HydraulicControlBoard_Rainbow_v1_2_ - rainbow

Users » Lightvalve » Code » HydraulicControlBoard_Rainbow_v1_2_

Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

CAN/function_CAN.cpp@230:2c3e5ecbe7e1, 2021-04-21 (annotated)

Committer:: jobuuu
Date:: Wed Apr 21 04:20:39 2021 +0000
Revision:: 230:2c3e5ecbe7e1
Parent:: 227:699c3e572283
Child:: 231:e00e71ca3e80

Synchronize to HCB_210420 (MZ-board)

Who changed what in which revision?

User	Revision	Line number	New 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;
jobuuu	230:2c3e5ecbe7e1	17	int CID_TX_SOMETHING = 1400;
jobuuu	230:2c3e5ecbe7e1	18
hyhoon	227:699c3e572283	19	int CID_TX_CURRENT = 1400;
jobuuu	7:e9086c72bb22	20	int CID_TX_VOUT = 1500;
jobuuu	2:a1c0a37df760	21	int CID_TX_VALVE_POSITION = 1600;
jobuuu	2:a1c0a37df760	22
Lightvalve	12:6f2531038ea4	23	// variables
Lightvalve	12:6f2531038ea4	24	uint8_t can_index = 0;
Lightvalve	67:c2812cf26c38	25
Lightvalve	66:a8e6799dbce3	26	extern DigitalOut LED;
Lightvalve	12:6f2531038ea4	27
Lightvalve	99:7bbcb3c0fb06	28	extern float u_past[];
Lightvalve	68:328e1be06f5d	29	extern float x_past[];
Lightvalve	85:a3b46118b5cd	30	extern float x_future[];
Lightvalve	68:328e1be06f5d	31	extern float f_past[];
Lightvalve	68:328e1be06f5d	32	extern float f_future[];
Lightvalve	73:f80dc3970c99	33	extern float input_NN[];
Lightvalve	68:328e1be06f5d	34
Lightvalve	11:82d8768d7351	35	/*******************************************************************************
jobuuu	230:2c3e5ecbe7e1	36	* State Class functions
jobuuu	230:2c3e5ecbe7e1	37	******************************************************************************/
jobuuu	230:2c3e5ecbe7e1	38	void State::UpdateSen(float sen_new, float Freq_update, float f_cut) {
jobuuu	230:2c3e5ecbe7e1	39	if(f_cut<=0.0f) f_cut=0.001f;
jobuuu	230:2c3e5ecbe7e1	40
jobuuu	230:2c3e5ecbe7e1	41	this->sen_diff = (sen_new-this->sen)*Freq_update;
jobuuu	230:2c3e5ecbe7e1	42	float alpha_update = 1.0f / (1.0f + Freq_update / (2.0f * 3.14f * f_cut)); // f_cutoff : 100Hz
jobuuu	230:2c3e5ecbe7e1	43	this->sen = (1.0f - alpha_update) * this->sen + alpha_update * sen_new;
jobuuu	230:2c3e5ecbe7e1	44	}
jobuuu	230:2c3e5ecbe7e1	45
jobuuu	230:2c3e5ecbe7e1	46	void State::UpdateRef(float ref_new) {
jobuuu	230:2c3e5ecbe7e1	47	this->ref = ref_new;
jobuuu	230:2c3e5ecbe7e1	48	}
jobuuu	230:2c3e5ecbe7e1	49
jobuuu	230:2c3e5ecbe7e1	50	void State::Reset() {
jobuuu	230:2c3e5ecbe7e1	51	this->sen = 0.0f;
jobuuu	230:2c3e5ecbe7e1	52	this->sen_diff = 0.0f;
jobuuu	230:2c3e5ecbe7e1	53	this->ref = 0.0f;
jobuuu	230:2c3e5ecbe7e1	54	this->err = 0.0f;
jobuuu	230:2c3e5ecbe7e1	55	this->err_int = 0.0f;
jobuuu	230:2c3e5ecbe7e1	56	this->err_old = 0.0f;
jobuuu	230:2c3e5ecbe7e1	57	this->err_diff = 0.0f;
jobuuu	230:2c3e5ecbe7e1	58	}
jobuuu	230:2c3e5ecbe7e1	59
jobuuu	230:2c3e5ecbe7e1	60	/*******************************************************************************
Lightvalve	11:82d8768d7351	61	* CAN functions
Lightvalve	11:82d8768d7351	62	******************************************************************************/
Lightvalve	170:42c938a40313	63	void CAN_ID_INIT(void)
Lightvalve	170:42c938a40313	64	{
jobuuu	7:e9086c72bb22	65
Lightvalve	11:82d8768d7351	66	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	67	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
hyhoon	227:699c3e572283	68	CID_RX_REF_OPENLOOP = (int) (BNO + INIT_CID_RX_REF_OPENLOOP);
Lightvalve	45:35fa6884d0c6	69	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	70
Lightvalve	11:82d8768d7351	71	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
hyhoon	227:699c3e572283	72	CID_TX_POS_VEL_TORQ = (int) (BNO + INIT_CID_TX_POS_VEL_TORQ);
hyhoon	227:699c3e572283	73	CID_TX_PWM = (int) (BNO + INIT_CID_TX_PWM);
hyhoon	227:699c3e572283	74	CID_TX_CURRENT = (int) (BNO + INIT_CID_TX_CURRENT);
Lightvalve	11:82d8768d7351	75	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	76	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
jeongyeseong	225:9c0becc196ba	77	CID_TX_SOMETHING = (int) (BNO + INIT_CID_TX_SOMETHING);
Lightvalve	11:82d8768d7351	78	}
jobuuu	2:a1c0a37df760	79
Lightvalve	28:2a62d73e3dd0	80	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	81	{
Lightvalve	170:42c938a40313	82	switch(CMD) {
Lightvalve	11:82d8768d7351	83	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	84	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	85	break;
Lightvalve	11:82d8768d7351	86	}
Lightvalve	11:82d8768d7351	87	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	88	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	89	break;
Lightvalve	11:82d8768d7351	90	}
Lightvalve	11:82d8768d7351	91	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	92	BNO = (int16_t) msg.data[1];
Lightvalve	170:42c938a40313	93	spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	94	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	95	break;
Lightvalve	11:82d8768d7351	96	}
Lightvalve	11:82d8768d7351	97	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	98	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	99	break;
Lightvalve	11:82d8768d7351	100	}
Lightvalve	11:82d8768d7351	101	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	102	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	103	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	104	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	105	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	170:42c938a40313	106	spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve	170:42c938a40313	107	spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
Lightvalve	170:42c938a40313	108	spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
Lightvalve	170:42c938a40313	109	spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
Lightvalve	11:82d8768d7351	110	break;
Lightvalve	11:82d8768d7351	111	}
Lightvalve	11:82d8768d7351	112	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	113	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	114
Lightvalve	11:82d8768d7351	115	break;
Lightvalve	11:82d8768d7351	116	}
Lightvalve	11:82d8768d7351	117	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	118
Lightvalve	11:82d8768d7351	119	break;
Lightvalve	11:82d8768d7351	120	}
Lightvalve	11:82d8768d7351	121
Lightvalve	45:35fa6884d0c6	122	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	123	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	124	/*
Lightvalve	45:35fa6884d0c6	125	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	126	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	127	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	128	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	129	*/
Lightvalve	11:82d8768d7351	130	break;
Lightvalve	11:82d8768d7351	131	}
Lightvalve	11:82d8768d7351	132
Lightvalve	11:82d8768d7351	133	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	134	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	135
Lightvalve	11:82d8768d7351	136	break;
Lightvalve	11:82d8768d7351	137	}
Lightvalve	11:82d8768d7351	138
Lightvalve	11:82d8768d7351	139	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	140	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	141	spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve	11:82d8768d7351	142	break;
Lightvalve	11:82d8768d7351	143	}
Lightvalve	11:82d8768d7351	144
Lightvalve	11:82d8768d7351	145	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	146	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	147
Lightvalve	11:82d8768d7351	148	break;
Lightvalve	11:82d8768d7351	149	}
Lightvalve	11:82d8768d7351	150
Lightvalve	11:82d8768d7351	151	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	152	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	153	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	154	FLAG_FIND_HOME = true;
hyhoon	226:82a3ca333004	155	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	11:82d8768d7351	156	}
Lightvalve	11:82d8768d7351	157	break;
Lightvalve	11:82d8768d7351	158	}
Lightvalve	11:82d8768d7351	159
Lightvalve	11:82d8768d7351	160	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	161	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	162	flag_data_request[request_type] = msg.data[1];
Lightvalve	11:82d8768d7351	163
Lightvalve	12:6f2531038ea4	164	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	165	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	166	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	167	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	168
hyhoon	227:699c3e572283	169
Lightvalve	11:82d8768d7351	170	break;
Lightvalve	11:82d8768d7351	171	}
Lightvalve	11:82d8768d7351	172
Lightvalve	11:82d8768d7351	173	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	174	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	175
Lightvalve	11:82d8768d7351	176	break;
Lightvalve	11:82d8768d7351	177	}
Lightvalve	11:82d8768d7351	178
Lightvalve	11:82d8768d7351	179	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	180	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	181	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	182	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	183	else
