Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2

rainbow

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@227:699c3e572283, 2021-03-11 (annotated)

Committer:
hyhoon
Date:
Thu Mar 11 07:27:23 2021 +0000
Revision:
227:699c3e572283
Parent:
226:82a3ca333004
Child:
230:2c3e5ecbe7e1
210311

Who changed what in which revision?

UserRevisionLine numberNew 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;
hyhoon 227:699c3e572283 11 int CID_RX_REF_OPENLOOP = 300;
Lightvalve 49:e7bcfc244d40 12 int CID_RX_REF_PWM = 400;
jobuuu 2:a1c0a37df760 13
jobuuu 2:a1c0a37df760 14 int CID_TX_INFO = 1100;
hyhoon 227:699c3e572283 15 int CID_TX_POS_VEL_TORQ = 1200;
hyhoon 227:699c3e572283 16 int CID_TX_PWM = 1300;
hyhoon 227:699c3e572283 17 int CID_TX_CURRENT = 1400;
jobuuu 7:e9086c72bb22 18 int CID_TX_VOUT = 1500;
jobuuu 2:a1c0a37df760 19 int CID_TX_VALVE_POSITION = 1600;
jeongyeseong 225:9c0becc196ba 20 int CID_TX_SOMETHING = 1700;
jobuuu 2:a1c0a37df760 21
Lightvalve 12:6f2531038ea4 22 // variables
Lightvalve 12:6f2531038ea4 23 uint8_t can_index = 0;
Lightvalve 67:c2812cf26c38 24
Lightvalve 66:a8e6799dbce3 25 extern DigitalOut LED;
Lightvalve 12:6f2531038ea4 26
Lightvalve 99:7bbcb3c0fb06 27 extern float u_past[];
Lightvalve 68:328e1be06f5d 28 extern float x_past[];
Lightvalve 85:a3b46118b5cd 29 extern float x_future[];
Lightvalve 68:328e1be06f5d 30 extern float f_past[];
Lightvalve 68:328e1be06f5d 31 extern float f_future[];
Lightvalve 73:f80dc3970c99 32 extern float input_NN[];
Lightvalve 68:328e1be06f5d 33
Lightvalve 11:82d8768d7351 34 /*******************************************************************************
Lightvalve 11:82d8768d7351 35 * CAN functions
Lightvalve 11:82d8768d7351 36 ******************************************************************************/
Lightvalve 170:42c938a40313 37 void CAN_ID_INIT(void)
Lightvalve 170:42c938a40313 38 {
jobuuu 7:e9086c72bb22 39
Lightvalve 11:82d8768d7351 40 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 41 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
hyhoon 227:699c3e572283 42 CID_RX_REF_OPENLOOP = (int) (BNO + INIT_CID_RX_REF_OPENLOOP);
Lightvalve 45:35fa6884d0c6 43 CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve 11:82d8768d7351 44
Lightvalve 11:82d8768d7351 45 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
hyhoon 227:699c3e572283 46 CID_TX_POS_VEL_TORQ = (int) (BNO + INIT_CID_TX_POS_VEL_TORQ);
hyhoon 227:699c3e572283 47 CID_TX_PWM = (int) (BNO + INIT_CID_TX_PWM);
hyhoon 227:699c3e572283 48 CID_TX_CURRENT = (int) (BNO + INIT_CID_TX_CURRENT);
Lightvalve 11:82d8768d7351 49 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 50 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
jeongyeseong 225:9c0becc196ba 51 CID_TX_SOMETHING = (int) (BNO + INIT_CID_TX_SOMETHING);
Lightvalve 11:82d8768d7351 52 }
jobuuu 2:a1c0a37df760 53
Lightvalve 28:2a62d73e3dd0 54 void ReadCMD(int16_t CMD)
jobuuu 2:a1c0a37df760 55 {
Lightvalve 170:42c938a40313 56 switch(CMD) {
Lightvalve 11:82d8768d7351 57 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 58 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 59 break;
Lightvalve 11:82d8768d7351 60 }
Lightvalve 11:82d8768d7351 61 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 62 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 63 break;
Lightvalve 11:82d8768d7351 64 }
Lightvalve 11:82d8768d7351 65 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 66 BNO = (int16_t) msg.data[1];
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 spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve 170:42c938a40313 81 spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
Lightvalve 170:42c938a40313 82 spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
Lightvalve 170:42c938a40313 83 spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
Lightvalve 11:82d8768d7351 84 break;
Lightvalve 11:82d8768d7351 85 }
Lightvalve 11:82d8768d7351 86 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 87 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 88
Lightvalve 11:82d8768d7351 89 break;
Lightvalve 11:82d8768d7351 90 }
Lightvalve 11:82d8768d7351 91 case CRX_SET_FET_ON: {
Lightvalve 11:82d8768d7351 92
Lightvalve 11:82d8768d7351 93 break;
Lightvalve 11:82d8768d7351 94 }
Lightvalve 11:82d8768d7351 95
Lightvalve 45:35fa6884d0c6 96 case CRX_SET_POS_TORQ_TRANS: {
Lightvalve 45:35fa6884d0c6 97 MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve 45:35fa6884d0c6 98 /*
Lightvalve 45:35fa6884d0c6 99 MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve 45:35fa6884d0c6 100 MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve 45:35fa6884d0c6 101 MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve 45:35fa6884d0c6 102 MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve 45:35fa6884d0c6 103 */
Lightvalve 11:82d8768d7351 104 break;
Lightvalve 11:82d8768d7351 105 }
Lightvalve 11:82d8768d7351 106
Lightvalve 11:82d8768d7351 107 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 108 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 109
Lightvalve 11:82d8768d7351 110 break;
Lightvalve 11:82d8768d7351 111 }
Lightvalve 11:82d8768d7351 112
Lightvalve 11:82d8768d7351 113 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 114 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 115 spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 116 break;
Lightvalve 11:82d8768d7351 117 }
Lightvalve 11:82d8768d7351 118
Lightvalve 11:82d8768d7351 119 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 120 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 121
Lightvalve 11:82d8768d7351 122 break;
Lightvalve 11:82d8768d7351 123 }
Lightvalve 11:82d8768d7351 124
Lightvalve 11:82d8768d7351 125 case CRX_SET_CONTROL_MODE: {
Lightvalve 57:f4819de54e7a 126 CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 127 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 128 FLAG_FIND_HOME = true;
hyhoon 226:82a3ca333004 129 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 11:82d8768d7351 130 }
Lightvalve 11:82d8768d7351 131 break;
Lightvalve 11:82d8768d7351 132 }
Lightvalve 11:82d8768d7351 133
Lightvalve 11:82d8768d7351 134 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 135 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 136 flag_data_request[request_type] = msg.data[1];
Lightvalve 11:82d8768d7351 137
Lightvalve 12:6f2531038ea4 138 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 139 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 140 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 141 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 11:82d8768d7351 142
hyhoon 227:699c3e572283 143
Lightvalve 11:82d8768d7351 144 break;
Lightvalve 11:82d8768d7351 145 }
Lightvalve 11:82d8768d7351 146
Lightvalve 11:82d8768d7351 147 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 148 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 149
Lightvalve 11:82d8768d7351 150 break;
Lightvalve 11:82d8768d7351 151 }
Lightvalve 11:82d8768d7351 152
Lightvalve 11:82d8768d7351 153 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 154 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 155 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 156 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 157 else
Lightvalve 11:82d8768d7351 158 DIR_JOINT_ENC = -1;
Lightvalve 170:42c938a40313 159
Lightvalve 170:42c938a40313 160 spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 161
Lightvalve 11:82d8768d7351 162 break;
Lightvalve 11:82d8768d7351 163 }
Lightvalve 11:82d8768d7351 164
Lightvalve 11:82d8768d7351 165 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 166 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 167
Lightvalve 11:82d8768d7351 168 break;
Lightvalve 11:82d8768d7351 169 }
Lightvalve 11:82d8768d7351 170
Lightvalve 11:82d8768d7351 171 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 172 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 173 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 174 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 175 else
Lightvalve 11:82d8768d7351 176 DIR_VALVE = -1;
Lightvalve 170:42c938a40313 177
Lightvalve 170:42c938a40313 178 spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 179
Lightvalve 11:82d8768d7351 180 break;
Lightvalve 11:82d8768d7351 181 }
Lightvalve 11:82d8768d7351 182
Lightvalve 11:82d8768d7351 183 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 184 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 185
Lightvalve 11:82d8768d7351 186 break;
Lightvalve 11:82d8768d7351 187 }
Lightvalve 11:82d8768d7351 188
Lightvalve 11:82d8768d7351 189 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 190 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 191 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 192 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 193 else
