Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@15:bd0d12728506, 2019-08-30 (annotated)

Committer:
Lightvalve
Date:
Fri Aug 30 02:26:11 2019 +0000
Revision:
15:bd0d12728506
Parent:
14:8e7590227d22
Child:
16:903b5a4433b4
190830

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;
Lightvalve 14:8e7590227d22 13 int CID_RX_REF_CURRENT = 700;
jobuuu 2:a1c0a37df760 14
jobuuu 2:a1c0a37df760 15 int CID_TX_INFO = 1100;
jobuuu 2:a1c0a37df760 16 int CID_TX_POSITION = 1200;
jobuuu 2:a1c0a37df760 17 int CID_TX_TORQUE = 1300;
jobuuu 2:a1c0a37df760 18 int CID_TX_PRES = 1400;
jobuuu 7:e9086c72bb22 19 int CID_TX_VOUT = 1500;
jobuuu 2:a1c0a37df760 20 int CID_TX_VALVE_POSITION = 1600;
jobuuu 2:a1c0a37df760 21
Lightvalve 12:6f2531038ea4 22 // variables
Lightvalve 12:6f2531038ea4 23 uint8_t can_index = 0;
Lightvalve 12:6f2531038ea4 24
Lightvalve 11:82d8768d7351 25
Lightvalve 11:82d8768d7351 26 /*******************************************************************************
Lightvalve 11:82d8768d7351 27 * CAN functions
Lightvalve 11:82d8768d7351 28 ******************************************************************************/
Lightvalve 11:82d8768d7351 29 void CAN_ID_INIT(void) {
jobuuu 7:e9086c72bb22 30
Lightvalve 11:82d8768d7351 31 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 32 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve 11:82d8768d7351 33 CID_RX_REF_TORQUE = (int) (BNO + INIT_CID_RX_REF_TORQUE);
Lightvalve 11:82d8768d7351 34 CID_RX_REF_PRES_DIFF = (int) (BNO + INIT_CID_RX_REF_PRES_DIFF);
Lightvalve 11:82d8768d7351 35 CID_RX_REF_VOUT = (int) (BNO + INIT_CID_RX_REF_VOUT);
Lightvalve 11:82d8768d7351 36 CID_RX_REF_VALVE_POSITION = (int) (BNO + INIT_CID_RX_REF_VALVE_POSITION);
Lightvalve 14:8e7590227d22 37 CID_RX_REF_CURRENT = (int) (BNO + INIT_CID_RX_REF_CURRENT);
Lightvalve 11:82d8768d7351 38
Lightvalve 11:82d8768d7351 39 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve 11:82d8768d7351 40 CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve 11:82d8768d7351 41 CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve 11:82d8768d7351 42 CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve 11:82d8768d7351 43 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 44 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve 11:82d8768d7351 45 }
jobuuu 2:a1c0a37df760 46
Lightvalve 12:6f2531038ea4 47 void ReadCMD(int8_t CMD)
jobuuu 2:a1c0a37df760 48 {
jobuuu 2:a1c0a37df760 49 switch(CMD){
Lightvalve 11:82d8768d7351 50 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 51 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 52 break;
Lightvalve 11:82d8768d7351 53 }
Lightvalve 11:82d8768d7351 54 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 55 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 56 break;
Lightvalve 11:82d8768d7351 57 }
Lightvalve 11:82d8768d7351 58 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 59 BNO = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 60 spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 61 CAN_ID_INIT(); // can id init
Lightvalve 11:82d8768d7351 62 break;
Lightvalve 11:82d8768d7351 63 }
Lightvalve 11:82d8768d7351 64 case CRX_ASK_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 65 CAN_TX_OPERATING_MODE();
Lightvalve 11:82d8768d7351 66 break;
Lightvalve 11:82d8768d7351 67 }
Lightvalve 11:82d8768d7351 68 case CRX_SET_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 69 OPERATING_MODE = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 70 spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve 11:82d8768d7351 71 break;
Lightvalve 11:82d8768d7351 72 }
Lightvalve 11:82d8768d7351 73 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 74 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 75
Lightvalve 11:82d8768d7351 76 break;
Lightvalve 11:82d8768d7351 77 }
Lightvalve 11:82d8768d7351 78 case CRX_SET_FET_ON: {
Lightvalve 12:6f2531038ea4 79 //LAT_MOT_EN = (int16_t) msg.data[1];;
Lightvalve 11:82d8768d7351 80
Lightvalve 11:82d8768d7351 81 break;
Lightvalve 11:82d8768d7351 82 }
Lightvalve 11:82d8768d7351 83
Lightvalve 11:82d8768d7351 84 case CRX_SET_REF_UPDATE_ENABLE: {
Lightvalve 11:82d8768d7351 85 flag_ref_enable = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 86
Lightvalve 11:82d8768d7351 87 break;
Lightvalve 11:82d8768d7351 88 }
Lightvalve 11:82d8768d7351 89
Lightvalve 11:82d8768d7351 90 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 91 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 92
Lightvalve 11:82d8768d7351 93 break;
Lightvalve 11:82d8768d7351 94 }
Lightvalve 11:82d8768d7351 95
Lightvalve 11:82d8768d7351 96 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 97 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 98 spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 99 break;
Lightvalve 11:82d8768d7351 100 }
Lightvalve 11:82d8768d7351 101