Lightvalve	11:82d8768d7351	184	DIR_JOINT_ENC = -1;
Lightvalve	170:42c938a40313	185
Lightvalve	170:42c938a40313	186	spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	187
Lightvalve	11:82d8768d7351	188	break;
Lightvalve	11:82d8768d7351	189	}
Lightvalve	11:82d8768d7351	190
Lightvalve	11:82d8768d7351	191	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	192	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	193
Lightvalve	11:82d8768d7351	194	break;
Lightvalve	11:82d8768d7351	195	}
Lightvalve	11:82d8768d7351	196
Lightvalve	11:82d8768d7351	197	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	198	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	199	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	200	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	201	else
Lightvalve	11:82d8768d7351	202	DIR_VALVE = -1;
Lightvalve	170:42c938a40313	203
Lightvalve	170:42c938a40313	204	spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	205
Lightvalve	11:82d8768d7351	206	break;
Lightvalve	11:82d8768d7351	207	}
Lightvalve	11:82d8768d7351	208
Lightvalve	11:82d8768d7351	209	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	210	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	211
Lightvalve	11:82d8768d7351	212	break;
Lightvalve	11:82d8768d7351	213	}
Lightvalve	11:82d8768d7351	214
Lightvalve	11:82d8768d7351	215	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	216	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	217	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	218	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	219	else
Lightvalve	11:82d8768d7351	220	DIR_VALVE_ENC = -1;
Lightvalve	11:82d8768d7351	221
Lightvalve	170:42c938a40313	222	spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	223
Lightvalve	11:82d8768d7351	224	break;
Lightvalve	11:82d8768d7351	225	}
Lightvalve	11:82d8768d7351	226
Lightvalve	11:82d8768d7351	227	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	228	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	229
Lightvalve	11:82d8768d7351	230	break;
Lightvalve	11:82d8768d7351	231	}
Lightvalve	11:82d8768d7351	232
Lightvalve	11:82d8768d7351	233	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	234	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	235
Lightvalve	170:42c938a40313	236
Lightvalve	170:42c938a40313	237	spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve	11:82d8768d7351	238
Lightvalve	11:82d8768d7351	239	break;
Lightvalve	11:82d8768d7351	240	}
Lightvalve	11:82d8768d7351	241
Lightvalve	11:82d8768d7351	242	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	243	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	244
Lightvalve	11:82d8768d7351	245	break;
Lightvalve	11:82d8768d7351	246	}
Lightvalve	11:82d8768d7351	247
Lightvalve	11:82d8768d7351	248	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	249	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	250
Lightvalve	170:42c938a40313	251	spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve	11:82d8768d7351	252
Lightvalve	11:82d8768d7351	253
Lightvalve	11:82d8768d7351	254	break;
Lightvalve	11:82d8768d7351	255	}
Lightvalve	12:6f2531038ea4	256
Lightvalve	11:82d8768d7351	257	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	258	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	259	break;
Lightvalve	11:82d8768d7351	260	}
jobuuu	230:2c3e5ecbe7e1	261
jobuuu	230:2c3e5ecbe7e1	262	case CRX_ASK_VARIABLE_SUPPLY:
jobuuu	230:2c3e5ecbe7e1	263	{
jobuuu	230:2c3e5ecbe7e1	264	CAN_TX_VARIABLE_SUPPLY_ONOFF();
jobuuu	230:2c3e5ecbe7e1	265	break;
jobuuu	230:2c3e5ecbe7e1	266	}
jobuuu	230:2c3e5ecbe7e1	267
jobuuu	230:2c3e5ecbe7e1	268	case CRX_SET_VARIABLE_SUPPLY:
jobuuu	230:2c3e5ecbe7e1	269	{
jobuuu	230:2c3e5ecbe7e1	270	SUPPLY_PRESSURE_UPDATE = msg.data[1];
jobuuu	230:2c3e5ecbe7e1	271	break;
jobuuu	230:2c3e5ecbe7e1	272	}
Lightvalve	11:82d8768d7351	273
Lightvalve	11:82d8768d7351	274	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	275	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	276
Lightvalve	11:82d8768d7351	277	break;
Lightvalve	11:82d8768d7351	278	}
Lightvalve	11:82d8768d7351	279
Lightvalve	11:82d8768d7351	280	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	281	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	282	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	283	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	284	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	285
Lightvalve	170:42c938a40313	286	spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	287	spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	288	spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	11:82d8768d7351	289
Lightvalve	11:82d8768d7351	290	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	291	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	292	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	293	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	294
Lightvalve	170:42c938a40313	295	spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	296	spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	297	spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	298
Lightvalve	11:82d8768d7351	299	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	300	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	301	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	302	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	303
Lightvalve	170:42c938a40313	304	spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	305	spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	306	spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	307
Lightvalve	46:2694daea349b	308	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	309	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	310	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	170:42c938a40313	311
Lightvalve	170:42c938a40313	312	// spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve	170:42c938a40313	313	// spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve	170:42c938a40313	314
Lightvalve	72:3436ce769b1e	315	} else if (msg.data[1] == 4) {
Lightvalve	72:3436ce769b1e	316	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	72:3436ce769b1e	317	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	72:3436ce769b1e	318	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	319
Lightvalve	11:82d8768d7351	320	}
Lightvalve	11:82d8768d7351	321
Lightvalve	11:82d8768d7351	322	break;
Lightvalve	11:82d8768d7351	323	}
Lightvalve	11:82d8768d7351	324
Lightvalve	11:82d8768d7351	325	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	326	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	327
Lightvalve	11:82d8768d7351	328	break;
Lightvalve	11:82d8768d7351	329	}
Lightvalve	11:82d8768d7351	330
Lightvalve	11:82d8768d7351	331	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	332	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
hyhoon	226:82a3ca333004	333	VALVE_DEADZONE_PLUS = (int16_t)(msg.data[3] \| msg.data[4] << 8);
hyhoon	226:82a3ca333004	334	VALVE_DEADZONE_MINUS = (int16_t)(msg.data[5] \| msg.data[6] << 8);
Lightvalve	170:42c938a40313	335
hyhoon	226:82a3ca333004	336	spi_eeprom_write(RID_VALVE_CNETER, VALVE_CENTER);
hyhoon	226:82a3ca333004	337	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
hyhoon	226:82a3ca333004	338	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	11:82d8768d7351	339
Lightvalve	11:82d8768d7351	340	break;
Lightvalve	11:82d8768d7351	341	}
Lightvalve	11:82d8768d7351	342
Lightvalve	11:82d8768d7351	343	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	344	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	345
Lightvalve	11:82d8768d7351	346	break;
Lightvalve	11:82d8768d7351	347	}
Lightvalve	11:82d8768d7351	348
Lightvalve	11:82d8768d7351	349	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	350	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	351
Lightvalve	170:42c938a40313	352
Lightvalve	170:42c938a40313	353	spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	354
Lightvalve	11:82d8768d7351	355	break;
Lightvalve	11:82d8768d7351	356	}
Lightvalve	11:82d8768d7351	357
Lightvalve	11:82d8768d7351	358	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	359	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	360
Lightvalve	11:82d8768d7351	361	break;
Lightvalve	11:82d8768d7351	362	}
Lightvalve	11:82d8768d7351	363
Lightvalve	11:82d8768d7351	364	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	365	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	366
Lightvalve	170:42c938a40313	367
Lightvalve	170:42c938a40313	368	spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	369
Lightvalve	11:82d8768d7351	370	break;
Lightvalve	11:82d8768d7351	371	}
Lightvalve	11:82d8768d7351	372
Lightvalve	11:82d8768d7351	373	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	374	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	375
Lightvalve	11:82d8768d7351	376	break;