Lightvalve 11:82d8768d7351 194 DIR_VALVE_ENC = -1;
Lightvalve 11:82d8768d7351 195
Lightvalve 170:42c938a40313 196 spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 197
Lightvalve 11:82d8768d7351 198 break;
Lightvalve 11:82d8768d7351 199 }
Lightvalve 11:82d8768d7351 200
Lightvalve 11:82d8768d7351 201 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 202 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 203
Lightvalve 11:82d8768d7351 204 break;
Lightvalve 11:82d8768d7351 205 }
Lightvalve 11:82d8768d7351 206
Lightvalve 11:82d8768d7351 207 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 30:8d561f16383b 208 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 170:42c938a40313 209
Lightvalve 170:42c938a40313 210
Lightvalve 170:42c938a40313 211 spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve 11:82d8768d7351 212
Lightvalve 11:82d8768d7351 213 break;
Lightvalve 11:82d8768d7351 214 }
Lightvalve 11:82d8768d7351 215
Lightvalve 11:82d8768d7351 216 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 217 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 218
Lightvalve 11:82d8768d7351 219 break;
Lightvalve 11:82d8768d7351 220 }
Lightvalve 11:82d8768d7351 221
Lightvalve 11:82d8768d7351 222 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 30:8d561f16383b 223 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 170:42c938a40313 224
Lightvalve 170:42c938a40313 225 spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve 11:82d8768d7351 226
Lightvalve 11:82d8768d7351 227
Lightvalve 11:82d8768d7351 228 break;
Lightvalve 11:82d8768d7351 229 }
Lightvalve 12:6f2531038ea4 230
Lightvalve 11:82d8768d7351 231 case CRX_SET_HOMEPOS: {
Lightvalve 57:f4819de54e7a 232 CONTROL_UTILITY_MODE = 22;
Lightvalve 11:82d8768d7351 233 break;
Lightvalve 11:82d8768d7351 234 }
Lightvalve 11:82d8768d7351 235
Lightvalve 11:82d8768d7351 236 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 237 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 238
Lightvalve 11:82d8768d7351 239 break;
Lightvalve 11:82d8768d7351 240 }
Lightvalve 11:82d8768d7351 241
Lightvalve 11:82d8768d7351 242 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 243 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 244 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 245 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 246 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 247
Lightvalve 170:42c938a40313 248 spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 170:42c938a40313 249 spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 170:42c938a40313 250 spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 251
Lightvalve 11:82d8768d7351 252 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 253 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 254 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 255 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 256
Lightvalve 170:42c938a40313 257 spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 258 spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 259 spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 170:42c938a40313 260
Lightvalve 11:82d8768d7351 261 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 262 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 263 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 264 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 265
Lightvalve 170:42c938a40313 266 spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 267 spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 268 spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 170:42c938a40313 269
Lightvalve 46:2694daea349b 270 } else if (msg.data[1] == 3) {
Lightvalve 67:c2812cf26c38 271 K_SPRING = (float) (((float) ((int16_t) (msg.data[2] | msg.data[3] << 8))) * 0.1f);
Lightvalve 67:c2812cf26c38 272 D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f);
Lightvalve 170:42c938a40313 273
Lightvalve 170:42c938a40313 274 // spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve 170:42c938a40313 275 // spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve 170:42c938a40313 276
Lightvalve 72:3436ce769b1e 277 } else if (msg.data[1] == 4) {
Lightvalve 72:3436ce769b1e 278 P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 72:3436ce769b1e 279 I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 72:3436ce769b1e 280 D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 170:42c938a40313 281
Lightvalve 11:82d8768d7351 282 }
Lightvalve 11:82d8768d7351 283
Lightvalve 11:82d8768d7351 284 break;
Lightvalve 11:82d8768d7351 285 }
Lightvalve 11:82d8768d7351 286
Lightvalve 11:82d8768d7351 287 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 288 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 289
Lightvalve 11:82d8768d7351 290 break;
Lightvalve 11:82d8768d7351 291 }
Lightvalve 11:82d8768d7351 292
Lightvalve 11:82d8768d7351 293 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 294 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
hyhoon 226:82a3ca333004 295 VALVE_DEADZONE_PLUS = (int16_t)(msg.data[3] | msg.data[4] << 8);
hyhoon 226:82a3ca333004 296 VALVE_DEADZONE_MINUS = (int16_t)(msg.data[5] | msg.data[6] << 8);
Lightvalve 170:42c938a40313 297
hyhoon 226:82a3ca333004 298 spi_eeprom_write(RID_VALVE_CNETER, VALVE_CENTER);
hyhoon 226:82a3ca333004 299 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
hyhoon 226:82a3ca333004 300 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 11:82d8768d7351 301
Lightvalve 11:82d8768d7351 302 break;
Lightvalve 11:82d8768d7351 303 }
Lightvalve 11:82d8768d7351 304
Lightvalve 11:82d8768d7351 305 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 306 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 307
Lightvalve 11:82d8768d7351 308 break;
Lightvalve 11:82d8768d7351 309 }
Lightvalve 11:82d8768d7351 310
Lightvalve 11:82d8768d7351 311 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 312 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 313
Lightvalve 170:42c938a40313 314
Lightvalve 170:42c938a40313 315 spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 316
Lightvalve 11:82d8768d7351 317 break;
Lightvalve 11:82d8768d7351 318 }
Lightvalve 11:82d8768d7351 319
Lightvalve 11:82d8768d7351 320 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 321 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 322
Lightvalve 11:82d8768d7351 323 break;
Lightvalve 11:82d8768d7351 324 }
Lightvalve 11:82d8768d7351 325
Lightvalve 11:82d8768d7351 326 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 327 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 328
Lightvalve 170:42c938a40313 329
Lightvalve 170:42c938a40313 330 spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 331
Lightvalve 11:82d8768d7351 332 break;
Lightvalve 11:82d8768d7351 333 }
Lightvalve 11:82d8768d7351 334
Lightvalve 11:82d8768d7351 335 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 336 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 337
Lightvalve 11:82d8768d7351 338 break;
Lightvalve 11:82d8768d7351 339 }
Lightvalve 11:82d8768d7351 340
Lightvalve 11:82d8768d7351 341 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 342 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 343
Lightvalve 170:42c938a40313 344 spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 345
Lightvalve 11:82d8768d7351 346 break;
Lightvalve 11:82d8768d7351 347 }
Lightvalve 11:82d8768d7351 348
Lightvalve 11:82d8768d7351 349 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 350 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 351
Lightvalve 11:82d8768d7351 352 break;
Lightvalve 11:82d8768d7351 353 }
Lightvalve 11:82d8768d7351 354
Lightvalve 11:82d8768d7351 355 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 356 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 357 spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 358
Lightvalve 11:82d8768d7351 359 break;
Lightvalve 11:82d8768d7351 360 }
Lightvalve 11:82d8768d7351 361
Lightvalve 11:82d8768d7351 362 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 363 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 364
Lightvalve 11:82d8768d7351 365 break;
Lightvalve 11:82d8768d7351 366 }
Lightvalve 11:82d8768d7351 367
Lightvalve 11:82d8768d7351 368 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 369 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 370 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 371
Lightvalve 170:42c938a40313 372 spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 170:42c938a40313 373 spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 374
Lightvalve 11:82d8768d7351 375 break;
Lightvalve 11:82d8768d7351 376 }
Lightvalve 11:82d8768d7351 377
