Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@2:a1c0a37df760, 2019-08-20 (annotated)

Committer:
jobuuu
Date:
Tue Aug 20 07:38:55 2019 +0000
Revision:
2:a1c0a37df760
Child:
3:aa28672362bb
HydraulicControlBoard_190820

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jobuuu 2:a1c0a37df760 1 #include "mbed.h"
jobuuu 2:a1c0a37df760 2 #include "function_CAN.h"
jobuuu 2:a1c0a37df760 3
jobuuu 2:a1c0a37df760 4 // CAN ID Setting Variables
jobuuu 2:a1c0a37df760 5 int CID_RX_CMD = 100;
jobuuu 2:a1c0a37df760 6 int CID_RX_REF_POSITION = 200;
jobuuu 2:a1c0a37df760 7 int CID_RX_REF_TORQUE = 300;
jobuuu 2:a1c0a37df760 8 int CID_RX_REF_PRES_DIFF = 400;
jobuuu 2:a1c0a37df760 9 int CID_RX_REF_PWM = 500;
jobuuu 2:a1c0a37df760 10 int CID_RX_REF_VALVE_POSITION = 600;
jobuuu 2:a1c0a37df760 11
jobuuu 2:a1c0a37df760 12 int CID_TX_INFO = 1100;
jobuuu 2:a1c0a37df760 13 int CID_TX_POSITION = 1200;
jobuuu 2:a1c0a37df760 14 int CID_TX_TORQUE = 1300;
jobuuu 2:a1c0a37df760 15 int CID_TX_PRES = 1400;
jobuuu 2:a1c0a37df760 16 int CID_TX_PWM = 1500;
jobuuu 2:a1c0a37df760 17 int CID_TX_VALVE_POSITION = 1600;
jobuuu 2:a1c0a37df760 18
jobuuu 2:a1c0a37df760 19 extern CAN can;
jobuuu 2:a1c0a37df760 20 extern CANMessage msg;
jobuuu 2:a1c0a37df760 21
jobuuu 2:a1c0a37df760 22 void ReadCMD(char CMD)
jobuuu 2:a1c0a37df760 23 {
jobuuu 2:a1c0a37df760 24 switch(CMD){
jobuuu 2:a1c0a37df760 25 case CRX_ASK_INFO:
jobuuu 2:a1c0a37df760 26 CAN_TX_INFO();
jobuuu 2:a1c0a37df760 27 break;
jobuuu 2:a1c0a37df760 28 case CRX_ASK_BNO:
jobuuu 2:a1c0a37df760 29 CAN_TX_BNO();
jobuuu 2:a1c0a37df760 30 break;
jobuuu 2:a1c0a37df760 31 default:
jobuuu 2:a1c0a37df760 32 break;
jobuuu 2:a1c0a37df760 33 }
jobuuu 2:a1c0a37df760 34 }
jobuuu 2:a1c0a37df760 35
jobuuu 2:a1c0a37df760 36 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 37 {
jobuuu 2:a1c0a37df760 38 can.read(msg);
jobuuu 2:a1c0a37df760 39 unsigned int address = msg.id;
jobuuu 2:a1c0a37df760 40
jobuuu 2:a1c0a37df760 41 if(address==100){
jobuuu 2:a1c0a37df760 42 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 43 ReadCMD(CMD);
jobuuu 2:a1c0a37df760 44 }
jobuuu 2:a1c0a37df760 45 }
jobuuu 2:a1c0a37df760 46
jobuuu 2:a1c0a37df760 47 /******************************************************************************
jobuuu 2:a1c0a37df760 48 Information Transmission Functions
jobuuu 2:a1c0a37df760 49 *******************************************************************************/
jobuuu 2:a1c0a37df760 50
jobuuu 2:a1c0a37df760 51 inline void CAN_TX_INFO(void) {
jobuuu 2:a1c0a37df760 52 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 53
jobuuu 2:a1c0a37df760 54 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 55 temp_msg.len = 7;
jobuuu 2:a1c0a37df760 56 temp_msg.data[0] = (unsigned char) CTX_SEND_INFO;
jobuuu 2:a1c0a37df760 57 temp_msg.data[1] = (unsigned char) BNO;
jobuuu 2:a1c0a37df760 58 temp_msg.data[2] = (unsigned char) CAN_FREQ;
jobuuu 2:a1c0a37df760 59 temp_msg.data[3] = (unsigned char) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 60 temp_msg.data[4] = (unsigned char) (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]);
jobuuu 2:a1c0a37df760 61 temp_msg.data[5] = (unsigned char) CONTROL_MODE;
jobuuu 2:a1c0a37df760 62 temp_msg.data[6] = (unsigned char) OPERATING_MODE;
jobuuu 2:a1c0a37df760 63
jobuuu 2:a1c0a37df760 64 can.write(temp_msg);
jobuuu 2:a1c0a37df760 65 }
jobuuu 2:a1c0a37df760 66
jobuuu 2:a1c0a37df760 67 inline void CAN_TX_BNO(void) {
jobuuu 2:a1c0a37df760 68 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 69
jobuuu 2:a1c0a37df760 70 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 71 temp_msg.len = 2;
jobuuu 2:a1c0a37df760 72 temp_msg.data[0] = (unsigned char) CTX_SEND_BNO;
jobuuu 2:a1c0a37df760 73 temp_msg.data[1] = (unsigned char) BNO;
jobuuu 2:a1c0a37df760 74
jobuuu 2:a1c0a37df760 75 can.write(temp_msg);
