Sungwoo Kim
LIGHT2
Diff: function_utilities/function_utilities.cpp
- Revision:
- 15:bd0d12728506
- Parent:
- 14:8e7590227d22
- Child:
- 16:903b5a4433b4
diff -r 8e7590227d22 -r bd0d12728506 function_utilities/function_utilities.cpp
--- a/function_utilities/function_utilities.cpp Thu Aug 29 07:38:00 2019 +0000
+++ b/function_utilities/function_utilities.cpp Fri Aug 30 02:26:11 2019 +0000
@@ -320,80 +320,296 @@
******************************************************************************/
void ROM_INIT_DATA(void)
{
- static int16_t temp_check_num = LATEST_VERSION;
- spi_eeprom_ready();
- //if (spi_eeprom_read(RID_IS_FIRST) != temp_check_num) {
- spi_eeprom_ready();
- spi_eeprom_write(RID_IS_FIRST, temp_check_num);
- ROM_RESET_DATA();
- //}
+// static int16_t temp_check_num = LATEST_VERSION;
+// spi_eeprom_ready();
+// if (spi_eeprom_read(RID_IS_FIRST) != temp_check_num) {
+// spi_eeprom_ready();
+// spi_eeprom_write(RID_IS_FIRST, temp_check_num);
+// ROM_RESET_DATA();
+// }
ROM_CALL_DATA();
+ ROM_RESET_DATA();
}
void ROM_RESET_DATA(void) {
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_BNO, (int) BNO);
+ spi_eeprom_ready();
+ BNO = spi_eeprom_read(RID_BNO);
+ BNO = 11;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_OPERATING_MODE, (int) OPERATING_MODE);
+ spi_eeprom_ready();
+ OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_CAN_FREQ, (int) CAN_FREQ);
+ spi_eeprom_ready();
+ CAN_FREQ = spi_eeprom_read(RID_CAN_FREQ);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_JOINT_ENC_DIR, (int) DIR_JOINT_ENC);
+ spi_eeprom_ready();
+ DIR_JOINT_ENC = spi_eeprom_read(RID_JOINT_ENC_DIR);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_DIR, (int) DIR_VALVE);
+ spi_eeprom_ready();
+ DIR_VALVE = spi_eeprom_read(RID_VALVE_DIR);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_ENC_DIR, (int) DIR_VALVE_ENC);
+ spi_eeprom_ready();
+ DIR_VALVE_ENC = spi_eeprom_read(RID_VALVE_ENC_DIR);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VOLATGE_SUPPLY, (int) (SUPPLY_VOLTAGE * 10.0));
+ spi_eeprom_ready();
+ SUPPLY_VOLTAGE = (double) spi_eeprom_read(RID_VOLATGE_SUPPLY) / 10.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VOLTAGE_VALVE, (int) (VALVE_VOLTAGE_LIMIT * 10.0));
+ spi_eeprom_ready();
+ VALVE_VOLTAGE_LIMIT = (double) spi_eeprom_read(RID_VOLTAGE_VALVE) / 10.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int) P_GAIN_VALVE_POSITION);
+ spi_eeprom_ready();
+ P_GAIN_VALVE_POSITION = spi_eeprom_read(RID_P_GAIN_VALVE_POSITION);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int) I_GAIN_VALVE_POSITION);
+ spi_eeprom_ready();
+ I_GAIN_VALVE_POSITION = spi_eeprom_read(RID_I_GAIN_VALVE_POSITION);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int) D_GAIN_VALVE_POSITION);
+ spi_eeprom_ready();
+ D_GAIN_VALVE_POSITION = spi_eeprom_read(RID_D_GAIN_VALVE_POSITION);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int) P_GAIN_JOINT_POSITION);
+ spi_eeprom_ready();
+ P_GAIN_JOINT_POSITION = spi_eeprom_read(RID_P_GAIN_JOINT_POSITION);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int) I_GAIN_JOINT_POSITION);
+ spi_eeprom_ready();
+ I_GAIN_JOINT_POSITION = spi_eeprom_read(RID_I_GAIN_JOINT_POSITION);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int) D_GAIN_JOINT_POSITION);
+ spi_eeprom_ready();
+ D_GAIN_JOINT_POSITION = spi_eeprom_read(RID_D_GAIN_JOINT_POSITION);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int) P_GAIN_JOINT_TORQUE);
+ spi_eeprom_ready();
+ P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int) I_GAIN_JOINT_TORQUE);
+ spi_eeprom_ready();
+ I_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_I_GAIN_JOINT_TORQUE);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int) D_GAIN_JOINT_TORQUE);
+ spi_eeprom_ready();
+ D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int) (VALVE_DEADZONE_PLUS));
+ spi_eeprom_ready();
+ VALVE_DEADZONE_PLUS = spi_eeprom_read(RID_VALVE_DEADZONE_PLUS);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int) (VALVE_DEADZONE_MINUS));
+ spi_eeprom_ready();
+ VALVE_DEADZONE_MINUS = spi_eeprom_read(RID_VALVE_DEADZONE_MINUS);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int) VELOCITY_COMP_GAIN);
+ spi_eeprom_ready();
+ VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_COMPLIANCE_GAIN, (int) COMPLIANCE_GAIN);
+ spi_eeprom_ready();
+ COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_CNETER, (int) VALVE_CENTER);
+ spi_eeprom_ready();
+ VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_FF, (int) VALVE_FF);
+ spi_eeprom_ready();
+ VALVE_FF = spi_eeprom_read(RID_VALVE_FF);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_BULK_MODULUS, (int) BULK_MODULUS);
+ spi_eeprom_ready();