Lightvalve 11:82d8768d7351 378 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 379 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 380
Lightvalve 11:82d8768d7351 381 break;
Lightvalve 11:82d8768d7351 382 }
Lightvalve 11:82d8768d7351 383
Lightvalve 11:82d8768d7351 384 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 385 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 386 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 69:3995ffeaa786 387 PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve 57:f4819de54e7a 388 alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve 170:42c938a40313 389
Lightvalve 170:42c938a40313 390 spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 170:42c938a40313 391 spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 392 break;
Lightvalve 11:82d8768d7351 393 }
Lightvalve 11:82d8768d7351 394
Lightvalve 11:82d8768d7351 395 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 396 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 397 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 398 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 399 //dac_2 = PRES_B_VREF;
Lightvalve 170:42c938a40313 400
Lightvalve 11:82d8768d7351 401 break;
Lightvalve 11:82d8768d7351 402 }
Lightvalve 11:82d8768d7351 403
Lightvalve 11:82d8768d7351 404 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 405 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 406 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 170:42c938a40313 407 spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 170:42c938a40313 408 spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 409
Lightvalve 11:82d8768d7351 410
Lightvalve 11:82d8768d7351 411 break;
Lightvalve 11:82d8768d7351 412 }
Lightvalve 11:82d8768d7351 413
Lightvalve 11:82d8768d7351 414 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 415 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 416
Lightvalve 11:82d8768d7351 417 break;
Lightvalve 11:82d8768d7351 418 }
Lightvalve 11:82d8768d7351 419
Lightvalve 11:82d8768d7351 420 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 421 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 422 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 170:42c938a40313 423 spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 170:42c938a40313 424 spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 425
Lightvalve 11:82d8768d7351 426 break;
Lightvalve 11:82d8768d7351 427 }
Lightvalve 11:82d8768d7351 428
Lightvalve 11:82d8768d7351 429 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 430 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 431 break;
Lightvalve 11:82d8768d7351 432 }
Lightvalve 11:82d8768d7351 433
Lightvalve 11:82d8768d7351 434 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 435 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 436 spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 437
Lightvalve 11:82d8768d7351 438 break;
Lightvalve 11:82d8768d7351 439 }
Lightvalve 11:82d8768d7351 440
Lightvalve 11:82d8768d7351 441 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 442 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 443
Lightvalve 11:82d8768d7351 444 break;
Lightvalve 11:82d8768d7351 445 }
Lightvalve 11:82d8768d7351 446
Lightvalve 11:82d8768d7351 447 case CRX_SET_VALVE_LIMIT: {
Lightvalve 57:f4819de54e7a 448 VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 57:f4819de54e7a 449 VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 170:42c938a40313 450
Lightvalve 170:42c938a40313 451 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 170:42c938a40313 452 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 11:82d8768d7351 453
Lightvalve 11:82d8768d7351 454 break;
Lightvalve 11:82d8768d7351 455 }
Lightvalve 11:82d8768d7351 456
Lightvalve 11:82d8768d7351 457 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 458 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 459
Lightvalve 11:82d8768d7351 460 break;
Lightvalve 11:82d8768d7351 461 }
Lightvalve 11:82d8768d7351 462
Lightvalve 11:82d8768d7351 463 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 464 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 180:02be1711ee0b 465 spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
Lightvalve 11:82d8768d7351 466
Lightvalve 11:82d8768d7351 467 break;
Lightvalve 11:82d8768d7351 468 }
Lightvalve 11:82d8768d7351 469
Lightvalve 11:82d8768d7351 470 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 471 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 472
Lightvalve 11:82d8768d7351 473 break;
Lightvalve 11:82d8768d7351 474 }
Lightvalve 11:82d8768d7351 475
Lightvalve 11:82d8768d7351 476 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 139:15621998925b 477 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.0001f);
Lightvalve 170:42c938a40313 478 spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve 11:82d8768d7351 479
Lightvalve 11:82d8768d7351 480 break;
Lightvalve 11:82d8768d7351 481 }
Lightvalve 11:82d8768d7351 482
Lightvalve 11:82d8768d7351 483 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 484 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 485
Lightvalve 11:82d8768d7351 486 break;
Lightvalve 11:82d8768d7351 487 }
Lightvalve 11:82d8768d7351 488
Lightvalve 11:82d8768d7351 489 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 30:8d561f16383b 490 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 30:8d561f16383b 491 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 170:42c938a40313 492 spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 170:42c938a40313 493 spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 11:82d8768d7351 494
Lightvalve 11:82d8768d7351 495 break;
Lightvalve 11:82d8768d7351 496 }
Lightvalve 11:82d8768d7351 497
Lightvalve 11:82d8768d7351 498 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 499 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 500
Lightvalve 11:82d8768d7351 501 break;
Lightvalve 11:82d8768d7351 502 }
Lightvalve 11:82d8768d7351 503
Lightvalve 11:82d8768d7351 504 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 505 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 170:42c938a40313 506 spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve 11:82d8768d7351 507
Lightvalve 11:82d8768d7351 508 break;
Lightvalve 11:82d8768d7351 509 }
Lightvalve 11:82d8768d7351 510
Lightvalve 11:82d8768d7351 511 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 512 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 513
Lightvalve 11:82d8768d7351 514 break;
Lightvalve 11:82d8768d7351 515 }
Lightvalve 11:82d8768d7351 516 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 517 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 518 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 519 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 520 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 521 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 170:42c938a40313 522 spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 170:42c938a40313 523 spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 170:42c938a40313 524 spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 170:42c938a40313 525 spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 170:42c938a40313 526 spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 527
Lightvalve 11:82d8768d7351 528 break;
Lightvalve 11:82d8768d7351 529 }
Lightvalve 11:82d8768d7351 530
Lightvalve 11:82d8768d7351 531 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 532 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 533
Lightvalve 11:82d8768d7351 534 break;
Lightvalve 11:82d8768d7351 535 }
Lightvalve 11:82d8768d7351 536 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 537 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 538 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 539 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 540 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 541 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 170:42c938a40313 542 spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 170:42c938a40313 543 spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 170:42c938a40313 544 spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 170:42c938a40313 545 spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 170:42c938a40313 546 spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 547
Lightvalve 11:82d8768d7351 548 break;
Lightvalve 11:82d8768d7351 549 }
Lightvalve 11:82d8768d7351 550
Lightvalve 11:82d8768d7351 551 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 552 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 553
Lightvalve 11:82d8768d7351 554 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 555 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 556 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 557 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 558 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 559