jobuuu 2:a1c0a37df760 76 }
jobuuu 2:a1c0a37df760 77
jobuuu 2:a1c0a37df760 78 inline void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 79 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 80
jobuuu 2:a1c0a37df760 81 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 82 temp_msg.len = 2;
jobuuu 2:a1c0a37df760 83 temp_msg.data[0] = (unsigned char) CTX_SEND_OPERATING_MODE;
jobuuu 2:a1c0a37df760 84 temp_msg.data[1] = (unsigned char) OPERATING_MODE;
jobuuu 2:a1c0a37df760 85
jobuuu 2:a1c0a37df760 86 can.write(temp_msg);
jobuuu 2:a1c0a37df760 87 }
jobuuu 2:a1c0a37df760 88
jobuuu 2:a1c0a37df760 89
jobuuu 2:a1c0a37df760 90 inline void CAN_TX_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 91 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 92
jobuuu 2:a1c0a37df760 93 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 94 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 95 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 96 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 97 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 98
jobuuu 2:a1c0a37df760 99 can.write(temp_msg);
jobuuu 2:a1c0a37df760 100 }
jobuuu 2:a1c0a37df760 101
jobuuu 2:a1c0a37df760 102 inline void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 103 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 104
jobuuu 2:a1c0a37df760 105 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 106 temp_msg.len = 2;
jobuuu 2:a1c0a37df760 107 temp_msg.data[0] = (unsigned char) CTX_SEND_CONTROL_MODE;
jobuuu 2:a1c0a37df760 108 temp_msg.data[1] = (unsigned char) CONTROL_MODE;
jobuuu 2:a1c0a37df760 109
jobuuu 2:a1c0a37df760 110 can.write(temp_msg);
jobuuu 2:a1c0a37df760 111 }
jobuuu 2:a1c0a37df760 112
jobuuu 2:a1c0a37df760 113 inline void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 114 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 115
jobuuu 2:a1c0a37df760 116 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 117 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 118 temp_msg.data[0] = (unsigned char) CTX_SEND_JOINT_ENC_DIR;
jobuuu 2:a1c0a37df760 119 temp_msg.data[1] = (unsigned char) DIR_JOINT_ENC;
jobuuu 2:a1c0a37df760 120 temp_msg.data[2] = (unsigned char) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 121
jobuuu 2:a1c0a37df760 122 can.write(temp_msg);
jobuuu 2:a1c0a37df760 123 }
jobuuu 2:a1c0a37df760 124
jobuuu 2:a1c0a37df760 125 inline void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 126 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 127
jobuuu 2:a1c0a37df760 128 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 129 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 130 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DIR;
jobuuu 2:a1c0a37df760 131 temp_msg.data[1] = (unsigned char) DIR_VALVE;
jobuuu 2:a1c0a37df760 132 temp_msg.data[2] = (unsigned char) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 133
jobuuu 2:a1c0a37df760 134 can.write(temp_msg);
jobuuu 2:a1c0a37df760 135 }
jobuuu 2:a1c0a37df760 136
jobuuu 2:a1c0a37df760 137 inline void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 138 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 139
jobuuu 2:a1c0a37df760 140 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 141 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 142 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_ENC_DIR;
jobuuu 2:a1c0a37df760 143 temp_msg.data[1] = (unsigned char) DIR_VALVE_ENC;
jobuuu 2:a1c0a37df760 144 temp_msg.data[2] = (unsigned char) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 145
jobuuu 2:a1c0a37df760 146 can.write(temp_msg);
jobuuu 2:a1c0a37df760 147 }
jobuuu 2:a1c0a37df760 148
jobuuu 2:a1c0a37df760 149 inline void CAN_TX_VOLTAGE_SUPPLY(void) {
jobuuu 2:a1c0a37df760 150 long send_voltage_supply = (long) (SUPPLY_VOLTAGE * 10);
