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Original Version of STM Board
Diff: CAN/function_CAN.cpp
- Revision:
- 11:82d8768d7351
- Parent:
- 7:e9086c72bb22
- Child:
- 12:6f2531038ea4
diff -r 83a6baa77a2e -r 82d8768d7351 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Fri Aug 23 01:02:32 2019 +0000 +++ b/CAN/function_CAN.cpp Fri Aug 23 12:28:08 2019 +0000 @@ -1,4 +1,7 @@ #include "function_CAN.h" +#include "setting.h" +#include "function_utilities.h" +#include "SPI_EEP_ENC.h" // CAN ID Setting Variables int CID_RX_CMD = 100; @@ -15,26 +18,570 @@ int CID_TX_VOUT = 1500; int CID_TX_VALVE_POSITION = 1600; -// Board Information -int BNO = 0; -int CONTROL_MODE = 0; -double P_GAIN_JOINT_POSITION = 0.0; -double I_GAIN_JOINT_POSITION = 0.0; -double D_GAIN_JOINT_POSITION = 0.0; -double P_GAIN_JOINT_TORQUE = 0.0; -double I_GAIN_JOINT_TORQUE = 0.0; -double D_GAIN_JOINT_TORQUE = 0.0; + +/******************************************************************************* + * CAN functions + ******************************************************************************/ +void CAN_ID_INIT(void) { + CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD); + CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION); + CID_RX_REF_TORQUE = (int) (BNO + INIT_CID_RX_REF_TORQUE); + CID_RX_REF_PRES_DIFF = (int) (BNO + INIT_CID_RX_REF_PRES_DIFF); + CID_RX_REF_VOUT = (int) (BNO + INIT_CID_RX_REF_VOUT); + CID_RX_REF_VALVE_POSITION = (int) (BNO + INIT_CID_RX_REF_VALVE_POSITION); + + CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO); + CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION); + CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE); + CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES); + CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT); + CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION); +} void ReadCMD(char CMD) { switch(CMD){ - case CRX_ASK_INFO: -// CAN_TX_INFO(); - break; - case CRX_ASK_BNO: -// CAN_TX_BNO(); - break; + case CRX_ASK_INFO: { + CAN_TX_INFO(); + break; + } + case CRX_ASK_BNO: { + CAN_TX_BNO(); + break; + } + case CRX_SET_BNO: { + BNO = (int16_t) msg.data[1]; + spi_eeprom_write(RID_BNO, (int16_t) BNO); + CAN_ID_INIT(); // can id init + break; + } + case CRX_ASK_OPERATING_MODE: { + CAN_TX_OPERATING_MODE(); + break; + } + case CRX_SET_OPERATING_MODE: { + OPERATING_MODE = (int16_t) msg.data[1]; + spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE); + break; + } + case CRX_SET_ENC_ZERO: { + ENC_SET_ZERO(); + + break; + } + case CRX_SET_FET_ON: { + LAT_MOT_EN = (int16_t) msg.data[1];; + + break; + } + + case CRX_SET_REF_UPDATE_ENABLE: { + flag_ref_enable = (int16_t) msg.data[1]; + + break; + } + + case CRX_ASK_CAN_FREQ: { + CAN_TX_CAN_FREQ(); + + break; + } + + case CRX_SET_CAN_FREQ: { + CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8); + spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ); + break; + } + + case CRX_ASK_CONTROL_MODE: { + CAN_TX_CONTROL_MODE(); + + break; + } + + case CRX_SET_CONTROL_MODE: { + CONTROL_MODE = (int16_t) (msg.data[1]); + if (CONTROL_MODE == MODE_FIND_HOME) { + FLAG_FIND_HOME = true; + } + break; + } + + case CRX_SET_DATA_REQUEST: { + int request_type = msg.data[2]; + flag_data_request[request_type] = msg.data[1]; + + if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC + if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC + + break; + } + + case CRX_ASK_JOINT_ENC_DIR: { + CAN_TX_JOINT_ENC_DIR(); + + break; + } + + case CRX_SET_JOINT_ENC_DIR: { + DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8); + if (DIR_JOINT_ENC >= 0) + DIR_JOINT_ENC = 1; + else + DIR_JOINT_ENC = -1; + spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC); + + break; + } + + case CRX_ASK_VALVE_DIR: { + CAN_TX_VALVE_DIR(); + + break; + } + + case CRX_SET_VALVE_DIR: { + DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8); + if (DIR_VALVE >= 0) + DIR_VALVE = 1; + else + DIR_VALVE = -1; + spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE); + + break; + } + + case CRX_ASK_VALVE_ENC_DIR: { + CAN_TX_VALVE_ENC_DIR(); + + break; + } + + case CRX_SET_VALVE_ENC_DIR: { + DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8); + if (DIR_VALVE_ENC >= 0) + DIR_VALVE_ENC = 1; + else + DIR_VALVE_ENC = -1; + + spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC); + + break; + } + + case CRX_ASK_VOLTAGE_SUPPLY: { + CAN_TX_VOLTAGE_SUPPLY(); + + break; + } + + case CRX_SET_VOLTAGE_SUPPLY: { + SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.; + spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.)); + + break; + } + + case CRX_ASK_VOLTAGE_VALVE: { + CAN_TX_VOLTAGE_VALVE(); + + break; + } + + case CRX_SET_VOLTAGE_VALVE: { + VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.; + spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.)); + + + break; + } + /////////////////////////////////////////////////////////////////////////////////////////////////////////// + case CRX_SET_HOMEPOS: { + CONTROL_MODE = 22; + SETTING_SWITCH = (int16_t) (msg.data[1]); + break; + } + + case CRX_ASK_PID_GAIN: { + CAN_TX_PID_GAIN(msg.data[1]); + + break; + } + + case CRX_SET_PID_GAIN: { + if (msg.data[1] == 0) { + P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8); + I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8); + D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8); + + spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION); + spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION); + spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION); + + + } else if (msg.data[1] == 1) { + P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8); + I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8); + D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8); + + spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION); + spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION); + spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION); + } else if (msg.data[1] == 2) { + P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8); + I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8); + D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8); + + spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE); + spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE); + spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE); + + + } + + break; + } + + case CRX_ASK_VALVE_DEADZONE: { + CAN_TX_VALVE_DEADZONE(); + + break; + } + + case CRX_SET_VALVE_DEADZONE: { + VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8); + VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8); + VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8); + + spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER)); + spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS)); + spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS)); + + break; + } + + case CRX_ASK_VELOCITY_COMP_GAIN: { + CAN_TX_VELOCITY_COMP_GAIN(); + + break; + } + + case CRX_SET_VELOCITY_COMP_GAIN: { + VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8); + + spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN); + + break; + } + + case CRX_ASK_COMPLIANCE_GAIN: { + CAN_TX_COMPLIANCE_GAIN(); + + break; + } + + case CRX_SET_COMPLIANCE_GAIN: { + COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8); + + spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN); + + break; + } + + case CRX_ASK_VALVE_FF: { + CAN_TX_VALVE_FF(); + + break; + } + + case CRX_SET_VALVE_FF: { + VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8); + + spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF); + + break; + } + + case CRX_ASK_BULK_MODULUS: { + CAN_TX_BULK_MODULUS(); + + break; + } + + case CRX_SET_BULK_MODULUS: { + BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8); + + spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS); + + break; + } + + case CRX_ASK_CHAMBER_VOLUME: { + CAN_TX_CHAMBER_VOLUME(); + + break; + } + + case