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CAN/function_CAN.cpp@209:ebc69d6ee6f1, 2020-12-23 (annotated)

Committer:: Lightvalve
Date:: Wed Dec 23 00:39:47 2020 +0000
Revision:: 209:ebc69d6ee6f1
Parent:: 192:637092202815
Child:: 224:985dba42f261
Child:: 233:0a37cdd59651

201223-1

Who changed what in which revision?

User	Revision	Line number	New contents of line
jobuuu	2:a1c0a37df760	1	#include "function_CAN.h"
Lightvalve	11:82d8768d7351	2	#include "setting.h"
Lightvalve	11:82d8768d7351	3	#include "function_utilities.h"
Lightvalve	11:82d8768d7351	4	#include "SPI_EEP_ENC.h"
Lightvalve	16:903b5a4433b4	5	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	6	#include "FlashWriter.h"
jobuuu	2:a1c0a37df760	7
jobuuu	2:a1c0a37df760	8	// CAN ID Setting Variables
jobuuu	2:a1c0a37df760	9	int CID_RX_CMD = 100;
jobuuu	2:a1c0a37df760	10	int CID_RX_REF_POSITION = 200;
Lightvalve	49:e7bcfc244d40	11	int CID_RX_REF_VALVE_POS = 300;
Lightvalve	49:e7bcfc244d40	12	int CID_RX_REF_PWM = 400;
jobuuu	2:a1c0a37df760	13
jobuuu	2:a1c0a37df760	14	int CID_TX_INFO = 1100;
jobuuu	2:a1c0a37df760	15	int CID_TX_POSITION = 1200;
jobuuu	2:a1c0a37df760	16	int CID_TX_TORQUE = 1300;
jobuuu	2:a1c0a37df760	17	int CID_TX_PRES = 1400;
jobuuu	7:e9086c72bb22	18	int CID_TX_VOUT = 1500;
jobuuu	2:a1c0a37df760	19	int CID_TX_VALVE_POSITION = 1600;
jobuuu	2:a1c0a37df760	20
Lightvalve	12:6f2531038ea4	21	// variables
Lightvalve	12:6f2531038ea4	22	uint8_t can_index = 0;
Lightvalve	67:c2812cf26c38	23
Lightvalve	66:a8e6799dbce3	24	extern DigitalOut LED;
Lightvalve	12:6f2531038ea4	25
Lightvalve	99:7bbcb3c0fb06	26	extern float u_past[];
Lightvalve	68:328e1be06f5d	27	extern float x_past[];
Lightvalve	85:a3b46118b5cd	28	extern float x_future[];
Lightvalve	68:328e1be06f5d	29	extern float f_past[];
Lightvalve	68:328e1be06f5d	30	extern float f_future[];
Lightvalve	73:f80dc3970c99	31	extern float input_NN[];
Lightvalve	68:328e1be06f5d	32
Lightvalve	11:82d8768d7351	33	/*******************************************************************************
Lightvalve	11:82d8768d7351	34	* CAN functions
Lightvalve	11:82d8768d7351	35	******************************************************************************/
Lightvalve	170:42c938a40313	36	void CAN_ID_INIT(void)
Lightvalve	170:42c938a40313	37	{
jobuuu	7:e9086c72bb22	38
Lightvalve	11:82d8768d7351	39	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	40	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	41	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	42	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	43
Lightvalve	11:82d8768d7351	44	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	45	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	46	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	47	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	48	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	49	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
Lightvalve	28:2a62d73e3dd0	52	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	53	{
Lightvalve	170:42c938a40313	54	switch(CMD) {
Lightvalve	11:82d8768d7351	55	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	56	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	57	break;
Lightvalve	11:82d8768d7351	58	}
Lightvalve	11:82d8768d7351	59	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	60	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	61	break;
Lightvalve	11:82d8768d7351	62	}
Lightvalve	11:82d8768d7351	63	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	64	BNO = (int16_t) msg.data[1];
Lightvalve	170:42c938a40313	65
Lightvalve	170:42c938a40313	66	//ROM_RESET_DATA();
Lightvalve	170:42c938a40313	67	spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	68	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	69	break;
Lightvalve	11:82d8768d7351	70	}
Lightvalve	11:82d8768d7351	71	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	72	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	73	break;
Lightvalve	11:82d8768d7351	74	}
Lightvalve	11:82d8768d7351	75	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	76	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	77	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	78	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	79	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	170:42c938a40313	80	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	81	spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve	170:42c938a40313	82	spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
Lightvalve	170:42c938a40313	83	spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
Lightvalve	170:42c938a40313	84	spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
Lightvalve	11:82d8768d7351	85	break;
Lightvalve	11:82d8768d7351	86	}
Lightvalve	11:82d8768d7351	87	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	88	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	89
Lightvalve	11:82d8768d7351	90	break;
Lightvalve	11:82d8768d7351	91	}
Lightvalve	11:82d8768d7351	92	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	93
Lightvalve	11:82d8768d7351	94	break;
Lightvalve	11:82d8768d7351	95	}
Lightvalve	11:82d8768d7351	96
Lightvalve	45:35fa6884d0c6	97	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	98	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	99	/*
Lightvalve	45:35fa6884d0c6	100	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	101	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	102	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	103	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	104	*/
Lightvalve	11:82d8768d7351	105	break;
Lightvalve	11:82d8768d7351	106	}
Lightvalve	11:82d8768d7351	107
Lightvalve	11:82d8768d7351	108	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	109	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	110
Lightvalve	11:82d8768d7351	111	break;
Lightvalve	11:82d8768d7351	112	}
Lightvalve	11:82d8768d7351	113
Lightvalve	11:82d8768d7351	114	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	115	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	116	ROM_RESET_DATA();
Lightvalve	170:42c938a40313	117	spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve	11:82d8768d7351	118	break;
Lightvalve	11:82d8768d7351	119	}
Lightvalve	11:82d8768d7351	120
Lightvalve	11:82d8768d7351	121	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	122	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	123
Lightvalve	11:82d8768d7351	124	break;
Lightvalve	11:82d8768d7351	125	}
Lightvalve	11:82d8768d7351	126
Lightvalve	11:82d8768d7351	127	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	128	//CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve	57:f4819de54e7a	129	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	130	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	131	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	132	}
Lightvalve	11:82d8768d7351	133	break;
Lightvalve	11:82d8768d7351	134	}
Lightvalve	11:82d8768d7351	135
Lightvalve	11:82d8768d7351	136	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	137	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	138	flag_data_request[request_type] = msg.data[1];
Lightvalve	14:8e7590227d22	139	//pc.printf("can middle %d\n", request_type);
Lightvalve	11:82d8768d7351	140
Lightvalve	12:6f2531038ea4	141	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	142	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	143	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	144	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	145
Lightvalve	11:82d8768d7351	146	break;
Lightvalve	11:82d8768d7351	147	}
Lightvalve	11:82d8768d7351	148
Lightvalve	11:82d8768d7351	149	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	150	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	151
Lightvalve	11:82d8768d7351	152	break;
Lightvalve	11:82d8768d7351	153	}
Lightvalve	11:82d8768d7351	154
Lightvalve	11:82d8768d7351	155	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	156	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	157	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	158	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	159	else
Lightvalve	11:82d8768d7351	160	DIR_JOINT_ENC = -1;
Lightvalve	170:42c938a40313	161
Lightvalve	170:42c938a40313	162	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	163
Lightvalve	170:42c938a40313	164	spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	165
Lightvalve	11:82d8768d7351	166	break;
Lightvalve	11:82d8768d7351	167	}
Lightvalve	11:82d8768d7351	168
Lightvalve	11:82d8768d7351	169	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	170	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	171
Lightvalve	11:82d8768d7351	172	break;
Lightvalve	11:82d8768d7351	173	}
Lightvalve	11:82d8768d7351	174
Lightvalve	11:82d8768d7351	175	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	176	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	177	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	178	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	179	else
Lightvalve	11:82d8768d7351	180	DIR_VALVE = -1;
Lightvalve	170:42c938a40313	181
Lightvalve	170:42c938a40313	182	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	183
Lightvalve	170:42c938a40313	184	spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	185
Lightvalve	11:82d8768d7351	186	break;
Lightvalve	11:82d8768d7351	187	}
Lightvalve	11:82d8768d7351	188
Lightvalve	11:82d8768d7351	189	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	190	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	191
Lightvalve	11:82d8768d7351	192	break;
Lightvalve	11:82d8768d7351	193	}
Lightvalve	11:82d8768d7351	194
