 392 CAN_TX_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_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 398 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 399
Lightvalve 170:42c938a40313 400 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 401
Lightvalve 170:42c938a40313 402 spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 403
Lightvalve 11:82d8768d7351 404 break;
Lightvalve 11:82d8768d7351 405 }
Lightvalve 11:82d8768d7351 406
Lightvalve 11:82d8768d7351 407 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 408 CAN_TX_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_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 414 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 415
Lightvalve 170:42c938a40313 416 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 417
Lightvalve 170:42c938a40313 418 spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 419
Lightvalve 11:82d8768d7351 420 break;
Lightvalve 11:82d8768d7351 421 }
Lightvalve 11:82d8768d7351 422
Lightvalve 11:82d8768d7351 423 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 424 CAN_TX_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_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 430 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 431
Lightvalve 170:42c938a40313 432 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 433
Lightvalve 170:42c938a40313 434 spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 435
Lightvalve 11:82d8768d7351 436 break;
Lightvalve 11:82d8768d7351 437 }
Lightvalve 11:82d8768d7351 438
Lightvalve 11:82d8768d7351 439 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 440 CAN_TX_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_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 446 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 447
Lightvalve 170:42c938a40313 448 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 449
Lightvalve 170:42c938a40313 450 spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 451
Lightvalve 11:82d8768d7351 452 break;
Lightvalve 11:82d8768d7351 453 }
Lightvalve 11:82d8768d7351 454
Lightvalve 11:82d8768d7351 455 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 456 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 457
Lightvalve 11:82d8768d7351 458 break;
Lightvalve 11:82d8768d7351 459 }
Lightvalve 11:82d8768d7351 460
Lightvalve 11:82d8768d7351 461 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 462 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 463 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 464
Lightvalve 170:42c938a40313 465 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 466
Lightvalve 170:42c938a40313 467 spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 170:42c938a40313 468 spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 469
Lightvalve 11:82d8768d7351 470 break;
Lightvalve 11:82d8768d7351 471 }
Lightvalve 11:82d8768d7351 472
Lightvalve 11:82d8768d7351 473 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 474 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 475
Lightvalve 11:82d8768d7351 476 break;
Lightvalve 11:82d8768d7351 477 }
Lightvalve 11:82d8768d7351 478
Lightvalve 11:82d8768d7351 479 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 480 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 481 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 69:3995ffeaa786 482 PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve 57:f4819de54e7a 483 alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve 170:42c938a40313 484
Lightvalve 170:42c938a40313 485 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 486
Lightvalve 170:42c938a40313 487 spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 170:42c938a40313 488 spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 489 break;
Lightvalve 11:82d8768d7351 490 }
Lightvalve 11:82d8768d7351 491
Lightvalve 11:82d8768d7351 492 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 493 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 494 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 495 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 496 //dac_2 = PRES_B_VREF;
Lightvalve 170:42c938a40313 497
Lightvalve 11:82d8768d7351 498 break;
Lightvalve 11:82d8768d7351 499 }
Lightvalve 11:82d8768d7351 500
Lightvalve 11:82d8768d7351 501 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 502 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 503 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 170:42c938a40313 504 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 505 spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 170:42c938a40313 506 spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 507
Lightvalve 11:82d8768d7351 508
Lightvalve 11:82d8768d7351 509 break;
Lightvalve 11:82d8768d7351 510 }
Lightvalve 11:82d8768d7351 511
Lightvalve 11:82d8768d7351 512 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 513 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 514
Lightvalve 11:82d8768d7351 515 break;
Lightvalve 11:82d8768d7351 516 }
Lightvalve 11:82d8768d7351 517
Lightvalve 11:82d8768d7351 518 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 519 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 520 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 170:42c938a40313 521 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 522 spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 170:42c938a40313 523 spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 524
Lightvalve 11:82d8768d7351 525 break;
Lightvalve 11:82d8768d7351 526 }
Lightvalve 11:82d8768d7351 527
Lightvalve 11:82d8768d7351 528 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 529 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 530 break;
Lightvalve 11:82d8768d7351 531 }
Lightvalve 11:82d8768d7351 532
Lightvalve 11:82d8768d7351 533 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 534 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 535 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 536 spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 537
Lightvalve 11:82d8768d7351 538 break;
Lightvalve 11:82d8768d7351 539 }
Lightvalve 11:82d8768d7351 540
Lightvalve 11:82d8768d7351 541 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 542 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 543
Lightvalve 11:82d8768d7351 544 break;
Lightvalve 11:82d8768d7351 545 }
Lightvalve 11:82d8768d7351 546
Lightvalve 11:82d8768d7351 547 case CRX_SET_VALVE_LIMIT: {
Lightvalve 57:f4819de54e7a 548 VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 57:f4819de54e7a 549 VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 170:42c938a40313 550 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 551
Lightvalve 170:42c938a40313 552 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 553 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 11:82d8768d7351 554
Lightvalve 11:82d8768d7351 555 break;
Lightvalve 11:82d8768d7351 556 }
Lightvalve 11:82d8768d7351 557
Lightvalve 11:82d8768d7351 558 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 559 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 560
Lightvalve 11:82d8768d7351 561 break;
Lightvalve 11:82d8768d7351 562 }
Lightvalve 11:82d8768d7351 563
Lightvalve 11:82d8768d7351 564 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 565 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 566 // ROM_RESET_DATA();
Lightvalve 180:02be1711ee0b 567 spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
Lightvalve 11:82d8768d7351 568
Lightvalve 11:82d8768d7351 569 break;
Lightvalve 11:82d8768d7351 570 }
Lightvalve 11:82d8768d7351 571
Lightvalve 11:82d8768d7351 572 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 573 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 574
Lightvalve 11:82d8768d7351 575 break;
Lightvalve 11:82d8768d7351 576 }
Lightvalve 11:82d8768d7351 577