Lightvalve	11:82d8768d7351	377	}
Lightvalve	11:82d8768d7351	378
Lightvalve	11:82d8768d7351	379	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	380	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	381
Lightvalve	170:42c938a40313	382	spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	383
Lightvalve	11:82d8768d7351	384	break;
Lightvalve	11:82d8768d7351	385	}
Lightvalve	11:82d8768d7351	386
Lightvalve	11:82d8768d7351	387	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	388	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	389
Lightvalve	11:82d8768d7351	390	break;
Lightvalve	11:82d8768d7351	391	}
Lightvalve	11:82d8768d7351	392
Lightvalve	11:82d8768d7351	393	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	394	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	395	spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	396
Lightvalve	11:82d8768d7351	397	break;
Lightvalve	11:82d8768d7351	398	}
Lightvalve	11:82d8768d7351	399
Lightvalve	11:82d8768d7351	400	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	401	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	402
Lightvalve	11:82d8768d7351	403	break;
Lightvalve	11:82d8768d7351	404	}
Lightvalve	11:82d8768d7351	405
Lightvalve	11:82d8768d7351	406	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	407	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	408	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	409
Lightvalve	170:42c938a40313	410	spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	170:42c938a40313	411	spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	412
Lightvalve	11:82d8768d7351	413	break;
Lightvalve	11:82d8768d7351	414	}
Lightvalve	11:82d8768d7351	415
Lightvalve	11:82d8768d7351	416	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	417	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	418
Lightvalve	11:82d8768d7351	419	break;
Lightvalve	11:82d8768d7351	420	}
Lightvalve	11:82d8768d7351	421
Lightvalve	11:82d8768d7351	422	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	423	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	424	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	69:3995ffeaa786	425	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	426	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	170:42c938a40313	427
Lightvalve	170:42c938a40313	428	spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	170:42c938a40313	429	spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	430	break;
Lightvalve	11:82d8768d7351	431	}
Lightvalve	11:82d8768d7351	432
jobuuu	230:2c3e5ecbe7e1	433	case CRX_ASK_SUP_PRES: {
jobuuu	230:2c3e5ecbe7e1	434	CAN_TX_SUP_PRES();
Lightvalve	11:82d8768d7351	435	break;
Lightvalve	11:82d8768d7351	436	}
Lightvalve	11:82d8768d7351	437
jobuuu	230:2c3e5ecbe7e1	438	case CRX_SET_SUP_PRES: {
jobuuu	230:2c3e5ecbe7e1	439	int16_t temp = (int16_t) (msg.data[1] \| msg.data[2] << 8);
jobuuu	230:2c3e5ecbe7e1	440	spi_eeprom_write(RID_PRES_SUPPLY, temp);
jobuuu	230:2c3e5ecbe7e1	441	PRES_SUPPLY_NOM = (float)temp;
jobuuu	230:2c3e5ecbe7e1	442	PRES_SUPPLY = PRES_SUPPLY_NOM;
Lightvalve	11:82d8768d7351	443	break;
Lightvalve	11:82d8768d7351	444	}
Lightvalve	11:82d8768d7351	445
Lightvalve	11:82d8768d7351	446	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	447	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	448
Lightvalve	11:82d8768d7351	449	break;
Lightvalve	11:82d8768d7351	450	}
Lightvalve	11:82d8768d7351	451
Lightvalve	11:82d8768d7351	452	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	453	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	454	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	455	spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	170:42c938a40313	456	spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	457
Lightvalve	11:82d8768d7351	458	break;
Lightvalve	11:82d8768d7351	459	}
Lightvalve	11:82d8768d7351	460
Lightvalve	11:82d8768d7351	461	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	462	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	463	break;
Lightvalve	11:82d8768d7351	464	}
Lightvalve	11:82d8768d7351	465
Lightvalve	11:82d8768d7351	466	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	467	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	468	spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	469
Lightvalve	11:82d8768d7351	470	break;
Lightvalve	11:82d8768d7351	471	}
Lightvalve	11:82d8768d7351	472
Lightvalve	11:82d8768d7351	473	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	474	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	475
Lightvalve	11:82d8768d7351	476	break;
Lightvalve	11:82d8768d7351	477	}
Lightvalve	11:82d8768d7351	478
Lightvalve	11:82d8768d7351	479	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	480	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	481	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	482
Lightvalve	170:42c938a40313	483	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	484	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	11:82d8768d7351	485
Lightvalve	11:82d8768d7351	486	break;
Lightvalve	11:82d8768d7351	487	}
Lightvalve	11:82d8768d7351	488
Lightvalve	11:82d8768d7351	489	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	490	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	491
Lightvalve	11:82d8768d7351	492	break;
Lightvalve	11:82d8768d7351	493	}
Lightvalve	11:82d8768d7351	494
Lightvalve	11:82d8768d7351	495	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	496	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	180:02be1711ee0b	497	spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
Lightvalve	11:82d8768d7351	498
Lightvalve	11:82d8768d7351	499	break;
Lightvalve	11:82d8768d7351	500	}
Lightvalve	11:82d8768d7351	501
Lightvalve	11:82d8768d7351	502	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	503	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	504
Lightvalve	11:82d8768d7351	505	break;
Lightvalve	11:82d8768d7351	506	}
Lightvalve	11:82d8768d7351	507
Lightvalve	11:82d8768d7351	508	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	139:15621998925b	509	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.0001f);
Lightvalve	170:42c938a40313	510	spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve	11:82d8768d7351	511
Lightvalve	11:82d8768d7351	512	break;
Lightvalve	11:82d8768d7351	513	}
Lightvalve	11:82d8768d7351	514
Lightvalve	11:82d8768d7351	515	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	516	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	517
Lightvalve	11:82d8768d7351	518	break;
Lightvalve	11:82d8768d7351	519	}
Lightvalve	11:82d8768d7351	520
Lightvalve	11:82d8768d7351	521	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	522	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	523	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	170:42c938a40313	524	spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	170:42c938a40313	525	spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	11:82d8768d7351	526
Lightvalve	11:82d8768d7351	527	break;
Lightvalve	11:82d8768d7351	528	}
Lightvalve	11:82d8768d7351	529
Lightvalve	11:82d8768d7351	530	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	531	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	532
Lightvalve	11:82d8768d7351	533	break;
Lightvalve	11:82d8768d7351	534	}
Lightvalve	11:82d8768d7351	535
Lightvalve	11:82d8768d7351	536	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	537	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	538	spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve	11:82d8768d7351	539
Lightvalve	11:82d8768d7351	540	break;
Lightvalve	11:82d8768d7351	541	}
Lightvalve	11:82d8768d7351	542
Lightvalve	11:82d8768d7351	543	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	544	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	545
Lightvalve	11:82d8768d7351	546	break;
Lightvalve	11:82d8768d7351	547	}
Lightvalve	11:82d8768d7351	548	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	549	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	550	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	551	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	552	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	553	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	554	spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	170:42c938a40313	555	spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	170:42c938a40313	556	spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	170:42c938a40313	557	spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	170:42c938a40313	558	spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[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_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	564	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	565
Lightvalve	11:82d8768d7351	566	break;
Lightvalve	11:82d8768d7351	567	}