Lightvalve	11:82d8768d7351	195	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	196	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	197	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	198	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	199	else
Lightvalve	11:82d8768d7351	200	DIR_VALVE_ENC = -1;
Lightvalve	11:82d8768d7351	201
Lightvalve	170:42c938a40313	202	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	203
Lightvalve	170:42c938a40313	204	spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	205
Lightvalve	11:82d8768d7351	206	break;
Lightvalve	11:82d8768d7351	207	}
Lightvalve	11:82d8768d7351	208
Lightvalve	11:82d8768d7351	209	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	210	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	211
Lightvalve	11:82d8768d7351	212	break;
Lightvalve	11:82d8768d7351	213	}
Lightvalve	11:82d8768d7351	214
Lightvalve	11:82d8768d7351	215	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	216	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	217
Lightvalve	170:42c938a40313	218	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	219
Lightvalve	170:42c938a40313	220	spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve	11:82d8768d7351	221
Lightvalve	11:82d8768d7351	222	break;
Lightvalve	11:82d8768d7351	223	}
Lightvalve	11:82d8768d7351	224
Lightvalve	11:82d8768d7351	225	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	226	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	227
Lightvalve	11:82d8768d7351	228	break;
Lightvalve	11:82d8768d7351	229	}
Lightvalve	11:82d8768d7351	230
Lightvalve	11:82d8768d7351	231	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	232	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	233
Lightvalve	170:42c938a40313	234	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	235
Lightvalve	170:42c938a40313	236	spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve	11:82d8768d7351	237
Lightvalve	11:82d8768d7351	238
Lightvalve	11:82d8768d7351	239	break;
Lightvalve	11:82d8768d7351	240	}
Lightvalve	12:6f2531038ea4	241
Lightvalve	11:82d8768d7351	242	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	243	//CONTROL_MODE = 22;
Lightvalve	57:f4819de54e7a	244	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	245	break;
Lightvalve	11:82d8768d7351	246	}
Lightvalve	11:82d8768d7351	247
Lightvalve	11:82d8768d7351	248	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	249	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	250
Lightvalve	11:82d8768d7351	251	break;
Lightvalve	11:82d8768d7351	252	}
Lightvalve	11:82d8768d7351	253
Lightvalve	11:82d8768d7351	254	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	255	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	256	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	257	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	258	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	259
Lightvalve	170:42c938a40313	260	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	261	spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	262	spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	263	spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	11:82d8768d7351	264
Lightvalve	11:82d8768d7351	265	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	266	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	267	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	268	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	269
Lightvalve	170:42c938a40313	270	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	271	spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	272	spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	273	spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	274
Lightvalve	11:82d8768d7351	275	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	276	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	277	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	278	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	279
Lightvalve	170:42c938a40313	280	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	281	spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	282	spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	283	spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	284
Lightvalve	46:2694daea349b	285	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	286	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	287	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	170:42c938a40313	288
Lightvalve	67:c2812cf26c38	289	// ROM_RESET_DATA(); //For Real-time changing
Lightvalve	170:42c938a40313	290	// spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve	170:42c938a40313	291	// spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve	170:42c938a40313	292
Lightvalve	72:3436ce769b1e	293	} else if (msg.data[1] == 4) {
Lightvalve	72:3436ce769b1e	294	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	72:3436ce769b1e	295	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	72:3436ce769b1e	296	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	297
Lightvalve	170:42c938a40313	298	// ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	299	}
Lightvalve	11:82d8768d7351	300
Lightvalve	11:82d8768d7351	301	break;
Lightvalve	11:82d8768d7351	302	}
Lightvalve	11:82d8768d7351	303
Lightvalve	11:82d8768d7351	304	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	305	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	306
Lightvalve	11:82d8768d7351	307	break;
Lightvalve	11:82d8768d7351	308	}
Lightvalve	11:82d8768d7351	309
Lightvalve	11:82d8768d7351	310	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	311	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	312	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	313	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	170:42c938a40313	314
Lightvalve	170:42c938a40313	315	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	316	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	317	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	170:42c938a40313	318	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	11:82d8768d7351	319
Lightvalve	11:82d8768d7351	320	break;
Lightvalve	11:82d8768d7351	321	}
Lightvalve	11:82d8768d7351	322
Lightvalve	11:82d8768d7351	323	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	324	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	325
Lightvalve	11:82d8768d7351	326	break;
Lightvalve	11:82d8768d7351	327	}
Lightvalve	11:82d8768d7351	328
Lightvalve	11:82d8768d7351	329	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	330	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	331
Lightvalve	170:42c938a40313	332	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	333
Lightvalve	170:42c938a40313	334	spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	335
Lightvalve	11:82d8768d7351	336	break;
Lightvalve	11:82d8768d7351	337	}
Lightvalve	11:82d8768d7351	338
Lightvalve	11:82d8768d7351	339	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	340	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	341
Lightvalve	11:82d8768d7351	342	break;
Lightvalve	11:82d8768d7351	343	}
Lightvalve	11:82d8768d7351	344
Lightvalve	11:82d8768d7351	345	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	346	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	347
Lightvalve	170:42c938a40313	348	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	349
Lightvalve	170:42c938a40313	350	spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	351
Lightvalve	11:82d8768d7351	352	break;
Lightvalve	11:82d8768d7351	353	}
Lightvalve	11:82d8768d7351	354
Lightvalve	11:82d8768d7351	355	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	356	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	357
Lightvalve	11:82d8768d7351	358	break;
Lightvalve	11:82d8768d7351	359	}
Lightvalve	11:82d8768d7351	360
Lightvalve	11:82d8768d7351	361	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	362	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	363
Lightvalve	170:42c938a40313	364	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	365
Lightvalve	170:42c938a40313	366	spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	367
Lightvalve	11:82d8768d7351	368	break;
Lightvalve	11:82d8768d7351	369	}
Lightvalve	11:82d8768d7351	370
Lightvalve	11:82d8768d7351	371	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	372	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	373
Lightvalve	11:82d8768d7351	374	break;
Lightvalve	11:82d8768d7351	375	}
Lightvalve	11:82d8768d7351	376
Lightvalve	11:82d8768d7351	377	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	378	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	379
Lightvalve	170:42c938a40313	380	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	381
Lightvalve	170:42c938a40313	382	spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	383
Lightvalve	11:82d8768d7351	384	break;
Lightvalve	11:82d8768d7351	385	}
Lightvalve	11:82d8768d7351	386
Lightvalve	11:82d8768d7351	387	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	388	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	389
Lightvalve	11:82d8768d7351	390	break;
Lightvalve	11:82d8768d7351	391	}
Lightvalve	11:82d8768d7351	392
Lightvalve	11:82d8768d7351	393	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	394	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	395	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	396
Lightvalve	170:42c938a40313	397	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	398
Lightvalve	170:42c938a40313	399	spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	170:42c938a40313	400	spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	401
Lightvalve	11:82d8768d7351	402	break;
Lightvalve	11:82d8768d7351	403	}
Lightvalve	11:82d8768d7351	404
Lightvalve	11:82d8768d7351	405	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	406	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	407