Lightvalve 11:82d8768d7351 578 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 139:15621998925b 579 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.0001f);
Lightvalve 170:42c938a40313 580 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 581 spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve 11:82d8768d7351 582
Lightvalve 11:82d8768d7351 583 break;
Lightvalve 11:82d8768d7351 584 }
Lightvalve 11:82d8768d7351 585
Lightvalve 11:82d8768d7351 586 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 587 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 588
Lightvalve 11:82d8768d7351 589 break;
Lightvalve 11:82d8768d7351 590 }
Lightvalve 11:82d8768d7351 591
Lightvalve 11:82d8768d7351 592 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 253:0246366e0dcb 593 PRES_SENSOR_A_PULSE_PER_BAR = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 253:0246366e0dcb 594 PRES_SENSOR_B_PULSE_PER_BAR = (float) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 170:42c938a40313 595 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 596 spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 170:42c938a40313 597 spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 11:82d8768d7351 598
Lightvalve 11:82d8768d7351 599 break;
Lightvalve 11:82d8768d7351 600 }
Lightvalve 11:82d8768d7351 601
Lightvalve 11:82d8768d7351 602 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 603 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 604
Lightvalve 11:82d8768d7351 605 break;
Lightvalve 11:82d8768d7351 606 }
Lightvalve 11:82d8768d7351 607
Lightvalve 11:82d8768d7351 608 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 609 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 170:42c938a40313 610 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 611 spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve 11:82d8768d7351 612
Lightvalve 11:82d8768d7351 613 break;
Lightvalve 11:82d8768d7351 614 }
Lightvalve 11:82d8768d7351 615
Lightvalve 11:82d8768d7351 616 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 617 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 618
Lightvalve 11:82d8768d7351 619 break;
Lightvalve 11:82d8768d7351 620 }
Lightvalve 11:82d8768d7351 621 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 622 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 623 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 624 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 625 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 626 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 170:42c938a40313 627 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 628 spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 170:42c938a40313 629 spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 170:42c938a40313 630 spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 170:42c938a40313 631 spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 170:42c938a40313 632 spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 633
Lightvalve 11:82d8768d7351 634 break;
Lightvalve 11:82d8768d7351 635 }
Lightvalve 11:82d8768d7351 636
Lightvalve 11:82d8768d7351 637 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 638 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 639
Lightvalve 11:82d8768d7351 640 break;
Lightvalve 11:82d8768d7351 641 }
Lightvalve 11:82d8768d7351 642 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 643 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 644 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 645 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 646 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 647 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 170:42c938a40313 648 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 649 spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 170:42c938a40313 650 spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 170:42c938a40313 651 spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 170:42c938a40313 652 spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 170:42c938a40313 653 spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 654
Lightvalve 11:82d8768d7351 655 break;
Lightvalve 11:82d8768d7351 656 }
Lightvalve 11:82d8768d7351 657 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 658 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 659 break;
Lightvalve 11:82d8768d7351 660 }
Lightvalve 11:82d8768d7351 661
Lightvalve 11:82d8768d7351 662 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 663 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 664
Lightvalve 11:82d8768d7351 665 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 666 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 667 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 668 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 669 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 670
Lightvalve 11:82d8768d7351 671 break;
Lightvalve 11:82d8768d7351 672 }
Lightvalve 11:82d8768d7351 673
Lightvalve 11:82d8768d7351 674 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 675 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 676
Lightvalve 11:82d8768d7351 677 break;
Lightvalve 11:82d8768d7351 678 }
Lightvalve 11:82d8768d7351 679
Lightvalve 11:82d8768d7351 680 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 681
Lightvalve 12:6f2531038ea4 682 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 683 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 684 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 685 }
Lightvalve 11:82d8768d7351 686
Lightvalve 11:82d8768d7351 687 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 688
Lightvalve 11:82d8768d7351 689
Lightvalve 11:82d8768d7351 690 break;
Lightvalve 11:82d8768d7351 691 }
Lightvalve 11:82d8768d7351 692
Lightvalve 11:82d8768d7351 693 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 694 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 695 break;
Lightvalve 11:82d8768d7351 696 }
Lightvalve 11:82d8768d7351 697 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 698 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 699 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 700 spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 701 break;
Lightvalve 11:82d8768d7351 702 }
Lightvalve 11:82d8768d7351 703
Lightvalve 11:82d8768d7351 704 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 705 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 706 break;
Lightvalve 11:82d8768d7351 707 }
Lightvalve 11:82d8768d7351 708 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 709 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 710 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 711 spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 712 break;
Lightvalve 11:82d8768d7351 713 }
Lightvalve 11:82d8768d7351 714
Lightvalve 11:82d8768d7351 715 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 716 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 717 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 718 break;
Lightvalve 11:82d8768d7351 719 }
Lightvalve 11:82d8768d7351 720 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 721 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 722 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 723 break;
Lightvalve 11:82d8768d7351 724 }
Lightvalve 11:82d8768d7351 725 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 726 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 727 break;
Lightvalve 11:82d8768d7351 728 }
Lightvalve 170:42c938a40313 729
Lightvalve 28:2a62d73e3dd0 730 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 731 ROM_RESET_DATA();
Lightvalve 28:2a62d73e3dd0 732 break;
Lightvalve 28:2a62d73e3dd0 733 }
Lightvalve 32:4b8c0fedaf2c 734 case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve 252:179a8c8791dc 735 VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8)));
