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CAN/function_CAN.cpp
- Committer:
- Lightvalve
- Date:
- 2019-09-03
- Revision:
- 17:1865016ca2e7
- Parent:
- 16:903b5a4433b4
- Child:
- 18:b8adf1582ea3
File content as of revision 17:1865016ca2e7:
#include "function_CAN.h" #include "setting.h" #include "function_utilities.h" #include "SPI_EEP_ENC.h" #include "stm32f4xx_flash.h" #include "FlashWriter.h" // CAN ID Setting Variables int CID_RX_CMD = 100; int CID_RX_REF_POSITION = 200; int CID_RX_REF_TORQUE = 300; int CID_RX_REF_PRES_DIFF = 400; int CID_RX_REF_VOUT = 500; int CID_RX_REF_VALVE_POSITION = 600; int CID_RX_REF_CURRENT = 700; int CID_TX_INFO = 1100; int CID_TX_POSITION = 1200; int CID_TX_TORQUE = 1300; int CID_TX_PRES = 1400; int CID_TX_VOUT = 1500; int CID_TX_VALVE_POSITION = 1600; // variables uint8_t can_index = 0; /******************************************************************************* * CAN functions ******************************************************************************/ void CAN_ID_INIT(void) { CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD); CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION); CID_RX_REF_TORQUE = (int) (BNO + INIT_CID_RX_REF_TORQUE); CID_RX_REF_PRES_DIFF = (int) (BNO + INIT_CID_RX_REF_PRES_DIFF); CID_RX_REF_VOUT = (int) (BNO + INIT_CID_RX_REF_VOUT); CID_RX_REF_VALVE_POSITION = (int) (BNO + INIT_CID_RX_REF_VALVE_POSITION); CID_RX_REF_CURRENT = (int) (BNO + INIT_CID_RX_REF_CURRENT); CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO); CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION); CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE); CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES); CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT); CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION); } void ReadCMD(int8_t CMD) { switch(CMD){ case CRX_ASK_INFO: { CAN_TX_INFO(); break; } case CRX_ASK_BNO: { CAN_TX_BNO(); break; } case CRX_SET_BNO: { BNO = (int16_t) msg.data[1]; ROM_RESET_DATA(); //spi_eeprom_write(RID_BNO, (int16_t) BNO); CAN_ID_INIT(); // can id init break; } case CRX_ASK_OPERATING_MODE: { CAN_TX_OPERATING_MODE(); break; } case CRX_SET_OPERATING_MODE: { OPERATING_MODE = (int16_t) msg.data[1]; ROM_RESET_DATA(); //spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE); break; } case CRX_SET_ENC_ZERO: { ENC_SET_ZERO(); break; } case CRX_SET_FET_ON: { //LAT_MOT_EN = (int16_t) msg.data[1];; break; } case CRX_SET_REF_UPDATE_ENABLE: { flag_ref_enable = (int16_t) msg.data[1]; break; } case CRX_ASK_CAN_FREQ: { CAN_TX_CAN_FREQ(); break; } case CRX_SET_CAN_FREQ: { CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ); break; } case CRX_ASK_CONTROL_MODE: { CAN_TX_CONTROL_MODE(); break; } case CRX_SET_CONTROL_MODE: { CONTROL_MODE = (int16_t) (msg.data[1]); if (CONTROL_MODE == 22) { //MODE_FIND_HOME FLAG_FIND_HOME = true; } break; } case CRX_SET_DATA_REQUEST: { int request_type = msg.data[2]; flag_data_request[request_type] = msg.data[1]; //pc.printf("can middle %d\n", request_type); // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3; // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3; break; } case CRX_ASK_JOINT_ENC_DIR: { CAN_TX_JOINT_ENC_DIR(); break; } case CRX_SET_JOINT_ENC_DIR: { DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8); if (DIR_JOINT_ENC >= 0) DIR_JOINT_ENC = 1; else DIR_JOINT_ENC = -1; ROM_RESET_DATA(); //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC); break; } case CRX_ASK_VALVE_DIR: { CAN_TX_VALVE_DIR(); break; } case CRX_SET_VALVE_DIR: { DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8); if (DIR_VALVE >= 0) DIR_VALVE = 1; else DIR_VALVE = -1; ROM_RESET_DATA(); //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE); break; } case CRX_ASK_VALVE_ENC_DIR: { CAN_TX_VALVE_ENC_DIR(); break; } case CRX_SET_VALVE_ENC_DIR: { DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8); if (DIR_VALVE_ENC >= 0) DIR_VALVE_ENC = 1; else DIR_VALVE_ENC = -1; ROM_RESET_DATA(); //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC); break; } case CRX_ASK_VOLTAGE_SUPPLY: { CAN_TX_VOLTAGE_SUPPLY(); break; } case CRX_SET_VOLTAGE_SUPPLY: { SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.; ROM_RESET_DATA(); //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.)); break; } case CRX_ASK_VOLTAGE_VALVE: { CAN_TX_VOLTAGE_VALVE(); break; } case CRX_SET_VOLTAGE_VALVE: { VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.; ROM_RESET_DATA(); //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.)); break; } case CRX_SET_HOMEPOS: { CONTROL_MODE = 22; SETTING_SWITCH = (int16_t) (msg.data[1]); break; } case CRX_ASK_PID_GAIN: { CAN_TX_PID_GAIN(msg.data[1]); break; } case CRX_SET_PID_GAIN: { if (msg.data[1] == 0) { P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8); I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8); D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION); //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION); //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION); } else if (msg.data[1] == 1) { P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8); I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8); D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION); //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION); //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION); } else if (msg.data[1] == 2) { P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8); I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8); D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE); //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE); //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE); } break; } case CRX_ASK_VALVE_DEADZONE: { CAN_TX_VALVE_DEADZONE(); break; } case CRX_SET_VALVE_DEADZONE: { VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8); VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8); VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER)); //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS)); //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS)); break; } case CRX_ASK_VELOCITY_COMP_GAIN: { CAN_TX_VELOCITY_COMP_GAIN(); break; } case CRX_SET_VELOCITY_COMP_GAIN: { VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN); break; } case CRX_ASK_COMPLIANCE_GAIN: { CAN_TX_COMPLIANCE_GAIN(); break; } case CRX_SET_COMPLIANCE_GAIN: { COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN); break; } case CRX_ASK_VALVE_FF: { CAN_TX_VALVE_FF(); break; } case CRX_SET_VALVE_FF: { VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF); break; } case CRX_ASK_BULK_MODULUS: { CAN_TX_BULK_MODULUS(); break; } case CRX_SET_BULK_MODULUS: { BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS); break; } case CRX_ASK_CHAMBER_VOLUME: { CAN_TX_CHAMBER_VOLUME(); break; } case CRX_SET_CHAMBER_VOLUME: { CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8); CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A); //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B); break; } case CRX_ASK_PISTON_AREA: { CAN_TX_PISTON_AREA(); break; } case CRX_SET_PISTON_AREA: { PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8); PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8); PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A; ROM_RESET_DATA(); //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A); //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B); break; } case CRX_ASK_PRES: { CAN_TX_PRES_A_AND_B(); // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); //dac_1 = PRES_A_VREF; //dac_2 = PRES_B_VREF; break; } case CRX_SET_PRES: { PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8); PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY); //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN); break; } case CRX_ASK_ENC_LIMIT: { CAN_TX_ENC_LIMIT(); break; } case CRX_SET_ENC_LIMIT: { ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8); ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS); //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS); break; } case CRX_ASK_STROKE: { CAN_TX_STROKE(); break; } case CRX_SET_STROKE: { STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_STROKE, (int16_t) STROKE); break; } case CRX_ASK_VALVE_LIMIT: { CAN_TX_VALVE_LIMIT(); break; } case CRX_SET_VALVE_LIMIT: { VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8); VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS); //spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS); break; } case CRX_ASK_ENC_PULSE_PER_POSITION: { CAN_TX_ENC_PULSE_PER_POSITION(); break; } case CRX_SET_ENC_PULSE_PER_POSITION: { ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION); break; } case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: { CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(); break; } case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: { TORQUE_SENSOR_PULSE_PER_TORQUE = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE); break; } case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: { CAN_TX_PRES_SENSOR_PULSE_PER_PRES(); break; } case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: { PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01; PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01; ROM_RESET_DATA(); //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.)); //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.)); break; } case