Lightvalve	11:82d8768d7351	408	break;
Lightvalve	11:82d8768d7351	409	}
Lightvalve	11:82d8768d7351	410
Lightvalve	11:82d8768d7351	411	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	412	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	413	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	69:3995ffeaa786	414	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	415	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	170:42c938a40313	416
Lightvalve	170:42c938a40313	417	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	418
Lightvalve	170:42c938a40313	419	spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	170:42c938a40313	420	spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	421	break;
Lightvalve	11:82d8768d7351	422	}
Lightvalve	11:82d8768d7351	423
Lightvalve	11:82d8768d7351	424	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	425	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	426	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	427	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	428	//dac_2 = PRES_B_VREF;
Lightvalve	170:42c938a40313	429
Lightvalve	11:82d8768d7351	430	break;
Lightvalve	11:82d8768d7351	431	}
Lightvalve	11:82d8768d7351	432
Lightvalve	11:82d8768d7351	433	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	434	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	435	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	436	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	437	spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	170:42c938a40313	438	spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	439
Lightvalve	11:82d8768d7351	440
Lightvalve	11:82d8768d7351	441	break;
Lightvalve	11:82d8768d7351	442	}
Lightvalve	11:82d8768d7351	443
Lightvalve	11:82d8768d7351	444	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	445	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	446
Lightvalve	11:82d8768d7351	447	break;
Lightvalve	11:82d8768d7351	448	}
Lightvalve	11:82d8768d7351	449
Lightvalve	11:82d8768d7351	450	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	451	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	452	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	453	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	454	spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	170:42c938a40313	455	spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	456
Lightvalve	11:82d8768d7351	457	break;
Lightvalve	11:82d8768d7351	458	}
Lightvalve	11:82d8768d7351	459
Lightvalve	11:82d8768d7351	460	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	461	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	462	break;
Lightvalve	11:82d8768d7351	463	}
Lightvalve	11:82d8768d7351	464
Lightvalve	11:82d8768d7351	465	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	466	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	467	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	468	spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	469
Lightvalve	11:82d8768d7351	470	break;
Lightvalve	11:82d8768d7351	471	}
Lightvalve	11:82d8768d7351	472
Lightvalve	11:82d8768d7351	473	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	474	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	475
Lightvalve	11:82d8768d7351	476	break;
Lightvalve	11:82d8768d7351	477	}
Lightvalve	11:82d8768d7351	478
Lightvalve	11:82d8768d7351	479	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	480	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	481	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	482	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	483
Lightvalve	170:42c938a40313	484	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	485	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	11:82d8768d7351	486
Lightvalve	11:82d8768d7351	487	break;
Lightvalve	11:82d8768d7351	488	}
Lightvalve	11:82d8768d7351	489
Lightvalve	11:82d8768d7351	490	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	491	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	492
Lightvalve	11:82d8768d7351	493	break;
Lightvalve	11:82d8768d7351	494	}
Lightvalve	11:82d8768d7351	495
Lightvalve	11:82d8768d7351	496	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	497	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	498	// ROM_RESET_DATA();
Lightvalve	180:02be1711ee0b	499	spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
Lightvalve	11:82d8768d7351	500
Lightvalve	11:82d8768d7351	501	break;
Lightvalve	11:82d8768d7351	502	}
Lightvalve	11:82d8768d7351	503
Lightvalve	11:82d8768d7351	504	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	505	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	506
Lightvalve	11:82d8768d7351	507	break;
Lightvalve	11:82d8768d7351	508	}
Lightvalve	11:82d8768d7351	509
Lightvalve	11:82d8768d7351	510	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	139:15621998925b	511	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.0001f);
Lightvalve	170:42c938a40313	512	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	513	spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve	11:82d8768d7351	514
Lightvalve	11:82d8768d7351	515	break;
Lightvalve	11:82d8768d7351	516	}
Lightvalve	11:82d8768d7351	517
Lightvalve	11:82d8768d7351	518	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	519	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	520
Lightvalve	11:82d8768d7351	521	break;
Lightvalve	11:82d8768d7351	522	}
Lightvalve	11:82d8768d7351	523
Lightvalve	11:82d8768d7351	524	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	525	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	526	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	170:42c938a40313	527	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	528	spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	170:42c938a40313	529	spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	11:82d8768d7351	530
Lightvalve	11:82d8768d7351	531	break;
Lightvalve	11:82d8768d7351	532	}
Lightvalve	11:82d8768d7351	533
Lightvalve	11:82d8768d7351	534	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	535	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	536
Lightvalve	11:82d8768d7351	537	break;
Lightvalve	11:82d8768d7351	538	}
Lightvalve	11:82d8768d7351	539
Lightvalve	11:82d8768d7351	540	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	541	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	542	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	543	spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve	11:82d8768d7351	544
Lightvalve	11:82d8768d7351	545	break;
Lightvalve	11:82d8768d7351	546	}
Lightvalve	11:82d8768d7351	547
Lightvalve	11:82d8768d7351	548	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	549	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	550
Lightvalve	11:82d8768d7351	551	break;
Lightvalve	11:82d8768d7351	552	}
Lightvalve	11:82d8768d7351	553	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	554	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	555	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	556	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	557	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	558	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	559	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	560	spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	170:42c938a40313	561	spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	170:42c938a40313	562	spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	170:42c938a40313	563	spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	170:42c938a40313	564	spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	565
Lightvalve	11:82d8768d7351	566	break;
Lightvalve	11:82d8768d7351	567	}
Lightvalve	11:82d8768d7351	568
Lightvalve	11:82d8768d7351	569	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	570	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	571
Lightvalve	11:82d8768d7351	572	break;
Lightvalve	11:82d8768d7351	573	}
Lightvalve	11:82d8768d7351	574	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	575	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	576	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	577	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	578	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	579	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	580	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	581	spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	170:42c938a40313	582	spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	170:42c938a40313	583	spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	170:42c938a40313	584	spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	170:42c938a40313	585	spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	586
Lightvalve	11:82d8768d7351	587	break;
Lightvalve	11:82d8768d7351	588	}
Lightvalve	11:82d8768d7351	589	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	590	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	591	break;
Lightvalve	11:82d8768d7351	592	}
Lightvalve	11:82d8768d7351	593
Lightvalve	11:82d8768d7351	594	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	595	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	596
Lightvalve	11:82d8768d7351	597	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	598	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	599	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	600	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	601	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	602
Lightvalve	11:82d8768d7351	603	break;
Lightvalve	11:82d8768d7351	604	}
Lightvalve	11:82d8768d7351	605
Lightvalve	11:82d8768d7351	606	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	607	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	608