Lightvalve 11:82d8768d7351 102 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 103 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 104
Lightvalve 11:82d8768d7351 105 break;
Lightvalve 11:82d8768d7351 106 }
Lightvalve 11:82d8768d7351 107
Lightvalve 11:82d8768d7351 108 case CRX_SET_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 109 CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 110 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 111 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 112 }
Lightvalve 11:82d8768d7351 113 break;
Lightvalve 11:82d8768d7351 114 }
Lightvalve 11:82d8768d7351 115
Lightvalve 11:82d8768d7351 116 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 117 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 118 flag_data_request[request_type] = msg.data[1];
Lightvalve 14:8e7590227d22 119 //pc.printf("can middle %d\n", request_type);
Lightvalve 11:82d8768d7351 120
Lightvalve 12:6f2531038ea4 121 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 122 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 123 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 124 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 11:82d8768d7351 125
Lightvalve 11:82d8768d7351 126 break;
Lightvalve 11:82d8768d7351 127 }
Lightvalve 11:82d8768d7351 128
Lightvalve 11:82d8768d7351 129 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 130 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 131
Lightvalve 11:82d8768d7351 132 break;
Lightvalve 11:82d8768d7351 133 }
Lightvalve 11:82d8768d7351 134
Lightvalve 11:82d8768d7351 135 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 136 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 137 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 138 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 139 else
Lightvalve 11:82d8768d7351 140 DIR_JOINT_ENC = -1;
Lightvalve 11:82d8768d7351 141 spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 142
Lightvalve 11:82d8768d7351 143 break;
Lightvalve 11:82d8768d7351 144 }
Lightvalve 11:82d8768d7351 145
Lightvalve 11:82d8768d7351 146 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 147 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 148
Lightvalve 11:82d8768d7351 149 break;
Lightvalve 11:82d8768d7351 150 }
Lightvalve 11:82d8768d7351 151
Lightvalve 11:82d8768d7351 152 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 153 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 154 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 155 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 156 else
Lightvalve 11:82d8768d7351 157 DIR_VALVE = -1;
Lightvalve 11:82d8768d7351 158 spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 159
Lightvalve 11:82d8768d7351 160 break;
Lightvalve 11:82d8768d7351 161 }
Lightvalve 11:82d8768d7351 162
Lightvalve 11:82d8768d7351 163 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 164 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 165
Lightvalve 11:82d8768d7351 166 break;
Lightvalve 11:82d8768d7351 167 }
Lightvalve 11:82d8768d7351 168
Lightvalve 11:82d8768d7351 169 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 170 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 171 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 172 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 173 else
Lightvalve 11:82d8768d7351 174 DIR_VALVE_ENC = -1;
Lightvalve 11:82d8768d7351 175
Lightvalve 11:82d8768d7351 176 spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 177
Lightvalve 11:82d8768d7351 178 break;
Lightvalve 11:82d8768d7351 179 }
Lightvalve 11:82d8768d7351 180
Lightvalve 11:82d8768d7351 181 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 182 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 183
Lightvalve 11:82d8768d7351 184 break;
Lightvalve 11:82d8768d7351 185 }
Lightvalve 11:82d8768d7351 186
Lightvalve 11:82d8768d7351 187 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 188 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
Lightvalve 11:82d8768d7351 189 spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve 11:82d8768d7351 190
Lightvalve 11:82d8768d7351 191 break;
Lightvalve 11:82d8768d7351 192 }
Lightvalve 11:82d8768d7351 193
Lightvalve 11:82d8768d7351 194 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 195 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 196
Lightvalve 11:82d8768d7351 197 break;
Lightvalve 11:82d8768d7351 198 }
Lightvalve 11:82d8768d7351 199
Lightvalve 11:82d8768d7351 200 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 201 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
Lightvalve 11:82d8768d7351 202 spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve 11:82d8768d7351 203
Lightvalve 11:82d8768d7351 204
Lightvalve 11:82d8768d7351 205 break;
Lightvalve 11:82d8768d7351 206 }
Lightvalve 12:6f2531038ea4 207
Lightvalve 11:82d8768d7351 208 case CRX_SET_HOMEPOS: {