+ BULK_MODULUS = spi_eeprom_read(RID_BULK_MODULUS);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int) CHAMBER_VOLUME_A);
+ spi_eeprom_ready();
+ CHAMBER_VOLUME_A = spi_eeprom_read(RID_CHAMBER_VOLUME_A);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int) CHAMBER_VOLUME_B);
+ spi_eeprom_ready();
+ CHAMBER_VOLUME_B = spi_eeprom_read(RID_CHAMBER_VOLUME_B);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_PISTON_AREA_A, (int) PISTON_AREA_A);
+ spi_eeprom_ready();
+ PISTON_AREA_A = spi_eeprom_read(RID_PISTON_AREA_A);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_PISTON_AREA_B, (int) PISTON_AREA_B);
+ spi_eeprom_ready();
+ PISTON_AREA_B = spi_eeprom_read(RID_PISTON_AREA_B);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_PRES_SUPPLY, (int) PRES_SUPPLY);
+ spi_eeprom_ready();
+ PRES_SUPPLY = spi_eeprom_read(RID_PRES_SUPPLY);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_PRES_RETURN, (int) PRES_RETURN);
+ spi_eeprom_ready();
+ PRES_RETURN = spi_eeprom_read(RID_PRES_RETURN);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int) ENC_LIMIT_MINUS);
+ spi_eeprom_ready();
+ ENC_LIMIT_MINUS = spi_eeprom_read(RID_ENC_LIMIT_MINUS);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int) ENC_LIMIT_PLUS);
+ spi_eeprom_ready();
+ ENC_LIMIT_PLUS = spi_eeprom_read(RID_ENC_LIMIT_PLUS);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_STROKE, (int) STROKE);
+ spi_eeprom_ready();
+ STROKE = spi_eeprom_read(RID_STROKE);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int) VALVE_LIMIT_MINUS);
+ spi_eeprom_ready();
+ VALVE_LIMIT_MINUS = spi_eeprom_read(RID_VALVE_LIMIT_MINUS);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int) VALVE_LIMIT_PLUS);
+ spi_eeprom_ready();
+ VALVE_LIMIT_PLUS = spi_eeprom_read(RID_VALVE_LIMIT_PLUS);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int) ENC_PULSE_PER_POSITION);
+ spi_eeprom_ready();
+ ENC_PULSE_PER_POSITION = spi_eeprom_read(RID_ENC_PULSE_PER_POSITION);
+
+ TORQUE_SENSOR_PULSE_PER_TORQUE = 4096.0 / 200.0;
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int) TORQUE_SENSOR_PULSE_PER_TORQUE);
+ spi_eeprom_ready();
+ TORQUE_SENSOR_PULSE_PER_TORQUE = spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE);
+
+ PRES_SENSOR_A_PULSE_PER_BAR = 4096.0 / 200.0;
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
+ spi_eeprom_ready();
+ PRES_SENSOR_A_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR) * 0.01;
- spi_eeprom_write(RID_BNO, (int16_t) BNO);
- spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
- spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
- spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
- spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
- spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
- spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
- spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
- spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
- spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
- spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
- spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
- spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
- spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
- spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
- spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
- spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
- spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
- spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
- spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
- spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
- spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
- spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
- spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
- spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
- spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
- spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
- spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
- spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
- spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
- spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
- spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
- spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
- spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
- spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
- spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
- spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
+ PRES_SENSOR_B_PULSE_PER_BAR = 4096.0 / 200.0;
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
+ spi_eeprom_ready();
+ PRES_SENSOR_B_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR) * 0.01;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_FRICTION, (int) (FRICTION * 10.0));