Lightvalve	11:82d8768d7351	609	break;
Lightvalve	11:82d8768d7351	610	}
Lightvalve	11:82d8768d7351	611
Lightvalve	11:82d8768d7351	612	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	613
Lightvalve	12:6f2531038ea4	614	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	615	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	616	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	617	}
Lightvalve	11:82d8768d7351	618
Lightvalve	11:82d8768d7351	619	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	620
Lightvalve	11:82d8768d7351	621
Lightvalve	11:82d8768d7351	622	break;
Lightvalve	11:82d8768d7351	623	}
Lightvalve	11:82d8768d7351	624
Lightvalve	11:82d8768d7351	625	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	626	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	627	break;
Lightvalve	11:82d8768d7351	628	}
Lightvalve	11:82d8768d7351	629	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	630	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	631	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	632	spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	633	break;
Lightvalve	11:82d8768d7351	634	}
Lightvalve	11:82d8768d7351	635
Lightvalve	11:82d8768d7351	636	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	637	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	638	break;
Lightvalve	11:82d8768d7351	639	}
Lightvalve	11:82d8768d7351	640	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	641	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	642	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	643	spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	644	break;
Lightvalve	11:82d8768d7351	645	}
Lightvalve	11:82d8768d7351	646
Lightvalve	11:82d8768d7351	647	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	648	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	649	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	650	break;
Lightvalve	11:82d8768d7351	651	}
Lightvalve	11:82d8768d7351	652	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	653	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	654	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	655	break;
Lightvalve	11:82d8768d7351	656	}
Lightvalve	11:82d8768d7351	657	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	658	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	659	break;
Lightvalve	11:82d8768d7351	660	}
Lightvalve	170:42c938a40313	661
Lightvalve	28:2a62d73e3dd0	662	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	663	ROM_RESET_DATA();
Lightvalve	28:2a62d73e3dd0	664	break;
Lightvalve	28:2a62d73e3dd0	665	}
Lightvalve	32:4b8c0fedaf2c	666	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	667	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	668	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	170:42c938a40313	669	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	670	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	671
Lightvalve	33:91b17819ec30	672	break;
Lightvalve	33:91b17819ec30	673	}
Lightvalve	33:91b17819ec30	674	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	675	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	676	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	170:42c938a40313	677	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	678	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	170:42c938a40313	679
Lightvalve	33:91b17819ec30	680	break;
Lightvalve	33:91b17819ec30	681	}
Lightvalve	33:91b17819ec30	682	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	683	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	684	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	170:42c938a40313	685	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	686	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	32:4b8c0fedaf2c	687	break;
Lightvalve	32:4b8c0fedaf2c	688	}
Lightvalve	36:a46e63505ed8	689	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	690	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	691	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	692	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	693	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	694
Lightvalve	170:42c938a40313	695	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	696
Lightvalve	36:a46e63505ed8	697	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	698	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	699	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	700
Lightvalve	36:a46e63505ed8	701
Lightvalve	36:a46e63505ed8	702	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	703	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	704	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	705	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	706
Lightvalve	170:42c938a40313	707	// ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	708
Lightvalve	36:a46e63505ed8	709	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	710	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	711	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	712	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	713	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	714	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	715	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	716
Lightvalve	170:42c938a40313	717	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	718
Lightvalve	36:a46e63505ed8	719	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	720	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	721	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	722	}
Lightvalve	36:a46e63505ed8	723	break;
Lightvalve	36:a46e63505ed8	724	}
Lightvalve	38:118df027d851	725	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	57:f4819de54e7a	726	//CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	38:118df027d851	727	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	728	break;
Lightvalve	38:118df027d851	729	}
Lightvalve	170:42c938a40313	730	case CRX_DELAY_TEST: {
Lightvalve	54:647072f5307a	731	flag_delay_test = 1;
Lightvalve	54:647072f5307a	732	break;
Lightvalve	54:647072f5307a	733	}
Lightvalve	68:328e1be06f5d	734	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	68:328e1be06f5d	735	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	68:328e1be06f5d	736	CONTROL_UTILITY_MODE = 1;
Lightvalve	68:328e1be06f5d	737	break;
Lightvalve	68:328e1be06f5d	738	}
Lightvalve	169:645207e160ca	739	case CRX_SET_FREQ_TEST: {
Lightvalve	169:645207e160ca	740	cnt_freq_test = 0;
Lightvalve	169:645207e160ca	741	CONTROL_UTILITY_MODE = 34;
Lightvalve	169:645207e160ca	742	break;
Lightvalve	169:645207e160ca	743	}
Lightvalve	170:42c938a40313	744
Lightvalve	169:645207e160ca	745	case CRX_ASK_BUFFER: {
Lightvalve	169:645207e160ca	746	cnt_buffer = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	169:645207e160ca	747	CAN_TX_BUFFER(cnt_buffer);
Lightvalve	169:645207e160ca	748	break;
Lightvalve	169:645207e160ca	749	}
Lightvalve	170:42c938a40313	750
Lightvalve	169:645207e160ca	751	case CRX_SET_STEP_TEST: {
Lightvalve	169:645207e160ca	752	cnt_step_test = 0;
Lightvalve	169:645207e160ca	753	CONTROL_UTILITY_MODE = 37;
Lightvalve	169:645207e160ca	754	break;
Lightvalve	169:645207e160ca	755	}
Lightvalve	38:118df027d851	756
Lightvalve	192:637092202815	757	case CRX_SET_CHANGE_EVERY_REFERNCE: {
Lightvalve	192:637092202815	758	flag_every_reference = 1;
Lightvalve	192:637092202815	759	break;
Lightvalve	192:637092202815	760	}
Lightvalve	192:637092202815	761
Lightvalve	170:42c938a40313	762	default:
Lightvalve	170:42c938a40313	763	break;
jobuuu	2:a1c0a37df760	764	}
jobuuu	2:a1c0a37df760	765	}
jobuuu	2:a1c0a37df760	766
jobuuu	2:a1c0a37df760	767	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	768	{
Lightvalve	170:42c938a40313	769
jobuuu	2:a1c0a37df760	770	can.read(msg);
jobuuu	2:a1c0a37df760	771	unsigned int address = msg.id;
Lightvalve	170:42c938a40313	772	if(address==CID_RX_CMD) {
jobuuu	2:a1c0a37df760	773	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	774	ReadCMD(CMD);
Lightvalve	170:42c938a40313	775
jobuuu	7:e9086c72bb22	776	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	170:42c938a40313	777
Lightvalve	43:b084e5f5d0d5	778	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	779	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	780	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	170:42c938a40313	781
Lightvalve	57:f4819de54e7a	782	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	783	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	784	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	170:42c938a40313	785	} else { //Linear Actuator
Lightvalve	67:c2812cf26c38	786	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	67:c2812cf26c38	787	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	57:f4819de54e7a	788	}
Lightvalve	170:42c938a40313	789
Lightvalve	68:328e1be06f5d	790	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	133:22ab22818e01	791	torq.ref_diff = torq.ref - torq.ref_old;
Lightvalve	209:ebc69d6ee6f1	792	torq_dot.sen = torq.sen-totq_sen_past;
Lightvalve	133:22ab22818e01	793	torq.ref_old = torq.ref;
Lightvalve	209:ebc69d6ee6f1	794	totq_sen_past = torq.sen;
Lightvalve	170:42c938a40313	795
Lightvalve	68:328e1be06f5d	796	///////////////Make Data///////////////////
Lightvalve	170:42c938a40313	797	for(int i=0; i<num_array_u_past-1; i++) {
Lightvalve	99:7bbcb3c0fb06	798	u_past[i] = u_past[i+1];
Lightvalve	99:7bbcb3c0fb06	799	}
Lightvalve	99:7bbcb3c0fb06	800	u_past[num_array_u_past-1] = output_normalized;
Lightvalve	170:42c938a40313	801
Lightvalve	170:42c938a40313	802	for(int i=0; i<num_array_x_past-1; i++) {
Lightvalve	68:328e1be06f5d	803	x_past[i] = x_past[i+1];
Lightvalve	68:328e1be06f5d	804	}
Lightvalve	68:328e1be06f5d	805	x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	170:42c938a40313	806
