Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@11:82d8768d7351, 2019-08-23 (annotated)

Committer:
Lightvalve
Date:
Fri Aug 23 12:28:08 2019 +0000
Revision:
11:82d8768d7351
Parent:
7:e9086c72bb22
Child:
12:6f2531038ea4
190823

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"
jobuuu 2:a1c0a37df760 5
jobuuu 2:a1c0a37df760 6 // CAN ID Setting Variables
jobuuu 2:a1c0a37df760 7 int CID_RX_CMD = 100;
jobuuu 2:a1c0a37df760 8 int CID_RX_REF_POSITION = 200;
jobuuu 2:a1c0a37df760 9 int CID_RX_REF_TORQUE = 300;
jobuuu 2:a1c0a37df760 10 int CID_RX_REF_PRES_DIFF = 400;
jobuuu 7:e9086c72bb22 11 int CID_RX_REF_VOUT = 500;
jobuuu 2:a1c0a37df760 12 int CID_RX_REF_VALVE_POSITION = 600;
jobuuu 2:a1c0a37df760 13
jobuuu 2:a1c0a37df760 14 int CID_TX_INFO = 1100;
jobuuu 2:a1c0a37df760 15 int CID_TX_POSITION = 1200;
jobuuu 2:a1c0a37df760 16 int CID_TX_TORQUE = 1300;
jobuuu 2:a1c0a37df760 17 int CID_TX_PRES = 1400;
jobuuu 7:e9086c72bb22 18 int CID_TX_VOUT = 1500;
jobuuu 2:a1c0a37df760 19 int CID_TX_VALVE_POSITION = 1600;
jobuuu 2:a1c0a37df760 20
Lightvalve 11:82d8768d7351 21
Lightvalve 11:82d8768d7351 22 /*******************************************************************************
Lightvalve 11:82d8768d7351 23 * CAN functions
Lightvalve 11:82d8768d7351 24 ******************************************************************************/
Lightvalve 11:82d8768d7351 25 void CAN_ID_INIT(void) {
jobuuu 7:e9086c72bb22 26
Lightvalve 11:82d8768d7351 27 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 28 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve 11:82d8768d7351 29 CID_RX_REF_TORQUE = (int) (BNO + INIT_CID_RX_REF_TORQUE);
Lightvalve 11:82d8768d7351 30 CID_RX_REF_PRES_DIFF = (int) (BNO + INIT_CID_RX_REF_PRES_DIFF);
Lightvalve 11:82d8768d7351 31 CID_RX_REF_VOUT = (int) (BNO + INIT_CID_RX_REF_VOUT);
Lightvalve 11:82d8768d7351 32 CID_RX_REF_VALVE_POSITION = (int) (BNO + INIT_CID_RX_REF_VALVE_POSITION);
Lightvalve 11:82d8768d7351 33
Lightvalve 11:82d8768d7351 34 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve 11:82d8768d7351 35 CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve 11:82d8768d7351 36 CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve 11:82d8768d7351 37 CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve 11:82d8768d7351 38 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 39 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve 11:82d8768d7351 40 }
jobuuu 2:a1c0a37df760 41
jobuuu 2:a1c0a37df760 42 void ReadCMD(char CMD)
jobuuu 2:a1c0a37df760 43 {
jobuuu 2:a1c0a37df760 44 switch(CMD){
Lightvalve 11:82d8768d7351 45 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 46 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 47 break;
Lightvalve 11:82d8768d7351 48 }
Lightvalve 11:82d8768d7351 49 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 50 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 51 break;
Lightvalve 11:82d8768d7351 52 }
Lightvalve 11:82d8768d7351 53 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 54 BNO = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 55 spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 56 CAN_ID_INIT(); // can id init
Lightvalve 11:82d8768d7351 57 break;
Lightvalve 11:82d8768d7351 58 }
Lightvalve 11:82d8768d7351 59 case CRX_ASK_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 60 CAN_TX_OPERATING_MODE();
Lightvalve 11:82d8768d7351 61 break;
Lightvalve 11:82d8768d7351 62 }
Lightvalve 11:82d8768d7351 63 case CRX_SET_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 64 OPERATING_MODE = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 65 spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve 11:82d8768d7351 66 break;
Lightvalve 11:82d8768d7351 67 }
Lightvalve 11:82d8768d7351 68 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 69 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 70
Lightvalve 11:82d8768d7351 71 break;
Lightvalve 11:82d8768d7351 72 }
Lightvalve 11:82d8768d7351 73 case CRX_SET_FET_ON: {
Lightvalve 11:82d8768d7351 74 LAT_MOT_EN = (int16_t) msg.data[1];;
Lightvalve 11:82d8768d7351 75
Lightvalve 11:82d8768d7351 76 break;
Lightvalve 11:82d8768d7351 77 }
Lightvalve 11:82d8768d7351 78
Lightvalve 11:82d8768d7351 79 case CRX_SET_REF_UPDATE_ENABLE: {
Lightvalve 11:82d8768d7351 80 flag_ref_enable = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 81
Lightvalve 11:82d8768d7351 82 break;
Lightvalve 11:82d8768d7351 83 }
Lightvalve 11:82d8768d7351 84
Lightvalve 11:82d8768d7351 85 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 86 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 87
Lightvalve 11:82d8768d7351 88 break;
Lightvalve 11:82d8768d7351 89 }
Lightvalve 11:82d8768d7351 90
Lightvalve 11:82d8768d7351 91 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 92 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 93 spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 94 break;
Lightvalve 11:82d8768d7351 95 }
Lightvalve 11:82d8768d7351 96
Lightvalve 11:82d8768d7351 97 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 98 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 99
Lightvalve 11:82d8768d7351 100 break;
Lightvalve 11:82d8768d7351 101 }
Lightvalve 11:82d8768d7351 102
Lightvalve 11:82d8768d7351 103 case CRX_SET_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 104 CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 11:82d8768d7351 105 if (CONTROL_MODE == MODE_FIND_HOME) {
Lightvalve 11:82d8768d7351 106 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 107 }
Lightvalve 11:82d8768d7351 108 break;
Lightvalve 11:82d8768d7351 109 }
Lightvalve 11:82d8768d7351 110
Lightvalve 11:82d8768d7351 111 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 112 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 113 flag_data_request[request_type] = msg.data[1];
Lightvalve 11:82d8768d7351 114
Lightvalve 11:82d8768d7351 115 if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 11:82d8768d7351 116 if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 11:82d8768d7351 117
Lightvalve 11:82d8768d7351 118 break;
Lightvalve 11:82d8768d7351 119 }
Lightvalve 11:82d8768d7351 120
Lightvalve 11:82d8768d7351 121 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 122 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 123
Lightvalve 11:82d8768d7351 124 break;
Lightvalve 11:82d8768d7351 125 }
Lightvalve 11:82d8768d7351 126
Lightvalve 11:82d8768d7351 127 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 128 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 129 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 130 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 131 else
Lightvalve 11:82d8768d7351 132 DIR_JOINT_ENC = -1;
Lightvalve 11:82d8768d7351 133 spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 134
Lightvalve 11:82d8768d7351 135 break;
Lightvalve 11:82d8768d7351 136 }
Lightvalve 11:82d8768d7351 137
Lightvalve 11:82d8768d7351 138 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 139 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 140
Lightvalve 11:82d8768d7351 141 break;
Lightvalve 11:82d8768d7351 142 }
Lightvalve 11:82d8768d7351 143
Lightvalve 11:82d8768d7351 144 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 145 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 146 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 147 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 148 else
Lightvalve 11:82d8768d7351 149 DIR_VALVE = -1;
Lightvalve 11:82d8768d7351 150 spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 151
Lightvalve 11:82d8768d7351 152 break;
Lightvalve 11:82d8768d7351 153 }
Lightvalve 11:82d8768d7351 154
Lightvalve 11:82d8768d7351 155 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 156 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 157
Lightvalve 11:82d8768d7351 158 break;
Lightvalve 11:82d8768d7351 159 }
Lightvalve 11:82d8768d7351 160
