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Original Version of STM Board
Diff: CAN/function_CAN.cpp
- Revision:
- 33:91b17819ec30
- Parent:
- 32:4b8c0fedaf2c
- Child:
- 35:34ce7b0347b8
diff -r 4b8c0fedaf2c -r 91b17819ec30 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Mon Nov 11 09:48:00 2019 +0000 +++ b/CAN/function_CAN.cpp Tue Nov 12 11:29:36 2019 +0000 @@ -642,7 +642,20 @@ } case CRX_SET_VALVE_CENTER_OFFSET: { VALVE_CENTER_OFFSET_times10 = (int16_t) (msg.data[1] | msg.data[2] << 8); - VALVE_CENTER_OFFSET = VALVE_CENTER_OFFSET_times10 * 0.1f; + VALVE_CENTER_OFFSET = ((float) VALVE_CENTER_OFFSET_times10) * 0.1f; + DDV_CENTER = DDV_CENTER + VALVE_CENTER_OFFSET; + ROM_RESET_DATA(); + break; + } + case CRX_SET_VALVE_DZ_MINUS_OFFSET: { + VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f; + VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET; + ROM_RESET_DATA(); + break; + } + case CRX_SET_VALVE_DZ_PLUS_OFFSET: { + VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f; + VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET; ROM_RESET_DATA(); break; } @@ -1161,7 +1174,7 @@ 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] * 10 + DDV_CENTER; + int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + (int) DDV_CENTER; temp_msg.id = CID_TX_INFO; temp_msg.len = 7;