Lightvalve	122:dcb3ce3056a0	807	// for(int i=0;i<num_array_x_future-1;i++){
Lightvalve	122:dcb3ce3056a0	808	// x_future[i] = x_future[i+1];
Lightvalve	122:dcb3ce3056a0	809	// }
Lightvalve	122:dcb3ce3056a0	810	// x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	170:42c938a40313	811
Lightvalve	170:42c938a40313	812	for(int i=0; i<num_array_f_past-1; i++) {
Lightvalve	68:328e1be06f5d	813	f_past[i] = f_past[i+1];
Lightvalve	68:328e1be06f5d	814	}
Lightvalve	101:50159049a518	815	f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve	170:42c938a40313	816
Lightvalve	68:328e1be06f5d	817	f_future[0] = torq.sen; //N
Lightvalve	192:637092202815	818
Lightvalve	192:637092202815	819	if(flag_every_reference == 1) {
Lightvalve	192:637092202815	820	for(int i=1; i<num_array_f_future-1; i++) {
Lightvalve	192:637092202815	821	f_future[i] = 500.0f;
Lightvalve	192:637092202815	822	}
Lightvalve	192:637092202815	823	f_future[num_array_f_future-1] = 500.0f; //N
Lightvalve	192:637092202815	824	} else {
Lightvalve	192:637092202815	825	for(int i=1; i<num_array_f_future-1; i++) {
Lightvalve	192:637092202815	826	f_future[i] = f_future[i+1];
Lightvalve	192:637092202815	827	}
Lightvalve	192:637092202815	828	f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve	68:328e1be06f5d	829	}
Lightvalve	68:328e1be06f5d	830
Lightvalve	101:50159049a518	831
Lightvalve	49:e7bcfc244d40	832	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	833	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	170:42c938a40313	834
Lightvalve	57:f4819de54e7a	835	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	836	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	837	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	838	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	839	} else { //SW Valve
Lightvalve	57:f4819de54e7a	840	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	841	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	842	} else {
Lightvalve	57:f4819de54e7a	843	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	844	}
Lightvalve	47:fdcb8bd86fd6	845	}
Lightvalve	170:42c938a40313	846	} else if(address==CID_RX_REF_PWM) {
Lightvalve	49:e7bcfc244d40	847	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	848	Vout.ref = (double) temp_ref_pwm;
Lightvalve	170:42c938a40313	849	}
jobuuu	2:a1c0a37df760	850	}
jobuuu	2:a1c0a37df760	851
jobuuu	2:a1c0a37df760	852	/******************************************************************************
jobuuu	2:a1c0a37df760	853	Information Transmission Functions
jobuuu	2:a1c0a37df760	854	*******************************************************************************/
Lightvalve	11:82d8768d7351	855
Lightvalve	170:42c938a40313	856	void CAN_TX_INFO(void)
Lightvalve	170:42c938a40313	857	{
Lightvalve	12:6f2531038ea4	858	CANMessage temp_msg;
Lightvalve	170:42c938a40313	859
jobuuu	2:a1c0a37df760	860	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	861	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	862	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	863	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	864	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	865	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	866	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	867	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	868	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	869
jobuuu	2:a1c0a37df760	870	can.write(temp_msg);
jobuuu	2:a1c0a37df760	871	}
jobuuu	2:a1c0a37df760	872
Lightvalve	170:42c938a40313	873	void CAN_TX_BNO(void)
Lightvalve	170:42c938a40313	874	{
Lightvalve	12:6f2531038ea4	875	CANMessage temp_msg;
Lightvalve	170:42c938a40313	876
jobuuu	2:a1c0a37df760	877	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	878	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	879	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	880	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	881
jobuuu	2:a1c0a37df760	882	can.write(temp_msg);
jobuuu	2:a1c0a37df760	883	}
jobuuu	2:a1c0a37df760	884
Lightvalve	170:42c938a40313	885	void CAN_TX_OPERATING_MODE(void)
Lightvalve	170:42c938a40313	886	{
jobuuu	2:a1c0a37df760	887	CANMessage temp_msg;
Lightvalve	170:42c938a40313	888
jobuuu	2:a1c0a37df760	889	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	890	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	891	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	892	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	893	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	894	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	895	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	896
jobuuu	2:a1c0a37df760	897	can.write(temp_msg);
jobuuu	2:a1c0a37df760	898	}
jobuuu	2:a1c0a37df760	899
Lightvalve	170:42c938a40313	900	void CAN_TX_CAN_FREQ(void)
Lightvalve	170:42c938a40313	901	{
jobuuu	2:a1c0a37df760	902	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	903
jobuuu	2:a1c0a37df760	904	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	905	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	906	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	907	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	908	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	909
jobuuu	2:a1c0a37df760	910	can.write(temp_msg);
jobuuu	2:a1c0a37df760	911	}
Lightvalve	11:82d8768d7351	912
Lightvalve	170:42c938a40313	913	void CAN_TX_CONTROL_MODE(void)
Lightvalve	170:42c938a40313	914	{
jobuuu	2:a1c0a37df760	915	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	916
jobuuu	2:a1c0a37df760	917	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	918	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	919	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	920	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	921
jobuuu	2:a1c0a37df760	922	can.write(temp_msg);
jobuuu	2:a1c0a37df760	923	}
Lightvalve	11:82d8768d7351	924
Lightvalve	170:42c938a40313	925	void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve	170:42c938a40313	926	{
jobuuu	2:a1c0a37df760	927	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	928
jobuuu	2:a1c0a37df760	929	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	930	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	931	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	932	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	933	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	934
jobuuu	2:a1c0a37df760	935	can.write(temp_msg);
jobuuu	2:a1c0a37df760	936	}
jobuuu	2:a1c0a37df760	937
Lightvalve	170:42c938a40313	938	void CAN_TX_VALVE_DIR(void)
Lightvalve	170:42c938a40313	939	{
jobuuu	2:a1c0a37df760	940	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	941
jobuuu	2:a1c0a37df760	942	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	943	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	944	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	945	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	946	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	947
jobuuu	2:a1c0a37df760	948	can.write(temp_msg);
jobuuu	2:a1c0a37df760	949	}
jobuuu	2:a1c0a37df760	950
Lightvalve	170:42c938a40313	951	void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve	170:42c938a40313	952	{
jobuuu	2:a1c0a37df760	953	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	954
jobuuu	2:a1c0a37df760	955	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	956	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	957	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	958	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	959	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	960
jobuuu	2:a1c0a37df760	961	can.write(temp_msg);
jobuuu	2:a1c0a37df760	962	}
jobuuu	2:a1c0a37df760	963
Lightvalve	170:42c938a40313	964	void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve	170:42c938a40313	965	{
Lightvalve	49:e7bcfc244d40	966	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	967
jobuuu	2:a1c0a37df760	968	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	969
jobuuu	2:a1c0a37df760	970	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	971	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	972	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	973	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	974	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	975
jobuuu	2:a1c0a37df760	976	can.write(temp_msg);
jobuuu	2:a1c0a37df760	977	}
jobuuu	2:a1c0a37df760	978
Lightvalve	170:42c938a40313	979	void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve	170:42c938a40313	980	{
Lightvalve	49:e7bcfc244d40	981	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	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 = 3;
Lightvalve	12:6f2531038ea4	987	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	988	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	989	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	990
jobuuu	2:a1c0a37df760	991	can.write(temp_msg);
jobuuu	2:a1c0a37df760	992	}
Lightvalve	11:82d8768d7351	993
jobuuu	2:a1c0a37df760	994
Lightvalve	170:42c938a40313	995	void CAN_TX_PID_GAIN(int t_type)
Lightvalve	170:42c938a40313	996	{
jobuuu	2:a1c0a37df760	997	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	998	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	999	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	1000
Lightvalve	12:6f2531038ea4	1001	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	1002	if (t_type == 0) {