CRX_SET_CHAMBER_VOLUME: { + CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8); + CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8); + + spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A); + spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B); + + break; + } + + case CRX_ASK_PISTON_AREA: { + CAN_TX_PISTON_AREA(); + + break; + } + + case CRX_SET_PISTON_AREA: { + PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8); + PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8); + PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A; + + spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A); + spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B); + break; + } + + case CRX_ASK_PRES: { + CAN_TX_PRES_A_AND_B(); + SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); + break; + } + + case CRX_SET_PRES: { + PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8); + PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8); + + spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY); + spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN); + + + break; + } + + case CRX_ASK_ENC_LIMIT: { + CAN_TX_ENC_LIMIT(); + + break; + } + + case CRX_SET_ENC_LIMIT: { + ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8); + ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8); + + spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS); + spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS); + + break; + } + + case CRX_ASK_STROKE: { + CAN_TX_STROKE(); + break; + } + + case CRX_SET_STROKE: { + STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8); + + spi_eeprom_write(RID_STROKE, (int16_t) STROKE); + + break; + } + + case CRX_ASK_VALVE_LIMIT: { + CAN_TX_VALVE_LIMIT(); + + break; + } + + case CRX_SET_VALVE_LIMIT: { + VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8); + VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8); + + spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS); + spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS); + + break; + } + + case CRX_ASK_ENC_PULSE_PER_POSITION: { + CAN_TX_ENC_PULSE_PER_POSITION(); + + break; + } + + case CRX_SET_ENC_PULSE_PER_POSITION: { + ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8); + + spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION); + + break; + } + + case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: { + CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(); + + break; + } + + case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: { + TORQUE_SENSOR_PULSE_PER_TORQUE = (int16_t) (msg.data[1] | msg.data[2] << 8); + + spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE); + + break; + } + + case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: { + CAN_TX_PRES_SENSOR_PULSE_PER_PRES(); + + break; + } + + case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: { + PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01; + PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01; + + spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.)); + spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.)); + + break; + } + + case CRX_ASK_FRICTION: { + CAN_TX_FRICTION(); + + break; + } + + case CRX_SET_FRICTION: { + FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.; + + spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.)); + + break; + } + + case CRX_ASK_VALVE_GAIN_PLUS: { + CAN_TX_VALVE_GAIN_PLUS(); + + break; + } + case CRX_SET_VALVE_GAIN_PLUS: { + VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.; + VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.; + VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.; + VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.; + VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.; + + spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.)); + spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.)); + spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.)); + spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.)); + spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.)); + + break; + } + + case