Lightvalve 57:f4819de54e7a 736 VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve 170:42c938a40313 737 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 738 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 170:42c938a40313 739
Lightvalve 33:91b17819ec30 740 break;
Lightvalve 33:91b17819ec30 741 }
Lightvalve 33:91b17819ec30 742 case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve 252:179a8c8791dc 743 VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8)));
Lightvalve 33:91b17819ec30 744 VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve 170:42c938a40313 745 // ROM_RESET_DATA();
Lightvalve 252:179a8c8791dc 746 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 170:42c938a40313 747
Lightvalve 33:91b17819ec30 748 break;
Lightvalve 33:91b17819ec30 749 }
Lightvalve 33:91b17819ec30 750 case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve 252:179a8c8791dc 751 VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8)));
Lightvalve 33:91b17819ec30 752 VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve 170:42c938a40313 753 // ROM_RESET_DATA();
Lightvalve 252:179a8c8791dc 754 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 32:4b8c0fedaf2c 755 break;
Lightvalve 32:4b8c0fedaf2c 756 }
Lightvalve 36:a46e63505ed8 757 case CRX_SET_PID_GAIN_OPP: {
Lightvalve 36:a46e63505ed8 758 if (msg.data[1] == 0) {
Lightvalve 36:a46e63505ed8 759 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 760 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 761 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 762
Lightvalve 170:42c938a40313 763 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 764
Lightvalve 36:a46e63505ed8 765 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 766 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 767 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 768
Lightvalve 36:a46e63505ed8 769
Lightvalve 36:a46e63505ed8 770 } else if (msg.data[1] == 1) {
Lightvalve 36:a46e63505ed8 771 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 772 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 773 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 774
Lightvalve 170:42c938a40313 775 // ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 776
Lightvalve 36:a46e63505ed8 777 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 778 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 779 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 780 } else if (msg.data[1] == 2) {
Lightvalve 36:a46e63505ed8 781 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 782 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 783 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 784
Lightvalve 170:42c938a40313 785 // ROM_RESET_DATA();
Lightvalve 170:42c938a40313 786
Lightvalve 36:a46e63505ed8 787 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 788 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 789 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 790 }
Lightvalve 36:a46e63505ed8 791 break;
Lightvalve 36:a46e63505ed8 792 }
Lightvalve 38:118df027d851 793 case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve 57:f4819de54e7a 794 //CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 38:118df027d851 795 CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve 38:118df027d851 796 break;
Lightvalve 38:118df027d851 797 }
Lightvalve 170:42c938a40313 798 case CRX_DELAY_TEST: {
Lightvalve 54:647072f5307a 799 flag_delay_test = 1;
Lightvalve 54:647072f5307a 800 break;
Lightvalve 54:647072f5307a 801 }
Lightvalve 68:328e1be06f5d 802 case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve 68:328e1be06f5d 803 NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve 68:328e1be06f5d 804 CONTROL_UTILITY_MODE = 1;
Lightvalve 68:328e1be06f5d 805 break;
Lightvalve 68:328e1be06f5d 806 }
Lightvalve 169:645207e160ca 807 case CRX_SET_FREQ_TEST: {
Lightvalve 169:645207e160ca 808 cnt_freq_test = 0;
Lightvalve 169:645207e160ca 809 CONTROL_UTILITY_MODE = 34;
Lightvalve 169:645207e160ca 810 break;
Lightvalve 169:645207e160ca 811 }
Lightvalve 170:42c938a40313 812
Lightvalve 169:645207e160ca 813 case CRX_ASK_BUFFER: {
Lightvalve 169:645207e160ca 814 cnt_buffer = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 169:645207e160ca 815 CAN_TX_BUFFER(cnt_buffer);
Lightvalve 169:645207e160ca 816 break;
Lightvalve 169:645207e160ca 817 }
Lightvalve 170:42c938a40313 818
Lightvalve 169:645207e160ca 819 case CRX_SET_STEP_TEST: {
Lightvalve 169:645207e160ca 820 cnt_step_test = 0;
Lightvalve 169:645207e160ca 821 CONTROL_UTILITY_MODE = 37;
Lightvalve 169:645207e160ca 822 break;
Lightvalve 169:645207e160ca 823 }
Lightvalve 38:118df027d851 824
Lightvalve 192:637092202815 825 case CRX_SET_CHANGE_EVERY_REFERNCE: {
Lightvalve 192:637092202815 826 flag_every_reference = 1;
Lightvalve 192:637092202815 827 break;
Lightvalve 192:637092202815 828 }
Lightvalve 192:637092202815 829
Lightvalve 170:42c938a40313 830 default:
Lightvalve 170:42c938a40313 831 break;
jobuuu 2:a1c0a37df760 832 }
jobuuu 2:a1c0a37df760 833 }
jobuuu 2:a1c0a37df760 834
jobuuu 2:a1c0a37df760 835 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 836 {
Lightvalve 170:42c938a40313 837
jobuuu 2:a1c0a37df760 838 can.read(msg);
jobuuu 2:a1c0a37df760 839 unsigned int address = msg.id;
Lightvalve 170:42c938a40313 840 if(address==CID_RX_CMD) {
jobuuu 2:a1c0a37df760 841 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 842 ReadCMD(CMD);
Lightvalve 170:42c938a40313 843
jobuuu 7:e9086c72bb22 844 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 170:42c938a40313 845
Lightvalve 43:b084e5f5d0d5 846 int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 43:b084e5f5d0d5 847 int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 57:f4819de54e7a 848 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 170:42c938a40313 849
Lightvalve 57:f4819de54e7a 850 if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve 57:f4819de54e7a 851 pos.ref = (double)temp_pos * 1.0f;
Lightvalve 57:f4819de54e7a 852 vel.ref = (double)temp_vel * 10.0f;
Lightvalve 170:42c938a40313 853 } else { //Linear Actuator
Lightvalve 67:c2812cf26c38 854 pos.ref = (double)temp_pos * 10.0f;
Lightvalve 67:c2812cf26c38 855 vel.ref = (double)temp_vel * 256.0f;
Lightvalve 57:f4819de54e7a 856 }
Lightvalve 170:42c938a40313 857
Lightvalve 68:328e1be06f5d 858 torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve 133:22ab22818e01 859 torq.ref_diff = torq.ref - torq.ref_old;
Lightvalve 209:ebc69d6ee6f1 860 torq_dot.sen = torq.sen-totq_sen_past;
Lightvalve 133:22ab22818e01 861 torq.ref_old = torq.ref;
Lightvalve 209:ebc69d6ee6f1 862 totq_sen_past = torq.sen;
Lightvalve 170:42c938a40313 863
Lightvalve 68:328e1be06f5d 864 ///////////////Make Data///////////////////
Lightvalve 170:42c938a40313 865 for(int i=0; i<num_array_u_past-1; i++) {
Lightvalve 99:7bbcb3c0fb06 866 u_past[i] = u_past[i+1];
Lightvalve 99:7bbcb3c0fb06 867 }
Lightvalve 99:7bbcb3c0fb06 868 u_past[num_array_u_past-1] = output_normalized;
Lightvalve 170:42c938a40313 869
Lightvalve 170:42c938a40313 870 for(int i=0; i<num_array_x_past-1; i++) {
Lightvalve 68:328e1be06f5d 871 x_past[i] = x_past[i+1];
Lightvalve 68:328e1be06f5d 872 }
Lightvalve 68:328e1be06f5d 873 x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve 170:42c938a40313 874
Lightvalve 122:dcb3ce3056a0 875 // for(int i=0;i<num_array_x_future-1;i++){
Lightvalve 122:dcb3ce3056a0 876 // x_future[i] = x_future[i+1];
Lightvalve 122:dcb3ce3056a0 877 // }
Lightvalve 122:dcb3ce3056a0 878 // x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve 170:42c938a40313 879
Lightvalve 170:42c938a40313 880 for(int i=0; i<num_array_f_past-1; i++) {
Lightvalve 68:328e1be06f5d 881 f_past[i] = f_past[i+1];
Lightvalve 68:328e1be06f5d 882 }
Lightvalve 101:50159049a518 883 f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve 170:42c938a40313 884
Lightvalve 68:328e1be06f5d 885 f_future[0] = torq.sen; //N
Lightvalve 192:637092202815 886
Lightvalve 192:637092202815 887 if(flag_every_reference == 1) {
Lightvalve 192:637092202815 888 for(int i=1; i<num_array_f_future-1; i++) {
