HydraulicControlBoard_Rainbow_v1_2_ - rainbow

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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

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CAN/function_CAN.cpp@159:9dbc8dce3695, 2020-10-12 (annotated)

Committer:: Lightvalve
Date:: Mon Oct 12 00:34:29 2020 +0000
Revision:: 159:9dbc8dce3695
Parent:: 158:cb9a6999d5e2
Child:: 161:a3b26117104c

201012-1

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;
Lightvalve	49:e7bcfc244d40	11	int CID_RX_REF_VALVE_POS = 300;
Lightvalve	49:e7bcfc244d40	12	int CID_RX_REF_PWM = 400;
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	12:6f2531038ea4	21	// variables
Lightvalve	12:6f2531038ea4	22	uint8_t can_index = 0;
Lightvalve	67:c2812cf26c38	23
Lightvalve	66:a8e6799dbce3	24	extern DigitalOut LED;
Lightvalve	12:6f2531038ea4	25
Lightvalve	99:7bbcb3c0fb06	26	extern float u_past[];
Lightvalve	68:328e1be06f5d	27	extern float x_past[];
Lightvalve	85:a3b46118b5cd	28	extern float x_future[];
Lightvalve	68:328e1be06f5d	29	extern float f_past[];
Lightvalve	68:328e1be06f5d	30	extern float f_future[];
Lightvalve	73:f80dc3970c99	31	extern float input_NN[];
Lightvalve	68:328e1be06f5d	32
Lightvalve	11:82d8768d7351	33	/*******************************************************************************
Lightvalve	11:82d8768d7351	34	* CAN functions
Lightvalve	11:82d8768d7351	35	******************************************************************************/
Lightvalve	11:82d8768d7351	36	void CAN_ID_INIT(void) {
jobuuu	7:e9086c72bb22	37
Lightvalve	11:82d8768d7351	38	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	39	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	40	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	41	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	42
Lightvalve	11:82d8768d7351	43	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	44	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	45	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	46	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	47	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	48	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve	11:82d8768d7351	49	}
jobuuu	2:a1c0a37df760	50
Lightvalve	28:2a62d73e3dd0	51	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	52	{
jobuuu	2:a1c0a37df760	53	switch(CMD){
Lightvalve	11:82d8768d7351	54	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	55	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	56	break;
Lightvalve	11:82d8768d7351	57	}
Lightvalve	11:82d8768d7351	58	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	59	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	60	break;
Lightvalve	11:82d8768d7351	61	}
Lightvalve	11:82d8768d7351	62	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	63	BNO = (int16_t) msg.data[1];
Lightvalve	16:903b5a4433b4	64
Lightvalve	16:903b5a4433b4	65	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	66
Lightvalve	16:903b5a4433b4	67	//spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	68	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	69	break;
Lightvalve	11:82d8768d7351	70	}
Lightvalve	11:82d8768d7351	71	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	72	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	73	break;
Lightvalve	11:82d8768d7351	74	}
Lightvalve	11:82d8768d7351	75	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	76	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	77	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	78	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	79	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	16:903b5a4433b4	80	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	81	break;
Lightvalve	11:82d8768d7351	82	}
Lightvalve	11:82d8768d7351	83	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	84	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	85
Lightvalve	11:82d8768d7351	86	break;
Lightvalve	11:82d8768d7351	87	}
Lightvalve	11:82d8768d7351	88	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	89
Lightvalve	11:82d8768d7351	90	break;
Lightvalve	11:82d8768d7351	91	}
Lightvalve	11:82d8768d7351	92
Lightvalve	45:35fa6884d0c6	93	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	94	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	95	/*
Lightvalve	45:35fa6884d0c6	96	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	97	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	98	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	99	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	100	*/
Lightvalve	11:82d8768d7351	101	break;
Lightvalve	11:82d8768d7351	102	}
Lightvalve	11:82d8768d7351	103
Lightvalve	11:82d8768d7351	104	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	105	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	106
Lightvalve	11:82d8768d7351	107	break;
Lightvalve	11:82d8768d7351	108	}
Lightvalve	11:82d8768d7351	109
Lightvalve	11:82d8768d7351	110	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	111	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	112	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	113	break;
Lightvalve	11:82d8768d7351	114	}
Lightvalve	11:82d8768d7351	115
Lightvalve	11:82d8768d7351	116	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	117	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	118
Lightvalve	11:82d8768d7351	119	break;
Lightvalve	11:82d8768d7351	120	}
Lightvalve	11:82d8768d7351	121
Lightvalve	11:82d8768d7351	122	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	123	//CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve	57:f4819de54e7a	124	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	125	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	126	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	127	}
Lightvalve	11:82d8768d7351	128	break;
Lightvalve	11:82d8768d7351	129	}
Lightvalve	11:82d8768d7351	130
Lightvalve	11:82d8768d7351	131	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	132	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	133	flag_data_request[request_type] = msg.data[1];
Lightvalve	14:8e7590227d22	134	//pc.printf("can middle %d\n", request_type);
Lightvalve	11:82d8768d7351	135
Lightvalve	12:6f2531038ea4	136	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	137	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	138	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	139	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	140
Lightvalve	11:82d8768d7351	141	break;
Lightvalve	11:82d8768d7351	142	}
Lightvalve	11:82d8768d7351	143
Lightvalve	11:82d8768d7351	144	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	145	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	146
Lightvalve	11:82d8768d7351	147	break;
Lightvalve	11:82d8768d7351	148	}
Lightvalve	11:82d8768d7351	149
Lightvalve	11:82d8768d7351	150	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	151	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	152	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	153	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	154	else
Lightvalve	11:82d8768d7351	155	DIR_JOINT_ENC = -1;
Lightvalve	16:903b5a4433b4	156
Lightvalve	16:903b5a4433b4	157	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	158
Lightvalve	16:903b5a4433b4	159	//spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	160
Lightvalve	11:82d8768d7351	161	break;
Lightvalve	11:82d8768d7351	162	}
Lightvalve	11:82d8768d7351	163
Lightvalve	11:82d8768d7351	164	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	165	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	166
Lightvalve	11:82d8768d7351	167	break;
Lightvalve	11:82d8768d7351	168	}
Lightvalve	11:82d8768d7351	169
Lightvalve	11:82d8768d7351	170	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	171	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	172	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	173	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	174	else
Lightvalve	11:82d8768d7351	175	DIR_VALVE = -1;
Lightvalve	16:903b5a4433b4	176
Lightvalve	16:903b5a4433b4	177	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	178
Lightvalve	16:903b5a4433b4	179	//spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	180
Lightvalve	11:82d8768d7351	181	break;
Lightvalve	11:82d8768d7351	182	}
Lightvalve	11:82d8768d7351	183
Lightvalve	11:82d8768d7351	184	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	185	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	186
Lightvalve	11:82d8768d7351	187	break;
Lightvalve	11:82d8768d7351	188	}
Lightvalve	11:82d8768d7351	189
Lightvalve	11:82d8768d7351	190	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	191	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	192	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	193	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	194	else
Lightvalve	11:82d8768d7351	195	DIR_VALVE_ENC = -1;
Lightvalve	16:903b5a4433b4	196
Lightvalve	16:903b5a4433b4	197	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	198
Lightvalve	16:903b5a4433b4	199	//spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	200
Lightvalve	11:82d8768d7351	201	break;