CRX_ASK_FRICTION: { CAN_TX_FRICTION(); break; } case CRX_SET_FRICTION: { FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.; ROM_RESET_DATA(); //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.)); break; } case CRX_ASK_VALVE_GAIN_PLUS: { CAN_TX_VALVE_GAIN_PLUS(); break; } case CRX_SET_VALVE_GAIN_PLUS: { VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.; VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.; VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.; VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.; VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.; ROM_RESET_DATA(); //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.)); //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.)); //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.)); //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.)); //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.)); break; } case CRX_ASK_VALVE_GAIN_MINUS: { CAN_TX_VALVE_GAIN_MINUS(); break; } case CRX_SET_VALVE_GAIN_MINUS: { VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.; VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.; VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.; VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.; VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.; ROM_RESET_DATA(); //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.)); //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.)); //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.)); //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.)); //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.)); break; } case CRX_ASK_DDV_VALVE_DEADZONE: { CAN_TX_DDV_VALVE_DEADZONE(); break; } case CRX_LOW_REF: { REFERENCE_MODE = msg.data[1]; REF_NUM = msg.data[2]; REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.; if (REF_PERIOD <= 0.) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ; else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k); REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.; break; } case CRX_JUMP_STATUS: { MODE_JUMP_STATUS = msg.data[1]; break; } case CRX_SET_ERR_CLEAR: { for (int i = 0; i < num_err; i++) { flag_err[i] = FALSE; flag_err_old[i] = FALSE; } flag_err_rt = FALSE; break; } case CRX_ASK_HOMEPOS_OFFSET: { CAN_TX_HOMEPOS_OFFSET(); break; } case CRX_SET_HOMEPOS_OFFSET: { HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET); break; } case CRX_ASK_HOMEPOS_VALVE_OPENING: { CAN_TX_HOMPOS_VALVE_OPENING(); break; } case CRX_SET_HOMEPOS_VALVE_OPENING: { HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8); ROM_RESET_DATA(); //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING); break; } case CRX_ASK_VALVE_PWM_VS_VALVE_POS: { can_index = (int16_t) msg.data[1]; CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index); break; } case CRX_ASK_VALVE_POS_VS_FLOWRATE: { can_index = (int16_t) msg.data[1]; CAN_TX_VALVE_POS_VS_FLOWRATE(can_index); break; } case CRX_ASK_VALVE_POS_NUM: { CAN_TX_VALVE_POS_NUM(); break; } default: break; } } void CAN_RX_HANDLER() { //pc.printf("can received"); can.read(msg); unsigned int address = msg.id; //pc.printf("add %d\n",address); //pc.printf("cmd %d\n", CID_RX_CMD); if(address==CID_RX_CMD){ unsigned int CMD = msg.data[0]; ReadCMD(CMD); //pc.printf("cmd %d\n ",CMD); } else if(address==CID_RX_REF_POSITION) { int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24); int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24); pos.ref = (double)temp_pos; vel.ref = (double)temp_vel; } else if(address==CID_RX_REF_TORQUE) { int16_t temp_torq = (int16_t) (msg.data[0] | msg.data[1] << 8); torq.ref = (double)temp_torq; } else if(address==CID_RX_REF_PRES_DIFF) { int16_t temp_presdiff = (int16_t) (msg.data[0] | msg.data[1] << 8); torq.ref = (double)temp_presdiff; } else if(address==CID_RX_REF_VOUT) { int16_t temp_PWM = (int16_t) (msg.data[0] | msg.data[1] << 8); Vout.ref = (double)temp_PWM; } else if(address==CID_RX_REF_VALVE_POSITION) { int16_t temp_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8); valve_pos.ref = (double)temp_valve_pos; } else if(address==CID_RX_REF_CURRENT) { int16_t temp_cur = (int16_t) (msg.data[0] | msg.data[1] << 8); cur.ref = (double)temp_cur; } } /****************************************************************************** Information Transmission Functions *******************************************************************************/ void CAN_TX_INFO(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 