Lightvalve 192:637092202815 889 f_future[i] = 500.0f;
Lightvalve 192:637092202815 890 }
Lightvalve 192:637092202815 891 f_future[num_array_f_future-1] = 500.0f; //N
Lightvalve 192:637092202815 892 } else {
Lightvalve 192:637092202815 893 for(int i=1; i<num_array_f_future-1; i++) {
Lightvalve 192:637092202815 894 f_future[i] = f_future[i+1];
Lightvalve 192:637092202815 895 }
Lightvalve 192:637092202815 896 f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve 68:328e1be06f5d 897 }
Lightvalve 68:328e1be06f5d 898
Lightvalve 101:50159049a518 899
Lightvalve 49:e7bcfc244d40 900 } else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve 47:fdcb8bd86fd6 901 int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 170:42c938a40313 902
Lightvalve 57:f4819de54e7a 903 if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve 57:f4819de54e7a 904 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 57:f4819de54e7a 905 } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve 57:f4819de54e7a 906 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 57:f4819de54e7a 907 } else { //SW Valve
Lightvalve 57:f4819de54e7a 908 if(temp_ref_valve_pos >= 0) {
Lightvalve 57:f4819de54e7a 909 valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 57:f4819de54e7a 910 } else {
Lightvalve 57:f4819de54e7a 911 valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 57:f4819de54e7a 912 }
Lightvalve 47:fdcb8bd86fd6 913 }
Lightvalve 170:42c938a40313 914 } else if(address==CID_RX_REF_PWM) {
Lightvalve 49:e7bcfc244d40 915 int temp_ref_pwm = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 49:e7bcfc244d40 916 Vout.ref = (double) temp_ref_pwm;
Lightvalve 170:42c938a40313 917 }
jobuuu 2:a1c0a37df760 918 }
jobuuu 2:a1c0a37df760 919
jobuuu 2:a1c0a37df760 920 /******************************************************************************
jobuuu 2:a1c0a37df760 921 Information Transmission Functions
jobuuu 2:a1c0a37df760 922 *******************************************************************************/
Lightvalve 11:82d8768d7351 923
Lightvalve 170:42c938a40313 924 void CAN_TX_INFO(void)
Lightvalve 170:42c938a40313 925 {
Lightvalve 12:6f2531038ea4 926 CANMessage temp_msg;
Lightvalve 170:42c938a40313 927
jobuuu 2:a1c0a37df760 928 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 929 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 930 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 931 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 932 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 933 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 934 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 935 temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve 12:6f2531038ea4 936 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 937
jobuuu 2:a1c0a37df760 938 can.write(temp_msg);
jobuuu 2:a1c0a37df760 939 }
jobuuu 2:a1c0a37df760 940
Lightvalve 170:42c938a40313 941 void CAN_TX_BNO(void)
Lightvalve 170:42c938a40313 942 {
Lightvalve 12:6f2531038ea4 943 CANMessage temp_msg;
Lightvalve 170:42c938a40313 944
jobuuu 2:a1c0a37df760 945 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 946 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 947 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 948 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 949
jobuuu 2:a1c0a37df760 950 can.write(temp_msg);
jobuuu 2:a1c0a37df760 951 }
jobuuu 2:a1c0a37df760 952
Lightvalve 170:42c938a40313 953 void CAN_TX_OPERATING_MODE(void)
Lightvalve 170:42c938a40313 954 {
jobuuu 2:a1c0a37df760 955 CANMessage temp_msg;
Lightvalve 170:42c938a40313 956
jobuuu 2:a1c0a37df760 957 temp_msg.id = CID_TX_INFO;
Lightvalve 52:8ea76864368a 958 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 959 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 960 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve 52:8ea76864368a 961 temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve 52:8ea76864368a 962 temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 963 temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu 2:a1c0a37df760 964
jobuuu 2:a1c0a37df760 965 can.write(temp_msg);
jobuuu 2:a1c0a37df760 966 }
jobuuu 2:a1c0a37df760 967
Lightvalve 170:42c938a40313 968 void CAN_TX_CAN_FREQ(void)
Lightvalve 170:42c938a40313 969 {
jobuuu 2:a1c0a37df760 970 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 971
jobuuu 2:a1c0a37df760 972 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 973 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 974 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 975 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 976 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 977
jobuuu 2:a1c0a37df760 978 can.write(temp_msg);
jobuuu 2:a1c0a37df760 979 }
Lightvalve 11:82d8768d7351 980
Lightvalve 170:42c938a40313 981 void CAN_TX_CONTROL_MODE(void)
Lightvalve 170:42c938a40313 982 {
jobuuu 2:a1c0a37df760 983 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 984
jobuuu 2:a1c0a37df760 985 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 986 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 987 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 57:f4819de54e7a 988 temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu 2:a1c0a37df760 989
jobuuu 2:a1c0a37df760 990 can.write(temp_msg);
jobuuu 2:a1c0a37df760 991 }
Lightvalve 11:82d8768d7351 992
Lightvalve 170:42c938a40313 993 void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve 170:42c938a40313 994 {
jobuuu 2:a1c0a37df760 995 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 996
jobuuu 2:a1c0a37df760 997 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 998 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 999 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 1000 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 1001 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 1002
jobuuu 2:a1c0a37df760 1003 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1004 }
jobuuu 2:a1c0a37df760 1005
Lightvalve 170:42c938a40313 1006 void CAN_TX_VALVE_DIR(void)
Lightvalve 170:42c938a40313 1007 {
jobuuu 2:a1c0a37df760 1008 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1009
jobuuu 2:a1c0a37df760 1010 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1011 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1012 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 1013 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 1014 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 1015
jobuuu 2:a1c0a37df760 1016 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1017 }
jobuuu 2:a1c0a37df760 1018
Lightvalve 170:42c938a40313 1019 void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve 170:42c938a40313 1020 {
jobuuu 2:a1c0a37df760 1021 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1022
jobuuu 2:a1c0a37df760 1023 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1024 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1025 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 1026 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 1027 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 1028
jobuuu 2:a1c0a37df760 1029 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1030 }
jobuuu 2:a1c0a37df760 1031
Lightvalve 170:42c938a40313 1032 void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve 170:42c938a40313 1033 {
Lightvalve 49:e7bcfc244d40 1034 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu 2:a1c0a37df760 1035
jobuuu 2:a1c0a37df760 1036 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1037
jobuuu 2:a1c0a37df760 1038 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1039 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1040 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 1041 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 1042 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 1043
jobuuu 2:a1c0a37df760 1044 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1045 }