Lightvalve	11:82d8768d7351	202	}
Lightvalve	11:82d8768d7351	203
Lightvalve	11:82d8768d7351	204	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	205	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	206
Lightvalve	11:82d8768d7351	207	break;
Lightvalve	11:82d8768d7351	208	}
Lightvalve	11:82d8768d7351	209
Lightvalve	11:82d8768d7351	210	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	211	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	212
Lightvalve	16:903b5a4433b4	213	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	214
Lightvalve	16:903b5a4433b4	215	//spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve	11:82d8768d7351	216
Lightvalve	11:82d8768d7351	217	break;
Lightvalve	11:82d8768d7351	218	}
Lightvalve	11:82d8768d7351	219
Lightvalve	11:82d8768d7351	220	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	221	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	222
Lightvalve	11:82d8768d7351	223	break;
Lightvalve	11:82d8768d7351	224	}
Lightvalve	11:82d8768d7351	225
Lightvalve	11:82d8768d7351	226	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	227	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	228
Lightvalve	16:903b5a4433b4	229	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	230
Lightvalve	16:903b5a4433b4	231	//spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve	11:82d8768d7351	232
Lightvalve	11:82d8768d7351	233
Lightvalve	11:82d8768d7351	234	break;
Lightvalve	11:82d8768d7351	235	}
Lightvalve	12:6f2531038ea4	236
Lightvalve	11:82d8768d7351	237	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	238	//CONTROL_MODE = 22;
Lightvalve	57:f4819de54e7a	239	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	240	break;
Lightvalve	11:82d8768d7351	241	}
Lightvalve	11:82d8768d7351	242
Lightvalve	11:82d8768d7351	243	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	244	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	245
Lightvalve	11:82d8768d7351	246	break;
Lightvalve	11:82d8768d7351	247	}
Lightvalve	11:82d8768d7351	248
Lightvalve	11:82d8768d7351	249	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	250	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	251	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	252	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	253	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	254
Lightvalve	16:903b5a4433b4	255	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	256
Lightvalve	11:82d8768d7351	257	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	258	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	259	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	260	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	261
Lightvalve	16:903b5a4433b4	262	ROM_RESET_DATA();
Lightvalve	48:889798ff9329	263
Lightvalve	11:82d8768d7351	264	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	265	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	266	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	267	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	268
Lightvalve	16:903b5a4433b4	269	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	270
Lightvalve	46:2694daea349b	271	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	272	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	273	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	46:2694daea349b	274
Lightvalve	67:c2812cf26c38	275	// ROM_RESET_DATA(); //For Real-time changing
Lightvalve	72:3436ce769b1e	276	} else if (msg.data[1] == 4) {
Lightvalve	72:3436ce769b1e	277	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	72:3436ce769b1e	278	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	72:3436ce769b1e	279	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	72:3436ce769b1e	280
Lightvalve	72:3436ce769b1e	281	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	282	}
Lightvalve	11:82d8768d7351	283
Lightvalve	11:82d8768d7351	284	break;
Lightvalve	11:82d8768d7351	285	}
Lightvalve	11:82d8768d7351	286
Lightvalve	11:82d8768d7351	287	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	288	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	289
Lightvalve	11:82d8768d7351	290	break;
Lightvalve	11:82d8768d7351	291	}
Lightvalve	11:82d8768d7351	292
Lightvalve	11:82d8768d7351	293	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	294	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	295	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	296	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	16:903b5a4433b4	297
Lightvalve	16:903b5a4433b4	298	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	299
Lightvalve	11:82d8768d7351	300	break;
Lightvalve	11:82d8768d7351	301	}
Lightvalve	11:82d8768d7351	302
Lightvalve	11:82d8768d7351	303	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	304	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	305
Lightvalve	11:82d8768d7351	306	break;
Lightvalve	11:82d8768d7351	307	}
Lightvalve	11:82d8768d7351	308
Lightvalve	11:82d8768d7351	309	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	310	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	311
Lightvalve	16:903b5a4433b4	312	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	313
Lightvalve	16:903b5a4433b4	314	//spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	315
Lightvalve	11:82d8768d7351	316	break;
Lightvalve	11:82d8768d7351	317	}
Lightvalve	11:82d8768d7351	318
Lightvalve	11:82d8768d7351	319	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	320	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	321
Lightvalve	11:82d8768d7351	322	break;
Lightvalve	11:82d8768d7351	323	}
Lightvalve	11:82d8768d7351	324
Lightvalve	11:82d8768d7351	325	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	326	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	327
Lightvalve	16:903b5a4433b4	328	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	329
Lightvalve	16:903b5a4433b4	330	//spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	331
Lightvalve	11:82d8768d7351	332	break;
Lightvalve	11:82d8768d7351	333	}
Lightvalve	11:82d8768d7351	334
Lightvalve	11:82d8768d7351	335	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	336	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	337
Lightvalve	11:82d8768d7351	338	break;
Lightvalve	11:82d8768d7351	339	}
Lightvalve	11:82d8768d7351	340
Lightvalve	11:82d8768d7351	341	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	342	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	343
Lightvalve	16:903b5a4433b4	344	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	345
Lightvalve	16:903b5a4433b4	346	//spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	347
Lightvalve	11:82d8768d7351	348	break;
Lightvalve	11:82d8768d7351	349	}
Lightvalve	11:82d8768d7351	350
Lightvalve	11:82d8768d7351	351	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	352	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	353
Lightvalve	11:82d8768d7351	354	break;
Lightvalve	11:82d8768d7351	355	}
Lightvalve	11:82d8768d7351	356
Lightvalve	11:82d8768d7351	357	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	358	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	359
Lightvalve	16:903b5a4433b4	360	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	361
Lightvalve	16:903b5a4433b4	362	//spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	363
Lightvalve	11:82d8768d7351	364	break;
Lightvalve	11:82d8768d7351	365	}
Lightvalve	11:82d8768d7351	366
Lightvalve	11:82d8768d7351	367	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	368	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	369
Lightvalve	11:82d8768d7351	370	break;
Lightvalve	11:82d8768d7351	371	}
Lightvalve	11:82d8768d7351	372
Lightvalve	11:82d8768d7351	373	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	374	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	375	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	376
Lightvalve	16:903b5a4433b4	377	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	378
Lightvalve	16:903b5a4433b4	379	//spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	16:903b5a4433b4	380	//spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	381
Lightvalve	11:82d8768d7351	382	break;
Lightvalve	11:82d8768d7351	383	}
Lightvalve	11:82d8768d7351	384
Lightvalve	11:82d8768d7351	385	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	386	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	387
Lightvalve	11:82d8768d7351	388	break;
Lightvalve	11:82d8768d7351	389	}
Lightvalve	11:82d8768d7351	390
Lightvalve	11:82d8768d7351	391	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	392	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	393	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	69:3995ffeaa786	394	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	395	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	16:903b5a4433b4	396
Lightvalve	16:903b5a4433b4	397	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	398
Lightvalve	16:903b5a4433b4	399	//spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	16:903b5a4433b4	400	//spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	401	break;
Lightvalve	11:82d8768d7351	402	}