Lightvalve	11:82d8768d7351	568	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	569	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	570	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	571	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	572	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	573	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	574	spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	170:42c938a40313	575	spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	170:42c938a40313	576	spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	170:42c938a40313	577	spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	170:42c938a40313	578	spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	579
Lightvalve	11:82d8768d7351	580	break;
Lightvalve	11:82d8768d7351	581	}
Lightvalve	11:82d8768d7351	582
Lightvalve	11:82d8768d7351	583	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	584	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	585
Lightvalve	11:82d8768d7351	586	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	587	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	588	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	589	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	590	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	591
Lightvalve	11:82d8768d7351	592	break;
Lightvalve	11:82d8768d7351	593	}
Lightvalve	11:82d8768d7351	594
Lightvalve	11:82d8768d7351	595	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	596	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	597
Lightvalve	11:82d8768d7351	598	break;
Lightvalve	11:82d8768d7351	599	}
Lightvalve	11:82d8768d7351	600
Lightvalve	11:82d8768d7351	601	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	602
Lightvalve	12:6f2531038ea4	603	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	604	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	605	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	606	}
Lightvalve	11:82d8768d7351	607
Lightvalve	11:82d8768d7351	608	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	609
Lightvalve	11:82d8768d7351	610
Lightvalve	11:82d8768d7351	611	break;
Lightvalve	11:82d8768d7351	612	}
Lightvalve	11:82d8768d7351	613
Lightvalve	11:82d8768d7351	614	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	615	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	616	break;
Lightvalve	11:82d8768d7351	617	}
Lightvalve	11:82d8768d7351	618	case CRX_SET_HOMEPOS_OFFSET: {
hyhoon	226:82a3ca333004	619	HOMEPOS_OFFSET = (int16_t)(msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	620	spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	621	break;
Lightvalve	11:82d8768d7351	622	}
Lightvalve	11:82d8768d7351	623
Lightvalve	11:82d8768d7351	624	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	625	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	626	break;
Lightvalve	11:82d8768d7351	627	}
Lightvalve	11:82d8768d7351	628	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	629	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	630	spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	631	break;
Lightvalve	11:82d8768d7351	632	}
Lightvalve	11:82d8768d7351	633
Lightvalve	11:82d8768d7351	634	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	635	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	636	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	637	break;
Lightvalve	11:82d8768d7351	638	}
Lightvalve	11:82d8768d7351	639	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	640	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	641	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	642	break;
Lightvalve	11:82d8768d7351	643	}
Lightvalve	11:82d8768d7351	644	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	645	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	646	break;
Lightvalve	11:82d8768d7351	647	}
Lightvalve	170:42c938a40313	648
Lightvalve	28:2a62d73e3dd0	649	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	650	break;
Lightvalve	28:2a62d73e3dd0	651	}
Lightvalve	192:637092202815	652
Lightvalve	170:42c938a40313	653	default:
Lightvalve	170:42c938a40313	654	break;
jobuuu	2:a1c0a37df760	655	}
jobuuu	2:a1c0a37df760	656	}
jobuuu	2:a1c0a37df760	657
jobuuu	2:a1c0a37df760	658	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	659	{
Lightvalve	170:42c938a40313	660
jobuuu	2:a1c0a37df760	661	can.read(msg);
jobuuu	2:a1c0a37df760	662	unsigned int address = msg.id;
Lightvalve	170:42c938a40313	663	if(address==CID_RX_CMD) {
jobuuu	2:a1c0a37df760	664	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	665	ReadCMD(CMD);
Lightvalve	170:42c938a40313	666
jobuuu	7:e9086c72bb22	667	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	170:42c938a40313	668
jobuuu	230:2c3e5ecbe7e1	669	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	670	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	671	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	170:42c938a40313	672
Lightvalve	57:f4819de54e7a	673	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
jobuuu	230:2c3e5ecbe7e1	674	REF_POSITION = (float)temp_pos * 1.0f / ENC_PULSE_PER_POSITION; // pulse >> deg
jobuuu	230:2c3e5ecbe7e1	675	REF_VELOCITY = (float)temp_vel * 10.0f / ENC_PULSE_PER_POSITION; // pulse/s >> deg/s
jobuuu	230:2c3e5ecbe7e1	676	REF_TORQUE = (float)temp_torq * 0.01f / TORQUE_SENSOR_PULSE_PER_TORQUE; // pulse >> Nm
Lightvalve	170:42c938a40313	677	} else { //Linear Actuator
jobuuu	230:2c3e5ecbe7e1	678	REF_POSITION = (float)temp_pos * 4.0f / ENC_PULSE_PER_POSITION; // pulse >> mm
jobuuu	230:2c3e5ecbe7e1	679	REF_VELOCITY = (float)temp_vel * 100.0f / ENC_PULSE_PER_POSITION; // pulse/s >> mm/s
jobuuu	230:2c3e5ecbe7e1	680	REF_FORCE = (float)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; // pulse >> N
Lightvalve	57:f4819de54e7a	681	}
Lightvalve	170:42c938a40313	682
jobuuu	230:2c3e5ecbe7e1	683	if(SUPPLY_PRESSURE_UPDATE == 1) {
jobuuu	230:2c3e5ecbe7e1	684	int16_t temp_REF_Ps = (int16_t) (msg.data[6] \| msg.data[7] << 8);
jobuuu	230:2c3e5ecbe7e1	685	PRES_SUPPLY = ((float)temp_REF_Ps) / 100.0;
jobuuu	230:2c3e5ecbe7e1	686	if(PRES_SUPPLY<35.0f) PRES_SUPPLY = 35.0f;
jobuuu	230:2c3e5ecbe7e1	687	else if(PRES_SUPPLY>210.0f) PRES_SUPPLY = 210.0f;
jobuuu	230:2c3e5ecbe7e1	688	} else {
jobuuu	230:2c3e5ecbe7e1	689	PRES_SUPPLY = PRES_SUPPLY_NOM;
jobuuu	230:2c3e5ecbe7e1	690	}
hyhoon	226:82a3ca333004	691
hyhoon	226:82a3ca333004	692	if(CAN_FREQ == -1) {
jobuuu	230:2c3e5ecbe7e1	693
hyhoon	226:82a3ca333004	694	// Position, Velocity, and Torque (ID:1200)
hyhoon	226:82a3ca333004	695	if (flag_data_request[0] == HIGH) {
hyhoon	226:82a3ca333004	696	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
jobuuu	230:2c3e5ecbe7e1	697	CAN_TX_POSITION_FT((int16_t) (pos.senENC_PULSE_PER_POSITION), (int16_t) (vel.senENC_PULSE_PER_POSITION0.1f), (int16_t) (torq.senTORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
hyhoon	226:82a3ca333004	698	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
jobuuu	230:2c3e5ecbe7e1	699	CAN_TX_POSITION_FT((int16_t) (pos.senENC_PULSE_PER_POSITION0.25f), (int16_t) (vel.senENC_PULSE_PER_POSITION0.01f), (int16_t) (force.senTORQUE_SENSOR_PULSE_PER_TORQUE10.0f));
jeongyeseong	225:9c0becc196ba	700	}
jeongyeseong	225:9c0becc196ba	701	}
hyhoon	226:82a3ca333004	702
jobuuu	230:2c3e5ecbe7e1	703	// Valve Position (ID:1300)
hyhoon	226:82a3ca333004	704	if (flag_data_request[1] == HIGH) {
jobuuu	230:2c3e5ecbe7e1	705	CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
hyhoon	226:82a3ca333004	706	}
hyhoon	226:82a3ca333004	707
jobuuu	230:2c3e5ecbe7e1	708	// Others : Pressure A, B, Supply Pressure, etc. (for Debugging) (ID:1400)
hyhoon	226:82a3ca333004	709	if (flag_data_request[2] == HIGH) {
jobuuu	230:2c3e5ecbe7e1	710	CAN_TX_SOMETHING((int16_t)(pres_A.sen100.0f), (int16_t)(pres_B.sen100.0f), (int16_t) (0), (int16_t) (0));
hyhoon	226:82a3ca333004	711	}
jeongyeseong	225:9c0becc196ba	712	}
Lightvalve	68:328e1be06f5d	713
hyhoon	227:699c3e572283	714	} else if(address==CID_RX_REF_OPENLOOP) {
Lightvalve	47:fdcb8bd86fd6	715	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	170:42c938a40313	716
Lightvalve	57:f4819de54e7a	717	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
jobuuu	230:2c3e5ecbe7e1	718	valve_pos.ref = (double) temp_ref_valve_pos; // Unit : pulse (0~10000)
Lightvalve	57:f4819de54e7a	719	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
jobuuu	230:2c3e5ecbe7e1	720	valve_pos.ref = (double) temp_ref_valve_pos; // Unit : pulse (0~30000)
Lightvalve	57:f4819de54e7a	721	} else { //SW Valve
Lightvalve	57:f4819de54e7a	722	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	723	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	724	} else {
Lightvalve	57:f4819de54e7a	725	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	726	}
Lightvalve	47:fdcb8bd86fd6	727	}
Lightvalve	170:42c938a40313	728	} else if(address==CID_RX_REF_PWM) {
Lightvalve	49:e7bcfc244d40	729	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	730	Vout.ref = (double) temp_ref_pwm;
Lightvalve	170:42c938a40313	731	}
jeongyeseong	225:9c0becc196ba	732
jeongyeseong	225:9c0becc196ba	733
jobuuu	2:a1c0a37df760	734	}
jobuuu	2:a1c0a37df760	735
jobuuu	2:a1c0a37df760	736	/******************************************************************************
jobuuu	2:a1c0a37df760	737	Information Transmission Functions
jobuuu	2:a1c0a37df760	738	*******************************************************************************/
Lightvalve	11:82d8768d7351	739
Lightvalve	170:42c938a40313	740	void CAN_TX_INFO(void)
Lightvalve	170:42c938a40313	741	{
Lightvalve	12:6f2531038ea4	742	CANMessage temp_msg;
Lightvalve	170:42c938a40313	743
jobuuu	2:a1c0a37df760	744	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	745	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	746	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	747	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	748	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	749	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	750	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	751	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	752	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	753
jobuuu	2:a1c0a37df760	754	can.write(temp_msg);
jobuuu	2:a1c0a37df760	755	}
jobuuu	2:a1c0a37df760	756
Lightvalve	170:42c938a40313	757	void CAN_TX_BNO(void)
Lightvalve	170:42c938a40313	758	{
Lightvalve	12:6f2531038ea4	759	CANMessage temp_msg;
Lightvalve	170:42c938a40313	760
jobuuu	2:a1c0a37df760	761	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	762	//temp_msg.len = 2;
hyhoon	226:82a3ca333004	763	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	764	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	765	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	766
jobuuu	2:a1c0a37df760	767	can.write(temp_msg);
jobuuu	2:a1c0a37df760	768	}
jobuuu	2:a1c0a37df760	769
Lightvalve	170:42c938a40313	770	void CAN_TX_OPERATING_MODE(void)
Lightvalve	170:42c938a40313	771	{
jobuuu	2:a1c0a37df760	772	CANMessage temp_msg;
Lightvalve	170:42c938a40313	773
jobuuu	2:a1c0a37df760	774	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	775	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	776	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	777	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	778	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	779	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	780	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	781
jobuuu	2:a1c0a37df760	782	can.write(temp_msg);
jobuuu	2:a1c0a37df760	783	}
jobuuu	2:a1c0a37df760	784
Lightvalve	170:42c938a40313	785	void CAN_TX_CAN_FREQ(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;
jobuuu	2:a1c0a37df760	791	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	792	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	793	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	794
jobuuu	2:a1c0a37df760	795	can.write(temp_msg);
jobuuu	2:a1c0a37df760	796	}
Lightvalve	11:82d8768d7351	797
Lightvalve	170:42c938a40313	798	void CAN_TX_CONTROL_MODE(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 = 2;
Lightvalve	12:6f2531038ea4	804	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	805	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	806
jobuuu	2:a1c0a37df760	807	can.write(temp_msg);
jobuuu	2:a1c0a37df760	808	}
Lightvalve	11:82d8768d7351	809
Lightvalve	170:42c938a40313	810	void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve	170:42c938a40313	811	{
jobuuu	2:a1c0a37df760	812	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	813
jobuuu	2:a1c0a37df760	814	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	815	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	816	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	817	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	818	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	819
jobuuu	2:a1c0a37df760	820	can.write(temp_msg);
jobuuu	2:a1c0a37df760	821	}
jobuuu	2:a1c0a37df760	822
Lightvalve	170:42c938a40313	823	void CAN_TX_VALVE_DIR(void)
Lightvalve	170:42c938a40313	824	{
jobuuu	2:a1c0a37df760	825	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	826
jobuuu	2:a1c0a37df760	827	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	828	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	829	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	830	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	831	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	832
jobuuu	2:a1c0a37df760	833	can.write(temp_msg);
jobuuu	2:a1c0a37df760	834	}
jobuuu	2:a1c0a37df760	835
Lightvalve	170:42c938a40313	836	void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve	170:42c938a40313	837	{
jobuuu	2:a1c0a37df760	838	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	839
jobuuu	2:a1c0a37df760	840	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	841	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	842	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	843	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	844	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	845
jobuuu	2:a1c0a37df760	846	can.write(temp_msg);
jobuuu	2:a1c0a37df760	847	}
jobuuu	2:a1c0a37df760	848
Lightvalve	170:42c938a40313	849	void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve	170:42c938a40313	850	{
Lightvalve	49:e7bcfc244d40	851	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	852
jobuuu	2:a1c0a37df760	853	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	854
jobuuu	2:a1c0a37df760	855	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	856	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	857	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	858	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	859	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	860
jobuuu	2:a1c0a37df760	861	can.write(temp_msg);
jobuuu	2:a1c0a37df760	862	}
jobuuu	2:a1c0a37df760	863
Lightvalve	170:42c938a40313	864	void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve	170:42c938a40313	865	{
Lightvalve	49:e7bcfc244d40	866	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	867
jobuuu	2:a1c0a37df760	868	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	869
jobuuu	2:a1c0a37df760	870	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	871	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	872	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	873	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	874	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	875
jobuuu	2:a1c0a37df760	876	can.write(temp_msg);
jobuuu	2:a1c0a37df760	877	}
Lightvalve	11:82d8768d7351	878
jobuuu	230:2c3e5ecbe7e1	879	void CAN_TX_VARIABLE_SUPPLY_ONOFF(void)
jobuuu	230:2c3e5ecbe7e1	880	{
jobuuu	230:2c3e5ecbe7e1	881	CANMessage temp_msg;
jobuuu	230:2c3e5ecbe7e1	882	temp_msg.id = CID_TX_INFO;
jobuuu	230:2c3e5ecbe7e1	883	temp_msg.len = 2;
jobuuu	230:2c3e5ecbe7e1	884	temp_msg.data[0] = (uint8_t) CTX_SEND_VARIABLE_SUPPLY;
jobuuu	230:2c3e5ecbe7e1	885	temp_msg.data[1] = (uint8_t) SUPPLY_PRESSURE_UPDATE;
jobuuu	230:2c3e5ecbe7e1	886
jobuuu	230:2c3e5ecbe7e1	887	can.write(temp_msg);
jobuuu	230:2c3e5ecbe7e1	888	}
jobuuu	2:a1c0a37df760	889
Lightvalve	170:42c938a40313	890	void CAN_TX_PID_GAIN(int t_type)
Lightvalve	170:42c938a40313	891	{
jobuuu	2:a1c0a37df760	892	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	893	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	894	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	895
Lightvalve	12:6f2531038ea4	896	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	897	if (t_type == 0) {
Lightvalve	30:8d561f16383b	898	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	899	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	900	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	901	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	902	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	903	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	904	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	905	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	906	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	907	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	908	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	909	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	910	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	911	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	912	}
jobuuu	2:a1c0a37df760	913
jobuuu	2:a1c0a37df760	914	CANMessage temp_msg;
Lightvalve	170:42c938a40313	915
jobuuu	2:a1c0a37df760	916	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	917	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	918	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	919	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	920	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	921	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	922	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	923	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	924	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	925	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	926
