Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2
rainbow
Revision 236:fd7961dfa78a, committed 2021-06-25
- Comitter:
- Lightvalve
- Date:
- Fri Jun 25 12:21:04 2021 +0000
- Parent:
- 235:c831718303c9
- Child:
- 237:c2cfe349f5c1
- Commit message:
- 210625
Changed in this revision
function_utilities/function_utilities.cpp | Show annotated file Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/function_utilities/function_utilities.cpp Mon Jun 14 10:36:29 2021 +0000 +++ b/function_utilities/function_utilities.cpp Fri Jun 25 12:21:04 2021 +0000 @@ -398,7 +398,6 @@ void ROM_CALL_DATA(void) { BNO = spi_eeprom_read(RID_BNO); -// BNO = 11; OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE); SENSING_MODE = spi_eeprom_read(RID_SENSING_MODE); CURRENT_CONTROL_MODE = spi_eeprom_read(RID_CURRENT_CONTROL_MODE); @@ -439,9 +438,7 @@ ENC_PULSE_PER_POSITION = (float) (spi_eeprom_read(RID_ENC_PULSE_PER_POSITION)); TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.01f; PRES_SENSOR_A_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f; -// PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f * 946.0f / 3.3f / 300.0f / 210.0f; PRES_SENSOR_B_PULSE_PER_BAR = (float) (spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f; -// PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f * 946.0f / 3.3f / 300.0f / 210.0f; FRICTION = (float) (spi_eeprom_read(RID_FRICTION)) * 0.1f; HOMEPOS_OFFSET = spi_eeprom_read(RID_HOMEPOS_OFFSET); HOMEPOS_VALVE_OPENING = spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING);
--- a/main.cpp Mon Jun 14 10:36:29 2021 +0000 +++ b/main.cpp Fri Jun 25 12:21:04 2021 +0000 @@ -215,11 +215,11 @@ pc.baud(9600); // i2c init -// i2c.frequency(400 * 1000); // 0.4 mHz -// wait_ms(2); // Power Up wait -// look_for_hardware_i2c(); // Hardware present -// init_as5510(i2c_slave_addr1); -// make_delay(); + i2c.frequency(400 * 1000); // 0.4 mHz + wait_ms(2); // Power Up wait + look_for_hardware_i2c(); // Hardware present + init_as5510(i2c_slave_addr1); + make_delay(); // spi init eeprom_cs = 1; @@ -310,10 +310,10 @@ // timer_while ++; //i2c for SW valve - //if(OPERATING_MODE == 5) { -// read_field(i2c_slave_addr1); -// if(DIR_VALVE_ENC < 0) value = 1023 - value; -// } + if(OPERATING_MODE == 5) { + read_field(i2c_slave_addr1); + if(DIR_VALVE_ENC < 0) value = 1023 - value; + } } }