jobuuu 2:a1c0a37df760 1046
Lightvalve 170:42c938a40313 1047 void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve 170:42c938a40313 1048 {
Lightvalve 49:e7bcfc244d40 1049 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu 2:a1c0a37df760 1050
jobuuu 2:a1c0a37df760 1051 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1052
jobuuu 2:a1c0a37df760 1053 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1054 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1055 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 1056 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 1057 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 1058
jobuuu 2:a1c0a37df760 1059 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1060 }
Lightvalve 11:82d8768d7351 1061
jobuuu 2:a1c0a37df760 1062
Lightvalve 170:42c938a40313 1063 void CAN_TX_PID_GAIN(int t_type)
Lightvalve 170:42c938a40313 1064 {
jobuuu 2:a1c0a37df760 1065 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 1066 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 1067 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 1068
Lightvalve 12:6f2531038ea4 1069 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 1070 if (t_type == 0) {
Lightvalve 30:8d561f16383b 1071 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 1072 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 1073 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 1074 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 1075 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 1076 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 1077 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 1078 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 1079 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 1080 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 1081 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve 46:2694daea349b 1082 } else if (t_type == 3) {
Lightvalve 67:c2812cf26c38 1083 sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve 67:c2812cf26c38 1084 sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu 2:a1c0a37df760 1085 }
jobuuu 2:a1c0a37df760 1086
jobuuu 2:a1c0a37df760 1087 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1088
jobuuu 2:a1c0a37df760 1089 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1090 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1091 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 1092 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 1093 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 1094 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 1095 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 1096 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 1097 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 1098 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 1099
jobuuu 2:a1c0a37df760 1100 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1101 }
jobuuu 2:a1c0a37df760 1102
Lightvalve 11:82d8768d7351 1103
Lightvalve 170:42c938a40313 1104 void CAN_TX_VALVE_DEADZONE(void)
Lightvalve 170:42c938a40313 1105 {
jobuuu 2:a1c0a37df760 1106 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1107
jobuuu 2:a1c0a37df760 1108 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1109 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1110 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 57:f4819de54e7a 1111 temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve 57:f4819de54e7a 1112 temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve 12:6f2531038ea4 1113 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 1114 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 1115 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 1116 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 1117
jobuuu 2:a1c0a37df760 1118 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1119 }
jobuuu 2:a1c0a37df760 1120
Lightvalve 170:42c938a40313 1121 void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve 170:42c938a40313 1122 {
Lightvalve 11:82d8768d7351 1123 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1124
Lightvalve 11:82d8768d7351 1125 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1126 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1127 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 1128 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 1129 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 1130
Lightvalve 11:82d8768d7351 1131 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1132 }
Lightvalve 11:82d8768d7351 1133
Lightvalve 170:42c938a40313 1134 void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve 170:42c938a40313 1135 {
Lightvalve 11:82d8768d7351 1136 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1137
Lightvalve 11:82d8768d7351 1138 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1139 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1140 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 1141 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 1142 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 1143
Lightvalve 11:82d8768d7351 1144 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1145 }
Lightvalve 11:82d8768d7351 1146
Lightvalve 170:42c938a40313 1147 void CAN_TX_VALVE_FF(void)
Lightvalve 170:42c938a40313 1148 {
Lightvalve 11:82d8768d7351 1149 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1150
Lightvalve 11:82d8768d7351 1151 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1152 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1153 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 1154 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 1155 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 1156
Lightvalve 11:82d8768d7351 1157 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1158 }
Lightvalve 11:82d8768d7351 1159
Lightvalve 170:42c938a40313 1160 void CAN_TX_BULK_MODULUS(void)
Lightvalve 170:42c938a40313 1161 {
Lightvalve 11:82d8768d7351 1162 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1163
Lightvalve 11:82d8768d7351 1164 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1165 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1166 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 1167 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 1168 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 1169
Lightvalve 11:82d8768d7351 1170 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1171 }
Lightvalve 11:82d8768d7351 1172
Lightvalve 170:42c938a40313 1173 void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve 170:42c938a40313 1174 {
Lightvalve 11:82d8768d7351 1175 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1176
Lightvalve 11:82d8768d7351 1177 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1178 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1179 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 1180 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 1181 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 1182 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 1183 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 1184
Lightvalve 11:82d8768d7351 1185 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1186 }
Lightvalve 11:82d8768d7351 1187
Lightvalve 170:42c938a40313 1188 void CAN_TX_PISTON_AREA(void)
Lightvalve 170:42c938a40313 1189 {
jobuuu 2:a1c0a37df760 1190 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1191
Lightvalve 11:82d8768d7351 1192 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1193 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1194 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 1195 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 1196 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 1197 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 1198 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 1199
Lightvalve 11:82d8768d7351 1200 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1201 }