jobuuu	2:a1c0a37df760	927	can.write(temp_msg);
jobuuu	2:a1c0a37df760	928	}
jobuuu	2:a1c0a37df760	929
Lightvalve	11:82d8768d7351	930
Lightvalve	170:42c938a40313	931	void CAN_TX_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	932	{
jobuuu	2:a1c0a37df760	933	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	934
jobuuu	2:a1c0a37df760	935	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	936	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	937	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	938	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	939	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
hyhoon	226:82a3ca333004	940	temp_msg.data[3] = (uint8_t) VALVE_DEADZONE_PLUS;
hyhoon	226:82a3ca333004	941	temp_msg.data[4] = (uint8_t) (VALVE_DEADZONE_PLUS >> 8);
hyhoon	226:82a3ca333004	942	temp_msg.data[5] = (uint8_t) VALVE_DEADZONE_MINUS;
hyhoon	226:82a3ca333004	943	temp_msg.data[6] = (uint8_t) (VALVE_DEADZONE_MINUS >> 8);
jobuuu	2:a1c0a37df760	944
jobuuu	2:a1c0a37df760	945	can.write(temp_msg);
jobuuu	2:a1c0a37df760	946	}
jobuuu	2:a1c0a37df760	947
Lightvalve	170:42c938a40313	948	void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve	170:42c938a40313	949	{
Lightvalve	11:82d8768d7351	950	CANMessage temp_msg;
Lightvalve	170:42c938a40313	951
Lightvalve	11:82d8768d7351	952	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	953	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	954	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	955	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	956	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	957
Lightvalve	11:82d8768d7351	958	can.write(temp_msg);
Lightvalve	11:82d8768d7351	959	}
Lightvalve	11:82d8768d7351	960
Lightvalve	170:42c938a40313	961	void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve	170:42c938a40313	962	{
Lightvalve	11:82d8768d7351	963	CANMessage temp_msg;
Lightvalve	170:42c938a40313	964
Lightvalve	11:82d8768d7351	965	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	966	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	967	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	968	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	969	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	970
Lightvalve	11:82d8768d7351	971	can.write(temp_msg);
Lightvalve	11:82d8768d7351	972	}
Lightvalve	11:82d8768d7351	973
Lightvalve	170:42c938a40313	974	void CAN_TX_VALVE_FF(void)
Lightvalve	170:42c938a40313	975	{
Lightvalve	11:82d8768d7351	976	CANMessage temp_msg;
Lightvalve	170:42c938a40313	977
Lightvalve	11:82d8768d7351	978	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	979	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	980	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	981	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	982	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	983
Lightvalve	11:82d8768d7351	984	can.write(temp_msg);
Lightvalve	11:82d8768d7351	985	}
Lightvalve	11:82d8768d7351	986
Lightvalve	170:42c938a40313	987	void CAN_TX_BULK_MODULUS(void)
Lightvalve	170:42c938a40313	988	{
Lightvalve	11:82d8768d7351	989	CANMessage temp_msg;
Lightvalve	170:42c938a40313	990
Lightvalve	11:82d8768d7351	991	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	992	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	993	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	994	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	995	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	996
Lightvalve	11:82d8768d7351	997	can.write(temp_msg);
Lightvalve	11:82d8768d7351	998	}
Lightvalve	11:82d8768d7351	999
Lightvalve	170:42c938a40313	1000	void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve	170:42c938a40313	1001	{
Lightvalve	11:82d8768d7351	1002	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1003
Lightvalve	11:82d8768d7351	1004	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1005	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1006	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1007	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1008	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1009	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1010	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1011
Lightvalve	11:82d8768d7351	1012	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1013	}
Lightvalve	11:82d8768d7351	1014
Lightvalve	170:42c938a40313	1015	void CAN_TX_PISTON_AREA(void)
Lightvalve	170:42c938a40313	1016	{
jobuuu	2:a1c0a37df760	1017	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1018
Lightvalve	11:82d8768d7351	1019	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1020	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1021	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1022	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1023	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1024	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1025	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1026
Lightvalve	11:82d8768d7351	1027	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1028	}
Lightvalve	11:82d8768d7351	1029
jobuuu	230:2c3e5ecbe7e1	1030	void CAN_TX_SUP_PRES(void)
Lightvalve	170:42c938a40313	1031	{
Lightvalve	11:82d8768d7351	1032	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1033
jobuuu	230:2c3e5ecbe7e1	1034	int16_t temp_PRES_SUPPLY = (int16_t) (PRES_SUPPLY);
Lightvalve	11:82d8768d7351	1035	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1036	temp_msg.len = 5;
jobuuu	230:2c3e5ecbe7e1	1037	temp_msg.data[0] = (uint8_t) CTX_SEND_SUP_PRES;
jobuuu	230:2c3e5ecbe7e1	1038	temp_msg.data[1] = (uint8_t) temp_PRES_SUPPLY;
jobuuu	230:2c3e5ecbe7e1	1039	temp_msg.data[2] = (uint8_t) (temp_PRES_SUPPLY >> 8);
jobuuu	230:2c3e5ecbe7e1	1040	temp_msg.data[3] = 0;
jobuuu	230:2c3e5ecbe7e1	1041	temp_msg.data[4] = 0;
Lightvalve	11:82d8768d7351	1042
Lightvalve	11:82d8768d7351	1043	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1044	}
Lightvalve	11:82d8768d7351	1045
Lightvalve	170:42c938a40313	1046	void CAN_TX_ENC_LIMIT(void)
Lightvalve	170:42c938a40313	1047	{
Lightvalve	11:82d8768d7351	1048	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1049
Lightvalve	11:82d8768d7351	1050	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1051	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1052	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1053	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1054	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1055	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1056	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1057
Lightvalve	11:82d8768d7351	1058	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1059	}
Lightvalve	11:82d8768d7351	1060
Lightvalve	170:42c938a40313	1061	void CAN_TX_STROKE(void)
Lightvalve	170:42c938a40313	1062	{
Lightvalve	11:82d8768d7351	1063	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1064
Lightvalve	11:82d8768d7351	1065	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1066	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1067	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1068	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1069	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1070
Lightvalve	11:82d8768d7351	1071	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1072	}
Lightvalve	11:82d8768d7351	1073
Lightvalve	170:42c938a40313	1074	void CAN_TX_VALVE_LIMIT(void)
Lightvalve	170:42c938a40313	1075	{
Lightvalve	11:82d8768d7351	1076	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1077
Lightvalve	11:82d8768d7351	1078	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1079	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1080	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1081	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1082	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1083	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1084	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1085
Lightvalve	11:82d8768d7351	1086	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1087	}
Lightvalve	11:82d8768d7351	1088
Lightvalve	170:42c938a40313	1089	void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve	170:42c938a40313	1090	{
Lightvalve	11:82d8768d7351	1091	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1092
jobuuu	2:a1c0a37df760	1093	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1094	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1095	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1096	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1097	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1098	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1099
jobuuu	2:a1c0a37df760	1100	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1101	}
jobuuu	2:a1c0a37df760	1102
Lightvalve	170:42c938a40313	1103	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve	170:42c938a40313	1104	{
jobuuu	2:a1c0a37df760	1105	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1106