Lightvalve 11:82d8768d7351 161 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 162 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 163 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 164 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 165 else
Lightvalve 11:82d8768d7351 166 DIR_VALVE_ENC = -1;
Lightvalve 11:82d8768d7351 167
Lightvalve 11:82d8768d7351 168 spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 169
Lightvalve 11:82d8768d7351 170 break;
Lightvalve 11:82d8768d7351 171 }
Lightvalve 11:82d8768d7351 172
Lightvalve 11:82d8768d7351 173 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 174 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 175
Lightvalve 11:82d8768d7351 176 break;
Lightvalve 11:82d8768d7351 177 }
Lightvalve 11:82d8768d7351 178
Lightvalve 11:82d8768d7351 179 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 180 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
Lightvalve 11:82d8768d7351 181 spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve 11:82d8768d7351 182
Lightvalve 11:82d8768d7351 183 break;
Lightvalve 11:82d8768d7351 184 }
Lightvalve 11:82d8768d7351 185
Lightvalve 11:82d8768d7351 186 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 187 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 188
Lightvalve 11:82d8768d7351 189 break;
Lightvalve 11:82d8768d7351 190 }
Lightvalve 11:82d8768d7351 191
Lightvalve 11:82d8768d7351 192 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 193 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
Lightvalve 11:82d8768d7351 194 spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve 11:82d8768d7351 195
Lightvalve 11:82d8768d7351 196
Lightvalve 11:82d8768d7351 197 break;
Lightvalve 11:82d8768d7351 198 }
Lightvalve 11:82d8768d7351 199 ///////////////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 200 case CRX_SET_HOMEPOS: {
Lightvalve 11:82d8768d7351 201 CONTROL_MODE = 22;
Lightvalve 11:82d8768d7351 202 SETTING_SWITCH = (int16_t) (msg.data[1]);
Lightvalve 11:82d8768d7351 203 break;
Lightvalve 11:82d8768d7351 204 }
Lightvalve 11:82d8768d7351 205
Lightvalve 11:82d8768d7351 206 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 207 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 208
Lightvalve 11:82d8768d7351 209 break;
Lightvalve 11:82d8768d7351 210 }
Lightvalve 11:82d8768d7351 211
Lightvalve 11:82d8768d7351 212 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 213 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 214 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 215 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 216 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 11:82d8768d7351 217
Lightvalve 11:82d8768d7351 218 spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 219 spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 220 spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 221
Lightvalve 11:82d8768d7351 222
Lightvalve 11:82d8768d7351 223 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 224 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 225 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 226 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 11:82d8768d7351 227
Lightvalve 11:82d8768d7351 228 spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 229 spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 230 spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 231 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 232 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 233 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 234 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 11:82d8768d7351 235
Lightvalve 11:82d8768d7351 236 spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 237 spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 238 spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 239
Lightvalve 11:82d8768d7351 240
Lightvalve 11:82d8768d7351 241 }
Lightvalve 11:82d8768d7351 242
Lightvalve 11:82d8768d7351 243 break;
Lightvalve 11:82d8768d7351 244 }
Lightvalve 11:82d8768d7351 245
Lightvalve 11:82d8768d7351 246 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 247 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 248
Lightvalve 11:82d8768d7351 249 break;
Lightvalve 11:82d8768d7351 250 }
Lightvalve 11:82d8768d7351 251
Lightvalve 11:82d8768d7351 252 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 253 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 254 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 255 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 11:82d8768d7351 256
Lightvalve 11:82d8768d7351 257 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
Lightvalve 11:82d8768d7351 258 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 11:82d8768d7351 259 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 11:82d8768d7351 260
Lightvalve 11:82d8768d7351 261 break;
Lightvalve 11:82d8768d7351 262 }
Lightvalve 11:82d8768d7351 263
Lightvalve 11:82d8768d7351 264 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 265 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 266
Lightvalve 11:82d8768d7351 267 break;
Lightvalve 11:82d8768d7351 268 }
Lightvalve 11:82d8768d7351 269
Lightvalve 11:82d8768d7351 270 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 271 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 272
Lightvalve 11:82d8768d7351 273 spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 274
Lightvalve 11:82d8768d7351 275 break;
Lightvalve 11:82d8768d7351 276 }
Lightvalve 11:82d8768d7351 277
Lightvalve 11:82d8768d7351 278 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 279 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 280
Lightvalve 11:82d8768d7351 281 break;
Lightvalve 11:82d8768d7351 282 }
Lightvalve 11:82d8768d7351 283
Lightvalve 11:82d8768d7351 284 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 285 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 286
Lightvalve 11:82d8768d7351 287 spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 288
Lightvalve 11:82d8768d7351 289 break;
Lightvalve 11:82d8768d7351 290 }
Lightvalve 11:82d8768d7351 291
Lightvalve 11:82d8768d7351 292 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 293 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 294
Lightvalve 11:82d8768d7351 295 break;
Lightvalve 11:82d8768d7351 296 }
Lightvalve 11:82d8768d7351 297
Lightvalve 11:82d8768d7351 298 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 299 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 300
Lightvalve 11:82d8768d7351 301 spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 302
Lightvalve 11:82d8768d7351 303 break;
Lightvalve 11:82d8768d7351 304 }
Lightvalve 11:82d8768d7351 305
Lightvalve 11:82d8768d7351 306 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 307 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 308
Lightvalve 11:82d8768d7351 309 break;
Lightvalve 11:82d8768d7351 310 }
Lightvalve 11:82d8768d7351 311
Lightvalve 11:82d8768d7351 312 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 313 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 314
Lightvalve 11:82d8768d7351 315 spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 316
Lightvalve 11:82d8768d7351 317 break;
Lightvalve 11:82d8768d7351 318 }
Lightvalve 11:82d8768d7351 319
Lightvalve 11:82d8768d7351 320 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 321 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 322
Lightvalve 11:82d8768d7351 323 break;
Lightvalve 11:82d8768d7351 324 }
Lightvalve 11:82d8768d7351 325
Lightvalve 11:82d8768d7351 326 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 327 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 328 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 329
Lightvalve 11:82d8768d7351 330 spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 11:82d8768d7351 331 spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 332
Lightvalve 11:82d8768d7351 333 break;