Lightvalve 11:82d8768d7351 1202
Lightvalve 170:42c938a40313 1203 void CAN_TX_PRES_A_AND_B(void)
Lightvalve 170:42c938a40313 1204 {
Lightvalve 11:82d8768d7351 1205 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1206
Lightvalve 11:82d8768d7351 1207 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1208 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1209 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 1210 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 1211 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 1212 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 1213 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 1214
Lightvalve 11:82d8768d7351 1215 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1216 }
Lightvalve 11:82d8768d7351 1217
Lightvalve 170:42c938a40313 1218 void CAN_TX_ENC_LIMIT(void)
Lightvalve 170:42c938a40313 1219 {
Lightvalve 11:82d8768d7351 1220 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1221
Lightvalve 11:82d8768d7351 1222 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1223 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1224 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1225 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1226 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1227 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1228 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1229
Lightvalve 11:82d8768d7351 1230 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1231 }
Lightvalve 11:82d8768d7351 1232
Lightvalve 170:42c938a40313 1233 void CAN_TX_STROKE(void)
Lightvalve 170:42c938a40313 1234 {
Lightvalve 11:82d8768d7351 1235 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1236
Lightvalve 11:82d8768d7351 1237 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1238 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1239 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1240 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1241 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1242
Lightvalve 11:82d8768d7351 1243 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1244 }
Lightvalve 11:82d8768d7351 1245
Lightvalve 170:42c938a40313 1246 void CAN_TX_VALVE_LIMIT(void)
Lightvalve 170:42c938a40313 1247 {
Lightvalve 11:82d8768d7351 1248 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1249
Lightvalve 11:82d8768d7351 1250 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1251 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1252 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 57:f4819de54e7a 1253 temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1254 temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve 57:f4819de54e7a 1255 temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1256 temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve 11:82d8768d7351 1257
Lightvalve 11:82d8768d7351 1258 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1259 }
Lightvalve 11:82d8768d7351 1260
Lightvalve 170:42c938a40313 1261 void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve 170:42c938a40313 1262 {
Lightvalve 11:82d8768d7351 1263 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1264
jobuuu 2:a1c0a37df760 1265 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1266 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1267 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 54:647072f5307a 1268 int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve 48:889798ff9329 1269 temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve 48:889798ff9329 1270 temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu 2:a1c0a37df760 1271
jobuuu 2:a1c0a37df760 1272 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1273 }
jobuuu 2:a1c0a37df760 1274
Lightvalve 170:42c938a40313 1275 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve 170:42c938a40313 1276 {
jobuuu 2:a1c0a37df760 1277 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1278
jobuuu 2:a1c0a37df760 1279 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1280 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1281 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 139:15621998925b 1282 int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve 48:889798ff9329 1283 temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve 48:889798ff9329 1284 temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu 2:a1c0a37df760 1285
jobuuu 2:a1c0a37df760 1286 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1287 }
jobuuu 2:a1c0a37df760 1288
Lightvalve 170:42c938a40313 1289 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve 170:42c938a40313 1290 {
jobuuu 2:a1c0a37df760 1291 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1292
jobuuu 2:a1c0a37df760 1293 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1294 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1295 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1296 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1297 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1298 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1299 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1300
jobuuu 2:a1c0a37df760 1301 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1302 }
jobuuu 2:a1c0a37df760 1303
Lightvalve 170:42c938a40313 1304 void CAN_TX_FRICTION(void)
Lightvalve 170:42c938a40313 1305 {
Lightvalve 11:82d8768d7351 1306 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1307 int16_t send_friction;
Lightvalve 30:8d561f16383b 1308 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 170:42c938a40313 1309
Lightvalve 11:82d8768d7351 1310 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1311 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1312 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1313 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1314 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1315
Lightvalve 11:82d8768d7351 1316 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1317 }
Lightvalve 11:82d8768d7351 1318
Lightvalve 170:42c938a40313 1319 void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve 170:42c938a40313 1320 {
Lightvalve 11:82d8768d7351 1321 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1322
Lightvalve 11:82d8768d7351 1323 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1324 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1325 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1326 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1327 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1328 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1329 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1330 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve 11:82d8768d7351 1331
Lightvalve 11:82d8768d7351 1332 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1333 }
Lightvalve 11:82d8768d7351 1334
Lightvalve 170:42c938a40313 1335 void CAN_TX_DDV_VALVE_DEADZONE(void)
Lightvalve 170:42c938a40313 1336 {
Lightvalve 11:82d8768d7351 1337 CANMessage temp_msg;
Lightvalve 48:889798ff9329 1338 float temp_valve_deadzone_minus = 0.0f;
Lightvalve 48:889798ff9329 1339 float temp_valve_deadzone_plus = 0.0f;
Lightvalve 48:889798ff9329 1340 float temp_ddv_center = 0.0f;
Lightvalve 170:42c938a40313 1341
Lightvalve 57:f4819de54e7a 1342 //temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1343 //temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1344 temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1345 temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1346 temp_ddv_center = (double)VALVE_CENTER;
Lightvalve 170:42c938a40313 1347