CRX_ASK_VALVE_GAIN_MINUS: { + CAN_TX_VALVE_GAIN_MINUS(); + + break; + } + case CRX_SET_VALVE_GAIN_MINUS: { + VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.; + VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.; + VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.; + VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.; + VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.; + + spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.)); + spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.)); + spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.)); + spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.)); + spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.)); + + break; + } + case CRX_ASK_DDV_VALVE_DEADZONE: { + CAN_TX_DDV_VALVE_DEADZONE(); + break; + } + + case CRX_LOW_REF: { + REFERENCE_MODE = msg.data[1]; + + REF_NUM = msg.data[2]; + REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.; + if (REF_PERIOD <= 0.) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ; + else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k); + REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.; + + break; + } + + case CRX_JUMP_STATUS: { + MODE_JUMP_STATUS = msg.data[1]; + + break; + } + + case CRX_SET_ERR_CLEAR: { + + for (i = 0; i < num_err; i++) { + flag_err[i] = FALSE; + flag_err_old[i] = FALSE; + } + + flag_err_rt = FALSE; + + + break; + } + + case CRX_ASK_HOMEPOS_OFFSET: { + CAN_TX_HOMEPOS_OFFSET(); + break; + } + case CRX_SET_HOMEPOS_OFFSET: { + HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8); + + spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET); + break; + } + + case CRX_ASK_HOMEPOS_VALVE_OPENING: { + CAN_TX_HOMPOS_VALVE_OPENING(); + break; + } + case CRX_SET_HOMEPOS_VALVE_OPENING: { + HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8); + + spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING); + break; + } + + case CRX_ASK_VALVE_PWM_VS_VALVE_POS: { + can_index = (int16_t) msg.data[1]; + CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index); + break; + } + case CRX_ASK_VALVE_POS_VS_FLOWRATE: { + can_index = (int16_t) msg.data[1]; + CAN_TX_VALVE_POS_VS_FLOWRATE(can_index); + break; + } + case CRX_ASK_VALVE_POS_NUM: { + CAN_TX_VALVE_POS_NUM(); + break; + } default: break; } @@ -57,8 +604,8 @@ int16_t temp_torq = (int16_t) (msg.data[0] | msg.data[1] << 8); torq.ref = (double)temp_torq; } else if(address==CID_RX_REF_PRES_DIFF) { -// int16_t temp_presdiff = (int16_t) (msg.data[0] | msg.data[1] << 8); -// torq.ref = (double)temp_presdiff; + int16_t temp_presdiff = (int16_t) (msg.data[0] | msg.data[1] << 8); + torq.ref = (double)temp_presdiff; } else if(address==CID_RX_REF_VOUT) { int16_t temp_PWM = (int16_t) (msg.data[0] | msg.data[1] << 8); Vout.ref = (double)temp_PWM; @@ -72,9 +619,9 @@ /****************************************************************************** Information Transmission Functions *******************************************************************************/ -/* -inline void CAN_TX_INFO(void) { - CANMessage temp_msg; + +void CAN_TX_INFO(void) { + CANmsg.data temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 7; @@ -89,8 +636,8 @@ can.write(temp_msg); } -inline void CAN_TX_BNO(void) { - CANMessage temp_msg; +void CAN_TX_BNO(void) { + CANmsg.data temp_msg; temp_msg.id = CID_TX_INFO; temp_msg.len = 2; @@ -100,7 +647,7 @@ can.write(temp_msg); } -inline void CAN_TX_OPERATING_MODE(void) { +void CAN_TX_OPERATING_MODE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; @@ -111,8 +658,7 @@ can.write(temp_msg); } - -inline void CAN_TX_CAN_FREQ(void) { +void CAN_TX_CAN_FREQ(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; @@ -123,8 +669,8 @@ can.write(temp_msg); } -*/ -inline void CAN_TX_CONTROL_MODE(void) { + +void CAN_TX_CONTROL_MODE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; @@ -134,8 +680,8 @@ can.write(temp_msg); } -/* -inline void CAN_TX_JOINT_ENC_DIR(void) { + +void CAN_TX_JOINT_ENC_DIR(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; @@ -147,7 +693,7 @@ can.write(temp_msg); } -inline void CAN_TX_VALVE_DIR(void) { +void CAN_TX_VALVE_DIR(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; @@ -159,7 +705,7 @@ can.write(temp_msg); } -inline void CAN_TX_VALVE_ENC_DIR(void) { +void CAN_TX_VALVE_ENC_DIR(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; @@ -171,7 +717,7 @@ can.write(temp_msg); } -inline void CAN_TX_VOLTAGE_SUPPLY(void) { +void CAN_TX_VOLTAGE_SUPPLY(void) { long send_voltage_supply = (long) (SUPPLY_VOLTAGE * 10); CANMessage temp_msg; @@ -185,7 +731,7 @@ can.write(temp_msg); } -inline void CAN_TX_VOLTAGE_VALVE(void) { +void CAN_TX_VOLTAGE_VALVE(void) { long send_voltage_valve = (long) (VALVE_VOLTAGE_LIMIT * 10); CANMessage temp_msg; @@ -198,9 +744,9 @@ can.write(temp_msg); } -*/ + -inline void CAN_TX_PID_GAIN(int t_type) { +void CAN_TX_PID_GAIN(int t_type) { // t_type = 0 : valve position control gain // t_type = 1 : joint position control gain // t_type = 2 : joint torque control gain @@ -236,8 +782,8 @@ can.write(temp_msg); } -/* -inline void CAN_TX_VALVE_DEADZONE(void) { + +void CAN_TX_VALVE_DEADZONE(void) { CANMessage temp_msg; temp_msg.id = CID_TX_INFO; @@ -253,9 +799,139 @@ can.write(temp_msg); } -inline void CAN_TX_ENC_PULSE_PER_POSITION(void) { +void CAN_TX_VELOCITY_COMP_GAIN(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 3; + temp_msg.data[0] = (unsigned char) CTX_SEND_VELOCITY_COMP_GAIN; + temp_msg.data[1] = (unsigned char) VELOCITY_COMP_GAIN; + temp_msg.data[2] = (unsigned char) (VELOCITY_COMP_GAIN >> 8); + + can.write(temp_msg); +} + +void CAN_TX_COMPLIANCE_GAIN(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 3; + temp_msg.data[0] = (unsigned char) CTX_SEND_COMPLIANCE_GAIN; + temp_msg.data[1] = (unsigned char) COMPLIANCE_GAIN; + temp_msg.data[2] = (unsigned char) (COMPLIANCE_GAIN >> 8); + + can.write(temp_msg); +} + +void CAN_TX_VALVE_FF(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 3; + temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_FF; + temp_msg.data[1] = (unsigned char) VALVE_FF; + temp_msg.data[2] = (unsigned char) (VALVE_FF >> 8); + + can.write(temp_msg); +} + +void CAN_TX_BULK_MODULUS(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 3; + temp_msg.data[0] = (unsigned char) CTX_SEND_BULK_MODULUS; + temp_msg.data[1] = (unsigned char) BULK_MODULUS; + temp_msg.data[2] = (unsigned char) (BULK_MODULUS >> 8); + + can.write(temp_msg); +} + +void CAN_TX_CHAMBER_VOLUME(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 5; + temp_msg.data[0] = (unsigned char) CTX_SEND_CHAMBER_VOLUME; + temp_msg.data[1] = (unsigned char) CHAMBER_VOLUME_A; + temp_msg.data[2] = (unsigned char) (CHAMBER_VOLUME_A >> 8); + temp_msg.data[3] = (unsigned char) CHAMBER_VOLUME_B; + temp_msg.data[4] = (unsigned char) (CHAMBER_VOLUME_B >> 8); + + can.write(temp_msg); +} + +void CAN_TX_PISTON_AREA(void) { CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 5; + temp_msg.data[0] = (unsigned char) CTX_SEND_PISTON_AREA; + temp_msg.data[1] = (unsigned char) PISTON_AREA_A; + temp_msg.data[2] = (unsigned char) (PISTON_AREA_A >> 8); + temp_msg.data[3] = (unsigned char) PISTON_AREA_B; + temp_msg.data[4] = (unsigned char) (PISTON_AREA_B >> 8); + can.write(temp_msg); +} + +void CAN_TX_PRES_A_AND_B(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 5; + temp_msg.data[0] = (unsigned char) CTX_SEND_PRES; + temp_msg.data[1] = (unsigned char) PRES_SUPPLY; + temp_msg.data[2] = (unsigned char) (PRES_SUPPLY >> 8); + temp_msg.data[3] = (unsigned char) PRES_RETURN; + temp_msg.data[4] = (unsigned char) (PRES_RETURN >> 8); + + can.write(temp_msg); +} + +void CAN_TX_ENC_LIMIT(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 5; + temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_LIMIT; + temp_msg.data[1] = (unsigned char) ENC_LIMIT_MINUS; + temp_msg.data[2] = (unsigned