Lightvalve 11:82d8768d7351 334 }
Lightvalve 11:82d8768d7351 335
Lightvalve 11:82d8768d7351 336 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 337 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 338
Lightvalve 11:82d8768d7351 339 break;
Lightvalve 11:82d8768d7351 340 }
Lightvalve 11:82d8768d7351 341
Lightvalve 11:82d8768d7351 342 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 343 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 344 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 345 PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve 11:82d8768d7351 346
Lightvalve 11:82d8768d7351 347 spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 11:82d8768d7351 348 spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 349 break;
Lightvalve 11:82d8768d7351 350 }
Lightvalve 11:82d8768d7351 351
Lightvalve 11:82d8768d7351 352 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 353 CAN_TX_PRES_A_AND_B();
Lightvalve 11:82d8768d7351 354 SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 11:82d8768d7351 355 break;
Lightvalve 11:82d8768d7351 356 }
Lightvalve 11:82d8768d7351 357
Lightvalve 11:82d8768d7351 358 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 359 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 360 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 361
Lightvalve 11:82d8768d7351 362 spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 11:82d8768d7351 363 spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 364
Lightvalve 11:82d8768d7351 365
Lightvalve 11:82d8768d7351 366 break;
Lightvalve 11:82d8768d7351 367 }
Lightvalve 11:82d8768d7351 368
Lightvalve 11:82d8768d7351 369 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 370 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 371
Lightvalve 11:82d8768d7351 372 break;
Lightvalve 11:82d8768d7351 373 }
Lightvalve 11:82d8768d7351 374
Lightvalve 11:82d8768d7351 375 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 376 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 377 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 378
Lightvalve 11:82d8768d7351 379 spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 11:82d8768d7351 380 spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 381
Lightvalve 11:82d8768d7351 382 break;
Lightvalve 11:82d8768d7351 383 }
Lightvalve 11:82d8768d7351 384
Lightvalve 11:82d8768d7351 385 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 386 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 387 break;
Lightvalve 11:82d8768d7351 388 }
Lightvalve 11:82d8768d7351 389
Lightvalve 11:82d8768d7351 390 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 391 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 392
Lightvalve 11:82d8768d7351 393 spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 394
Lightvalve 11:82d8768d7351 395 break;
Lightvalve 11:82d8768d7351 396 }
Lightvalve 11:82d8768d7351 397
Lightvalve 11:82d8768d7351 398 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 399 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 400
Lightvalve 11:82d8768d7351 401 break;
Lightvalve 11:82d8768d7351 402 }
Lightvalve 11:82d8768d7351 403
Lightvalve 11:82d8768d7351 404 case CRX_SET_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 405 VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 406 VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 407
Lightvalve 11:82d8768d7351 408 spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
Lightvalve 11:82d8768d7351 409 spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
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_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 415 CAN_TX_ENC_PULSE_PER_POSITION();
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_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 421 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 422
Lightvalve 11:82d8768d7351 423 spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve 11:82d8768d7351 424
Lightvalve 11:82d8768d7351 425 break;
Lightvalve 11:82d8768d7351 426 }
Lightvalve 11:82d8768d7351 427
Lightvalve 11:82d8768d7351 428 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 429 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 430
Lightvalve 11:82d8768d7351 431 break;
Lightvalve 11:82d8768d7351 432 }
Lightvalve 11:82d8768d7351 433
Lightvalve 11:82d8768d7351 434 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 435 TORQUE_SENSOR_PULSE_PER_TORQUE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 436
Lightvalve 11:82d8768d7351 437 spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve 11:82d8768d7351 438
Lightvalve 11:82d8768d7351 439 break;
Lightvalve 11:82d8768d7351 440 }
Lightvalve 11:82d8768d7351 441
Lightvalve 11:82d8768d7351 442 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 443 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 444
Lightvalve 11:82d8768d7351 445 break;
Lightvalve 11:82d8768d7351 446 }
Lightvalve 11:82d8768d7351 447
Lightvalve 11:82d8768d7351 448 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 449 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01;
Lightvalve 11:82d8768d7351 450 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01;
Lightvalve 11:82d8768d7351 451
Lightvalve 11:82d8768d7351 452 spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 453 spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 454
Lightvalve 11:82d8768d7351 455 break;
Lightvalve 11:82d8768d7351 456 }
Lightvalve 11:82d8768d7351 457
Lightvalve 11:82d8768d7351 458 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 459 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 460
Lightvalve 11:82d8768d7351 461 break;
Lightvalve 11:82d8768d7351 462 }
Lightvalve 11:82d8768d7351 463
Lightvalve 11:82d8768d7351 464 case CRX_SET_FRICTION: {
Lightvalve 11:82d8768d7351 465 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
Lightvalve 11:82d8768d7351 466
Lightvalve 11:82d8768d7351 467 spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 468
Lightvalve 11:82d8768d7351 469 break;
Lightvalve 11:82d8768d7351 470 }
Lightvalve 11:82d8768d7351 471
Lightvalve 11:82d8768d7351 472 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 473 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 474
Lightvalve 11:82d8768d7351 475 break;
Lightvalve 11:82d8768d7351 476 }
Lightvalve 11:82d8768d7351 477 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 478 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.;
Lightvalve 11:82d8768d7351 479 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.;
Lightvalve 11:82d8768d7351 480 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.;
Lightvalve 11:82d8768d7351 481 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.;
Lightvalve 11:82d8768d7351 482 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.;
Lightvalve 11:82d8768d7351 483
Lightvalve 11:82d8768d7351 484 spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.));
Lightvalve 11:82d8768d7351 485 spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.));
Lightvalve 11:82d8768d7351 486 spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.));
Lightvalve 11:82d8768d7351 487 spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.));
Lightvalve 11:82d8768d7351 488 spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.));
Lightvalve 11:82d8768d7351 489
Lightvalve 11:82d8768d7351 490 break;
Lightvalve 11:82d8768d7351 491 }
Lightvalve 11:82d8768d7351 492
Lightvalve 11:82d8768d7351 493 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 494 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 495
Lightvalve 11:82d8768d7351 496 break;
Lightvalve 11:82d8768d7351 497 }
Lightvalve 11:82d8768d7351 498 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 499 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.;
Lightvalve 11:82d8768d7351 500 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.;
Lightvalve 11:82d8768d7351 501 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.;