Lightvalve 11:82d8768d7351 1348 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1349 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1350 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 48:889798ff9329 1351 temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve 48:889798ff9329 1352 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve 48:889798ff9329 1353 temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve 48:889798ff9329 1354 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve 48:889798ff9329 1355 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1356 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 11:82d8768d7351 1357
Lightvalve 11:82d8768d7351 1358 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1359 }
Lightvalve 11:82d8768d7351 1360
Lightvalve 170:42c938a40313 1361 void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve 170:42c938a40313 1362 {
Lightvalve 11:82d8768d7351 1363 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1364
Lightvalve 11:82d8768d7351 1365 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1366 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1367 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1368 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1369 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1370 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1371 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1372 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1373
Lightvalve 11:82d8768d7351 1374 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1375 }
Lightvalve 11:82d8768d7351 1376
Lightvalve 170:42c938a40313 1377 void CAN_TX_REFENCE_MODE(void)
Lightvalve 170:42c938a40313 1378 {
Lightvalve 11:82d8768d7351 1379 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1380
Lightvalve 11:82d8768d7351 1381 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1382 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1383 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1384 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1385 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1386 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1387 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1388 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1389
Lightvalve 11:82d8768d7351 1390 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1391 }
Lightvalve 11:82d8768d7351 1392
Lightvalve 170:42c938a40313 1393 void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve 170:42c938a40313 1394 {
Lightvalve 11:82d8768d7351 1395 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1396 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1397 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 170:42c938a40313 1398
jobuuu 2:a1c0a37df760 1399 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1400 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1401 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1402 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1403 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1404
jobuuu 2:a1c0a37df760 1405 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1406 }
Lightvalve 11:82d8768d7351 1407
Lightvalve 170:42c938a40313 1408 void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve 170:42c938a40313 1409 {
Lightvalve 11:82d8768d7351 1410 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1411 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1412 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 170:42c938a40313 1413
Lightvalve 11:82d8768d7351 1414 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1415 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1416 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1417 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1418 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1419
Lightvalve 11:82d8768d7351 1420 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1421 }
Lightvalve 11:82d8768d7351 1422
Lightvalve 170:42c938a40313 1423 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve 170:42c938a40313 1424 {
Lightvalve 11:82d8768d7351 1425 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1426 int16_t valve_pos_vs_pwm;
Lightvalve 49:e7bcfc244d40 1427 // valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 170:42c938a40313 1428
Lightvalve 57:f4819de54e7a 1429 if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1430 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 1431 } else {
Lightvalve 57:f4819de54e7a 1432 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 1433 }
Lightvalve 170:42c938a40313 1434
Lightvalve 12:6f2531038ea4 1435 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1436 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 170:42c938a40313 1437
Lightvalve 11:82d8768d7351 1438 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1439 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1440 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1441 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1442 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1443 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1444 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1445
Lightvalve 11:82d8768d7351 1446 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1447 }
Lightvalve 11:82d8768d7351 1448
Lightvalve 170:42c938a40313 1449 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve 170:42c938a40313 1450 {
Lightvalve 11:82d8768d7351 1451 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1452 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1453 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1454
Lightvalve 57:f4819de54e7a 1455 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve 49:e7bcfc244d40 1456 int16_t temp_valve_pos = 0;
Lightvalve 57:f4819de54e7a 1457 if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1458 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 1459 } else {
Lightvalve 57:f4819de54e7a 1460 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 1461 }
Lightvalve 170:42c938a40313 1462
Lightvalve 11:82d8768d7351 1463 temp_msg.id = CID_TX_INFO;
Lightvalve 49:e7bcfc244d40 1464 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1465 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 49:e7bcfc244d40 1466 temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve 49:e7bcfc244d40 1467 temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve 49:e7bcfc244d40 1468 temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 49:e7bcfc244d40 1469 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 49:e7bcfc244d40 1470 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 49:e7bcfc244d40 1471 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1472
Lightvalve 11:82d8768d7351 1473 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1474 }
Lightvalve 11:82d8768d7351 1475
Lightvalve 170:42c938a40313 1476 void CAN_TX_VALVE_POS_NUM(void)
Lightvalve 170:42c938a40313 1477 {
Lightvalve 11:82d8768d7351 1478 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1479 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1480 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 170:42c938a40313 1481
Lightvalve 11:82d8768d7351 1482 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1483 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1484 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1485 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1486 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1487
Lightvalve 11:82d8768d7351 1488 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1489 }
Lightvalve 11:82d8768d7351 1490
Lightvalve 170:42c938a40313 1491 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve 170:42c938a40313 1492 {
Lightvalve 38:118df027d851 1493 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1494
Lightvalve 48:889798ff9329 1495 float temp_valve_max_pos = 0.0f;
Lightvalve 48:889798ff9329 1496 float temp_valve_min_pos = 0.0f;
Lightvalve 48:889798ff9329 1497 float temp_ddv_center = 0.0f;
Lightvalve 170:42c938a40313 1498
Lightvalve 57:f4819de54e7a 1499 temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1500 temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1501 temp_ddv_center = VALVE_CENTER;