jobuuu 2:a1c0a37df760 151
jobuuu 2:a1c0a37df760 152 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 153
jobuuu 2:a1c0a37df760 154 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 155 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 156 temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_SUPPLY;
jobuuu 2:a1c0a37df760 157 temp_msg.data[1] = (unsigned char) (send_voltage_supply);
jobuuu 2:a1c0a37df760 158 temp_msg.data[2] = (unsigned char) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 159
jobuuu 2:a1c0a37df760 160 can.write(temp_msg);
jobuuu 2:a1c0a37df760 161 }
jobuuu 2:a1c0a37df760 162
jobuuu 2:a1c0a37df760 163 inline void CAN_TX_VOLTAGE_VALVE(void) {
jobuuu 2:a1c0a37df760 164 long send_voltage_valve = (long) (VALVE_VOLTAGE_LIMIT * 10);
jobuuu 2:a1c0a37df760 165
jobuuu 2:a1c0a37df760 166 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 167
jobuuu 2:a1c0a37df760 168 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 169 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 170 temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_VALVE;
jobuuu 2:a1c0a37df760 171 temp_msg.data[1] = (unsigned char) send_voltage_valve;
jobuuu 2:a1c0a37df760 172 temp_msg.data[2] = (unsigned char) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 173
jobuuu 2:a1c0a37df760 174 can.write(temp_msg);
jobuuu 2:a1c0a37df760 175 }
jobuuu 2:a1c0a37df760 176
jobuuu 2:a1c0a37df760 177 inline void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 178 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 179 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 180 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 181
jobuuu 2:a1c0a37df760 182 long sendPgain, sendIgain, sendDgain;
jobuuu 2:a1c0a37df760 183 if (t_type == 0) {
jobuuu 2:a1c0a37df760 184 sendPgain = (long) (P_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 185 sendIgain = (long) (I_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 186 sendDgain = (long) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 187 } else if (t_type == 1) {
jobuuu 2:a1c0a37df760 188 sendPgain = (long) (P_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 189 sendIgain = (long) (I_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 190 sendDgain = (long) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 191 } else if (t_type == 2) {
jobuuu 2:a1c0a37df760 192 sendPgain = (long) (P_GAIN_JOINT_TORQUE);
jobuuu 2:a1c0a37df760 193 sendIgain = (long) (I_GAIN_JOINT_TORQUE);
jobuuu 2:a1c0a37df760 194 sendDgain = (long) (D_GAIN_JOINT_TORQUE);
jobuuu 2:a1c0a37df760 195 }
jobuuu 2:a1c0a37df760 196
jobuuu 2:a1c0a37df760 197 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 198
jobuuu 2:a1c0a37df760 199 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 200 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 201 temp_msg.data[0] = (unsigned char) CTX_SEND_PID_GAIN;
jobuuu 2:a1c0a37df760 202 temp_msg.data[1] = (unsigned char) t_type;
jobuuu 2:a1c0a37df760 203 temp_msg.data[2] = (unsigned char) sendPgain;
jobuuu 2:a1c0a37df760 204 temp_msg.data[3] = (unsigned char) (sendPgain >> 8);
jobuuu 2:a1c0a37df760 205 temp_msg.data[4] = (unsigned char) sendIgain;
jobuuu 2:a1c0a37df760 206 temp_msg.data[5] = (unsigned char) (sendIgain >> 8);
jobuuu 2:a1c0a37df760 207 temp_msg.data[6] = (unsigned char) sendDgain;
jobuuu 2:a1c0a37df760 208 temp_msg.data[7] = (unsigned char) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 209
jobuuu 2:a1c0a37df760 210 can.write(temp_msg);
jobuuu 2:a1c0a37df760 211 }
jobuuu 2:a1c0a37df760 212
jobuuu 2:a1c0a37df760 213 inline void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 214 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 215
jobuuu 2:a1c0a37df760 216 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 217 temp_msg.len = 7;