Lightvalve 11:82d8768d7351 502 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.;
Lightvalve 11:82d8768d7351 503 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.;
Lightvalve 11:82d8768d7351 504
Lightvalve 11:82d8768d7351 505 spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.));
Lightvalve 11:82d8768d7351 506 spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.));
Lightvalve 11:82d8768d7351 507 spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.));
Lightvalve 11:82d8768d7351 508 spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.));
Lightvalve 11:82d8768d7351 509 spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.));
Lightvalve 11:82d8768d7351 510
Lightvalve 11:82d8768d7351 511 break;
Lightvalve 11:82d8768d7351 512 }
Lightvalve 11:82d8768d7351 513 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 514 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 515 break;
Lightvalve 11:82d8768d7351 516 }
Lightvalve 11:82d8768d7351 517
Lightvalve 11:82d8768d7351 518 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 519 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 520
Lightvalve 11:82d8768d7351 521 REF_NUM = msg.data[2];
Lightvalve 11:82d8768d7351 522 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.;
Lightvalve 11:82d8768d7351 523 if (REF_PERIOD <= 0.) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 524 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 11:82d8768d7351 525 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.;
Lightvalve 11:82d8768d7351 526
Lightvalve 11:82d8768d7351 527 break;
Lightvalve 11:82d8768d7351 528 }
Lightvalve 11:82d8768d7351 529
Lightvalve 11:82d8768d7351 530 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 531 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 532
Lightvalve 11:82d8768d7351 533 break;
Lightvalve 11:82d8768d7351 534 }
Lightvalve 11:82d8768d7351 535
Lightvalve 11:82d8768d7351 536 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 537
Lightvalve 11:82d8768d7351 538 for (i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 539 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 540 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 541 }
Lightvalve 11:82d8768d7351 542
Lightvalve 11:82d8768d7351 543 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 544
Lightvalve 11:82d8768d7351 545
Lightvalve 11:82d8768d7351 546 break;
Lightvalve 11:82d8768d7351 547 }
Lightvalve 11:82d8768d7351 548
Lightvalve 11:82d8768d7351 549 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 550 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 551 break;
Lightvalve 11:82d8768d7351 552 }
Lightvalve 11:82d8768d7351 553 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 554 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 555
Lightvalve 11:82d8768d7351 556 spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 557 break;
Lightvalve 11:82d8768d7351 558 }
Lightvalve 11:82d8768d7351 559
Lightvalve 11:82d8768d7351 560 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 561 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 562 break;
Lightvalve 11:82d8768d7351 563 }
Lightvalve 11:82d8768d7351 564 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 565 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 566
Lightvalve 11:82d8768d7351 567 spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 568 break;
Lightvalve 11:82d8768d7351 569 }
Lightvalve 11:82d8768d7351 570
Lightvalve 11:82d8768d7351 571 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 572 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 573 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 574 break;
Lightvalve 11:82d8768d7351 575 }
Lightvalve 11:82d8768d7351 576 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 577 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 578 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 579 break;
Lightvalve 11:82d8768d7351 580 }
Lightvalve 11:82d8768d7351 581 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 582 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 583 break;
Lightvalve 11:82d8768d7351 584 }
jobuuu 2:a1c0a37df760 585 default:
jobuuu 2:a1c0a37df760 586 break;
jobuuu 2:a1c0a37df760 587 }
jobuuu 2:a1c0a37df760 588 }
jobuuu 2:a1c0a37df760 589
jobuuu 2:a1c0a37df760 590 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 591 {
jobuuu 2:a1c0a37df760 592 can.read(msg);
jobuuu 2:a1c0a37df760 593 unsigned int address = msg.id;
jobuuu 2:a1c0a37df760 594
jobuuu 7:e9086c72bb22 595 if(address==CID_RX_CMD){
jobuuu 2:a1c0a37df760 596 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 597 ReadCMD(CMD);
jobuuu 7:e9086c72bb22 598 } else if(address==CID_RX_REF_POSITION) {
jobuuu 7:e9086c72bb22 599 int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24);
jobuuu 7:e9086c72bb22 600 int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24);
jobuuu 7:e9086c72bb22 601 pos.ref = (double)temp_pos;
jobuuu 7:e9086c72bb22 602 vel.ref = (double)temp_vel;
jobuuu 7:e9086c72bb22 603 } else if(address==CID_RX_REF_TORQUE) {
jobuuu 7:e9086c72bb22 604 int16_t temp_torq = (int16_t) (msg.data[0] | msg.data[1] << 8);
jobuuu 7:e9086c72bb22 605 torq.ref = (double)temp_torq;
jobuuu 7:e9086c72bb22 606 } else if(address==CID_RX_REF_PRES_DIFF) {
Lightvalve 11:82d8768d7351 607 int16_t temp_presdiff = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 11:82d8768d7351 608 torq.ref = (double)temp_presdiff;
jobuuu 7:e9086c72bb22 609 } else if(address==CID_RX_REF_VOUT) {
jobuuu 7:e9086c72bb22 610 int16_t temp_PWM = (int16_t) (msg.data[0] | msg.data[1] << 8);
jobuuu 7:e9086c72bb22 611 Vout.ref = (double)temp_PWM;
jobuuu 7:e9086c72bb22 612 } else if(address==CID_RX_REF_VALVE_POSITION) {
jobuuu 7:e9086c72bb22 613 int16_t temp_cur = (int16_t) (msg.data[0] | msg.data[1] << 8);
jobuuu 7:e9086c72bb22 614 cur.ref = (double)temp_cur;
jobuuu 2:a1c0a37df760 615 }
jobuuu 7:e9086c72bb22 616
jobuuu 2:a1c0a37df760 617 }
jobuuu 2:a1c0a37df760 618
jobuuu 2:a1c0a37df760 619 /******************************************************************************
jobuuu 2:a1c0a37df760 620 Information Transmission Functions
jobuuu 2:a1c0a37df760 621 *******************************************************************************/
Lightvalve 11:82d8768d7351 622
Lightvalve 11:82d8768d7351 623 void CAN_TX_INFO(void) {
Lightvalve 11:82d8768d7351 624 CANmsg.data temp_msg;
jobuuu 2:a1c0a37df760 625
jobuuu 2:a1c0a37df760 626 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 627 temp_msg.len = 7;
jobuuu 2:a1c0a37df760 628 temp_msg.data[0] = (unsigned char) CTX_SEND_INFO;
jobuuu 2:a1c0a37df760 629 temp_msg.data[1] = (unsigned char) BNO;
jobuuu 2:a1c0a37df760 630 temp_msg.data[2] = (unsigned char) CAN_FREQ;
jobuuu 2:a1c0a37df760 631 temp_msg.data[3] = (unsigned char) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 632 temp_msg.data[4] = (unsigned char) (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]);
jobuuu 2:a1c0a37df760 633 temp_msg.data[5] = (unsigned char) CONTROL_MODE;
jobuuu 2:a1c0a37df760 634 temp_msg.data[6] = (unsigned char) OPERATING_MODE;
jobuuu 2:a1c0a37df760 635
jobuuu 2:a1c0a37df760 636 can.write(temp_msg);
jobuuu 2:a1c0a37df760 637 }
jobuuu 2:a1c0a37df760 638
Lightvalve 11:82d8768d7351 639 void CAN_TX_BNO(void) {
Lightvalve 11:82d8768d7351 640 CANmsg.data temp_msg;
jobuuu 2:a1c0a37df760 641
jobuuu 2:a1c0a37df760 642 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 643 temp_msg.len = 2;
jobuuu 2:a1c0a37df760 644 temp_msg.data[0] = (unsigned char) CTX_SEND_BNO;
jobuuu 2:a1c0a37df760 645 temp_msg.data[1] = (unsigned char) BNO;
jobuuu 2:a1c0a37df760 646
jobuuu 2:a1c0a37df760 647 can.write(temp_msg);
jobuuu 2:a1c0a37df760 648 }
jobuuu 2:a1c0a37df760 649
Lightvalve 11:82d8768d7351 650 void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 651 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 652
jobuuu 2:a1c0a37df760 653 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 654 temp_msg.len = 2;