char) (ENC_LIMIT_MINUS >> 8); + temp_msg.data[3] = (unsigned char) ENC_LIMIT_PLUS; + temp_msg.data[4] = (unsigned char) (ENC_LIMIT_PLUS >> 8); + + can.write(temp_msg); +} + +void CAN_TX_STROKE(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 3; + temp_msg.data[0] = (unsigned char) CTX_SEND_STROKE; + temp_msg.data[1] = (unsigned char) STROKE; + temp_msg.data[2] = (unsigned char) (STROKE >> 8); + + can.write(temp_msg); +} + +void CAN_TX_VALVE_LIMIT(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 5; + temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_LIMIT; + temp_msg.data[1] = (unsigned char) VALVE_LIMIT_MINUS; + temp_msg.data[2] = (unsigned char) (VALVE_LIMIT_MINUS >> 8); + temp_msg.data[3] = (unsigned char) VALVE_LIMIT_PLUS; + temp_msg.data[4] = (unsigned char) (VALVE_LIMIT_PLUS >> 8); + + can.write(temp_msg); +} + +void CAN_TX_ENC_PULSE_PER_POSITION(void) { + CANMessage temp_msg; + temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_PULSE_PER_POSITION; @@ -265,9 +941,9 @@ can.write(temp_msg); } -inline void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) { +void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) { CANMessage temp_msg; - + temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (unsigned char) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE; @@ -277,9 +953,9 @@ can.write(temp_msg); } -inline void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) { +void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) { CANMessage temp_msg; - + temp_msg.id = CID_TX_INFO; temp_msg.len = 5; temp_msg.data[0] = (unsigned char) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR; @@ -291,12 +967,86 @@ can.write(temp_msg); } -inline void CAN_TX_HOMEPOS_OFFSET(void) { +void CAN_TX_FRICTION(void) { + CANMessage temp_msg; + long send_friction; + send_friction = (long) (FRICTION * 10.); + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 3; + temp_msg.data[0] = (unsigned char) CTX_SEND_FRICTION; + temp_msg.data[1] = (unsigned char) send_friction; + temp_msg.data[2] = (unsigned char) (send_friction >> 8); + + can.write(temp_msg); +} + +void CAN_TX_VALVE_GAIN_PLUS(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 6; + temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_PLUS; + temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[0] * 50.); + temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[2] * 50.); + temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[4] * 50.); + temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[6] * 50.); + temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[8] * 50.); + + can.write(temp_msg); +} + +void CAN_TX_DDV_VALVE_DEADZONE(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 7; + temp_msg.data[0] = (unsigned char) CTX_SEND_DDV_VALVE_DEADZONE; + temp_msg.data[1] = (unsigned char) VALVE_DEADZONE_MINUS; + temp_msg.data[2] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8); + temp_msg.data[3] = (unsigned char) (VALVE_DEADZONE_PLUS); + temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8); + temp_msg.data[5] = (unsigned char) (DDV_CENTER); + temp_msg.data[6] = (unsigned char) ((int) (DDV_CENTER) >> 8); + + can.write(temp_msg); +} + +void CAN_TX_VALVE_GAIN_MINUS(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 6; + temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_MINUS; + temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[1] * 50.); + temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[3] * 50.); + temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[5] * 50.); + temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[7] * 50.); + temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[9] * 50.); + + can.write(temp_msg); +} + +void CAN_TX_REFENCE_MODE(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 6; + temp_msg.data[0] = (unsigned char) CTX_SEND_REFENCE_MODE; + temp_msg.data[1] = (unsigned char) REFERENCE_MODE; + temp_msg.data[2] = (unsigned char) (int) (REFERENCE_FREQ * 100.); + temp_msg.data[3] = (unsigned char) ((int) (REFERENCE_FREQ * 100.) >> 8); + temp_msg.data[4] = (unsigned char) (int) (REFERENCE_MAG * 100.); + temp_msg.data[5] = (unsigned char) ((int) (REFERENCE_MAG * 100.) >> 8); + + can.write(temp_msg); +} + +void CAN_TX_HOMEPOS_OFFSET(void) { + CANMessage temp_msg; long send_homepos_offset; send_homepos_offset = (long) (HOMEPOS_OFFSET); - - CANMessage temp_msg; - + temp_msg.id = CID_TX_INFO; temp_msg.len = 3; temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_OFFSET; @@ -305,12 +1055,78 @@ can.write(temp_msg); } -*/ + +void CAN_TX_HOMPOS_VALVE_OPENING(void) { + CANMessage temp_msg; + long send_homepos_valve_opening; + send_homepos_valve_opening = (long) (HOMEPOS_VALVE_OPENING); + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 3; + temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_VALVE_OPENING; + temp_msg.data[1] = (unsigned char) send_homepos_valve_opening; + temp_msg.data[2] = (unsigned char) (send_homepos_valve_opening >> 8); + + can.write(temp_msg); +} + +void CAN_TX_VALVE_PWM_VS_VALVE_POS(char canindex) { + CANMessage temp_msg; + int16_t valve_pos_vs_pwm; + valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]); + + int16_t PWM_VALVE_ID = ID_index_array[canindex] * 1000; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 5; + temp_msg.data[0] = (unsigned char) CTX_VALVE_PWM_VS_VALVE_POS; + temp_msg.data[1] = (unsigned char) PWM_VALVE_ID; + temp_msg.data[2] = (unsigned char) (PWM_VALVE_ID >> 8); + temp_msg.data[3] = (unsigned char) valve_pos_vs_pwm; + temp_msg.data[4] = (unsigned char) (valve_pos_vs_pwm >> 8); + + can.write(temp_msg); +} + +void CAN_TX_VALVE_POS_VS_FLOWRATE(char canindex) { + CANMessage temp_msg; + int32_t valve_pos_vs_flowrate; + valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]); + + int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 50 + DDV_CENTER; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 7; + temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_VS_FLOWRATE; + temp_msg.data[1] = (unsigned char) VALVE_POS_VALVE_ID; + temp_msg.data[2] = (unsigned char) (VALVE_POS_VALVE_ID >> 8); + temp_msg.data[3] = (unsigned char) valve_pos_vs_flowrate; + temp_msg.data[4] = (unsigned char) (valve_pos_vs_flowrate >> 8); + temp_msg.data[5] = (unsigned char) (valve_pos_vs_flowrate >> 16); + temp_msg.data[6] = (unsigned char) (valve_pos_vs_flowrate >> 24); + + can.write(temp_msg); +} + +void CAN_TX_VALVE_POS_NUM(void) { + CANMessage temp_msg; + int32_t valve_pos_num; + valve_pos_num = (int16_t) VALVE_POS_NUM; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 3; + temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_NUM; + temp_msg.data[1] = (unsigned char) valve_pos_num; + temp_msg.data[2] = (unsigned char) (valve_pos_num >> 8); + + can.write(temp_msg); +} + /****************************************************************************** Sensor & State Transmission Functions *******************************************************************************/ -inline void CAN_TX_POSITION(long t_pos, long t_vel) { +void CAN_TX_POSITION(long t_pos, long t_vel) { CANMessage temp_msg; temp_msg.id = CID_TX_POSITION; @@ -327,7 +1143,7 @@ can.write(temp_msg); } -inline void CAN_TX_TORQUE(int16_t t_torque) { +void CAN_TX_TORQUE(int16_t t_torque) { CANMessage temp_msg; temp_msg.id = CID_TX_TORQUE; @@ -338,7 +1154,7 @@ can.write(temp_msg); } -inline void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) { +void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) { CANMessage temp_msg; temp_msg.id = CID_TX_PRES; @@ -351,7 +1167,7 @@ can.write(temp_msg); } -inline void CAN_TX_PWM(int16_t t_pwm) { +void CAN_TX_PWM(int16_t t_pwm) { CANMessage temp_msg; temp_msg.id = CID_TX_POSITION; @@ -362,7 +1178,7 @@ can.write(temp_msg); } -inline void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) { +void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) { CANMessage temp_msg; temp_msg.id = CID_TX_VALVE_POSITION;