Lightvalve 11:82d8768d7351 560 break;
Lightvalve 11:82d8768d7351 561 }
Lightvalve 11:82d8768d7351 562
Lightvalve 11:82d8768d7351 563 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 564 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 565
Lightvalve 11:82d8768d7351 566 break;
Lightvalve 11:82d8768d7351 567 }
Lightvalve 11:82d8768d7351 568
Lightvalve 11:82d8768d7351 569 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 570
Lightvalve 12:6f2531038ea4 571 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 572 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 573 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 574 }
Lightvalve 11:82d8768d7351 575
Lightvalve 11:82d8768d7351 576 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 577
Lightvalve 11:82d8768d7351 578
Lightvalve 11:82d8768d7351 579 break;
Lightvalve 11:82d8768d7351 580 }
Lightvalve 11:82d8768d7351 581
Lightvalve 11:82d8768d7351 582 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 583 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 584 break;
Lightvalve 11:82d8768d7351 585 }
Lightvalve 11:82d8768d7351 586 case CRX_SET_HOMEPOS_OFFSET: {
hyhoon 226:82a3ca333004 587 HOMEPOS_OFFSET = (int16_t)(msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 588 spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 589 break;
Lightvalve 11:82d8768d7351 590 }
Lightvalve 11:82d8768d7351 591
Lightvalve 11:82d8768d7351 592 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 593 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 594 break;
Lightvalve 11:82d8768d7351 595 }
Lightvalve 11:82d8768d7351 596 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 597 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 170:42c938a40313 598 spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 599 break;
Lightvalve 11:82d8768d7351 600 }
Lightvalve 11:82d8768d7351 601
Lightvalve 11:82d8768d7351 602 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 603 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 604 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 605 break;
Lightvalve 11:82d8768d7351 606 }
Lightvalve 11:82d8768d7351 607 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 608 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 609 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 610 break;
Lightvalve 11:82d8768d7351 611 }
Lightvalve 11:82d8768d7351 612 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 613 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 614 break;
Lightvalve 11:82d8768d7351 615 }
Lightvalve 170:42c938a40313 616
Lightvalve 28:2a62d73e3dd0 617 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 618 break;
Lightvalve 28:2a62d73e3dd0 619 }
Lightvalve 192:637092202815 620
Lightvalve 170:42c938a40313 621 default:
Lightvalve 170:42c938a40313 622 break;
jobuuu 2:a1c0a37df760 623 }
jobuuu 2:a1c0a37df760 624 }
jobuuu 2:a1c0a37df760 625
jobuuu 2:a1c0a37df760 626 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 627 {
Lightvalve 170:42c938a40313 628
jobuuu 2:a1c0a37df760 629 can.read(msg);
jobuuu 2:a1c0a37df760 630 unsigned int address = msg.id;
Lightvalve 170:42c938a40313 631 if(address==CID_RX_CMD) {
jobuuu 2:a1c0a37df760 632 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 633 ReadCMD(CMD);
Lightvalve 170:42c938a40313 634
jobuuu 7:e9086c72bb22 635 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 170:42c938a40313 636
Lightvalve 43:b084e5f5d0d5 637 int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 43:b084e5f5d0d5 638 int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 57:f4819de54e7a 639 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 170:42c938a40313 640
Lightvalve 57:f4819de54e7a 641 if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
hyhoon 227:699c3e572283 642 REF_POSITION = (double)temp_pos * 10.0f;
hyhoon 227:699c3e572283 643 REF_VELOCITY = (double)temp_vel * 256.0f;
Lightvalve 170:42c938a40313 644 } else { //Linear Actuator
hyhoon 227:699c3e572283 645 REF_POSITION = (double)temp_pos * 10.0f;
hyhoon 227:699c3e572283 646 REF_VELOCITY = (double)temp_vel * 256.0f;
Lightvalve 57:f4819de54e7a 647 }
Lightvalve 170:42c938a40313 648
hyhoon 227:699c3e572283 649 REF_TORQUE = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
hyhoon 227:699c3e572283 650 torq.ref_diff = REF_TORQUE - REF_TORQUE_OLD;
hyhoon 227:699c3e572283 651 REF_TORQUE_OLD = REF_TORQUE;
hyhoon 226:82a3ca333004 652
hyhoon 226:82a3ca333004 653 if(CAN_FREQ == -1) {
hyhoon 226:82a3ca333004 654 // Position, Velocity, and Torque (ID:1200)
hyhoon 226:82a3ca333004 655 if (flag_data_request[0] == HIGH) {
hyhoon 226:82a3ca333004 656 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
hyhoon 226:82a3ca333004 657 if (SENSING_MODE == 0) {
hyhoon 227:699c3e572283 658 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
hyhoon 226:82a3ca333004 659 } else if (SENSING_MODE == 1) {
hyhoon 227:699c3e572283 660 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
hyhoon 226:82a3ca333004 661 }
hyhoon 226:82a3ca333004 662 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
hyhoon 226:82a3ca333004 663 if (SENSING_MODE == 0) {
hyhoon 226:82a3ca333004 664 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
hyhoon 226:82a3ca333004 665 } else if (SENSING_MODE == 1) {
hyhoon 227:699c3e572283 666 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
hyhoon 226:82a3ca333004 667 }
jeongyeseong 225:9c0becc196ba 668 }
jeongyeseong 225:9c0becc196ba 669 }
hyhoon 226:82a3ca333004 670
hyhoon 227:699c3e572283 671 // PWM, ID:1300
hyhoon 226:82a3ca333004 672 if (flag_data_request[1] == HIGH) {
hyhoon 227:699c3e572283 673 CAN_TX_PWM((int16_t) (V_out)); //1300
hyhoon 226:82a3ca333004 674 }
hyhoon 226:82a3ca333004 675
hyhoon 227:699c3e572283 676 // Reference Current, Current Current (ID:1400)
hyhoon 226:82a3ca333004 677 if (flag_data_request[2] == HIGH) {
hyhoon 227:699c3e572283 678 CAN_TX_CURRENT((int16_t) (I_REF_fil_DZ / mA_PER_pulse), (int16_t) (cur.sen / mA_PER_pulse)); // 1400
hyhoon 226:82a3ca333004 679 }
hyhoon 227:699c3e572283 680
hyhoon 227:699c3e572283 681 // Reference Current, Current Current (ID:1700)
hyhoon 226:82a3ca333004 682 if (flag_data_request[3] == HIGH) {
hyhoon 227:699c3e572283 683 CAN_TX_SOMETHING((int16_t) (0), (int16_t) (0), (int16_t) (0), (int16_t) (0)); // 1700
hyhoon 226:82a3ca333004 684 }
hyhoon 226:82a3ca333004 685
jeongyeseong 225:9c0becc196ba 686 }
Lightvalve 68:328e1be06f5d 687
Lightvalve 101:50159049a518 688
hyhoon 227:699c3e572283 689 } else if(address==CID_RX_REF_OPENLOOP) {
Lightvalve 47:fdcb8bd86fd6 690 int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 170:42c938a40313 691
Lightvalve 57:f4819de54e7a 692 if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve 57:f4819de54e7a 693 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 57:f4819de54e7a 694 } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve 57:f4819de54e7a 695 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 57:f4819de54e7a 696 } else { //SW Valve
Lightvalve 57:f4819de54e7a 697 if(temp_ref_valve_pos >= 0) {
Lightvalve 57:f4819de54e7a 698 valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 57:f4819de54e7a 699 } else {
Lightvalve 57:f4819de54e7a 700 valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 57:f4819de54e7a 701 }
Lightvalve 47:fdcb8bd86fd6 702 }
Lightvalve 170:42c938a40313 703 } else if(address==CID_RX_REF_PWM) {
Lightvalve 49:e7bcfc244d40 704 int temp_ref_pwm = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 49:e7bcfc244d40 705 Vout.ref = (double) temp_ref_pwm;
Lightvalve 170:42c938a40313 706 }
jeongyeseong 225:9c0becc196ba 707
jeongyeseong 225:9c0becc196ba 708
jobuuu 2:a1c0a37df760 709 }
jobuuu 2:a1c0a37df760 710
jobuuu 2:a1c0a37df760 711 /******************************************************************************
jobuuu 2:a1c0a37df760 712 Information Transmission Functions
jobuuu 2:a1c0a37df760 713 *******************************************************************************/
Lightvalve 11:82d8768d7351 714
Lightvalve 170:42c938a40313 715 void CAN_TX_INFO(void)
Lightvalve 170:42c938a40313 716 {
Lightvalve 12:6f2531038ea4 717 CANMessage temp_msg;
Lightvalve 170:42c938a40313 718
jobuuu 2:a1c0a37df760 719 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 720 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 721 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 722 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 723 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 724 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 725 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 726 temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve 12:6f2531038ea4 727 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 728