+ spi_eeprom_ready();
+ FRICTION = (double) spi_eeprom_read(RID_FRICTION) / 10.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_HOMEPOS_OFFSET, (int) HOMEPOS_OFFSET);
+ spi_eeprom_ready();
+ HOMEPOS_OFFSET = (int) spi_eeprom_read(RID_HOMEPOS_OFFSET);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int) HOMEPOS_VALVE_OPENING);
+ spi_eeprom_ready();
+ HOMEPOS_VALVE_OPENING = (int) spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING);
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int) (TORQUE_VREF * 1000.0));
+ spi_eeprom_ready();
+ TORQUE_VREF = (double) spi_eeprom_read(RID_TORQUE_SENSOR_VREF) / 1000.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0));
+ spi_eeprom_ready();
+ PRES_A_VREF = (double) spi_eeprom_read(RID_PRES_A_SENSOR_VREF) / 1000.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0));
+ spi_eeprom_ready();
+ PRES_B_VREF = (double) spi_eeprom_read(RID_PRES_B_SENSOR_VREF) / 1000.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int) (VALVE_GAIN_LPM_PER_V[0] * 100.0));
+ spi_eeprom_ready();
+ VALVE_GAIN_LPM_PER_V[0] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_1) / 100.0;
+
spi_eeprom_ready();
- PRES_SENSOR_A_PULSE_PER_BAR = 4096.0 / 200.0;
- PRES_SENSOR_A_PULSE_PER_BAR = 1.0;
- //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
- spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int) (6));
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int) (VALVE_GAIN_LPM_PER_V[2] * 100.0));
+ spi_eeprom_ready();
+ VALVE_GAIN_LPM_PER_V[2] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_2) / 100.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int) (VALVE_GAIN_LPM_PER_V[4] * 100.0));
+ spi_eeprom_ready();
+ VALVE_GAIN_LPM_PER_V[4] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_3) / 100.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int) (VALVE_GAIN_LPM_PER_V[6] * 100.0));
+ spi_eeprom_ready();
+ VALVE_GAIN_LPM_PER_V[6] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_4) / 100.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int) (VALVE_GAIN_LPM_PER_V[8] * 100.0));
+ spi_eeprom_ready();
+ VALVE_GAIN_LPM_PER_V[8] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_5) / 100.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int) (VALVE_GAIN_LPM_PER_V[1] * 100.0));
spi_eeprom_ready();
- PRES_SENSOR_B_PULSE_PER_BAR = 4096.0 / 200.0;
- spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
- spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
- spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
- spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
- spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
- spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
- spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0));
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0));
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0));
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0));
- spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0));
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0));
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0));
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0));
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0));
- spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0));
+ VALVE_GAIN_LPM_PER_V[1] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_1) / 100.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int) (VALVE_GAIN_LPM_PER_V[3] * 100.0));
+ spi_eeprom_ready();
+ VALVE_GAIN_LPM_PER_V[3] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_2) / 100.0;
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int) (VALVE_GAIN_LPM_PER_V[5] * 100.0));
+ spi_eeprom_ready();
+ VALVE_GAIN_LPM_PER_V[5] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_3) / 100.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int) (VALVE_GAIN_LPM_PER_V[7] * 100.0));
+ spi_eeprom_ready();
+ VALVE_GAIN_LPM_PER_V[7] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_4) / 100.0;
+
+ spi_eeprom_ready();
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int) (VALVE_GAIN_LPM_PER_V[9] * 100.0));
+ spi_eeprom_ready();
+ VALVE_GAIN_LPM_PER_V[9] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_5) / 100.0;
}
@@ -453,7 +669,9 @@
ENC_PULSE_PER_POSITION = spi_eeprom_read(RID_ENC_PULSE_PER_POSITION);
TORQUE_SENSOR_PULSE_PER_TORQUE = spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE);
+ spi_eeprom_ready();
PRES_SENSOR_A_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR) * 0.01;
+ spi_eeprom_ready();
PRES_SENSOR_B_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR) * 0.01;
FRICTION = (double) spi_eeprom_read(RID_FRICTION) / 10.0;