jobuuu 2:a1c0a37df760 655 temp_msg.data[0] = (unsigned char) CTX_SEND_OPERATING_MODE;
jobuuu 2:a1c0a37df760 656 temp_msg.data[1] = (unsigned char) OPERATING_MODE;
jobuuu 2:a1c0a37df760 657
jobuuu 2:a1c0a37df760 658 can.write(temp_msg);
jobuuu 2:a1c0a37df760 659 }
jobuuu 2:a1c0a37df760 660
Lightvalve 11:82d8768d7351 661 void CAN_TX_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 662 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 663
jobuuu 2:a1c0a37df760 664 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 665 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 666 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 667 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 668 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 669
jobuuu 2:a1c0a37df760 670 can.write(temp_msg);
jobuuu 2:a1c0a37df760 671 }
Lightvalve 11:82d8768d7351 672
Lightvalve 11:82d8768d7351 673 void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 674 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 675
jobuuu 2:a1c0a37df760 676 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 677 temp_msg.len = 2;
jobuuu 2:a1c0a37df760 678 temp_msg.data[0] = (unsigned char) CTX_SEND_CONTROL_MODE;
jobuuu 2:a1c0a37df760 679 temp_msg.data[1] = (unsigned char) CONTROL_MODE;
jobuuu 2:a1c0a37df760 680
jobuuu 2:a1c0a37df760 681 can.write(temp_msg);
jobuuu 2:a1c0a37df760 682 }
Lightvalve 11:82d8768d7351 683
Lightvalve 11:82d8768d7351 684 void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 685 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 686
jobuuu 2:a1c0a37df760 687 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 688 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 689 temp_msg.data[0] = (unsigned char) CTX_SEND_JOINT_ENC_DIR;
jobuuu 2:a1c0a37df760 690 temp_msg.data[1] = (unsigned char) DIR_JOINT_ENC;
jobuuu 2:a1c0a37df760 691 temp_msg.data[2] = (unsigned char) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 692
jobuuu 2:a1c0a37df760 693 can.write(temp_msg);
jobuuu 2:a1c0a37df760 694 }
jobuuu 2:a1c0a37df760 695
Lightvalve 11:82d8768d7351 696 void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 697 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 698
jobuuu 2:a1c0a37df760 699 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 700 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 701 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DIR;
jobuuu 2:a1c0a37df760 702 temp_msg.data[1] = (unsigned char) DIR_VALVE;
jobuuu 2:a1c0a37df760 703 temp_msg.data[2] = (unsigned char) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 704
jobuuu 2:a1c0a37df760 705 can.write(temp_msg);
jobuuu 2:a1c0a37df760 706 }
jobuuu 2:a1c0a37df760 707
Lightvalve 11:82d8768d7351 708 void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 709 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 710
jobuuu 2:a1c0a37df760 711 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 712 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 713 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_ENC_DIR;
jobuuu 2:a1c0a37df760 714 temp_msg.data[1] = (unsigned char) DIR_VALVE_ENC;
jobuuu 2:a1c0a37df760 715 temp_msg.data[2] = (unsigned char) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 716
jobuuu 2:a1c0a37df760 717 can.write(temp_msg);
jobuuu 2:a1c0a37df760 718 }
jobuuu 2:a1c0a37df760 719
Lightvalve 11:82d8768d7351 720 void CAN_TX_VOLTAGE_SUPPLY(void) {
jobuuu 2:a1c0a37df760 721 long send_voltage_supply = (long) (SUPPLY_VOLTAGE * 10);
jobuuu 2:a1c0a37df760 722
jobuuu 2:a1c0a37df760 723 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 724
jobuuu 2:a1c0a37df760 725 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 726 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 727 temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_SUPPLY;
jobuuu 2:a1c0a37df760 728 temp_msg.data[1] = (unsigned char) (send_voltage_supply);
jobuuu 2:a1c0a37df760 729 temp_msg.data[2] = (unsigned char) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 730
jobuuu 2:a1c0a37df760 731 can.write(temp_msg);
jobuuu 2:a1c0a37df760 732 }
jobuuu 2:a1c0a37df760 733
Lightvalve 11:82d8768d7351 734 void CAN_TX_VOLTAGE_VALVE(void) {
jobuuu 2:a1c0a37df760 735 long send_voltage_valve = (long) (VALVE_VOLTAGE_LIMIT * 10);
jobuuu 2:a1c0a37df760 736
jobuuu 2:a1c0a37df760 737 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 738
jobuuu 2:a1c0a37df760 739 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 740 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 741 temp_msg.data[0] = (unsigned char) CTX_SEND_VOLTAGE_VALVE;
jobuuu 2:a1c0a37df760 742 temp_msg.data[1] = (unsigned char) send_voltage_valve;
jobuuu 2:a1c0a37df760 743 temp_msg.data[2] = (unsigned char) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 744
jobuuu 2:a1c0a37df760 745 can.write(temp_msg);
jobuuu 2:a1c0a37df760 746 }
Lightvalve 11:82d8768d7351 747
jobuuu 2:a1c0a37df760 748
Lightvalve 11:82d8768d7351 749 void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 750 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 751 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 752 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 753
jobuuu 7:e9086c72bb22 754 long sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 755 if (t_type == 0) {
jobuuu 7:e9086c72bb22 756 // sendPgain = (long) (P_GAIN_VALVE_POSITION);
jobuuu 7:e9086c72bb22 757 // sendIgain = (long) (I_GAIN_VALVE_POSITION);
jobuuu 7:e9086c72bb22 758 // sendDgain = (long) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 759 } else if (t_type == 1) {
jobuuu 2:a1c0a37df760 760 sendPgain = (long) (P_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 761 sendIgain = (long) (I_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 762 sendDgain = (long) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 763 } else if (t_type == 2) {
jobuuu 2:a1c0a37df760 764 sendPgain = (long) (P_GAIN_JOINT_TORQUE);
jobuuu 2:a1c0a37df760 765 sendIgain = (long) (I_GAIN_JOINT_TORQUE);
jobuuu 2:a1c0a37df760 766 sendDgain = (long) (D_GAIN_JOINT_TORQUE);
jobuuu 2:a1c0a37df760 767 }
jobuuu 2:a1c0a37df760 768
jobuuu 2:a1c0a37df760 769 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 770
jobuuu 2:a1c0a37df760 771 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 772 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 773 temp_msg.data[0] = (unsigned char) CTX_SEND_PID_GAIN;
jobuuu 2:a1c0a37df760 774 temp_msg.data[1] = (unsigned char) t_type;
jobuuu 2:a1c0a37df760 775 temp_msg.data[2] = (unsigned char) sendPgain;
jobuuu 2:a1c0a37df760 776 temp_msg.data[3] = (unsigned char) (sendPgain >> 8);
jobuuu 2:a1c0a37df760 777 temp_msg.data[4] = (unsigned char) sendIgain;
jobuuu 2:a1c0a37df760 778 temp_msg.data[5] = (unsigned char) (sendIgain >> 8);
jobuuu 2:a1c0a37df760 779 temp_msg.data[6] = (unsigned char) sendDgain;
jobuuu 2:a1c0a37df760 780 temp_msg.data[7] = (unsigned char) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 781
jobuuu 2:a1c0a37df760 782 can.write(temp_msg);
jobuuu 2:a1c0a37df760 783 }
jobuuu 2:a1c0a37df760 784
Lightvalve 11:82d8768d7351 785
Lightvalve 11:82d8768d7351 786 void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 787 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 788
jobuuu 2:a1c0a37df760 789 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 790 temp_msg.len = 7;
jobuuu 2:a1c0a37df760 791 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_DEADZONE;
jobuuu 2:a1c0a37df760 792 temp_msg.data[1] = (unsigned char) (int) (VALVE_CENTER);
jobuuu 2:a1c0a37df760 793 temp_msg.data[2] = (unsigned char) ((int) (VALVE_CENTER) >> 8);
jobuuu 2:a1c0a37df760 794 temp_msg.data[3] = (unsigned char) (int) (VALVE_DEADZONE_PLUS);
jobuuu 2:a1c0a37df760 795 temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8);
jobuuu 2:a1c0a37df760 796 temp_msg.data[5] = (unsigned char) (int) (VALVE_DEADZONE_MINUS);