jobuuu 2:a1c0a37df760 729 can.write(temp_msg);
jobuuu 2:a1c0a37df760 730 }
jobuuu 2:a1c0a37df760 731
Lightvalve 170:42c938a40313 732 void CAN_TX_BNO(void)
Lightvalve 170:42c938a40313 733 {
Lightvalve 12:6f2531038ea4 734 CANMessage temp_msg;
Lightvalve 170:42c938a40313 735
jobuuu 2:a1c0a37df760 736 temp_msg.id = CID_TX_INFO;
jeongyeseong 225:9c0becc196ba 737 //temp_msg.len = 2;
hyhoon 226:82a3ca333004 738 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 739 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 740 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 741
jobuuu 2:a1c0a37df760 742 can.write(temp_msg);
jobuuu 2:a1c0a37df760 743 }
jobuuu 2:a1c0a37df760 744
Lightvalve 170:42c938a40313 745 void CAN_TX_OPERATING_MODE(void)
Lightvalve 170:42c938a40313 746 {
jobuuu 2:a1c0a37df760 747 CANMessage temp_msg;
Lightvalve 170:42c938a40313 748
jobuuu 2:a1c0a37df760 749 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 750 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 751 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 752 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve 52:8ea76864368a 753 temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve 52:8ea76864368a 754 temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 755 temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu 2:a1c0a37df760 756
jobuuu 2:a1c0a37df760 757 can.write(temp_msg);
jobuuu 2:a1c0a37df760 758 }
jobuuu 2:a1c0a37df760 759
Lightvalve 170:42c938a40313 760 void CAN_TX_CAN_FREQ(void)
Lightvalve 170:42c938a40313 761 {
jobuuu 2:a1c0a37df760 762 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 763
jobuuu 2:a1c0a37df760 764 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 765 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 766 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 767 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 768 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 769
jobuuu 2:a1c0a37df760 770 can.write(temp_msg);
jobuuu 2:a1c0a37df760 771 }
Lightvalve 11:82d8768d7351 772
Lightvalve 170:42c938a40313 773 void CAN_TX_CONTROL_MODE(void)
Lightvalve 170:42c938a40313 774 {
jobuuu 2:a1c0a37df760 775 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 776
jobuuu 2:a1c0a37df760 777 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 778 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 779 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 57:f4819de54e7a 780 temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu 2:a1c0a37df760 781
jobuuu 2:a1c0a37df760 782 can.write(temp_msg);
jobuuu 2:a1c0a37df760 783 }
Lightvalve 11:82d8768d7351 784
Lightvalve 170:42c938a40313 785 void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve 170:42c938a40313 786 {
jobuuu 2:a1c0a37df760 787 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 788
jobuuu 2:a1c0a37df760 789 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 790 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 791 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 792 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 793 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 794
jobuuu 2:a1c0a37df760 795 can.write(temp_msg);
jobuuu 2:a1c0a37df760 796 }
jobuuu 2:a1c0a37df760 797
Lightvalve 170:42c938a40313 798 void CAN_TX_VALVE_DIR(void)
Lightvalve 170:42c938a40313 799 {
jobuuu 2:a1c0a37df760 800 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 801
jobuuu 2:a1c0a37df760 802 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 803 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 804 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 805 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 806 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 807
jobuuu 2:a1c0a37df760 808 can.write(temp_msg);
jobuuu 2:a1c0a37df760 809 }
jobuuu 2:a1c0a37df760 810
Lightvalve 170:42c938a40313 811 void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve 170:42c938a40313 812 {
jobuuu 2:a1c0a37df760 813 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 814
jobuuu 2:a1c0a37df760 815 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 816 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 817 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 818 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 819 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 820
jobuuu 2:a1c0a37df760 821 can.write(temp_msg);
jobuuu 2:a1c0a37df760 822 }
jobuuu 2:a1c0a37df760 823
Lightvalve 170:42c938a40313 824 void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve 170:42c938a40313 825 {
Lightvalve 49:e7bcfc244d40 826 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu 2:a1c0a37df760 827
jobuuu 2:a1c0a37df760 828 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 829
jobuuu 2:a1c0a37df760 830 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 831 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 832 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 833 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 834 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 835
jobuuu 2:a1c0a37df760 836 can.write(temp_msg);
jobuuu 2:a1c0a37df760 837 }
jobuuu 2:a1c0a37df760 838
Lightvalve 170:42c938a40313 839 void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve 170:42c938a40313 840 {
Lightvalve 49:e7bcfc244d40 841 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu 2:a1c0a37df760 842
jobuuu 2:a1c0a37df760 843 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 844
jobuuu 2:a1c0a37df760 845 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 846 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 847 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 848 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 849 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 850
jobuuu 2:a1c0a37df760 851 can.write(temp_msg);
jobuuu 2:a1c0a37df760 852 }
Lightvalve 11:82d8768d7351 853
jobuuu 2:a1c0a37df760 854
Lightvalve 170:42c938a40313 855 void CAN_TX_PID_GAIN(int t_type)
Lightvalve 170:42c938a40313 856 {
jobuuu 2:a1c0a37df760 857 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 858 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 859 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 860
Lightvalve 12:6f2531038ea4 861 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 862 if (t_type == 0) {
Lightvalve 30:8d561f16383b 863 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 864 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 865 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 866 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 867 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 868 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 869 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 870 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 871 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 872 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 873 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve 46:2694daea349b 874 } else if (t_type == 3) {
Lightvalve 67:c2812cf26c38 875 sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve 67:c2812cf26c38 876 sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu 2:a1c0a37df760 877 }
jobuuu 2:a1c0a37df760 878
jobuuu 2:a1c0a37df760 879 CANMessage temp_msg;
Lightvalve 170:42c938a40313 880
jobuuu 2:a1c0a37df760 881 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 882 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 883 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 884 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 885 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 886 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 887 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 888 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 889 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 890 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 891
jobuuu 2:a1c0a37df760 892 can.write(temp_msg);
jobuuu 2:a1c0a37df760 893 }
jobuuu 2:a1c0a37df760 894
Lightvalve 11:82d8768d7351 895
Lightvalve 170:42c938a40313 896 void CAN_TX_VALVE_DEADZONE(void)
Lightvalve 170:42c938a40313 897 {
jobuuu 2:a1c0a37df760 898 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 899
jobuuu 2:a1c0a37df760 900 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 901 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 902 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 57:f4819de54e7a 903 temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve 57:f4819de54e7a 904 temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
hyhoon 226:82a3ca333004 905 temp_msg.data[3] = (uint8_t) VALVE_DEADZONE_PLUS;