jobuuu	2:a1c0a37df760	1107	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1108	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1109	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	139:15621998925b	1110	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve	48:889798ff9329	1111	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1112	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1113
jobuuu	2:a1c0a37df760	1114	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1115	}
jobuuu	2:a1c0a37df760	1116
Lightvalve	170:42c938a40313	1117	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve	170:42c938a40313	1118	{
jobuuu	2:a1c0a37df760	1119	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1120
jobuuu	2:a1c0a37df760	1121	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1122	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1123	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1124	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1125	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1126	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1127	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1128
jobuuu	2:a1c0a37df760	1129	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1130	}
jobuuu	2:a1c0a37df760	1131
Lightvalve	170:42c938a40313	1132	void CAN_TX_FRICTION(void)
Lightvalve	170:42c938a40313	1133	{
Lightvalve	11:82d8768d7351	1134	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1135	int16_t send_friction;
Lightvalve	30:8d561f16383b	1136	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	170:42c938a40313	1137
Lightvalve	11:82d8768d7351	1138	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1139	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1140	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1141	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1142	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1143
Lightvalve	11:82d8768d7351	1144	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1145	}
Lightvalve	11:82d8768d7351	1146
Lightvalve	170:42c938a40313	1147	void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve	170:42c938a40313	1148	{
Lightvalve	11:82d8768d7351	1149	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1150
Lightvalve	11:82d8768d7351	1151	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1152	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1153	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1154	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1155	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1156	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1157	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1158	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1159
Lightvalve	11:82d8768d7351	1160	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1161	}
Lightvalve	11:82d8768d7351	1162
Lightvalve	11:82d8768d7351	1163
Lightvalve	170:42c938a40313	1164	void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve	170:42c938a40313	1165	{
Lightvalve	11:82d8768d7351	1166	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1167
Lightvalve	11:82d8768d7351	1168	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1169	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1170	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1171	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1172	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1173	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1174	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1175	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1176
Lightvalve	11:82d8768d7351	1177	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1178	}
Lightvalve	11:82d8768d7351	1179
Lightvalve	170:42c938a40313	1180	void CAN_TX_REFENCE_MODE(void)
Lightvalve	170:42c938a40313	1181	{
Lightvalve	11:82d8768d7351	1182	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1183
Lightvalve	11:82d8768d7351	1184	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1185	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1186	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1187	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1188	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1189	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1190	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1191	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1192
Lightvalve	11:82d8768d7351	1193	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1194	}
Lightvalve	11:82d8768d7351	1195
Lightvalve	170:42c938a40313	1196	void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve	170:42c938a40313	1197	{
Lightvalve	11:82d8768d7351	1198	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1199	int16_t send_homepos_offset;
hyhoon	226:82a3ca333004	1200	send_homepos_offset = (int16_t)HOMEPOS_OFFSET;
Lightvalve	170:42c938a40313	1201
jobuuu	2:a1c0a37df760	1202	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1203	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1204	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1205	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1206	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1207
jobuuu	2:a1c0a37df760	1208	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1209	}
Lightvalve	11:82d8768d7351	1210
Lightvalve	170:42c938a40313	1211	void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve	170:42c938a40313	1212	{
Lightvalve	11:82d8768d7351	1213	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1214	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1215	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	170:42c938a40313	1216
Lightvalve	11:82d8768d7351	1217	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1218	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1219	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1220	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1221	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1222
Lightvalve	11:82d8768d7351	1223	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1224	}
Lightvalve	11:82d8768d7351	1225
Lightvalve	170:42c938a40313	1226	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve	170:42c938a40313	1227	{
Lightvalve	11:82d8768d7351	1228	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1229	int16_t valve_pos_vs_pwm;
Lightvalve	170:42c938a40313	1230
Lightvalve	57:f4819de54e7a	1231	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1232	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	1233	} else {
Lightvalve	57:f4819de54e7a	1234	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	1235	}
Lightvalve	170:42c938a40313	1236
Lightvalve	12:6f2531038ea4	1237	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1238	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	170:42c938a40313	1239
Lightvalve	11:82d8768d7351	1240	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1241	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1242	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1243	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1244	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1245	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1246	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1247
Lightvalve	11:82d8768d7351	1248	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1249	}
Lightvalve	11:82d8768d7351	1250
Lightvalve	170:42c938a40313	1251	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve	170:42c938a40313	1252	{
Lightvalve	11:82d8768d7351	1253	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1254	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1255	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1256
Lightvalve	57:f4819de54e7a	1257	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1258	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1259	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1260	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	1261	} else {
Lightvalve	57:f4819de54e7a	1262	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	1263	}
Lightvalve	170:42c938a40313	1264
Lightvalve	11:82d8768d7351	1265	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1266	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1267	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1268	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1269	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
jeongyeseong	225:9c0becc196ba	1270	temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
jeongyeseong	225:9c0becc196ba	1271	temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
jeongyeseong	225:9c0becc196ba	1272	temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
jeongyeseong	225:9c0becc196ba	1273	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1274
Lightvalve	11:82d8768d7351	1275	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1276	}
Lightvalve	11:82d8768d7351	1277