jobuuu 2:a1c0a37df760 797 temp_msg.data[6] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 798
jobuuu 2:a1c0a37df760 799 can.write(temp_msg);
jobuuu 2:a1c0a37df760 800 }
jobuuu 2:a1c0a37df760 801
Lightvalve 11:82d8768d7351 802 void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve 11:82d8768d7351 803 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 804
Lightvalve 11:82d8768d7351 805 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 806 temp_msg.len = 3;
Lightvalve 11:82d8768d7351 807 temp_msg.data[0] = (unsigned char) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 808 temp_msg.data[1] = (unsigned char) VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 809 temp_msg.data[2] = (unsigned char) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 810
Lightvalve 11:82d8768d7351 811 can.write(temp_msg);
Lightvalve 11:82d8768d7351 812 }
Lightvalve 11:82d8768d7351 813
Lightvalve 11:82d8768d7351 814 void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve 11:82d8768d7351 815 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 816
Lightvalve 11:82d8768d7351 817 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 818 temp_msg.len = 3;
Lightvalve 11:82d8768d7351 819 temp_msg.data[0] = (unsigned char) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 820 temp_msg.data[1] = (unsigned char) COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 821 temp_msg.data[2] = (unsigned char) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 822
Lightvalve 11:82d8768d7351 823 can.write(temp_msg);
Lightvalve 11:82d8768d7351 824 }
Lightvalve 11:82d8768d7351 825
Lightvalve 11:82d8768d7351 826 void CAN_TX_VALVE_FF(void) {
Lightvalve 11:82d8768d7351 827 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 828
Lightvalve 11:82d8768d7351 829 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 830 temp_msg.len = 3;
Lightvalve 11:82d8768d7351 831 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_FF;
Lightvalve 11:82d8768d7351 832 temp_msg.data[1] = (unsigned char) VALVE_FF;
Lightvalve 11:82d8768d7351 833 temp_msg.data[2] = (unsigned char) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 834
Lightvalve 11:82d8768d7351 835 can.write(temp_msg);
Lightvalve 11:82d8768d7351 836 }
Lightvalve 11:82d8768d7351 837
Lightvalve 11:82d8768d7351 838 void CAN_TX_BULK_MODULUS(void) {
Lightvalve 11:82d8768d7351 839 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 840
Lightvalve 11:82d8768d7351 841 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 842 temp_msg.len = 3;
Lightvalve 11:82d8768d7351 843 temp_msg.data[0] = (unsigned char) CTX_SEND_BULK_MODULUS;
Lightvalve 11:82d8768d7351 844 temp_msg.data[1] = (unsigned char) BULK_MODULUS;
Lightvalve 11:82d8768d7351 845 temp_msg.data[2] = (unsigned char) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 846
Lightvalve 11:82d8768d7351 847 can.write(temp_msg);
Lightvalve 11:82d8768d7351 848 }
Lightvalve 11:82d8768d7351 849
Lightvalve 11:82d8768d7351 850 void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve 11:82d8768d7351 851 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 852
Lightvalve 11:82d8768d7351 853 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 854 temp_msg.len = 5;
Lightvalve 11:82d8768d7351 855 temp_msg.data[0] = (unsigned char) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 11:82d8768d7351 856 temp_msg.data[1] = (unsigned char) CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 857 temp_msg.data[2] = (unsigned char) (CHAMBER_VOLUME_A >> 8);
Lightvalve 11:82d8768d7351 858 temp_msg.data[3] = (unsigned char) CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 859 temp_msg.data[4] = (unsigned char) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 860
Lightvalve 11:82d8768d7351 861 can.write(temp_msg);
Lightvalve 11:82d8768d7351 862 }
Lightvalve 11:82d8768d7351 863
Lightvalve 11:82d8768d7351 864 void CAN_TX_PISTON_AREA(void) {
jobuuu 2:a1c0a37df760 865 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 866
Lightvalve 11:82d8768d7351 867 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 868 temp_msg.len = 5;
Lightvalve 11:82d8768d7351 869 temp_msg.data[0] = (unsigned char) CTX_SEND_PISTON_AREA;
Lightvalve 11:82d8768d7351 870 temp_msg.data[1] = (unsigned char) PISTON_AREA_A;
Lightvalve 11:82d8768d7351 871 temp_msg.data[2] = (unsigned char) (PISTON_AREA_A >> 8);
Lightvalve 11:82d8768d7351 872 temp_msg.data[3] = (unsigned char) PISTON_AREA_B;
Lightvalve 11:82d8768d7351 873 temp_msg.data[4] = (unsigned char) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 874
Lightvalve 11:82d8768d7351 875 can.write(temp_msg);
Lightvalve 11:82d8768d7351 876 }
Lightvalve 11:82d8768d7351 877
Lightvalve 11:82d8768d7351 878 void CAN_TX_PRES_A_AND_B(void) {
Lightvalve 11:82d8768d7351 879 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 880
Lightvalve 11:82d8768d7351 881 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 882 temp_msg.len = 5;
Lightvalve 11:82d8768d7351 883 temp_msg.data[0] = (unsigned char) CTX_SEND_PRES;
Lightvalve 11:82d8768d7351 884 temp_msg.data[1] = (unsigned char) PRES_SUPPLY;
Lightvalve 11:82d8768d7351 885 temp_msg.data[2] = (unsigned char) (PRES_SUPPLY >> 8);
Lightvalve 11:82d8768d7351 886 temp_msg.data[3] = (unsigned char) PRES_RETURN;
Lightvalve 11:82d8768d7351 887 temp_msg.data[4] = (unsigned char) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 888
Lightvalve 11:82d8768d7351 889 can.write(temp_msg);
Lightvalve 11:82d8768d7351 890 }
Lightvalve 11:82d8768d7351 891
Lightvalve 11:82d8768d7351 892 void CAN_TX_ENC_LIMIT(void) {
Lightvalve 11:82d8768d7351 893 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 894
Lightvalve 11:82d8768d7351 895 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 896 temp_msg.len = 5;
Lightvalve 11:82d8768d7351 897 temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_LIMIT;
Lightvalve 11:82d8768d7351 898 temp_msg.data[1] = (unsigned char) ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 899 temp_msg.data[2] = (unsigned char) (ENC_LIMIT_MINUS >> 8);
Lightvalve 11:82d8768d7351 900 temp_msg.data[3] = (unsigned char) ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 901 temp_msg.data[4] = (unsigned char) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 902
Lightvalve 11:82d8768d7351 903 can.write(temp_msg);
Lightvalve 11:82d8768d7351 904 }
Lightvalve 11:82d8768d7351 905
Lightvalve 11:82d8768d7351 906 void CAN_TX_STROKE(void) {
Lightvalve 11:82d8768d7351 907 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 908
Lightvalve 11:82d8768d7351 909 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 910 temp_msg.len = 3;
Lightvalve 11:82d8768d7351 911 temp_msg.data[0] = (unsigned char) CTX_SEND_STROKE;
Lightvalve 11:82d8768d7351 912 temp_msg.data[1] = (unsigned char) STROKE;
Lightvalve 11:82d8768d7351 913 temp_msg.data[2] = (unsigned char) (STROKE >> 8);
Lightvalve 11:82d8768d7351 914
Lightvalve 11:82d8768d7351 915 can.write(temp_msg);
Lightvalve 11:82d8768d7351 916 }
Lightvalve 11:82d8768d7351 917
Lightvalve 11:82d8768d7351 918 void CAN_TX_VALVE_LIMIT(void) {
Lightvalve 11:82d8768d7351 919 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 920
Lightvalve 11:82d8768d7351 921 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 922 temp_msg.len = 5;
Lightvalve 11:82d8768d7351 923 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_LIMIT;
Lightvalve 11:82d8768d7351 924 temp_msg.data[1] = (unsigned char) VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 925 temp_msg.data[2] = (unsigned char) (VALVE_LIMIT_MINUS >> 8);
Lightvalve 11:82d8768d7351 926 temp_msg.data[3] = (unsigned char) VALVE_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 927 temp_msg.data[4] = (unsigned char) (VALVE_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 928
Lightvalve 11:82d8768d7351 929 can.write(temp_msg);
Lightvalve 11:82d8768d7351 930 }
Lightvalve 11:82d8768d7351 931