7; temp_msg.data[0] = (uint8_t) CTX_SEND_INFO; temp_msg.data[1] = (uint8_t) BNO; temp_msg.data[2] = (uint8_t) CAN_FREQ; temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8); 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]); temp_msg.data[5] = (uint8_t) CONTROL_MODE; temp_msg.data[6] = (uint8_t) OPERATING_MODE; can.write(temp_msg); } void CAN_TX_BNO(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 2; temp_msg.data[0] = (uint8_t) CTX_SEND_BNO; temp_msg.data[1] = (uint8_t) BNO; can.write(temp_msg); } void CAN_TX_OPERATING_MODE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 2; temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE; temp_msg.data[1] = (uint8_t) OPERATING_MODE; can.write(temp_msg); } void CAN_TX_CAN_FREQ(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ; temp_msg.data[1] = (uint8_t) CAN_FREQ; temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8); can.write(temp_msg); } void CAN_TX_CONTROL_MODE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 2; temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE; temp_msg.data[1] = (uint8_t) CONTROL_MODE; can.write(temp_msg); } void CAN_TX_JOINT_ENC_DIR(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR; temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC; temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8); can.write(temp_msg); } void CAN_TX_VALVE_DIR(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR; temp_msg.data[1] = (uint8_t) DIR_VALVE; temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8); can.write(temp_msg); } void CAN_TX_VALVE_ENC_DIR(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR; temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC; temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8); can.write(temp_msg); } void CAN_TX_VOLTAGE_SUPPLY(void) { int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10); CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY; temp_msg.data[1] = (uint8_t) (send_voltage_supply); temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8); can.write(temp_msg); } void CAN_TX_VOLTAGE_VALVE(void) { int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10); CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE; temp_msg.data[1] = (uint8_t) send_voltage_valve; temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8); can.write(temp_msg); } void CAN_TX_PID_GAIN(int t_type) { // t_type = 0 : valve position control gain // t_type = 1 : joint position control gain // t_type = 2 : joint torque control gain int16_t sendPgain=0, sendIgain=0, sendDgain=0; if (t_type == 0) { // sendPgain = (int16_t) (P_GAIN_VALVE_POSITION); // sendIgain = (int16_t) (I_GAIN_VALVE_POSITION); // sendDgain = (int16_t) (D_GAIN_VALVE_POSITION); } else if (t_type == 1) { sendPgain = (int16_t) (P_GAIN_JOINT_POSITION); sendIgain = (int16_t) (I_GAIN_JOINT_POSITION); sendDgain = (int16_t) (D_GAIN_JOINT_POSITION); } else if (t_type == 2) { sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE); sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE); sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE); } CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 8; temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN; temp_msg.data[1] = (uint8_t) t_type; temp_msg.data[2] = (uint8_t) sendPgain; temp_msg.data[3] = (uint8_t) (sendPgain >> 8); temp_msg.data[4] = (uint8_t) sendIgain; temp_msg.data[5] = (uint8_t) (sendIgain >> 8); temp_msg.data[6] = (uint8_t) sendDgain; temp_msg.data[7] = (uint8_t) (sendDgain >> 8); can.write(temp_msg); } void CAN_TX_VALVE_DEADZONE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 7; temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE; temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER); temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8); temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS); temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8); temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS); temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8); can.write(temp_msg); } void CAN_TX_VELOCITY_COMP_GAIN(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN; temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN; temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8); can.write(temp_msg); } void CAN_TX_COMPLIANCE_GAIN(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN; temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN; temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8); can.write(temp_msg); } void CAN_TX_VALVE_FF(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF; temp_msg.data[1] = (uint8_t) VALVE_FF; temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8); can.write(temp_msg); } void