Lightvalve	30:8d561f16383b	1003	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	1004	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	1005	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	1006	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	1007	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	1008	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	1009	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	1010	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	1011	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	1012	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	1013	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	1014	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	1015	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	1016	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	1017	}
jobuuu	2:a1c0a37df760	1018
jobuuu	2:a1c0a37df760	1019	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1020
jobuuu	2:a1c0a37df760	1021	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1022	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1023	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	1024	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	1025	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	1026	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	1027	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	1028	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	1029	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	1030	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	1031
jobuuu	2:a1c0a37df760	1032	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1033	}
jobuuu	2:a1c0a37df760	1034
Lightvalve	11:82d8768d7351	1035
Lightvalve	170:42c938a40313	1036	void CAN_TX_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	1037	{
jobuuu	2:a1c0a37df760	1038	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1039
jobuuu	2:a1c0a37df760	1040	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1041	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1042	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	1043	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	1044	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	1045	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	1046	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	1047	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	1048	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	1049
jobuuu	2:a1c0a37df760	1050	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1051	}
jobuuu	2:a1c0a37df760	1052
Lightvalve	170:42c938a40313	1053	void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve	170:42c938a40313	1054	{
Lightvalve	11:82d8768d7351	1055	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1056
Lightvalve	11:82d8768d7351	1057	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1058	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1059	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1060	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1061	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	1062
Lightvalve	11:82d8768d7351	1063	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1064	}
Lightvalve	11:82d8768d7351	1065
Lightvalve	170:42c938a40313	1066	void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve	170:42c938a40313	1067	{
Lightvalve	11:82d8768d7351	1068	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1069
Lightvalve	11:82d8768d7351	1070	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1071	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1072	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1073	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1074	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	1075
Lightvalve	11:82d8768d7351	1076	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1077	}
Lightvalve	11:82d8768d7351	1078
Lightvalve	170:42c938a40313	1079	void CAN_TX_VALVE_FF(void)
Lightvalve	170:42c938a40313	1080	{
Lightvalve	11:82d8768d7351	1081	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1082
Lightvalve	11:82d8768d7351	1083	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1084	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1085	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	1086	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	1087	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	1088
Lightvalve	11:82d8768d7351	1089	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1090	}
Lightvalve	11:82d8768d7351	1091
Lightvalve	170:42c938a40313	1092	void CAN_TX_BULK_MODULUS(void)
Lightvalve	170:42c938a40313	1093	{
Lightvalve	11:82d8768d7351	1094	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1095
Lightvalve	11:82d8768d7351	1096	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1097	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1098	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1099	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1100	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	1101
Lightvalve	11:82d8768d7351	1102	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1103	}
Lightvalve	11:82d8768d7351	1104
Lightvalve	170:42c938a40313	1105	void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve	170:42c938a40313	1106	{
Lightvalve	11:82d8768d7351	1107	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1108
Lightvalve	11:82d8768d7351	1109	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1110	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1111	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1112	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1113	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1114	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1115	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1116
Lightvalve	11:82d8768d7351	1117	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1118	}
Lightvalve	11:82d8768d7351	1119
Lightvalve	170:42c938a40313	1120	void CAN_TX_PISTON_AREA(void)
Lightvalve	170:42c938a40313	1121	{
jobuuu	2:a1c0a37df760	1122	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1123
Lightvalve	11:82d8768d7351	1124	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1125	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1126	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1127	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1128	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1129	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1130	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1131
Lightvalve	11:82d8768d7351	1132	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1133	}
Lightvalve	11:82d8768d7351	1134
Lightvalve	170:42c938a40313	1135	void CAN_TX_PRES_A_AND_B(void)
Lightvalve	170:42c938a40313	1136	{
Lightvalve	11:82d8768d7351	1137	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1138
Lightvalve	11:82d8768d7351	1139	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1140	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1141	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1142	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1143	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1144	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1145	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1146
Lightvalve	11:82d8768d7351	1147	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1148	}
Lightvalve	11:82d8768d7351	1149
Lightvalve	170:42c938a40313	1150	void CAN_TX_ENC_LIMIT(void)
Lightvalve	170:42c938a40313	1151	{
Lightvalve	11:82d8768d7351	1152	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1153
Lightvalve	11:82d8768d7351	1154	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1155	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1156	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1157	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1158	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1159	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1160	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1161
Lightvalve	11:82d8768d7351	1162	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1163	}
Lightvalve	11:82d8768d7351	1164
Lightvalve	170:42c938a40313	1165	void CAN_TX_STROKE(void)
Lightvalve	170:42c938a40313	1166	{
Lightvalve	11:82d8768d7351	1167	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1168
Lightvalve	11:82d8768d7351	1169	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1170	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1171	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1172	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1173	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1174
Lightvalve	11:82d8768d7351	1175	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1176	}
Lightvalve	11:82d8768d7351	1177
Lightvalve	170:42c938a40313	1178	void CAN_TX_VALVE_LIMIT(void)
Lightvalve	170:42c938a40313	1179	{
Lightvalve	11:82d8768d7351	1180	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1181
Lightvalve	11:82d8768d7351	1182	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1183	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1184	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1185	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1186	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1187	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1188	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1189
Lightvalve	11:82d8768d7351	1190	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1191	}
Lightvalve	11:82d8768d7351	1192
Lightvalve	170:42c938a40313	1193	void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve	170:42c938a40313	1194	{
Lightvalve	11:82d8768d7351	1195	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1196
jobuuu	2:a1c0a37df760	1197	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1198	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1199	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1200	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1201	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1202	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1203