Lightvalve 11:82d8768d7351 932 void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve 11:82d8768d7351 933 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 934
jobuuu 2:a1c0a37df760 935 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 936 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 937 temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_PULSE_PER_POSITION;
jobuuu 2:a1c0a37df760 938 temp_msg.data[1] = (unsigned char) ENC_PULSE_PER_POSITION;
jobuuu 2:a1c0a37df760 939 temp_msg.data[2] = (unsigned char) (ENC_PULSE_PER_POSITION >> 8);
jobuuu 2:a1c0a37df760 940
jobuuu 2:a1c0a37df760 941 can.write(temp_msg);
jobuuu 2:a1c0a37df760 942 }
jobuuu 2:a1c0a37df760 943
Lightvalve 11:82d8768d7351 944 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu 2:a1c0a37df760 945 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 946
jobuuu 2:a1c0a37df760 947 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 948 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 949 temp_msg.data[0] = (unsigned char) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 2:a1c0a37df760 950 temp_msg.data[1] = (unsigned char) TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 2:a1c0a37df760 951 temp_msg.data[2] = (unsigned char) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8);
jobuuu 2:a1c0a37df760 952
jobuuu 2:a1c0a37df760 953 can.write(temp_msg);
jobuuu 2:a1c0a37df760 954 }
jobuuu 2:a1c0a37df760 955
Lightvalve 11:82d8768d7351 956 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu 2:a1c0a37df760 957 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 958
jobuuu 2:a1c0a37df760 959 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 960 temp_msg.len = 5;
jobuuu 2:a1c0a37df760 961 temp_msg.data[0] = (unsigned char) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
jobuuu 2:a1c0a37df760 962 temp_msg.data[1] = (unsigned char) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.);
jobuuu 2:a1c0a37df760 963 temp_msg.data[2] = (unsigned char) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8);
jobuuu 2:a1c0a37df760 964 temp_msg.data[3] = (unsigned char) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.);
jobuuu 2:a1c0a37df760 965 temp_msg.data[4] = (unsigned char) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8);
jobuuu 2:a1c0a37df760 966
jobuuu 2:a1c0a37df760 967 can.write(temp_msg);
jobuuu 2:a1c0a37df760 968 }
jobuuu 2:a1c0a37df760 969
Lightvalve 11:82d8768d7351 970 void CAN_TX_FRICTION(void) {
Lightvalve 11:82d8768d7351 971 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 972 long send_friction;
Lightvalve 11:82d8768d7351 973 send_friction = (long) (FRICTION * 10.);
Lightvalve 11:82d8768d7351 974
Lightvalve 11:82d8768d7351 975 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 976 temp_msg.len = 3;
Lightvalve 11:82d8768d7351 977 temp_msg.data[0] = (unsigned char) CTX_SEND_FRICTION;
Lightvalve 11:82d8768d7351 978 temp_msg.data[1] = (unsigned char) send_friction;
Lightvalve 11:82d8768d7351 979 temp_msg.data[2] = (unsigned char) (send_friction >> 8);
Lightvalve 11:82d8768d7351 980
Lightvalve 11:82d8768d7351 981 can.write(temp_msg);
Lightvalve 11:82d8768d7351 982 }
Lightvalve 11:82d8768d7351 983
Lightvalve 11:82d8768d7351 984 void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve 11:82d8768d7351 985 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 986
Lightvalve 11:82d8768d7351 987 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 988 temp_msg.len = 6;
Lightvalve 11:82d8768d7351 989 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 11:82d8768d7351 990 temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[0] * 50.);
Lightvalve 11:82d8768d7351 991 temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[2] * 50.);
Lightvalve 11:82d8768d7351 992 temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[4] * 50.);
Lightvalve 11:82d8768d7351 993 temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[6] * 50.);
Lightvalve 11:82d8768d7351 994 temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[8] * 50.);
Lightvalve 11:82d8768d7351 995
Lightvalve 11:82d8768d7351 996 can.write(temp_msg);
Lightvalve 11:82d8768d7351 997 }
Lightvalve 11:82d8768d7351 998
Lightvalve 11:82d8768d7351 999 void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve 11:82d8768d7351 1000 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1001
Lightvalve 11:82d8768d7351 1002 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1003 temp_msg.len = 7;
Lightvalve 11:82d8768d7351 1004 temp_msg.data[0] = (unsigned char) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 11:82d8768d7351 1005 temp_msg.data[1] = (unsigned char) VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 1006 temp_msg.data[2] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8);
Lightvalve 11:82d8768d7351 1007 temp_msg.data[3] = (unsigned char) (VALVE_DEADZONE_PLUS);
Lightvalve 11:82d8768d7351 1008 temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 11:82d8768d7351 1009 temp_msg.data[5] = (unsigned char) (DDV_CENTER);
Lightvalve 11:82d8768d7351 1010 temp_msg.data[6] = (unsigned char) ((int) (DDV_CENTER) >> 8);
Lightvalve 11:82d8768d7351 1011
Lightvalve 11:82d8768d7351 1012 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1013 }
Lightvalve 11:82d8768d7351 1014
Lightvalve 11:82d8768d7351 1015 void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve 11:82d8768d7351 1016 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1017
Lightvalve 11:82d8768d7351 1018 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1019 temp_msg.len = 6;
Lightvalve 11:82d8768d7351 1020 temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 11:82d8768d7351 1021 temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[1] * 50.);
Lightvalve 11:82d8768d7351 1022 temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[3] * 50.);
Lightvalve 11:82d8768d7351 1023 temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[5] * 50.);
Lightvalve 11:82d8768d7351 1024 temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[7] * 50.);
Lightvalve 11:82d8768d7351 1025 temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[9] * 50.);
Lightvalve 11:82d8768d7351 1026
Lightvalve 11:82d8768d7351 1027 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1028 }
Lightvalve 11:82d8768d7351 1029
Lightvalve 11:82d8768d7351 1030 void CAN_TX_REFENCE_MODE(void) {
Lightvalve 11:82d8768d7351 1031 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1032
Lightvalve 11:82d8768d7351 1033 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1034 temp_msg.len = 6;
Lightvalve 11:82d8768d7351 1035 temp_msg.data[0] = (unsigned char) CTX_SEND_REFENCE_MODE;
Lightvalve 11:82d8768d7351 1036 temp_msg.data[1] = (unsigned char) REFERENCE_MODE;
Lightvalve 11:82d8768d7351 1037 temp_msg.data[2] = (unsigned char) (int) (REFERENCE_FREQ * 100.);
Lightvalve 11:82d8768d7351 1038 temp_msg.data[3] = (unsigned char) ((int) (REFERENCE_FREQ * 100.) >> 8);
Lightvalve 11:82d8768d7351 1039 temp_msg.data[4] = (unsigned char) (int) (REFERENCE_MAG * 100.);
Lightvalve 11:82d8768d7351 1040 temp_msg.data[5] = (unsigned char) ((int) (REFERENCE_MAG * 100.) >> 8);
Lightvalve 11:82d8768d7351 1041
Lightvalve 11:82d8768d7351 1042 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1043 }
Lightvalve 11:82d8768d7351 1044
Lightvalve 11:82d8768d7351 1045 void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve 11:82d8768d7351 1046 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1047 long send_homepos_offset;
jobuuu 2:a1c0a37df760 1048 send_homepos_offset = (long) (HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 1049
jobuuu 2:a1c0a37df760 1050 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1051 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 1052 temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_OFFSET;
jobuuu 2:a1c0a37df760 1053 temp_msg.data[1] = (unsigned char) send_homepos_offset;
jobuuu 2:a1c0a37df760 1054 temp_msg.data[2] = (unsigned char) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1055