jobuuu 2:a1c0a37df760 218 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DEADZONE;
jobuuu 2:a1c0a37df760 219 temp_msg.data[1] = (unsigned char) (int) (VALVE_CENTER);
jobuuu 2:a1c0a37df760 220 temp_msg.data[2] = (unsigned char) ((int) (VALVE_CENTER) >> 8);
jobuuu 2:a1c0a37df760 221 temp_msg.data[3] = (unsigned char) (int) (VALVE_DEADZONE_PLUS);
jobuuu 2:a1c0a37df760 222 temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8);
jobuuu 2:a1c0a37df760 223 temp_msg.data[5] = (unsigned char) (int) (VALVE_DEADZONE_MINUS);
jobuuu 2:a1c0a37df760 224 temp_msg.data[6] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 225
jobuuu 2:a1c0a37df760 226 can.write(temp_msg);
jobuuu 2:a1c0a37df760 227 }
jobuuu 2:a1c0a37df760 228
jobuuu 2:a1c0a37df760 229 inline void CAN_TX_ENC_PULSE_PER_POSITION(void) {
jobuuu 2:a1c0a37df760 230 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 231
jobuuu 2:a1c0a37df760 232 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 233 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 234 temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_PULSE_PER_POSITION;
jobuuu 2:a1c0a37df760 235 temp_msg.data[1] = (unsigned char) ENC_PULSE_PER_POSITION;
jobuuu 2:a1c0a37df760 236 temp_msg.data[2] = (unsigned char) (ENC_PULSE_PER_POSITION >> 8);
jobuuu 2:a1c0a37df760 237
jobuuu 2:a1c0a37df760 238 can.write(temp_msg);
jobuuu 2:a1c0a37df760 239 }
jobuuu 2:a1c0a37df760 240
jobuuu 2:a1c0a37df760 241 inline void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu 2:a1c0a37df760 242 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 243
jobuuu 2:a1c0a37df760 244 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 245 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 246 temp_msg.data[0] = (unsigned char) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 2:a1c0a37df760 247 temp_msg.data[1] = (unsigned char) TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 2:a1c0a37df760 248 temp_msg.data[2] = (unsigned char) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8);
jobuuu 2:a1c0a37df760 249
jobuuu 2:a1c0a37df760 250 can.write(temp_msg);
jobuuu 2:a1c0a37df760 251 }
jobuuu 2:a1c0a37df760 252
jobuuu 2:a1c0a37df760 253 inline void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu 2:a1c0a37df760 254 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 255
jobuuu 2:a1c0a37df760 256 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 257 temp_msg.len = 5;
jobuuu 2:a1c0a37df760 258 temp_msg.data[0] = (unsigned char) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
jobuuu 2:a1c0a37df760 259 temp_msg.data[1] = (unsigned char) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.);
jobuuu 2:a1c0a37df760 260 temp_msg.data[2] = (unsigned char) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8);
jobuuu 2:a1c0a37df760 261 temp_msg.data[3] = (unsigned char) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.);
jobuuu 2:a1c0a37df760 262 temp_msg.data[4] = (unsigned char) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8);
jobuuu 2:a1c0a37df760 263
jobuuu 2:a1c0a37df760 264 can.write(temp_msg);
jobuuu 2:a1c0a37df760 265 }
jobuuu 2:a1c0a37df760 266
jobuuu 2:a1c0a37df760 267 inline void CAN_TX_HOMEPOS_OFFSET(void) {
jobuuu 2:a1c0a37df760 268 long send_homepos_offset;
jobuuu 2:a1c0a37df760 269 send_homepos_offset = (long) (HOMEPOS_OFFSET);
jobuuu 2:a1c0a37df760 270
jobuuu 2:a1c0a37df760 271 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 272
jobuuu 2:a1c0a37df760 273 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 274 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 275 temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_OFFSET;
jobuuu 2:a1c0a37df760 276 temp_msg.data[1] = (unsigned char) send_homepos_offset;
jobuuu 2:a1c0a37df760 277 temp_msg.data[2] = (unsigned char) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 278