CAN_TX_BULK_MODULUS(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS; temp_msg.data[1] = (uint8_t) BULK_MODULUS; temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8); can.write(temp_msg); } void CAN_TX_CHAMBER_VOLUME(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 5; temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME; temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A; temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8); temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B; temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8); can.write(temp_msg); } void CAN_TX_PISTON_AREA(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 5; temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA; temp_msg.data[1] = (uint8_t) PISTON_AREA_A; temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8); temp_msg.data[3] = (uint8_t) PISTON_AREA_B; temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8); can.write(temp_msg); } void CAN_TX_PRES_A_AND_B(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 5; temp_msg.data[0] = (uint8_t) CTX_SEND_PRES; temp_msg.data[1] = (uint8_t) PRES_SUPPLY; temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8); temp_msg.data[3] = (uint8_t) PRES_RETURN; temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8); can.write(temp_msg); } void CAN_TX_ENC_LIMIT(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 5; temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT; temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS; temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8); temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS; temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8); can.write(temp_msg); } void CAN_TX_STROKE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE; temp_msg.data[1] = (uint8_t) STROKE; temp_msg.data[2] = (uint8_t) (STROKE >> 8); can.write(temp_msg); } void CAN_TX_VALVE_LIMIT(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 5; temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT; temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS; temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8); temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS; temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 8); can.write(temp_msg); } void CAN_TX_ENC_PULSE_PER_POSITION(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION; temp_msg.data[1] = (uint8_t) ENC_PULSE_PER_POSITION; temp_msg.data[2] = (uint8_t) (ENC_PULSE_PER_POSITION >> 8); can.write(temp_msg); } void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE; temp_msg.data[1] = (uint8_t) TORQUE_SENSOR_PULSE_PER_TORQUE; temp_msg.data[2] = (uint8_t) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8); can.write(temp_msg); } void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 5; temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR; temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.); temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8); temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.); temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8); can.write(temp_msg); } void CAN_TX_FRICTION(void) { CANMessage temp_msg; int16_t send_friction; send_friction = (int16_t) (FRICTION * 10.); temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION; temp_msg.data[1] = (uint8_t) send_friction; temp_msg.data[2] = (uint8_t) (send_friction >> 8); can.write(temp_msg); } void CAN_TX_VALVE_GAIN_PLUS(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 6; temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS; temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.); temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.); temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.); temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.); temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.); can.write(temp_msg); } void CAN_TX_DDV_VALVE_DEADZONE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 7; temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE; temp_msg.data[1] = (uint8_t) VALVE_DEADZONE_MINUS; temp_msg.data[2] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8); temp_msg.data[3] = (uint8_t) (VALVE_DEADZONE_PLUS); temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8); temp_msg.data[5] = (uint8_t) (DDV_CENTER); temp_msg.data[6] = (uint8_t) ((int) (DDV_CENTER) >> 8); can.write(temp_msg); } void CAN_TX_VALVE_GAIN_MINUS(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 6; temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS; temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.); temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.); temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.); temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.); temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.); can.write(temp_msg); } void CAN_TX_REFENCE_MODE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 6; temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE; temp_msg.data[1] = (uint8_t) REFERENCE_MODE; temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.); temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.) >> 8); temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.); temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.) >> 8); can.write(temp_msg); } void CAN_TX_HOMEPOS_OFFSET(void) { CANMessage temp_msg; int16_t send_homepos_offset; send_homepos_offset = (int16_t) (HOMEPOS_OFFSET); temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET; temp_msg.data[1] = (uint8_t) send_homepos_offset; temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8); can.write(temp_msg); } void CAN_TX_HOMPOS_VALVE_OPENING(void) { CANMessage temp_msg; int16_t send_homepos_valve_opening; send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING); temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING; temp_msg.data[1] = (uint8_t) send_homepos_valve_opening; temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8); can.write(temp_msg); } void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) { CANMessage temp_msg; int16_t valve_pos_vs_pwm; valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]); int16_t PWM_VALVE_ID; PWM_VALVE_ID = ID_index_array[canindex] * 1000; temp_msg.id = CID_TX_INFO; temp_msg.len = 5; temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS; temp_msg.data[1] = (uint8_t) PWM_VALVE_ID; temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8); temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm; temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8); can.write(temp_msg); } void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) { CANMessage temp_msg; int32_t valve_pos_vs_flowrate; valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]); int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 50 + DDV_CENTER; temp_msg.id = CID_TX_INFO; temp_msg.len = 7; temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE; temp_msg.data[1] = (uint8_t) VALVE_POS_VALVE_ID; temp_msg.data[2] = (uint8_t) (VALVE_POS_VALVE_ID >> 8); temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate; temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8); temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16); temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24); can.write(temp_msg); } void CAN_TX_VALVE_POS_NUM(void) { CANMessage temp_msg; int32_t valve_pos_num; valve_pos_num = (int16_t) VALVE_POS_NUM; temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM; temp_msg.data[1] = (uint8_t) valve_pos_num; temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8); can.write(temp_msg); } /****************************************************************************** Sensor & State Transmission Functions *******************************************************************************/ void CAN_TX_POSITION(int32_t t_pos, int32_t t_vel) { CANMessage temp_msg; temp_msg.id = CID_TX_POSITION; temp_msg.len = 8; temp_msg.data[0] = (uint8_t) t_pos; temp_msg.data[1] = (uint8_t) (t_pos >> 8); temp_msg.data[2] = (uint8_t) (t_pos >> 16); temp_msg.data[3] = (uint8_t) (t_pos >> 24); temp_msg.data[4] = (uint8_t) t_vel; temp_msg.data[5] = (uint8_t) (t_vel >> 8); temp_msg.data[6] = (uint8_t) (t_vel >> 16); temp_msg.data[7] = (uint8_t) (t_vel >> 24); can.write(temp_msg); } void CAN_TX_TORQUE(int16_t t_torque) { CANMessage temp_msg; temp_msg.id = CID_TX_TORQUE; temp_msg.len = 2; temp_msg.data[0] = (uint8_t) t_torque; temp_msg.data[1] = (uint8_t) (t_torque >> 8); can.write(temp_msg); } void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) { CANMessage temp_msg; temp_msg.id = CID_TX_PRES; temp_msg.len = 8; temp_msg.data[0] = (uint8_t) t_pres_a; temp_msg.data[1] = (uint8_t) (t_pres_a >> 8); temp_msg.data[2] = (uint8_t) t_pres_b; temp_msg.data[3] = (uint8_t) (t_pres_b >> 8); can.write(temp_msg); } void CAN_TX_PWM(int16_t t_pwm) { CANMessage temp_msg; temp_msg.id = CID_TX_POSITION; temp_msg.len = 8; temp_msg.data[0] = (uint8_t) t_pwm; temp_msg.data[1] = (uint8_t) (t_pwm >> 8); can.write(temp_msg); } void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) { CANMessage temp_msg; temp_msg.id = CID_TX_VALVE_POSITION; temp_msg.len = 8; temp_msg.data[0] = (uint8_t) t_valve_pos; temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8); can.write(temp_msg); }