jobuuu 2:a1c0a37df760 1056 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1057 }
Lightvalve 11:82d8768d7351 1058
Lightvalve 11:82d8768d7351 1059 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve 11:82d8768d7351 1060 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1061 long send_homepos_valve_opening;
Lightvalve 11:82d8768d7351 1062 send_homepos_valve_opening = (long) (HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 1063
Lightvalve 11:82d8768d7351 1064 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1065 temp_msg.len = 3;
Lightvalve 11:82d8768d7351 1066 temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 1067 temp_msg.data[1] = (unsigned char) send_homepos_valve_opening;
Lightvalve 11:82d8768d7351 1068 temp_msg.data[2] = (unsigned char) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1069
Lightvalve 11:82d8768d7351 1070 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1071 }
Lightvalve 11:82d8768d7351 1072
Lightvalve 11:82d8768d7351 1073 void CAN_TX_VALVE_PWM_VS_VALVE_POS(char canindex) {
Lightvalve 11:82d8768d7351 1074 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1075 int16_t valve_pos_vs_pwm;
Lightvalve 11:82d8768d7351 1076 valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 11:82d8768d7351 1077
Lightvalve 11:82d8768d7351 1078 int16_t PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 11:82d8768d7351 1079
Lightvalve 11:82d8768d7351 1080 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1081 temp_msg.len = 5;
Lightvalve 11:82d8768d7351 1082 temp_msg.data[0] = (unsigned char) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 11:82d8768d7351 1083 temp_msg.data[1] = (unsigned char) PWM_VALVE_ID;
Lightvalve 11:82d8768d7351 1084 temp_msg.data[2] = (unsigned char) (PWM_VALVE_ID >> 8);
Lightvalve 11:82d8768d7351 1085 temp_msg.data[3] = (unsigned char) valve_pos_vs_pwm;
Lightvalve 11:82d8768d7351 1086 temp_msg.data[4] = (unsigned char) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1087
Lightvalve 11:82d8768d7351 1088 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1089 }
Lightvalve 11:82d8768d7351 1090
Lightvalve 11:82d8768d7351 1091 void CAN_TX_VALVE_POS_VS_FLOWRATE(char canindex) {
Lightvalve 11:82d8768d7351 1092 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1093 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1094 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1095
Lightvalve 11:82d8768d7351 1096 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 50 + DDV_CENTER;
Lightvalve 11:82d8768d7351 1097
Lightvalve 11:82d8768d7351 1098 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1099 temp_msg.len = 7;
Lightvalve 11:82d8768d7351 1100 temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 11:82d8768d7351 1101 temp_msg.data[1] = (unsigned char) VALVE_POS_VALVE_ID;
Lightvalve 11:82d8768d7351 1102 temp_msg.data[2] = (unsigned char) (VALVE_POS_VALVE_ID >> 8);
Lightvalve 11:82d8768d7351 1103 temp_msg.data[3] = (unsigned char) valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1104 temp_msg.data[4] = (unsigned char) (valve_pos_vs_flowrate >> 8);
Lightvalve 11:82d8768d7351 1105 temp_msg.data[5] = (unsigned char) (valve_pos_vs_flowrate >> 16);
Lightvalve 11:82d8768d7351 1106 temp_msg.data[6] = (unsigned char) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1107
Lightvalve 11:82d8768d7351 1108 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1109 }
Lightvalve 11:82d8768d7351 1110
Lightvalve 11:82d8768d7351 1111 void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve 11:82d8768d7351 1112 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1113 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1114 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1115
Lightvalve 11:82d8768d7351 1116 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1117 temp_msg.len = 3;
Lightvalve 11:82d8768d7351 1118 temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1119 temp_msg.data[1] = (unsigned char) valve_pos_num;
Lightvalve 11:82d8768d7351 1120 temp_msg.data[2] = (unsigned char) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1121
Lightvalve 11:82d8768d7351 1122 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1123 }
Lightvalve 11:82d8768d7351 1124
jobuuu 2:a1c0a37df760 1125 /******************************************************************************
jobuuu 2:a1c0a37df760 1126 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1127 *******************************************************************************/
jobuuu 2:a1c0a37df760 1128
Lightvalve 11:82d8768d7351 1129 void CAN_TX_POSITION(long t_pos, long t_vel) {
jobuuu 2:a1c0a37df760 1130 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1131
jobuuu 2:a1c0a37df760 1132 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1133 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 1134 temp_msg.data[0] = (unsigned char) t_pos;
jobuuu 2:a1c0a37df760 1135 temp_msg.data[1] = (unsigned char) (t_pos >> 8);
jobuuu 2:a1c0a37df760 1136 temp_msg.data[2] = (unsigned char) (t_pos >> 16);
jobuuu 2:a1c0a37df760 1137 temp_msg.data[3] = (unsigned char) (t_pos >> 24);
jobuuu 2:a1c0a37df760 1138 temp_msg.data[4] = (unsigned char) t_vel;
jobuuu 2:a1c0a37df760 1139 temp_msg.data[5] = (unsigned char) (t_vel >> 8);
jobuuu 2:a1c0a37df760 1140 temp_msg.data[6] = (unsigned char) (t_vel >> 16);
jobuuu 2:a1c0a37df760 1141 temp_msg.data[7] = (unsigned char) (t_vel >> 24);
jobuuu 2:a1c0a37df760 1142
jobuuu 2:a1c0a37df760 1143 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1144 }
jobuuu 2:a1c0a37df760 1145
Lightvalve 11:82d8768d7351 1146 void CAN_TX_TORQUE(int16_t t_torque) {
jobuuu 2:a1c0a37df760 1147 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1148
jobuuu 2:a1c0a37df760 1149 temp_msg.id = CID_TX_TORQUE;
jobuuu 2:a1c0a37df760 1150 temp_msg.len = 2;
jobuuu 2:a1c0a37df760 1151 temp_msg.data[0] = (unsigned char) t_torque;
jobuuu 2:a1c0a37df760 1152 temp_msg.data[1] = (unsigned char) (t_torque >> 8);
jobuuu 2:a1c0a37df760 1153
jobuuu 2:a1c0a37df760 1154 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1155 }
jobuuu 2:a1c0a37df760 1156
Lightvalve 11:82d8768d7351 1157 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 1158 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1159
jobuuu 2:a1c0a37df760 1160 temp_msg.id = CID_TX_PRES;
jobuuu 2:a1c0a37df760 1161 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 1162 temp_msg.data[0] = (unsigned char) t_pres_a;
jobuuu 2:a1c0a37df760 1163 temp_msg.data[1] = (unsigned char) (t_pres_a >> 8);
jobuuu 2:a1c0a37df760 1164 temp_msg.data[2] = (unsigned char) t_pres_b;
jobuuu 2:a1c0a37df760 1165 temp_msg.data[3] = (unsigned char) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1166
jobuuu 2:a1c0a37df760 1167 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1168 }
jobuuu 2:a1c0a37df760 1169
Lightvalve 11:82d8768d7351 1170 void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 1171 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1172
jobuuu 2:a1c0a37df760 1173 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1174 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 1175 temp_msg.data[0] = (unsigned char) t_pwm;
jobuuu 2:a1c0a37df760 1176 temp_msg.data[1] = (unsigned char) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1177
jobuuu 2:a1c0a37df760 1178 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1179 }
jobuuu 2:a1c0a37df760 1180
Lightvalve 11:82d8768d7351 1181 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) {
jobuuu 2:a1c0a37df760 1182 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1183
jobuuu 2:a1c0a37df760 1184 temp_msg.id = CID_TX_VALVE_POSITION;
jobuuu 2:a1c0a37df760 1185 temp_msg.len = 8;
jobuuu 2:a1c0a37df760 1186 temp_msg.data[0] = (unsigned char) t_valve_pos;
jobuuu 2:a1c0a37df760 1187 temp_msg.data[1] = (unsigned char) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 1188
jobuuu 2:a1c0a37df760 1189 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1190 }