jobuuu	2:a1c0a37df760	1204	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1205	}
jobuuu	2:a1c0a37df760	1206
Lightvalve	170:42c938a40313	1207	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve	170:42c938a40313	1208	{
jobuuu	2:a1c0a37df760	1209	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1210
jobuuu	2:a1c0a37df760	1211	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1212	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1213	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	139:15621998925b	1214	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve	48:889798ff9329	1215	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1216	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1217
jobuuu	2:a1c0a37df760	1218	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1219	}
jobuuu	2:a1c0a37df760	1220
Lightvalve	170:42c938a40313	1221	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve	170:42c938a40313	1222	{
jobuuu	2:a1c0a37df760	1223	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1224
jobuuu	2:a1c0a37df760	1225	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1226	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1227	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1228	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1229	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1230	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1231	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1232
jobuuu	2:a1c0a37df760	1233	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1234	}
jobuuu	2:a1c0a37df760	1235
Lightvalve	170:42c938a40313	1236	void CAN_TX_FRICTION(void)
Lightvalve	170:42c938a40313	1237	{
Lightvalve	11:82d8768d7351	1238	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1239	int16_t send_friction;
Lightvalve	30:8d561f16383b	1240	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	170:42c938a40313	1241
Lightvalve	11:82d8768d7351	1242	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1243	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1244	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1245	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1246	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1247
Lightvalve	11:82d8768d7351	1248	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1249	}
Lightvalve	11:82d8768d7351	1250
Lightvalve	170:42c938a40313	1251	void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve	170:42c938a40313	1252	{
Lightvalve	11:82d8768d7351	1253	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1254
Lightvalve	11:82d8768d7351	1255	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1256	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1257	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1258	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1259	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1260	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1261	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1262	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1263
Lightvalve	11:82d8768d7351	1264	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1265	}
Lightvalve	11:82d8768d7351	1266
Lightvalve	170:42c938a40313	1267	void CAN_TX_DDV_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	1268	{
Lightvalve	11:82d8768d7351	1269	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1270	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1271	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1272	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1273
Lightvalve	57:f4819de54e7a	1274	//temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1275	//temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1276	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1277	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1278	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	170:42c938a40313	1279
Lightvalve	11:82d8768d7351	1280	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1281	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1282	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1283	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1284	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1285	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1286	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1287	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1288	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1289
Lightvalve	11:82d8768d7351	1290	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1291	}
Lightvalve	11:82d8768d7351	1292
Lightvalve	170:42c938a40313	1293	void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve	170:42c938a40313	1294	{
Lightvalve	11:82d8768d7351	1295	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1296
Lightvalve	11:82d8768d7351	1297	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1298	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1299	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1300	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1301	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1302	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1303	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1304	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1305
Lightvalve	11:82d8768d7351	1306	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1307	}
Lightvalve	11:82d8768d7351	1308
Lightvalve	170:42c938a40313	1309	void CAN_TX_REFENCE_MODE(void)
Lightvalve	170:42c938a40313	1310	{
Lightvalve	11:82d8768d7351	1311	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1312
Lightvalve	11:82d8768d7351	1313	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1314	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1315	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1316	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1317	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1318	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1319	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1320	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1321
Lightvalve	11:82d8768d7351	1322	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1323	}
Lightvalve	11:82d8768d7351	1324
Lightvalve	170:42c938a40313	1325	void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve	170:42c938a40313	1326	{
Lightvalve	11:82d8768d7351	1327	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1328	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1329	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	170:42c938a40313	1330
jobuuu	2:a1c0a37df760	1331	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1332	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1333	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1334	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1335	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1336
jobuuu	2:a1c0a37df760	1337	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1338	}
Lightvalve	11:82d8768d7351	1339
Lightvalve	170:42c938a40313	1340	void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve	170:42c938a40313	1341	{
Lightvalve	11:82d8768d7351	1342	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1343	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1344	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	170:42c938a40313	1345
Lightvalve	11:82d8768d7351	1346	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1347	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1348	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1349	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1350	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1351
Lightvalve	11:82d8768d7351	1352	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1353	}
Lightvalve	11:82d8768d7351	1354
Lightvalve	170:42c938a40313	1355	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve	170:42c938a40313	1356	{
Lightvalve	11:82d8768d7351	1357	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1358	int16_t valve_pos_vs_pwm;
Lightvalve	49:e7bcfc244d40	1359	// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve	170:42c938a40313	1360
Lightvalve	57:f4819de54e7a	1361	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1362	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	1363	} else {
Lightvalve	57:f4819de54e7a	1364	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	1365	}
Lightvalve	170:42c938a40313	1366
Lightvalve	12:6f2531038ea4	1367	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1368	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	170:42c938a40313	1369
Lightvalve	11:82d8768d7351	1370	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1371	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1372	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1373	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1374	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1375	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1376	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1377
Lightvalve	11:82d8768d7351	1378	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1379	}
Lightvalve	11:82d8768d7351	1380
Lightvalve	170:42c938a40313	1381	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve	170:42c938a40313	1382	{
Lightvalve	11:82d8768d7351	1383	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1384	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1385	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1386
Lightvalve	57:f4819de54e7a	1387	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1388	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1389	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1390	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	1391	} else {
Lightvalve	57:f4819de54e7a	1392	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	1393	}
Lightvalve	170:42c938a40313	1394
Lightvalve	11:82d8768d7351	1395	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1396	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1397	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1398	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1399	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1400	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1401	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1402	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1403	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1404
Lightvalve	11:82d8768d7351	1405	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1406	}
Lightvalve	11:82d8768d7351	1407
Lightvalve	170:42c938a40313	1408	void CAN_TX_VALVE_POS_NUM(void)
Lightvalve	170:42c938a40313	1409	{
Lightvalve	11:82d8768d7351	1410	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1411	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1412	valve_pos_num = (int16_t) VALVE_POS_NUM;
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_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1417	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1418	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 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_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve	170:42c938a40313	1424	{
Lightvalve	38:118df027d851	1425	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1426
Lightvalve	48:889798ff9329	1427	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1428	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1429	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1430
Lightvalve	57:f4819de54e7a	1431	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1432	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1433	temp_ddv_center = VALVE_CENTER;
Lightvalve	170:42c938a40313	1434
Lightvalve	38:118df027d851	1435	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1436	temp_msg.len = 7;
Lightvalve	38:118df027d851	1437	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1438	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1439	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1440	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1441	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1442	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1443	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1444
Lightvalve	38:118df027d851	1445	can.write(temp_msg);
Lightvalve	38:118df027d851	1446	}
Lightvalve	38:118df027d851	1447
Lightvalve	169:645207e160ca	1448
Lightvalve	170:42c938a40313	1449	void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve	170:42c938a40313	1450	{
Lightvalve	169:645207e160ca	1451	CANMessage temp_msg;
Lightvalve	169:645207e160ca	1452	int16_t send_pos_array, send_ref_array;
Lightvalve	169:645207e160ca	1453	send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve	169:645207e160ca	1454	send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve	170:42c938a40313	1455
Lightvalve	169:645207e160ca	1456	temp_msg.id = CID_TX_INFO;
Lightvalve	169:645207e160ca	1457	temp_msg.len = 5;
Lightvalve	169:645207e160ca	1458	temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve	169:645207e160ca	1459	temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve	169:645207e160ca	1460	temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve	169:645207e160ca	1461	temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve	169:645207e160ca	1462	temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve	169:645207e160ca	1463
Lightvalve	169:645207e160ca	1464	can.write(temp_msg);
Lightvalve	169:645207e160ca	1465	}
Lightvalve	169:645207e160ca	1466
Lightvalve	169:645207e160ca	1467
jobuuu	2:a1c0a37df760	1468	/******************************************************************************
jobuuu	2:a1c0a37df760	1469	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1470	*******************************************************************************/
jobuuu	2:a1c0a37df760	1471
Lightvalve	170:42c938a40313	1472	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve	170:42c938a40313	1473	{
Lightvalve	52:8ea76864368a	1474	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1475
Lightvalve	52:8ea76864368a	1476	temp_msg.id = CID_TX_POSITION;
Lightvalve	52:8ea76864368a	1477	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1478	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1479	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1480	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1481	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1482	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1483	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1484
Lightvalve	52:8ea76864368a	1485	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1486	}
Lightvalve	52:8ea76864368a	1487
Lightvalve	170:42c938a40313	1488	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve	170:42c938a40313	1489	{
Lightvalve	170:42c938a40313	1490
jobuuu	2:a1c0a37df760	1491	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1492
jobuuu	2:a1c0a37df760	1493	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1494	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1495	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1496	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1497	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1498	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1499	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1500	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1501	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1502	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1503
jobuuu	2:a1c0a37df760	1504	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1505	}
jobuuu	2:a1c0a37df760	1506
Lightvalve	67:c2812cf26c38	1507	//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve	67:c2812cf26c38	1508	// CANMessage temp_msg;
Lightvalve	67:c2812cf26c38	1509	//
Lightvalve	67:c2812cf26c38	1510	// temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1511	// temp_msg.len = 4;
Lightvalve	67:c2812cf26c38	1512	// temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	67:c2812cf26c38	1513	// temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	67:c2812cf26c38	1514	// temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve	67:c2812cf26c38	1515	// temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve	67:c2812cf26c38	1516	//
Lightvalve	67:c2812cf26c38	1517	// can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1518	//}
Lightvalve	67:c2812cf26c38	1519
Lightvalve	170:42c938a40313	1520	void CAN_TX_TORQUE(int16_t t_valve_pos)
Lightvalve	170:42c938a40313	1521	{
jobuuu	2:a1c0a37df760	1522	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1523
jobuuu	2:a1c0a37df760	1524	temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1525	temp_msg.len = 2;
Lightvalve	48:889798ff9329	1526	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1527	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1528
jobuuu	2:a1c0a37df760	1529	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1530	}
jobuuu	2:a1c0a37df760	1531
Lightvalve	170:42c938a40313	1532	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve	170:42c938a40313	1533	{
jobuuu	2:a1c0a37df760	1534	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1535
jobuuu	2:a1c0a37df760	1536	temp_msg.id = CID_TX_PRES;
Lightvalve	57:f4819de54e7a	1537	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1538	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1539	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1540	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1541	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1542
jobuuu	2:a1c0a37df760	1543	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1544	}
jobuuu	2:a1c0a37df760	1545
Lightvalve	170:42c938a40313	1546	void CAN_TX_PWM(int16_t t_pwm)
Lightvalve	170:42c938a40313	1547	{
jobuuu	2:a1c0a37df760	1548	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1549
Lightvalve	57:f4819de54e7a	1550	temp_msg.id = CID_TX_VOUT;
Lightvalve	57:f4819de54e7a	1551	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1552	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1553	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1554
jobuuu	2:a1c0a37df760	1555	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1556	}
jobuuu	2:a1c0a37df760	1557
Lightvalve	73:f80dc3970c99	1558	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	1559	{
jobuuu	2:a1c0a37df760	1560	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1561
jobuuu	2:a1c0a37df760	1562	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	73:f80dc3970c99	1563	temp_msg.len = 8;
Lightvalve	73:f80dc3970c99	1564	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	73:f80dc3970c99	1565	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	73:f80dc3970c99	1566	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	73:f80dc3970c99	1567	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	73:f80dc3970c99	1568	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	73:f80dc3970c99	1569	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	73:f80dc3970c99	1570	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	73:f80dc3970c99	1571	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	170:42c938a40313	1572
jobuuu	2:a1c0a37df760	1573
jobuuu	2:a1c0a37df760	1574	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1575	}

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

CAN/function_CAN.cpp@209:ebc69d6ee6f1, 2020-12-23 (annotated)

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