jobuuu 2:a1c0a37df760 279 can.write(temp_msg);
jobuuu 2:a1c0a37df760 280 }
jobuuu 2:a1c0a37df760 281
jobuuu 2:a1c0a37df760 282 /******************************************************************************
jobuuu 2:a1c0a37df760 283 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 284 *******************************************************************************/
jobuuu 2:a1c0a37df760 285
jobuuu 2:a1c0a37df760 286 inline void CAN_TX_POSITION(long t_pos, long t_vel) {
jobuuu 2:a1c0a37df760 287 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 288
jobuuu 2:a1c0a37df760 289 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 290 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 291 temp_msg.data[0] = (unsigned char) t_pos;
jobuuu 2:a1c0a37df760 292 temp_msg.data[1] = (unsigned char) (t_pos >> 8);
jobuuu 2:a1c0a37df760 293 temp_msg.data[2] = (unsigned char) (t_pos >> 16);
jobuuu 2:a1c0a37df760 294 temp_msg.data[3] = (unsigned char) (t_pos >> 24);
jobuuu 2:a1c0a37df760 295 temp_msg.data[4] = (unsigned char) t_vel;
jobuuu 2:a1c0a37df760 296 temp_msg.data[5] = (unsigned char) (t_vel >> 8);
jobuuu 2:a1c0a37df760 297 temp_msg.data[6] = (unsigned char) (t_vel >> 16);
jobuuu 2:a1c0a37df760 298 temp_msg.data[7] = (unsigned char) (t_vel >> 24);
jobuuu 2:a1c0a37df760 299
jobuuu 2:a1c0a37df760 300 can.write(temp_msg);
jobuuu 2:a1c0a37df760 301 }
jobuuu 2:a1c0a37df760 302
jobuuu 2:a1c0a37df760 303 inline void CAN_TX_TORQUE(int16_t t_torque) {
jobuuu 2:a1c0a37df760 304 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 305
jobuuu 2:a1c0a37df760 306 temp_msg.id = CID_TX_TORQUE;
jobuuu 2:a1c0a37df760 307 temp_msg.len = 2;
jobuuu 2:a1c0a37df760 308 temp_msg.data[0] = (unsigned char) t_torque;
jobuuu 2:a1c0a37df760 309 temp_msg.data[1] = (unsigned char) (t_torque >> 8);
jobuuu 2:a1c0a37df760 310
jobuuu 2:a1c0a37df760 311 can.write(temp_msg);
jobuuu 2:a1c0a37df760 312 }
jobuuu 2:a1c0a37df760 313
jobuuu 2:a1c0a37df760 314 inline void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 315 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 316
jobuuu 2:a1c0a37df760 317 temp_msg.id = CID_TX_PRES;
jobuuu 2:a1c0a37df760 318 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 319 temp_msg.data[0] = (unsigned char) t_pres_a;
jobuuu 2:a1c0a37df760 320 temp_msg.data[1] = (unsigned char) (t_pres_a >> 8);
jobuuu 2:a1c0a37df760 321 temp_msg.data[2] = (unsigned char) t_pres_b;
jobuuu 2:a1c0a37df760 322 temp_msg.data[3] = (unsigned char) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 323
jobuuu 2:a1c0a37df760 324 can.write(temp_msg);
jobuuu 2:a1c0a37df760 325 }
jobuuu 2:a1c0a37df760 326
jobuuu 2:a1c0a37df760 327 inline void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 328 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 329
jobuuu 2:a1c0a37df760 330 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 331 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 332 temp_msg.data[0] = (unsigned char) t_pwm;
jobuuu 2:a1c0a37df760 333 temp_msg.data[1] = (unsigned char) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 334
jobuuu 2:a1c0a37df760 335 can.write(temp_msg);
jobuuu 2:a1c0a37df760 336 }
jobuuu 2:a1c0a37df760 337
jobuuu 2:a1c0a37df760 338 inline void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) {
jobuuu 2:a1c0a37df760 339 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 340
jobuuu 2:a1c0a37df760 341 temp_msg.id = CID_TX_VALVE_POSITION;
jobuuu 2:a1c0a37df760 342 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 343 temp_msg.data[0] = (unsigned char) t_valve_pos;
jobuuu 2:a1c0a37df760 344 temp_msg.data[1] = (unsigned char) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 345
jobuuu 2:a1c0a37df760 346 can.write(temp_msg);
jobuuu 2:a1c0a37df760 347 }