Lightvalve 170:42c938a40313 1502
Lightvalve 38:118df027d851 1503 temp_msg.id = CID_TX_INFO;
Lightvalve 38:118df027d851 1504 temp_msg.len = 7;
Lightvalve 38:118df027d851 1505 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 48:889798ff9329 1506 temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve 48:889798ff9329 1507 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve 48:889798ff9329 1508 temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve 48:889798ff9329 1509 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve 48:889798ff9329 1510 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1511 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 38:118df027d851 1512
Lightvalve 38:118df027d851 1513 can.write(temp_msg);
Lightvalve 38:118df027d851 1514 }
Lightvalve 38:118df027d851 1515
Lightvalve 169:645207e160ca 1516
Lightvalve 170:42c938a40313 1517 void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve 170:42c938a40313 1518 {
Lightvalve 169:645207e160ca 1519 CANMessage temp_msg;
Lightvalve 169:645207e160ca 1520 int16_t send_pos_array, send_ref_array;
Lightvalve 169:645207e160ca 1521 send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve 169:645207e160ca 1522 send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve 170:42c938a40313 1523
Lightvalve 169:645207e160ca 1524 temp_msg.id = CID_TX_INFO;
Lightvalve 169:645207e160ca 1525 temp_msg.len = 5;
Lightvalve 169:645207e160ca 1526 temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve 169:645207e160ca 1527 temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve 169:645207e160ca 1528 temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve 169:645207e160ca 1529 temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve 169:645207e160ca 1530 temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve 169:645207e160ca 1531
Lightvalve 169:645207e160ca 1532 can.write(temp_msg);
Lightvalve 169:645207e160ca 1533 }
Lightvalve 169:645207e160ca 1534
Lightvalve 169:645207e160ca 1535
jobuuu 2:a1c0a37df760 1536 /******************************************************************************
jobuuu 2:a1c0a37df760 1537 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1538 *******************************************************************************/
jobuuu 2:a1c0a37df760 1539
Lightvalve 170:42c938a40313 1540 void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve 170:42c938a40313 1541 {
Lightvalve 52:8ea76864368a 1542 CANMessage temp_msg;
Lightvalve 52:8ea76864368a 1543
Lightvalve 52:8ea76864368a 1544 temp_msg.id = CID_TX_POSITION;
Lightvalve 52:8ea76864368a 1545 temp_msg.len = 6;
Lightvalve 52:8ea76864368a 1546 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 52:8ea76864368a 1547 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 52:8ea76864368a 1548 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 52:8ea76864368a 1549 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1550 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 52:8ea76864368a 1551 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve 52:8ea76864368a 1552
Lightvalve 52:8ea76864368a 1553 can.write(temp_msg);
Lightvalve 52:8ea76864368a 1554 }
Lightvalve 52:8ea76864368a 1555
Lightvalve 170:42c938a40313 1556 void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve 170:42c938a40313 1557 {
Lightvalve 170:42c938a40313 1558
jobuuu 2:a1c0a37df760 1559 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1560
jobuuu 2:a1c0a37df760 1561 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1562 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1563 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1564 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 41:abbd4e2af68b 1565 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 41:abbd4e2af68b 1566 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1567 temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve 52:8ea76864368a 1568 temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve 52:8ea76864368a 1569 temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve 52:8ea76864368a 1570 temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu 2:a1c0a37df760 1571
jobuuu 2:a1c0a37df760 1572 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1573 }
jobuuu 2:a1c0a37df760 1574
Lightvalve 67:c2812cf26c38 1575 //void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve 67:c2812cf26c38 1576 // CANMessage temp_msg;
Lightvalve 67:c2812cf26c38 1577 //
Lightvalve 67:c2812cf26c38 1578 // temp_msg.id = CID_TX_TORQUE;
Lightvalve 67:c2812cf26c38 1579 // temp_msg.len = 4;
Lightvalve 67:c2812cf26c38 1580 // temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 67:c2812cf26c38 1581 // temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve 67:c2812cf26c38 1582 // temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve 67:c2812cf26c38 1583 // temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve 67:c2812cf26c38 1584 //
Lightvalve 67:c2812cf26c38 1585 // can.write(temp_msg);
Lightvalve 67:c2812cf26c38 1586 //}
Lightvalve 67:c2812cf26c38 1587
Lightvalve 170:42c938a40313 1588 void CAN_TX_TORQUE(int16_t t_valve_pos)
Lightvalve 170:42c938a40313 1589 {
jobuuu 2:a1c0a37df760 1590 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1591
jobuuu 2:a1c0a37df760 1592 temp_msg.id = CID_TX_TORQUE;
Lightvalve 67:c2812cf26c38 1593 temp_msg.len = 2;
Lightvalve 48:889798ff9329 1594 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 48:889798ff9329 1595 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 1596
jobuuu 2:a1c0a37df760 1597 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1598 }
jobuuu 2:a1c0a37df760 1599
Lightvalve 170:42c938a40313 1600 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve 170:42c938a40313 1601 {
jobuuu 2:a1c0a37df760 1602 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1603
jobuuu 2:a1c0a37df760 1604 temp_msg.id = CID_TX_PRES;
Lightvalve 57:f4819de54e7a 1605 temp_msg.len = 4;
Lightvalve 12:6f2531038ea4 1606 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1607 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1608 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1609 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1610
jobuuu 2:a1c0a37df760 1611 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1612 }
jobuuu 2:a1c0a37df760 1613
Lightvalve 170:42c938a40313 1614 void CAN_TX_PWM(int16_t t_pwm)
Lightvalve 170:42c938a40313 1615 {
jobuuu 2:a1c0a37df760 1616 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1617
Lightvalve 57:f4819de54e7a 1618 temp_msg.id = CID_TX_VOUT;
Lightvalve 57:f4819de54e7a 1619 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 1620 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1621 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1622
jobuuu 2:a1c0a37df760 1623 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1624 }
jobuuu 2:a1c0a37df760 1625
Lightvalve 73:f80dc3970c99 1626 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 1627 {
jobuuu 2:a1c0a37df760 1628 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1629
jobuuu 2:a1c0a37df760 1630 temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve 73:f80dc3970c99 1631 temp_msg.len = 8;
Lightvalve 73:f80dc3970c99 1632 temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve 73:f80dc3970c99 1633 temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve 73:f80dc3970c99 1634 temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve 73:f80dc3970c99 1635 temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve 73:f80dc3970c99 1636 temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve 73:f80dc3970c99 1637 temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 73:f80dc3970c99 1638 temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve 73:f80dc3970c99 1639 temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve 170:42c938a40313 1640
jobuuu 2:a1c0a37df760 1641
jobuuu 2:a1c0a37df760 1642 can.write(temp_msg);
Lightvalve 67:c2812cf26c38 1643 }