Lightvalve	170:42c938a40313	1278	void CAN_TX_VALVE_POS_NUM(void)
Lightvalve	170:42c938a40313	1279	{
Lightvalve	11:82d8768d7351	1280	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1281	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1282	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	170:42c938a40313	1283
Lightvalve	11:82d8768d7351	1284	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1285	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1286	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1287	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1288	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1289
Lightvalve	11:82d8768d7351	1290	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1291	}
Lightvalve	11:82d8768d7351	1292
Lightvalve	170:42c938a40313	1293	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve	170:42c938a40313	1294	{
Lightvalve	38:118df027d851	1295	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1296
Lightvalve	48:889798ff9329	1297	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1298	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1299	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1300
Lightvalve	57:f4819de54e7a	1301	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1302	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1303	temp_ddv_center = VALVE_CENTER;
Lightvalve	170:42c938a40313	1304
Lightvalve	38:118df027d851	1305	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1306	temp_msg.len = 7;
Lightvalve	38:118df027d851	1307	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1308	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1309	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1310	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1311	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1312	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1313	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1314
Lightvalve	38:118df027d851	1315	can.write(temp_msg);
Lightvalve	38:118df027d851	1316	}
Lightvalve	38:118df027d851	1317
Lightvalve	169:645207e160ca	1318
Lightvalve	170:42c938a40313	1319	void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve	170:42c938a40313	1320	{
Lightvalve	169:645207e160ca	1321	CANMessage temp_msg;
Lightvalve	169:645207e160ca	1322	int16_t send_pos_array, send_ref_array;
Lightvalve	169:645207e160ca	1323	send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve	169:645207e160ca	1324	send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve	170:42c938a40313	1325
Lightvalve	169:645207e160ca	1326	temp_msg.id = CID_TX_INFO;
hyhoon	226:82a3ca333004	1327	temp_msg.len = 5;
Lightvalve	169:645207e160ca	1328	temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve	169:645207e160ca	1329	temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve	169:645207e160ca	1330	temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve	169:645207e160ca	1331	temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve	169:645207e160ca	1332	temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve	169:645207e160ca	1333
Lightvalve	169:645207e160ca	1334	can.write(temp_msg);
Lightvalve	169:645207e160ca	1335	}
Lightvalve	169:645207e160ca	1336
Lightvalve	169:645207e160ca	1337
jobuuu	2:a1c0a37df760	1338	/******************************************************************************
jobuuu	2:a1c0a37df760	1339	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1340	*******************************************************************************/
jobuuu	2:a1c0a37df760	1341
Lightvalve	170:42c938a40313	1342	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve	170:42c938a40313	1343	{
Lightvalve	52:8ea76864368a	1344	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1345
hyhoon	227:699c3e572283	1346	temp_msg.id = CID_TX_POS_VEL_TORQ;
hyhoon	226:82a3ca333004	1347	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1348	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1349	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1350	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1351	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1352	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1353	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1354
Lightvalve	52:8ea76864368a	1355	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1356	}
Lightvalve	52:8ea76864368a	1357
Lightvalve	170:42c938a40313	1358	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve	170:42c938a40313	1359	{
Lightvalve	170:42c938a40313	1360
jobuuu	2:a1c0a37df760	1361	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1362
hyhoon	227:699c3e572283	1363	temp_msg.id = CID_TX_POS_VEL_TORQ;
jobuuu	2:a1c0a37df760	1364	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1365	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1366	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1367	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1368	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1369	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1370	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1371	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1372	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1373
jobuuu	2:a1c0a37df760	1374	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1375	}
jobuuu	2:a1c0a37df760	1376
hyhoon	227:699c3e572283	1377	void CAN_TX_CURRENT(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve	170:42c938a40313	1378	{
jobuuu	2:a1c0a37df760	1379	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1380
hyhoon	227:699c3e572283	1381	temp_msg.id = CID_TX_CURRENT;
hyhoon	226:82a3ca333004	1382	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1383	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1384	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1385	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1386	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1387
jobuuu	2:a1c0a37df760	1388	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1389	}
jobuuu	2:a1c0a37df760	1390
Lightvalve	170:42c938a40313	1391	void CAN_TX_PWM(int16_t t_pwm)
Lightvalve	170:42c938a40313	1392	{
jobuuu	2:a1c0a37df760	1393	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1394
hyhoon	227:699c3e572283	1395	temp_msg.id = CID_TX_PWM;
hyhoon	226:82a3ca333004	1396	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1397	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1398	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1399
jobuuu	2:a1c0a37df760	1400	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1401	}
jobuuu	2:a1c0a37df760	1402
Lightvalve	73:f80dc3970c99	1403	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	1404	{
jobuuu	2:a1c0a37df760	1405	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1406
jobuuu	2:a1c0a37df760	1407	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	73:f80dc3970c99	1408	temp_msg.len = 8;
Lightvalve	73:f80dc3970c99	1409	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	73:f80dc3970c99	1410	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	73:f80dc3970c99	1411	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	73:f80dc3970c99	1412	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	73:f80dc3970c99	1413	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	73:f80dc3970c99	1414	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	73:f80dc3970c99	1415	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	73:f80dc3970c99	1416	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	170:42c938a40313	1417
jobuuu	2:a1c0a37df760	1418
jobuuu	2:a1c0a37df760	1419	can.write(temp_msg);
jeongyeseong	225:9c0becc196ba	1420	}
jeongyeseong	225:9c0becc196ba	1421
jeongyeseong	225:9c0becc196ba	1422	void CAN_TX_SOMETHING(int16_t t_a, int16_t t_b, int16_t t_c, int16_t t_d)
jeongyeseong	225:9c0becc196ba	1423	{
jeongyeseong	225:9c0becc196ba	1424	CANMessage temp_msg;
jeongyeseong	225:9c0becc196ba	1425
jeongyeseong	225:9c0becc196ba	1426	temp_msg.id = CID_TX_SOMETHING;
jeongyeseong	225:9c0becc196ba	1427	temp_msg.len = 8;
jeongyeseong	225:9c0becc196ba	1428	temp_msg.data[0] = (uint8_t) t_a;
jeongyeseong	225:9c0becc196ba	1429	temp_msg.data[1] = (uint8_t) (t_a >> 8);
jeongyeseong	225:9c0becc196ba	1430	temp_msg.data[2] = (uint8_t) t_b;
jeongyeseong	225:9c0becc196ba	1431	temp_msg.data[3] = (uint8_t) (t_b >> 8);
jeongyeseong	225:9c0becc196ba	1432	temp_msg.data[4] = (uint8_t) t_c;
jeongyeseong	225:9c0becc196ba	1433	temp_msg.data[5] = (uint8_t) (t_c >> 8);
jeongyeseong	225:9c0becc196ba	1434	temp_msg.data[6] = (uint8_t) t_d;
jeongyeseong	225:9c0becc196ba	1435	temp_msg.data[7] = (uint8_t) (t_d >> 8);
jeongyeseong	225:9c0becc196ba	1436
jeongyeseong	225:9c0becc196ba	1437
jeongyeseong	225:9c0becc196ba	1438	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1439	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Aug 2022
Imports:	0
Forks:	0
Commits:	258
Dependents:	0
Dependencies:	2
Followers:	1

CAN/function_CAN.cpp@230:2c3e5ecbe7e1, 2021-04-21 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning