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LIGHT2
Diff: CAN/function_CAN.cpp
- Revision:
- 237:c2cfe349f5c1
- Parent:
- 232:2976cf1b4252
- Child:
- 238:4e660aa77eb7
--- a/CAN/function_CAN.cpp Fri Jun 25 12:21:04 2021 +0000 +++ b/CAN/function_CAN.cpp Wed Jul 07 10:09:21 2021 +0000 @@ -649,6 +649,22 @@ case CRX_SET_ROM: { break; } + + case CRX_ASK_BUFFER: { + cnt_buffer = (int16_t) (msg.data[1] | msg.data[2] << 8); + CAN_TX_BUFFER(cnt_buffer); + break; + } + case CRX_SET_STEP_TEST: { + cnt_step_test = 0; + CONTROL_UTILITY_MODE = 37; + break; + } + case CRX_SET_FREQ_TEST: { + cnt_freq_test = 0; + CONTROL_UTILITY_MODE = 34; + break; + } default: break; @@ -720,9 +736,9 @@ valve_pos.ref = (double) temp_ref_valve_pos; // Unit : pulse (0~30000) } else { //SW Valve if(temp_ref_valve_pos >= 0) { - valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; + valve_pos.ref = (double)VALVE_ELECTRIC_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f; } else { - valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; + valve_pos.ref = (double)VALVE_ELECTRIC_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f; } } } else if(address==CID_RX_REF_PWM) { @@ -1228,10 +1244,10 @@ CANMessage temp_msg; int16_t valve_pos_vs_pwm; - if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) { - valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER); + if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_ELECTRIC_CENTER) { + valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER); } else { - valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER); + valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER); } int16_t PWM_VALVE_ID; @@ -1388,6 +1404,18 @@ can.write(temp_msg); } +void CAN_TX_TORQUE(int16_t t_valve_pos) +{ + CANMessage temp_msg; + + temp_msg.id = CID_TX_PWM; + temp_msg.len = 2; + temp_msg.data[0] = (uint8_t) t_valve_pos; + temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8); + + can.write(temp_msg); +} + void CAN_TX_PWM(int16_t t_pwm) { CANMessage temp_msg; @@ -1436,4 +1464,16 @@ can.write(temp_msg); +} + +void CAN_TX_VOUT(int16_t t_vout) +{ + CANMessage temp_msg; + + temp_msg.id = CID_TX_VOUT; + temp_msg.len = 2; + temp_msg.data[0] = (uint8_t) t_vout; + temp_msg.data[1] = (uint8_t) (t_vout >> 8); + + can.write(temp_msg); } \ No newline at end of file