Diff: CAN/function_CAN.cpp

Revision:

55:b25725257569

Parent:

54:647072f5307a

Child:

56:6f50d9d3bfee

--- a/CAN/function_CAN.cpp	Tue Feb 25 12:56:39 2020 +0000
+++ b/CAN/function_CAN.cpp	Wed Feb 26 12:51:52 2020 +0000
@@ -283,10 +283,6 @@
             VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
             
             ROM_RESET_DATA();
-            
-            //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;
         }
@@ -447,11 +443,9 @@
         }
 
         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);
+            VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
+            VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
             ROM_RESET_DATA();
-            //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;
         }
@@ -633,9 +627,8 @@
             break;
         }
         case CRX_SET_VALVE_CENTER_OFFSET: {
-            VALVE_CENTER_OFFSET_times10 = (int16_t) (msg.data[1] | msg.data[2] << 8);
-            VALVE_CENTER_OFFSET = ((float) VALVE_CENTER_OFFSET_times10) * 0.1f;
-            DDV_CENTER = DDV_CENTER + VALVE_CENTER_OFFSET;
+            VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
+            VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
             ROM_RESET_DATA();
             break;
         }
@@ -737,9 +730,9 @@
             valve_pos.ref = (double) temp_ref_valve_pos;
         } else { //SW Valve
             if(temp_ref_valve_pos >= 0) {
-                valve_pos.ref = (double)DDV_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)DDV_CENTER)/10000.0f;
+                valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
             } else {
-                valve_pos.ref = (double)DDV_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)DDV_CENTER)/10000.0f;
+                valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
             }
         }
     } else if(address==CID_RX_REF_PWM){
@@ -927,8 +920,8 @@
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 7;
     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
-    temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER);
-    temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8);
+    temp_msg.data[1] = (uint8_t) VALVE_CENTER;
+    temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
     temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
     temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
     temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
@@ -1059,10 +1052,10 @@
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
-    temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS;
-    temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8);
-    temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS;
-    temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 8);
+    temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
+    temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
+    temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
+    temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
 
     can.write(temp_msg);
 }
@@ -1142,8 +1135,8 @@
     float temp_valve_deadzone_plus = 0.0f;
     float temp_ddv_center = 0.0f;
     
-    temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
-    temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
+    temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
+    temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
     temp_ddv_center = 0.0f;
     
     temp_msg.id = CID_TX_INFO;
@@ -1222,10 +1215,10 @@
     int16_t valve_pos_vs_pwm;
 //    valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
     
-    if(VALVE_POS_VS_PWM[canindex]>=DDV_CENTER) {
-        valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
+    if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
+        valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
     } else {
-        valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
+        valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
     }
     
     int16_t PWM_VALVE_ID;
@@ -1247,12 +1240,12 @@
     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 + (int) DDV_CENTER;
+    int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
     int16_t temp_valve_pos = 0;
-    if(VALVE_POS_VALVE_ID>=DDV_CENTER) {
-        temp_valve_pos = (int16_t) (10000.0f*((double)VALVE_POS_VALVE_ID-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER));
+    if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
+        temp_valve_pos = (int16_t) (10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER));
     } else {
-        temp_valve_pos = (int16_t) (-10000.0f*((double)VALVE_POS_VALVE_ID-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER));
+        temp_valve_pos = (int16_t) (-10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER));
     }
     
     temp_msg.id = CID_TX_INFO;
@@ -1358,7 +1351,7 @@
     CANMessage temp_msg;
 
     temp_msg.id = CID_TX_PRES;
-    temp_msg.len = 8;
+    temp_msg.len = 4;
     temp_msg.data[0] = (uint8_t) t_pres_a;
     temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
     temp_msg.data[2] = (uint8_t) t_pres_b;
@@ -1370,8 +1363,8 @@
 void CAN_TX_PWM(int16_t t_pwm) {
     CANMessage temp_msg;
 
-    temp_msg.id = CID_TX_POSITION;
-    temp_msg.len = 8;
+    temp_msg.id = CID_TX_VOUT;
+    temp_msg.len = 2;
     temp_msg.data[0] = (uint8_t) t_pwm;
     temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
 
@@ -1402,3 +1395,4 @@
 
 
 
+