hyhoon 226:82a3ca333004 906 temp_msg.data[4] = (uint8_t) (VALVE_DEADZONE_PLUS >> 8);
hyhoon 226:82a3ca333004 907 temp_msg.data[5] = (uint8_t) VALVE_DEADZONE_MINUS;
hyhoon 226:82a3ca333004 908 temp_msg.data[6] = (uint8_t) (VALVE_DEADZONE_MINUS >> 8);
jobuuu 2:a1c0a37df760 909
jobuuu 2:a1c0a37df760 910 can.write(temp_msg);
jobuuu 2:a1c0a37df760 911 }
jobuuu 2:a1c0a37df760 912
Lightvalve 170:42c938a40313 913 void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve 170:42c938a40313 914 {
Lightvalve 11:82d8768d7351 915 CANMessage temp_msg;
Lightvalve 170:42c938a40313 916
Lightvalve 11:82d8768d7351 917 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 918 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 919 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 920 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 921 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 922
Lightvalve 11:82d8768d7351 923 can.write(temp_msg);
Lightvalve 11:82d8768d7351 924 }
Lightvalve 11:82d8768d7351 925
Lightvalve 170:42c938a40313 926 void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve 170:42c938a40313 927 {
Lightvalve 11:82d8768d7351 928 CANMessage temp_msg;
Lightvalve 170:42c938a40313 929
Lightvalve 11:82d8768d7351 930 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 931 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 932 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 933 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 934 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 935
Lightvalve 11:82d8768d7351 936 can.write(temp_msg);
Lightvalve 11:82d8768d7351 937 }
Lightvalve 11:82d8768d7351 938
Lightvalve 170:42c938a40313 939 void CAN_TX_VALVE_FF(void)
Lightvalve 170:42c938a40313 940 {
Lightvalve 11:82d8768d7351 941 CANMessage temp_msg;
Lightvalve 170:42c938a40313 942
Lightvalve 11:82d8768d7351 943 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 944 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 945 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 946 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 947 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 948
Lightvalve 11:82d8768d7351 949 can.write(temp_msg);
Lightvalve 11:82d8768d7351 950 }
Lightvalve 11:82d8768d7351 951
Lightvalve 170:42c938a40313 952 void CAN_TX_BULK_MODULUS(void)
Lightvalve 170:42c938a40313 953 {
Lightvalve 11:82d8768d7351 954 CANMessage temp_msg;
Lightvalve 170:42c938a40313 955
Lightvalve 11:82d8768d7351 956 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 957 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 958 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 959 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 960 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 961
Lightvalve 11:82d8768d7351 962 can.write(temp_msg);
Lightvalve 11:82d8768d7351 963 }
Lightvalve 11:82d8768d7351 964
Lightvalve 170:42c938a40313 965 void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve 170:42c938a40313 966 {
Lightvalve 11:82d8768d7351 967 CANMessage temp_msg;
Lightvalve 170:42c938a40313 968
Lightvalve 11:82d8768d7351 969 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 970 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 971 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 972 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 973 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 974 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 975 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 976
Lightvalve 11:82d8768d7351 977 can.write(temp_msg);
Lightvalve 11:82d8768d7351 978 }
Lightvalve 11:82d8768d7351 979
Lightvalve 170:42c938a40313 980 void CAN_TX_PISTON_AREA(void)
Lightvalve 170:42c938a40313 981 {
jobuuu 2:a1c0a37df760 982 CANMessage temp_msg;
Lightvalve 170:42c938a40313 983
Lightvalve 11:82d8768d7351 984 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 985 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 986 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 987 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 988 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 989 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 990 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 991
Lightvalve 11:82d8768d7351 992 can.write(temp_msg);
Lightvalve 11:82d8768d7351 993 }
Lightvalve 11:82d8768d7351 994
Lightvalve 170:42c938a40313 995 void CAN_TX_PRES_A_AND_B(void)
Lightvalve 170:42c938a40313 996 {
Lightvalve 11:82d8768d7351 997 CANMessage temp_msg;
Lightvalve 170:42c938a40313 998
Lightvalve 11:82d8768d7351 999 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1000 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1001 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 1002 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 1003 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 1004 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 1005 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 1006
Lightvalve 11:82d8768d7351 1007 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1008 }
Lightvalve 11:82d8768d7351 1009
Lightvalve 170:42c938a40313 1010 void CAN_TX_ENC_LIMIT(void)
Lightvalve 170:42c938a40313 1011 {
Lightvalve 11:82d8768d7351 1012 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1013
Lightvalve 11:82d8768d7351 1014 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1015 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1016 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1017 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1018 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1019 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1020 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1021
Lightvalve 11:82d8768d7351 1022 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1023 }
Lightvalve 11:82d8768d7351 1024
Lightvalve 170:42c938a40313 1025 void CAN_TX_STROKE(void)
Lightvalve 170:42c938a40313 1026 {
Lightvalve 11:82d8768d7351 1027 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1028
Lightvalve 11:82d8768d7351 1029 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1030 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1031 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1032 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1033 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1034
Lightvalve 11:82d8768d7351 1035 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1036 }
Lightvalve 11:82d8768d7351 1037
Lightvalve 170:42c938a40313 1038 void CAN_TX_VALVE_LIMIT(void)
Lightvalve 170:42c938a40313 1039 {
Lightvalve 11:82d8768d7351 1040 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1041
Lightvalve 11:82d8768d7351 1042 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1043 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1044 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 57:f4819de54e7a 1045 temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1046 temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve 57:f4819de54e7a 1047 temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1048 temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve 11:82d8768d7351 1049
Lightvalve 11:82d8768d7351 1050 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1051 }
Lightvalve 11:82d8768d7351 1052
Lightvalve 170:42c938a40313 1053 void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve 170:42c938a40313 1054 {
Lightvalve 11:82d8768d7351 1055 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1056
jobuuu 2:a1c0a37df760 1057 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1058 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1059 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 54:647072f5307a 1060 int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve 48:889798ff9329 1061 temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve 48:889798ff9329 1062 temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu 2:a1c0a37df760 1063
jobuuu 2:a1c0a37df760 1064 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1065 }
jobuuu 2:a1c0a37df760 1066
Lightvalve 170:42c938a40313 1067 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve 170:42c938a40313 1068 {
jobuuu 2:a1c0a37df760 1069 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1070
jobuuu 2:a1c0a37df760 1071 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1072 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1073 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 139:15621998925b 1074 int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve 48:889798ff9329 1075 temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve 48:889798ff9329 1076 temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu 2:a1c0a37df760 1077
jobuuu 2:a1c0a37df760 1078 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1079 }