Lightvalve	11:82d8768d7351	403
Lightvalve	11:82d8768d7351	404	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	405	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	406	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	407	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	408	//dac_2 = PRES_B_VREF;
Lightvalve	12:6f2531038ea4	409
Lightvalve	11:82d8768d7351	410	break;
Lightvalve	11:82d8768d7351	411	}
Lightvalve	11:82d8768d7351	412
Lightvalve	11:82d8768d7351	413	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	414	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	415	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	416	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	417	//spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	16:903b5a4433b4	418	//spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	419
Lightvalve	11:82d8768d7351	420
Lightvalve	11:82d8768d7351	421	break;
Lightvalve	11:82d8768d7351	422	}
Lightvalve	11:82d8768d7351	423
Lightvalve	11:82d8768d7351	424	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	425	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	426
Lightvalve	11:82d8768d7351	427	break;
Lightvalve	11:82d8768d7351	428	}
Lightvalve	11:82d8768d7351	429
Lightvalve	11:82d8768d7351	430	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	431	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	432	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	433	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	434	//spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	16:903b5a4433b4	435	//spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	436
Lightvalve	11:82d8768d7351	437	break;
Lightvalve	11:82d8768d7351	438	}
Lightvalve	11:82d8768d7351	439
Lightvalve	11:82d8768d7351	440	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	441	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	442	break;
Lightvalve	11:82d8768d7351	443	}
Lightvalve	11:82d8768d7351	444
Lightvalve	11:82d8768d7351	445	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	446	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	447	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	448	//spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	449
Lightvalve	11:82d8768d7351	450	break;
Lightvalve	11:82d8768d7351	451	}
Lightvalve	11:82d8768d7351	452
Lightvalve	11:82d8768d7351	453	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	454	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	455
Lightvalve	11:82d8768d7351	456	break;
Lightvalve	11:82d8768d7351	457	}
Lightvalve	11:82d8768d7351	458
Lightvalve	11:82d8768d7351	459	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	460	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	461	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	462	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	463
Lightvalve	11:82d8768d7351	464	break;
Lightvalve	11:82d8768d7351	465	}
Lightvalve	11:82d8768d7351	466
Lightvalve	11:82d8768d7351	467	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	468	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	469
Lightvalve	11:82d8768d7351	470	break;
Lightvalve	11:82d8768d7351	471	}
Lightvalve	11:82d8768d7351	472
Lightvalve	11:82d8768d7351	473	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	474	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	475	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	476	//spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve	11:82d8768d7351	477
Lightvalve	11:82d8768d7351	478	break;
Lightvalve	11:82d8768d7351	479	}
Lightvalve	11:82d8768d7351	480
Lightvalve	11:82d8768d7351	481	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	482	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	483
Lightvalve	11:82d8768d7351	484	break;
Lightvalve	11:82d8768d7351	485	}
Lightvalve	11:82d8768d7351	486
Lightvalve	11:82d8768d7351	487	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	139:15621998925b	488	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.0001f);
Lightvalve	16:903b5a4433b4	489	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	490	//spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve	11:82d8768d7351	491
Lightvalve	11:82d8768d7351	492	break;
Lightvalve	11:82d8768d7351	493	}
Lightvalve	11:82d8768d7351	494
Lightvalve	11:82d8768d7351	495	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	496	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	497
Lightvalve	11:82d8768d7351	498	break;
Lightvalve	11:82d8768d7351	499	}
Lightvalve	11:82d8768d7351	500
Lightvalve	11:82d8768d7351	501	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	502	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	503	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	16:903b5a4433b4	504	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	505	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve	16:903b5a4433b4	506	//(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve	11:82d8768d7351	507
Lightvalve	11:82d8768d7351	508	break;
Lightvalve	11:82d8768d7351	509	}
Lightvalve	11:82d8768d7351	510
Lightvalve	11:82d8768d7351	511	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	512	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	513
Lightvalve	11:82d8768d7351	514	break;
Lightvalve	11:82d8768d7351	515	}
Lightvalve	11:82d8768d7351	516
Lightvalve	11:82d8768d7351	517	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	518	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	519	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	520	//spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve	11:82d8768d7351	521
Lightvalve	11:82d8768d7351	522	break;
Lightvalve	11:82d8768d7351	523	}
Lightvalve	11:82d8768d7351	524
Lightvalve	11:82d8768d7351	525	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	526	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	527
Lightvalve	11:82d8768d7351	528	break;
Lightvalve	11:82d8768d7351	529	}
Lightvalve	11:82d8768d7351	530	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	531	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	532	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	533	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	534	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	535	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	536	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	537	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	30:8d561f16383b	538	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	30:8d561f16383b	539	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	30:8d561f16383b	540	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	30:8d561f16383b	541	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	542
Lightvalve	11:82d8768d7351	543	break;
Lightvalve	11:82d8768d7351	544	}
Lightvalve	11:82d8768d7351	545
Lightvalve	11:82d8768d7351	546	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	547	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	548
Lightvalve	11:82d8768d7351	549	break;
Lightvalve	11:82d8768d7351	550	}
Lightvalve	11:82d8768d7351	551	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	552	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	553	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	554	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	555	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	556	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	557	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	558	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	30:8d561f16383b	559	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	30:8d561f16383b	560	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	30:8d561f16383b	561	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	30:8d561f16383b	562	//(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	563
Lightvalve	11:82d8768d7351	564	break;
Lightvalve	11:82d8768d7351	565	}
Lightvalve	11:82d8768d7351	566	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	567	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	568	break;
Lightvalve	11:82d8768d7351	569	}
Lightvalve	11:82d8768d7351	570
Lightvalve	11:82d8768d7351	571	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	572	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	573
Lightvalve	11:82d8768d7351	574	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	575	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	576	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	577	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	578	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 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_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	584	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	585
Lightvalve	11:82d8768d7351	586	break;
Lightvalve	11:82d8768d7351	587	}
Lightvalve	11:82d8768d7351	588
Lightvalve	11:82d8768d7351	589	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	590
Lightvalve	12:6f2531038ea4	591	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	592	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	593	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	594	}
Lightvalve	11:82d8768d7351	595
Lightvalve	11:82d8768d7351	596	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	597
Lightvalve	11:82d8768d7351	598
Lightvalve	11:82d8768d7351	599	break;
Lightvalve	11:82d8768d7351	600	}
Lightvalve	11:82d8768d7351	601
Lightvalve	11:82d8768d7351	602	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	603	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	604	break;
Lightvalve	11:82d8768d7351	605	}
Lightvalve	11:82d8768d7351	606	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	607	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	608	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	609	//spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	610	break;
Lightvalve	11:82d8768d7351	611	}
Lightvalve	11:82d8768d7351	612
Lightvalve	11:82d8768d7351	613	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	614	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	615	break;
Lightvalve	11:82d8768d7351	616	}
Lightvalve	11:82d8768d7351	617	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	618	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	619	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	620	//spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	621	break;
Lightvalve	11:82d8768d7351	622	}
Lightvalve	11:82d8768d7351	623
Lightvalve	11:82d8768d7351	624	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	625	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	626	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	627	break;
Lightvalve	11:82d8768d7351	628	}
Lightvalve	11:82d8768d7351	629	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	630	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	631	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	632	break;
Lightvalve	11:82d8768d7351	633	}
Lightvalve	11:82d8768d7351	634	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	635	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	636	break;
Lightvalve	11:82d8768d7351	637	}
Lightvalve	28:2a62d73e3dd0	638
Lightvalve	28:2a62d73e3dd0	639	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	640	ROM_RESET_DATA();
Lightvalve	28:2a62d73e3dd0	641	break;
Lightvalve	28:2a62d73e3dd0	642	}
Lightvalve	32:4b8c0fedaf2c	643	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	644	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	645	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	33:91b17819ec30	646	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	647	break;
Lightvalve	33:91b17819ec30	648	}
Lightvalve	33:91b17819ec30	649	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	650	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	651	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	33:91b17819ec30	652	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	653	break;
Lightvalve	33:91b17819ec30	654	}
Lightvalve	33:91b17819ec30	655	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	656	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	657	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	32:4b8c0fedaf2c	658	ROM_RESET_DATA();
Lightvalve	32:4b8c0fedaf2c	659	break;
Lightvalve	32:4b8c0fedaf2c	660	}
Lightvalve	36:a46e63505ed8	661	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	662	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	663	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	664	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	665	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	666
Lightvalve	36:a46e63505ed8	667	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	668
Lightvalve	36:a46e63505ed8	669	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	670	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	671	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	672
Lightvalve	36:a46e63505ed8	673
Lightvalve	36:a46e63505ed8	674	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	675	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	676	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	677	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	678
Lightvalve	36:a46e63505ed8	679	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	680
Lightvalve	36:a46e63505ed8	681	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	682	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	683	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	684	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	685	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	686	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	687	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	688
Lightvalve	36:a46e63505ed8	689	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	690
Lightvalve	36:a46e63505ed8	691	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	692	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	693	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	694	}
Lightvalve	36:a46e63505ed8	695	break;
Lightvalve	36:a46e63505ed8	696	}
Lightvalve	38:118df027d851	697	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	57:f4819de54e7a	698	//CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	38:118df027d851	699	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	700	break;
Lightvalve	38:118df027d851	701	}
Lightvalve	54:647072f5307a	702	case CRX_DELAY_TEST:{
Lightvalve	54:647072f5307a	703	flag_delay_test = 1;
Lightvalve	54:647072f5307a	704	break;
Lightvalve	54:647072f5307a	705	}
Lightvalve	68:328e1be06f5d	706	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	68:328e1be06f5d	707	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	68:328e1be06f5d	708	CONTROL_UTILITY_MODE = 1;
Lightvalve	68:328e1be06f5d	709	break;
Lightvalve	68:328e1be06f5d	710	}
Lightvalve	38:118df027d851	711
jobuuu	2:a1c0a37df760	712	default:
jobuuu	2:a1c0a37df760	713	break;
jobuuu	2:a1c0a37df760	714	}
jobuuu	2:a1c0a37df760	715	}
jobuuu	2:a1c0a37df760	716
jobuuu	2:a1c0a37df760	717	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	718	{
Lightvalve	23:59218d4a256d	719
jobuuu	2:a1c0a37df760	720	can.read(msg);
jobuuu	2:a1c0a37df760	721	unsigned int address = msg.id;
jobuuu	7:e9086c72bb22	722	if(address==CID_RX_CMD){
jobuuu	2:a1c0a37df760	723	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	724	ReadCMD(CMD);
Lightvalve	57:f4819de54e7a	725
jobuuu	7:e9086c72bb22	726	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	57:f4819de54e7a	727
Lightvalve	43:b084e5f5d0d5	728	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	729	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	730	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	41:abbd4e2af68b	731
Lightvalve	57:f4819de54e7a	732	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	733	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	734	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	57:f4819de54e7a	735	}
Lightvalve	57:f4819de54e7a	736	else { //Linear Actuator
Lightvalve	67:c2812cf26c38	737	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	67:c2812cf26c38	738	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	57:f4819de54e7a	739	}
Lightvalve	57:f4819de54e7a	740
Lightvalve	68:328e1be06f5d	741	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	133:22ab22818e01	742	torq.ref_diff = torq.ref - torq.ref_old;
Lightvalve	133:22ab22818e01	743	torq.ref_old = torq.ref;
Lightvalve	68:328e1be06f5d	744
Lightvalve	68:328e1be06f5d	745	///////////////Make Data///////////////////
Lightvalve	99:7bbcb3c0fb06	746	for(int i=0; i<num_array_u_past-1;i++){
Lightvalve	99:7bbcb3c0fb06	747	u_past[i] = u_past[i+1];
Lightvalve	99:7bbcb3c0fb06	748	}
Lightvalve	99:7bbcb3c0fb06	749	u_past[num_array_u_past-1] = output_normalized;
Lightvalve	99:7bbcb3c0fb06	750
Lightvalve	68:328e1be06f5d	751	for(int i=0; i<num_array_x_past-1;i++){
Lightvalve	68:328e1be06f5d	752	x_past[i] = x_past[i+1];
Lightvalve	68:328e1be06f5d	753	}
Lightvalve	68:328e1be06f5d	754	x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	68:328e1be06f5d	755
Lightvalve	122:dcb3ce3056a0	756	// for(int i=0;i<num_array_x_future-1;i++){
Lightvalve	122:dcb3ce3056a0	757	// x_future[i] = x_future[i+1];
Lightvalve	122:dcb3ce3056a0	758	// }
Lightvalve	122:dcb3ce3056a0	759	// x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	85:a3b46118b5cd	760
Lightvalve	68:328e1be06f5d	761	for(int i=0; i<num_array_f_past-1;i++){
Lightvalve	68:328e1be06f5d	762	f_past[i] = f_past[i+1];
Lightvalve	68:328e1be06f5d	763	}
Lightvalve	101:50159049a518	764	f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve	68:328e1be06f5d	765
Lightvalve	68:328e1be06f5d	766	f_future[0] = torq.sen; //N
Lightvalve	68:328e1be06f5d	767	for(int i=1;i<num_array_f_future-1;i++){
Lightvalve	68:328e1be06f5d	768	f_future[i] = f_future[i+1];
Lightvalve	68:328e1be06f5d	769	}
Lightvalve	68:328e1be06f5d	770	f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve	68:328e1be06f5d	771
Lightvalve	101:50159049a518	772
Lightvalve	149:b273ae9cec75	773	int ind = 0;
Lightvalve	149:b273ae9cec75	774	for(int i=0;i<numpast_u;i++){
Lightvalve	158:cb9a6999d5e2	775	input_NN[ind] = u_past[1*i];
Lightvalve	149:b273ae9cec75	776	ind = ind + 1;
Lightvalve	149:b273ae9cec75	777	}
Lightvalve	149:b273ae9cec75	778
Lightvalve	149:b273ae9cec75	779	for(int i=0;i<numpast_x;i++){
Lightvalve	158:cb9a6999d5e2	780	input_NN[ind] = x_past[1*i] / 60.0f;
Lightvalve	149:b273ae9cec75	781	ind = ind + 1;
Lightvalve	149:b273ae9cec75	782	}
Lightvalve	149:b273ae9cec75	783	input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	149:b273ae9cec75	784	ind = ind + 1;
Lightvalve	149:b273ae9cec75	785	// for(int i=0;i<numfuture_x;i++){
Lightvalve	149:b273ae9cec75	786	// input_NN[ind] = x_future[2*i+2] / 60.0f;
Lightvalve	86:b8ed7abddeb2	787	// ind = ind + 1;
Lightvalve	86:b8ed7abddeb2	788	// }
Lightvalve	149:b273ae9cec75	789
Lightvalve	149:b273ae9cec75	790	for(int i=0;i<numpast_f;i++){
Lightvalve	158:cb9a6999d5e2	791	input_NN[ind] = f_past[1*i] / 10000.0f + 0.5f;
Lightvalve	149:b273ae9cec75	792	ind = ind + 1;
Lightvalve	149:b273ae9cec75	793	}
Lightvalve	149:b273ae9cec75	794	input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	149:b273ae9cec75	795	ind = ind + 1;
Lightvalve	149:b273ae9cec75	796	for(int i=0;i<numfuture_f;i++){
Lightvalve	159:9dbc8dce3695	797	// input_NN[ind] = (f_future[1*i+1] - f_future[0])/10000.0f+0.5f;
Lightvalve	159:9dbc8dce3695	798	input_NN[ind] = (f_future[2*i+2])/10000.0f+0.5f;
Lightvalve	149:b273ae9cec75	799	ind = ind + 1;
Lightvalve	149:b273ae9cec75	800	}
Lightvalve	66:a8e6799dbce3	801
Lightvalve	49:e7bcfc244d40	802	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	803	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	57:f4819de54e7a	804
Lightvalve	57:f4819de54e7a	805	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	806	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	807	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	808	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	809	} else { //SW Valve
Lightvalve	57:f4819de54e7a	810	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	811	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	812	} else {
Lightvalve	57:f4819de54e7a	813	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	814	}
Lightvalve	47:fdcb8bd86fd6	815	}
Lightvalve	49:e7bcfc244d40	816	} else if(address==CID_RX_REF_PWM){
Lightvalve	49:e7bcfc244d40	817	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	818	Vout.ref = (double) temp_ref_pwm;
Lightvalve	45:35fa6884d0c6	819	}
jobuuu	2:a1c0a37df760	820	}
jobuuu	2:a1c0a37df760	821
jobuuu	2:a1c0a37df760	822	/******************************************************************************
jobuuu	2:a1c0a37df760	823	Information Transmission Functions
jobuuu	2:a1c0a37df760	824	*******************************************************************************/
Lightvalve	11:82d8768d7351	825
Lightvalve	11:82d8768d7351	826	void CAN_TX_INFO(void) {
Lightvalve	12:6f2531038ea4	827	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	828
jobuuu	2:a1c0a37df760	829	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	830	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	831	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	832	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	833	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	834	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	835	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	836	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	837	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	838
jobuuu	2:a1c0a37df760	839	can.write(temp_msg);
jobuuu	2:a1c0a37df760	840	}
jobuuu	2:a1c0a37df760	841
Lightvalve	11:82d8768d7351	842	void CAN_TX_BNO(void) {
Lightvalve	12:6f2531038ea4	843	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	844
jobuuu	2:a1c0a37df760	845	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	846	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	847	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	848	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	849
jobuuu	2:a1c0a37df760	850	can.write(temp_msg);
jobuuu	2:a1c0a37df760	851	}
jobuuu	2:a1c0a37df760	852
Lightvalve	11:82d8768d7351	853	void CAN_TX_OPERATING_MODE(void) {
jobuuu	2:a1c0a37df760	854	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	855
jobuuu	2:a1c0a37df760	856	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	857	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	858	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	859	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	860	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	861	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	862	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	863
jobuuu	2:a1c0a37df760	864	can.write(temp_msg);
jobuuu	2:a1c0a37df760	865	}
jobuuu	2:a1c0a37df760	866
Lightvalve	11:82d8768d7351	867	void CAN_TX_CAN_FREQ(void) {
jobuuu	2:a1c0a37df760	868	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	869
jobuuu	2:a1c0a37df760	870	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	871	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	872	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	873	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	874	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	875
jobuuu	2:a1c0a37df760	876	can.write(temp_msg);
jobuuu	2:a1c0a37df760	877	}
Lightvalve	11:82d8768d7351	878
Lightvalve	11:82d8768d7351	879	void CAN_TX_CONTROL_MODE(void) {
jobuuu	2:a1c0a37df760	880	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	881
jobuuu	2:a1c0a37df760	882	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	883	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	884	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	885	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	886
jobuuu	2:a1c0a37df760	887	can.write(temp_msg);
jobuuu	2:a1c0a37df760	888	}
Lightvalve	11:82d8768d7351	889
Lightvalve	11:82d8768d7351	890	void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	891	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	892
jobuuu	2:a1c0a37df760	893	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	894	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	895	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	896	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	897	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	898
jobuuu	2:a1c0a37df760	899	can.write(temp_msg);
jobuuu	2:a1c0a37df760	900	}
jobuuu	2:a1c0a37df760	901
Lightvalve	11:82d8768d7351	902	void CAN_TX_VALVE_DIR(void) {
jobuuu	2:a1c0a37df760	903	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	904
jobuuu	2:a1c0a37df760	905	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	906	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	907	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	908	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	909	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	910
jobuuu	2:a1c0a37df760	911	can.write(temp_msg);
jobuuu	2:a1c0a37df760	912	}
jobuuu	2:a1c0a37df760	913
Lightvalve	11:82d8768d7351	914	void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	915	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	916
jobuuu	2:a1c0a37df760	917	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	918	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	919	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	920	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	921	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	922
jobuuu	2:a1c0a37df760	923	can.write(temp_msg);
jobuuu	2:a1c0a37df760	924	}
jobuuu	2:a1c0a37df760	925
Lightvalve	11:82d8768d7351	926	void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve	49:e7bcfc244d40	927	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	928
jobuuu	2:a1c0a37df760	929	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	930
jobuuu	2:a1c0a37df760	931	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	932	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	933	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	934	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	935	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	936
jobuuu	2:a1c0a37df760	937	can.write(temp_msg);
jobuuu	2:a1c0a37df760	938	}
jobuuu	2:a1c0a37df760	939
Lightvalve	11:82d8768d7351	940	void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve	49:e7bcfc244d40	941	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	942
jobuuu	2:a1c0a37df760	943	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	944
jobuuu	2:a1c0a37df760	945	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	946	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	947	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	948	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	949	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	950
jobuuu	2:a1c0a37df760	951	can.write(temp_msg);
jobuuu	2:a1c0a37df760	952	}
Lightvalve	11:82d8768d7351	953
jobuuu	2:a1c0a37df760	954
Lightvalve	11:82d8768d7351	955	void CAN_TX_PID_GAIN(int t_type) {
jobuuu	2:a1c0a37df760	956	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	957	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	958	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	959
Lightvalve	12:6f2531038ea4	960	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	961	if (t_type == 0) {
Lightvalve	30:8d561f16383b	962	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	963	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	964	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	965	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	966	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	967	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	968	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	969	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	970	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	971	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	972	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	973	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	974	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	975	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	976	}
jobuuu	2:a1c0a37df760	977
jobuuu	2:a1c0a37df760	978	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	979
jobuuu	2:a1c0a37df760	980	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	981	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	982	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	983	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	984	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	985	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	986	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	987	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	988	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	989	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	990
jobuuu	2:a1c0a37df760	991	can.write(temp_msg);
jobuuu	2:a1c0a37df760	992	}
jobuuu	2:a1c0a37df760	993
Lightvalve	11:82d8768d7351	994
Lightvalve	11:82d8768d7351	995	void CAN_TX_VALVE_DEADZONE(void) {
jobuuu	2:a1c0a37df760	996	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	997
jobuuu	2:a1c0a37df760	998	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	999	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1000	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	1001	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	1002	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	1003	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	1004	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	1005	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	1006	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	1007
jobuuu	2:a1c0a37df760	1008	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1009	}
jobuuu	2:a1c0a37df760	1010
Lightvalve	11:82d8768d7351	1011	void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve	11:82d8768d7351	1012	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1013
Lightvalve	11:82d8768d7351	1014	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1015	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1016	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1017	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1018	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	1019
Lightvalve	11:82d8768d7351	1020	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1021	}
Lightvalve	11:82d8768d7351	1022
Lightvalve	11:82d8768d7351	1023	void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve	11:82d8768d7351	1024	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1025
Lightvalve	11:82d8768d7351	1026	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1027	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1028	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1029	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1030	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	1031
Lightvalve	11:82d8768d7351	1032	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1033	}
Lightvalve	11:82d8768d7351	1034
Lightvalve	11:82d8768d7351	1035	void CAN_TX_VALVE_FF(void) {
Lightvalve	11:82d8768d7351	1036	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1037
Lightvalve	11:82d8768d7351	1038	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1039	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1040	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	1041	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	1042	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	1043
Lightvalve	11:82d8768d7351	1044	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1045	}
Lightvalve	11:82d8768d7351	1046
Lightvalve	11:82d8768d7351	1047	void CAN_TX_BULK_MODULUS(void) {
Lightvalve	11:82d8768d7351	1048	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1049
Lightvalve	11:82d8768d7351	1050	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1051	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1052	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1053	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1054	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	1055
Lightvalve	11:82d8768d7351	1056	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1057	}
Lightvalve	11:82d8768d7351	1058
Lightvalve	11:82d8768d7351	1059	void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve	11:82d8768d7351	1060	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1061
Lightvalve	11:82d8768d7351	1062	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1063	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1064	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1065	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1066	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1067	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1068	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 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_PISTON_AREA(void) {
jobuuu	2:a1c0a37df760	1074	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1075
Lightvalve	11:82d8768d7351	1076	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1077	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1078	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1079	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1080	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1081	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1082	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1083
Lightvalve	11:82d8768d7351	1084	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1085	}
Lightvalve	11:82d8768d7351	1086
Lightvalve	11:82d8768d7351	1087	void CAN_TX_PRES_A_AND_B(void) {
Lightvalve	11:82d8768d7351	1088	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1089
Lightvalve	11:82d8768d7351	1090	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1091	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1092	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1093	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1094	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1095	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1096	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1097
Lightvalve	11:82d8768d7351	1098	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1099	}
Lightvalve	11:82d8768d7351	1100
Lightvalve	11:82d8768d7351	1101	void CAN_TX_ENC_LIMIT(void) {
Lightvalve	11:82d8768d7351	1102	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1103
Lightvalve	11:82d8768d7351	1104	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1105	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1106	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1107	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1108	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1109	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1110	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1111
Lightvalve	11:82d8768d7351	1112	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1113	}
Lightvalve	11:82d8768d7351	1114
Lightvalve	11:82d8768d7351	1115	void CAN_TX_STROKE(void) {
Lightvalve	11:82d8768d7351	1116	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1117
Lightvalve	11:82d8768d7351	1118	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1119	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1120	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1121	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1122	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1123
Lightvalve	11:82d8768d7351	1124	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1125	}
Lightvalve	11:82d8768d7351	1126
Lightvalve	11:82d8768d7351	1127	void CAN_TX_VALVE_LIMIT(void) {
Lightvalve	11:82d8768d7351	1128	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1129
Lightvalve	11:82d8768d7351	1130	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1131	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1132	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1133	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1134	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1135	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1136	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1137
Lightvalve	11:82d8768d7351	1138	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1139	}
Lightvalve	11:82d8768d7351	1140
Lightvalve	11:82d8768d7351	1141	void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve	11:82d8768d7351	1142	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1143
jobuuu	2:a1c0a37df760	1144	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1145	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1146	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1147	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1148	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1149	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1150
jobuuu	2:a1c0a37df760	1151	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1152	}
jobuuu	2:a1c0a37df760	1153
Lightvalve	11:82d8768d7351	1154	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu	2:a1c0a37df760	1155	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1156
jobuuu	2:a1c0a37df760	1157	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1158	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1159	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	139:15621998925b	1160	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve	48:889798ff9329	1161	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1162	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1163
jobuuu	2:a1c0a37df760	1164	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1165	}
jobuuu	2:a1c0a37df760	1166
Lightvalve	11:82d8768d7351	1167	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu	2:a1c0a37df760	1168	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1169
jobuuu	2:a1c0a37df760	1170	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1171	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1172	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1173	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1174	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1175	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1176	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 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_FRICTION(void) {
Lightvalve	11:82d8768d7351	1182	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1183	int16_t send_friction;
Lightvalve	30:8d561f16383b	1184	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	11:82d8768d7351	1185
Lightvalve	11:82d8768d7351	1186	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1187	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1188	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1189	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1190	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1191
Lightvalve	11:82d8768d7351	1192	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1193	}
Lightvalve	11:82d8768d7351	1194
Lightvalve	11:82d8768d7351	1195	void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve	11:82d8768d7351	1196	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1197
Lightvalve	11:82d8768d7351	1198	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1199	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1200	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1201	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1202	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1203	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1204	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1205	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1206
Lightvalve	11:82d8768d7351	1207	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1208	}
Lightvalve	11:82d8768d7351	1209
Lightvalve	11:82d8768d7351	1210	void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve	11:82d8768d7351	1211	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1212	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1213	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1214	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1215
Lightvalve	57:f4819de54e7a	1216	//temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1217	//temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1218	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1219	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1220	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	11:82d8768d7351	1221
Lightvalve	11:82d8768d7351	1222	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1223	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1224	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1225	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1226	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1227	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1228	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1229	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1230	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1231
Lightvalve	11:82d8768d7351	1232	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1233	}
Lightvalve	11:82d8768d7351	1234
Lightvalve	11:82d8768d7351	1235	void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve	11:82d8768d7351	1236	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1237
Lightvalve	11:82d8768d7351	1238	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1239	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1240	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1241	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1242	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1243	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1244	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1245	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1246
Lightvalve	11:82d8768d7351	1247	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1248	}
Lightvalve	11:82d8768d7351	1249
Lightvalve	11:82d8768d7351	1250	void CAN_TX_REFENCE_MODE(void) {
Lightvalve	11:82d8768d7351	1251	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1252
Lightvalve	11:82d8768d7351	1253	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1254	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1255	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1256	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1257	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1258	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1259	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1260	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1261
Lightvalve	11:82d8768d7351	1262	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1263	}
Lightvalve	11:82d8768d7351	1264
Lightvalve	11:82d8768d7351	1265	void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve	11:82d8768d7351	1266	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1267	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1268	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	1269
jobuuu	2:a1c0a37df760	1270	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1271	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1272	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1273	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1274	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1275
jobuuu	2:a1c0a37df760	1276	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1277	}
Lightvalve	11:82d8768d7351	1278
Lightvalve	11:82d8768d7351	1279	void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve	11:82d8768d7351	1280	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1281	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1282	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	1283
Lightvalve	11:82d8768d7351	1284	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1285	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1286	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1287	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1288	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1289
Lightvalve	11:82d8768d7351	1290	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1291	}
Lightvalve	11:82d8768d7351	1292
Lightvalve	12:6f2531038ea4	1293	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve	11:82d8768d7351	1294	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1295	int16_t valve_pos_vs_pwm;
Lightvalve	49:e7bcfc244d40	1296	// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve	49:e7bcfc244d40	1297
Lightvalve	57:f4819de54e7a	1298	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1299	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	1300	} else {
Lightvalve	57:f4819de54e7a	1301	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	1302	}
Lightvalve	11:82d8768d7351	1303
Lightvalve	12:6f2531038ea4	1304	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1305	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	11:82d8768d7351	1306
Lightvalve	11:82d8768d7351	1307	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1308	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1309	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1310	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1311	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1312	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1313	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1314
Lightvalve	11:82d8768d7351	1315	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1316	}
Lightvalve	11:82d8768d7351	1317
Lightvalve	12:6f2531038ea4	1318	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve	11:82d8768d7351	1319	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1320	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1321	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1322
Lightvalve	57:f4819de54e7a	1323	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1324	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1325	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1326	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	1327	} else {
Lightvalve	57:f4819de54e7a	1328	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	1329	}
Lightvalve	11:82d8768d7351	1330
Lightvalve	11:82d8768d7351	1331	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1332	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1333	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1334	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1335	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1336	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1337	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1338	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1339	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1340
Lightvalve	11:82d8768d7351	1341	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1342	}
Lightvalve	11:82d8768d7351	1343
Lightvalve	11:82d8768d7351	1344	void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve	11:82d8768d7351	1345	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1346	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1347	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	11:82d8768d7351	1348
Lightvalve	11:82d8768d7351	1349	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1350	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1351	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1352	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1353	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1354
Lightvalve	11:82d8768d7351	1355	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1356	}
Lightvalve	11:82d8768d7351	1357
Lightvalve	38:118df027d851	1358	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve	38:118df027d851	1359	CANMessage temp_msg;
Lightvalve	38:118df027d851	1360
Lightvalve	48:889798ff9329	1361	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1362	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1363	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1364
Lightvalve	57:f4819de54e7a	1365	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1366	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1367	temp_ddv_center = VALVE_CENTER;
Lightvalve	48:889798ff9329	1368
Lightvalve	38:118df027d851	1369	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1370	temp_msg.len = 7;
Lightvalve	38:118df027d851	1371	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1372	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1373	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1374	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1375	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1376	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1377	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1378
Lightvalve	38:118df027d851	1379	can.write(temp_msg);
Lightvalve	38:118df027d851	1380	}
Lightvalve	38:118df027d851	1381
jobuuu	2:a1c0a37df760	1382	/******************************************************************************
jobuuu	2:a1c0a37df760	1383	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1384	*******************************************************************************/
jobuuu	2:a1c0a37df760	1385
Lightvalve	52:8ea76864368a	1386	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
Lightvalve	52:8ea76864368a	1387	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1388
Lightvalve	52:8ea76864368a	1389	temp_msg.id = CID_TX_POSITION;
Lightvalve	52:8ea76864368a	1390	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1391	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1392	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1393	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1394	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1395	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1396	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1397
Lightvalve	52:8ea76864368a	1398	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1399	}
Lightvalve	52:8ea76864368a	1400
Lightvalve	52:8ea76864368a	1401	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) {
Lightvalve	52:8ea76864368a	1402
jobuuu	2:a1c0a37df760	1403	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1404
jobuuu	2:a1c0a37df760	1405	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1406	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1407	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1408	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1409	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1410	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1411	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1412	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1413	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1414	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1415
jobuuu	2:a1c0a37df760	1416	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1417	}
jobuuu	2:a1c0a37df760	1418
Lightvalve	67:c2812cf26c38	1419	//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve	67:c2812cf26c38	1420	// CANMessage temp_msg;
Lightvalve	67:c2812cf26c38	1421	//
Lightvalve	67:c2812cf26c38	1422	// temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1423	// temp_msg.len = 4;
Lightvalve	67:c2812cf26c38	1424	// temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	67:c2812cf26c38	1425	// temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	67:c2812cf26c38	1426	// temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve	67:c2812cf26c38	1427	// temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve	67:c2812cf26c38	1428	//
Lightvalve	67:c2812cf26c38	1429	// can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1430	//}
Lightvalve	67:c2812cf26c38	1431
Lightvalve	67:c2812cf26c38	1432	void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu	2:a1c0a37df760	1433	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1434
jobuuu	2:a1c0a37df760	1435	temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1436	temp_msg.len = 2;
Lightvalve	48:889798ff9329	1437	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1438	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1439
jobuuu	2:a1c0a37df760	1440	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1441	}
jobuuu	2:a1c0a37df760	1442
Lightvalve	11:82d8768d7351	1443	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu	2:a1c0a37df760	1444	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1445
jobuuu	2:a1c0a37df760	1446	temp_msg.id = CID_TX_PRES;
Lightvalve	57:f4819de54e7a	1447	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1448	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1449	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1450	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1451	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1452
jobuuu	2:a1c0a37df760	1453	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1454	}
jobuuu	2:a1c0a37df760	1455
Lightvalve	11:82d8768d7351	1456	void CAN_TX_PWM(int16_t t_pwm) {
jobuuu	2:a1c0a37df760	1457	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1458
Lightvalve	57:f4819de54e7a	1459	temp_msg.id = CID_TX_VOUT;
Lightvalve	57:f4819de54e7a	1460	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1461	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1462	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1463
jobuuu	2:a1c0a37df760	1464	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1465	}
jobuuu	2:a1c0a37df760	1466
Lightvalve	73:f80dc3970c99	1467	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	1468	{
jobuuu	2:a1c0a37df760	1469	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1470
jobuuu	2:a1c0a37df760	1471	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	73:f80dc3970c99	1472	temp_msg.len = 8;
Lightvalve	73:f80dc3970c99	1473	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	73:f80dc3970c99	1474	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	73:f80dc3970c99	1475	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	73:f80dc3970c99	1476	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	73:f80dc3970c99	1477	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	73:f80dc3970c99	1478	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	73:f80dc3970c99	1479	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	73:f80dc3970c99	1480	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	27:a2254a485f23	1481
jobuuu	2:a1c0a37df760	1482
jobuuu	2:a1c0a37df760	1483	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1484	}

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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@159:9dbc8dce3695, 2020-10-12 (annotated)

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