jobuuu 2:a1c0a37df760 1080
Lightvalve 170:42c938a40313 1081 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve 170:42c938a40313 1082 {
jobuuu 2:a1c0a37df760 1083 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1084
jobuuu 2:a1c0a37df760 1085 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1086 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1087 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1088 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1089 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1090 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1091 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1092
jobuuu 2:a1c0a37df760 1093 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1094 }
jobuuu 2:a1c0a37df760 1095
Lightvalve 170:42c938a40313 1096 void CAN_TX_FRICTION(void)
Lightvalve 170:42c938a40313 1097 {
Lightvalve 11:82d8768d7351 1098 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1099 int16_t send_friction;
Lightvalve 30:8d561f16383b 1100 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 170:42c938a40313 1101
Lightvalve 11:82d8768d7351 1102 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1103 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1104 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1105 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1106 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1107
Lightvalve 11:82d8768d7351 1108 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1109 }
Lightvalve 11:82d8768d7351 1110
Lightvalve 170:42c938a40313 1111 void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve 170:42c938a40313 1112 {
Lightvalve 11:82d8768d7351 1113 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1114
Lightvalve 11:82d8768d7351 1115 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1116 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1117 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1118 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1119 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1120 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1121 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1122 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve 11:82d8768d7351 1123
Lightvalve 11:82d8768d7351 1124 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1125 }
Lightvalve 11:82d8768d7351 1126
Lightvalve 11:82d8768d7351 1127
Lightvalve 170:42c938a40313 1128 void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve 170:42c938a40313 1129 {
Lightvalve 11:82d8768d7351 1130 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1131
Lightvalve 11:82d8768d7351 1132 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1133 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1134 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1135 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1136 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1137 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1138 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1139 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1140
Lightvalve 11:82d8768d7351 1141 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1142 }
Lightvalve 11:82d8768d7351 1143
Lightvalve 170:42c938a40313 1144 void CAN_TX_REFENCE_MODE(void)
Lightvalve 170:42c938a40313 1145 {
Lightvalve 11:82d8768d7351 1146 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1147
Lightvalve 11:82d8768d7351 1148 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1149 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1150 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1151 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1152 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1153 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1154 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1155 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1156
Lightvalve 11:82d8768d7351 1157 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1158 }
Lightvalve 11:82d8768d7351 1159
Lightvalve 170:42c938a40313 1160 void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve 170:42c938a40313 1161 {
Lightvalve 11:82d8768d7351 1162 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1163 int16_t send_homepos_offset;
hyhoon 226:82a3ca333004 1164 send_homepos_offset = (int16_t)HOMEPOS_OFFSET;
Lightvalve 170:42c938a40313 1165
jobuuu 2:a1c0a37df760 1166 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1167 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1168 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1169 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1170 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1171
jobuuu 2:a1c0a37df760 1172 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1173 }
Lightvalve 11:82d8768d7351 1174
Lightvalve 170:42c938a40313 1175 void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve 170:42c938a40313 1176 {
Lightvalve 11:82d8768d7351 1177 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1178 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1179 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 170:42c938a40313 1180
Lightvalve 11:82d8768d7351 1181 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1182 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1183 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1184 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1185 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1186
Lightvalve 11:82d8768d7351 1187 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1188 }
Lightvalve 11:82d8768d7351 1189
Lightvalve 170:42c938a40313 1190 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve 170:42c938a40313 1191 {
Lightvalve 11:82d8768d7351 1192 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1193 int16_t valve_pos_vs_pwm;
Lightvalve 170:42c938a40313 1194
Lightvalve 57:f4819de54e7a 1195 if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1196 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 1197 } else {
Lightvalve 57:f4819de54e7a 1198 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 1199 }
Lightvalve 170:42c938a40313 1200
Lightvalve 12:6f2531038ea4 1201 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1202 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 170:42c938a40313 1203
Lightvalve 11:82d8768d7351 1204 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1205 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1206 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1207 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1208 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1209 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1210 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1211
Lightvalve 11:82d8768d7351 1212 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1213 }
Lightvalve 11:82d8768d7351 1214
Lightvalve 170:42c938a40313 1215 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve 170:42c938a40313 1216 {
Lightvalve 11:82d8768d7351 1217 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1218 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1219 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1220
Lightvalve 57:f4819de54e7a 1221 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve 49:e7bcfc244d40 1222 int16_t temp_valve_pos = 0;
Lightvalve 57:f4819de54e7a 1223 if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1224 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 1225 } else {
Lightvalve 57:f4819de54e7a 1226 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 1227 }
Lightvalve 170:42c938a40313 1228
Lightvalve 11:82d8768d7351 1229 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1230 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1231 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 49:e7bcfc244d40 1232 temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve 49:e7bcfc244d40 1233 temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
jeongyeseong 225:9c0becc196ba 1234 temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
jeongyeseong 225:9c0becc196ba 1235 temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
jeongyeseong 225:9c0becc196ba 1236 temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
jeongyeseong 225:9c0becc196ba 1237 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1238
Lightvalve 11:82d8768d7351 1239 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1240 }
Lightvalve 11:82d8768d7351 1241
Lightvalve 170:42c938a40313 1242 void CAN_TX_VALVE_POS_NUM(void)
Lightvalve 170:42c938a40313 1243 {
Lightvalve 11:82d8768d7351 1244 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1245 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1246 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 170:42c938a40313 1247
Lightvalve 11:82d8768d7351 1248 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1249 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1250 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1251 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1252 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1253
Lightvalve 11:82d8768d7351 1254 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1255 }
Lightvalve 11:82d8768d7351 1256
Lightvalve 170:42c938a40313 1257 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve 170:42c938a40313 1258 {
Lightvalve 38:118df027d851 1259 CANMessage temp_msg;
Lightvalve 170:42c938a40313 1260
Lightvalve 48:889798ff9329 1261 float temp_valve_max_pos = 0.0f;
Lightvalve 48:889798ff9329 1262 float temp_valve_min_pos = 0.0f;
Lightvalve 48:889798ff9329 1263 float temp_ddv_center = 0.0f;
Lightvalve 170:42c938a40313 1264
Lightvalve 57:f4819de54e7a 1265 temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1266 temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1267 temp_ddv_center = VALVE_CENTER;
Lightvalve 170:42c938a40313 1268
Lightvalve 38:118df027d851 1269 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1270 temp_msg.len = 7;
Lightvalve 38:118df027d851 1271 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 48:889798ff9329 1272 temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve 48:889798ff9329 1273 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve 48:889798ff9329 1274 temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve 48:889798ff9329 1275 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve 48:889798ff9329 1276 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1277 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 38:118df027d851 1278
Lightvalve 38:118df027d851 1279 can.write(temp_msg);
Lightvalve 38:118df027d851 1280 }
Lightvalve 38:118df027d851 1281
Lightvalve 169:645207e160ca 1282
Lightvalve 170:42c938a40313 1283 void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve 170:42c938a40313 1284 {
Lightvalve 169:645207e160ca 1285 CANMessage temp_msg;
Lightvalve 169:645207e160ca 1286 int16_t send_pos_array, send_ref_array;
Lightvalve 169:645207e160ca 1287 send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve 169:645207e160ca 1288 send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve 170:42c938a40313 1289
Lightvalve 169:645207e160ca 1290 temp_msg.id = CID_TX_INFO;
hyhoon 226:82a3ca333004 1291 temp_msg.len = 5;
Lightvalve 169:645207e160ca 1292 temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve 169:645207e160ca 1293 temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve 169:645207e160ca 1294 temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve 169:645207e160ca 1295 temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve 169:645207e160ca 1296 temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve 169:645207e160ca 1297
Lightvalve 169:645207e160ca 1298 can.write(temp_msg);
Lightvalve 169:645207e160ca 1299 }
Lightvalve 169:645207e160ca 1300
Lightvalve 169:645207e160ca 1301
jobuuu 2:a1c0a37df760 1302 /******************************************************************************
jobuuu 2:a1c0a37df760 1303 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1304 *******************************************************************************/
jobuuu 2:a1c0a37df760 1305
Lightvalve 170:42c938a40313 1306 void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve 170:42c938a40313 1307 {
Lightvalve 52:8ea76864368a 1308 CANMessage temp_msg;
Lightvalve 52:8ea76864368a 1309
hyhoon 227:699c3e572283 1310 temp_msg.id = CID_TX_POS_VEL_TORQ;
hyhoon 226:82a3ca333004 1311 temp_msg.len = 6;
Lightvalve 52:8ea76864368a 1312 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 52:8ea76864368a 1313 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 52:8ea76864368a 1314 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 52:8ea76864368a 1315 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1316 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 52:8ea76864368a 1317 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve 52:8ea76864368a 1318
Lightvalve 52:8ea76864368a 1319 can.write(temp_msg);
Lightvalve 52:8ea76864368a 1320 }
Lightvalve 52:8ea76864368a 1321
Lightvalve 170:42c938a40313 1322 void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve 170:42c938a40313 1323 {
Lightvalve 170:42c938a40313 1324
jobuuu 2:a1c0a37df760 1325 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1326
hyhoon 227:699c3e572283 1327 temp_msg.id = CID_TX_POS_VEL_TORQ;
jobuuu 2:a1c0a37df760 1328 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1329 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1330 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 41:abbd4e2af68b 1331 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 41:abbd4e2af68b 1332 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1333 temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve 52:8ea76864368a 1334 temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve 52:8ea76864368a 1335 temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve 52:8ea76864368a 1336 temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu 2:a1c0a37df760 1337
jobuuu 2:a1c0a37df760 1338 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1339 }
jobuuu 2:a1c0a37df760 1340
hyhoon 227:699c3e572283 1341 void CAN_TX_CURRENT(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve 170:42c938a40313 1342 {
jobuuu 2:a1c0a37df760 1343 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1344
hyhoon 227:699c3e572283 1345 temp_msg.id = CID_TX_CURRENT;
hyhoon 226:82a3ca333004 1346 temp_msg.len = 4;
Lightvalve 12:6f2531038ea4 1347 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1348 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1349 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1350 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1351
jobuuu 2:a1c0a37df760 1352 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1353 }
jobuuu 2:a1c0a37df760 1354
Lightvalve 170:42c938a40313 1355 void CAN_TX_PWM(int16_t t_pwm)
Lightvalve 170:42c938a40313 1356 {
jobuuu 2:a1c0a37df760 1357 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1358
hyhoon 227:699c3e572283 1359 temp_msg.id = CID_TX_PWM;
hyhoon 226:82a3ca333004 1360 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 1361 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1362 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1363
jobuuu 2:a1c0a37df760 1364 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1365 }
jobuuu 2:a1c0a37df760 1366
Lightvalve 73:f80dc3970c99 1367 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 1368 {
jobuuu 2:a1c0a37df760 1369 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1370
jobuuu 2:a1c0a37df760 1371 temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve 73:f80dc3970c99 1372 temp_msg.len = 8;
Lightvalve 73:f80dc3970c99 1373 temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve 73:f80dc3970c99 1374 temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve 73:f80dc3970c99 1375 temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve 73:f80dc3970c99 1376 temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve 73:f80dc3970c99 1377 temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve 73:f80dc3970c99 1378 temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 73:f80dc3970c99 1379 temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve 73:f80dc3970c99 1380 temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve 170:42c938a40313 1381
jobuuu 2:a1c0a37df760 1382
jobuuu 2:a1c0a37df760 1383 can.write(temp_msg);
jeongyeseong 225:9c0becc196ba 1384 }
jeongyeseong 225:9c0becc196ba 1385
jeongyeseong 225:9c0becc196ba 1386 void CAN_TX_SOMETHING(int16_t t_a, int16_t t_b, int16_t t_c, int16_t t_d)
jeongyeseong 225:9c0becc196ba 1387 {
jeongyeseong 225:9c0becc196ba 1388 CANMessage temp_msg;
jeongyeseong 225:9c0becc196ba 1389
jeongyeseong 225:9c0becc196ba 1390 temp_msg.id = CID_TX_SOMETHING;
jeongyeseong 225:9c0becc196ba 1391 temp_msg.len = 8;
jeongyeseong 225:9c0becc196ba 1392 temp_msg.data[0] = (uint8_t) t_a;
jeongyeseong 225:9c0becc196ba 1393 temp_msg.data[1] = (uint8_t) (t_a >> 8);
jeongyeseong 225:9c0becc196ba 1394 temp_msg.data[2] = (uint8_t) t_b;
jeongyeseong 225:9c0becc196ba 1395 temp_msg.data[3] = (uint8_t) (t_b >> 8);
jeongyeseong 225:9c0becc196ba 1396 temp_msg.data[4] = (uint8_t) t_c;
jeongyeseong 225:9c0becc196ba 1397 temp_msg.data[5] = (uint8_t) (t_c >> 8);
jeongyeseong 225:9c0becc196ba 1398 temp_msg.data[6] = (uint8_t) t_d;
jeongyeseong 225:9c0becc196ba 1399 temp_msg.data[7] = (uint8_t) (t_d >> 8);
jeongyeseong 225:9c0becc196ba 1400
jeongyeseong 225:9c0becc196ba 1401
jeongyeseong 225:9c0becc196ba 1402 can.write(temp_msg);
Lightvalve 67:c2812cf26c38 1403 }