Lightvalve 11:82d8768d7351 209 CONTROL_MODE = 22;
Lightvalve 11:82d8768d7351 210 SETTING_SWITCH = (int16_t) (msg.data[1]);
Lightvalve 11:82d8768d7351 211 break;
Lightvalve 11:82d8768d7351 212 }
Lightvalve 11:82d8768d7351 213
Lightvalve 11:82d8768d7351 214 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 215 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 216
Lightvalve 11:82d8768d7351 217 break;
Lightvalve 11:82d8768d7351 218 }
Lightvalve 11:82d8768d7351 219
Lightvalve 11:82d8768d7351 220 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 221 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 222 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 223 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 224 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 11:82d8768d7351 225
Lightvalve 11:82d8768d7351 226 spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 227 spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 228 spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 229
Lightvalve 11:82d8768d7351 230
Lightvalve 11:82d8768d7351 231 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 232 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 233 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 234 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 11:82d8768d7351 235
Lightvalve 11:82d8768d7351 236 spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 237 spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 238 spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 239 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 240 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 241 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 242 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 11:82d8768d7351 243
Lightvalve 11:82d8768d7351 244 spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 245 spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 246 spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 247 }
Lightvalve 11:82d8768d7351 248
Lightvalve 11:82d8768d7351 249 break;
Lightvalve 11:82d8768d7351 250 }
Lightvalve 11:82d8768d7351 251
Lightvalve 11:82d8768d7351 252 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 253 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 254
Lightvalve 11:82d8768d7351 255 break;
Lightvalve 11:82d8768d7351 256 }
Lightvalve 11:82d8768d7351 257
Lightvalve 11:82d8768d7351 258 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 259 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 260 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 261 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 11:82d8768d7351 262
Lightvalve 11:82d8768d7351 263 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
Lightvalve 11:82d8768d7351 264 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 11:82d8768d7351 265 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 11:82d8768d7351 266
Lightvalve 11:82d8768d7351 267 break;
Lightvalve 11:82d8768d7351 268 }
Lightvalve 11:82d8768d7351 269
Lightvalve 11:82d8768d7351 270 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 271 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 272
Lightvalve 11:82d8768d7351 273 break;
Lightvalve 11:82d8768d7351 274 }
Lightvalve 11:82d8768d7351 275
Lightvalve 11:82d8768d7351 276 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 277 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 278
Lightvalve 11:82d8768d7351 279 spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 280
Lightvalve 11:82d8768d7351 281 break;
Lightvalve 11:82d8768d7351 282 }
Lightvalve 11:82d8768d7351 283
Lightvalve 11:82d8768d7351 284 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 285 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 286
Lightvalve 11:82d8768d7351 287 break;
Lightvalve 11:82d8768d7351 288 }
Lightvalve 11:82d8768d7351 289
Lightvalve 11:82d8768d7351 290 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 291 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 292
Lightvalve 11:82d8768d7351 293 spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 294
Lightvalve 11:82d8768d7351 295 break;
Lightvalve 11:82d8768d7351 296 }
Lightvalve 11:82d8768d7351 297
Lightvalve 11:82d8768d7351 298 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 299 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 300
Lightvalve 11:82d8768d7351 301 break;
Lightvalve 11:82d8768d7351 302 }
Lightvalve 11:82d8768d7351 303
Lightvalve 11:82d8768d7351 304 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 305 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 306
Lightvalve 11:82d8768d7351 307 spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 308
Lightvalve 11:82d8768d7351 309 break;
Lightvalve 11:82d8768d7351 310 }
Lightvalve 11:82d8768d7351 311
Lightvalve 11:82d8768d7351 312 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 313 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 314
Lightvalve 11:82d8768d7351 315 break;
Lightvalve 11:82d8768d7351 316 }
Lightvalve 11:82d8768d7351 317
Lightvalve 11:82d8768d7351 318 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 319 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 320
Lightvalve 11:82d8768d7351 321 spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 322
Lightvalve 11:82d8768d7351 323 break;
Lightvalve 11:82d8768d7351 324 }
Lightvalve 11:82d8768d7351 325
Lightvalve 11:82d8768d7351 326 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 327 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 328
Lightvalve 11:82d8768d7351 329 break;
Lightvalve 11:82d8768d7351 330 }
Lightvalve 11:82d8768d7351 331
Lightvalve 11:82d8768d7351 332 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 333 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 334 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 335
Lightvalve 11:82d8768d7351 336 spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 11:82d8768d7351 337 spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 338
Lightvalve 11:82d8768d7351 339 break;
Lightvalve 11:82d8768d7351 340 }
Lightvalve 11:82d8768d7351 341
Lightvalve 11:82d8768d7351 342 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 343 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 344
Lightvalve 11:82d8768d7351 345 break;
Lightvalve 11:82d8768d7351 346 }
Lightvalve 11:82d8768d7351 347
Lightvalve 11:82d8768d7351 348 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 349 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 350 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 351 PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve 11:82d8768d7351 352
Lightvalve 11:82d8768d7351 353 spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 11:82d8768d7351 354 spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 355 break;
Lightvalve 11:82d8768d7351 356 }
Lightvalve 11:82d8768d7351 357
Lightvalve 11:82d8768d7351 358 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 359 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 360 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 12:6f2531038ea4 361 dac_1 = PRES_A_VREF;
Lightvalve 12:6f2531038ea4 362 dac_2 = PRES_B_VREF;
Lightvalve 12:6f2531038ea4 363
Lightvalve 11:82d8768d7351 364 break;
Lightvalve 11:82d8768d7351 365 }
Lightvalve 11:82d8768d7351 366
Lightvalve 11:82d8768d7351 367 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 368 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 369 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 370
Lightvalve 11:82d8768d7351 371 spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 11:82d8768d7351 372 spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 373
Lightvalve 11:82d8768d7351 374
Lightvalve 11:82d8768d7351 375 break;
Lightvalve 11:82d8768d7351 376 }
Lightvalve 11:82d8768d7351 377
Lightvalve 11:82d8768d7351 378 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 379 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 380
Lightvalve 11:82d8768d7351 381 break;
Lightvalve 11:82d8768d7351 382 }
Lightvalve 11:82d8768d7351 383
Lightvalve 11:82d8768d7351 384 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 385 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 386 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 387
Lightvalve 11:82d8768d7351 388 spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 11:82d8768d7351 389 spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 390
Lightvalve 11:82d8768d7351 391 break;
Lightvalve 11:82d8768d7351 392 }
Lightvalve 11:82d8768d7351 393
Lightvalve 11:82d8768d7351 394 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 395 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 396 break;
Lightvalve 11:82d8768d7351 397 }
Lightvalve 11:82d8768d7351 398
Lightvalve 11:82d8768d7351 399 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 400 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 401
Lightvalve 11:82d8768d7351 402 spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 403
Lightvalve 11:82d8768d7351 404 break;
Lightvalve 11:82d8768d7351 405 }
Lightvalve 11:82d8768d7351 406
Lightvalve 11:82d8768d7351 407 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 408 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 409
Lightvalve 11:82d8768d7351 410 break;
Lightvalve 11:82d8768d7351 411 }
Lightvalve 11:82d8768d7351 412
Lightvalve 11:82d8768d7351 413 case CRX_SET_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 414 VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 415 VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 416
Lightvalve 11:82d8768d7351 417 spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
Lightvalve 11:82d8768d7351 418 spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 419
Lightvalve 11:82d8768d7351 420 break;
Lightvalve 11:82d8768d7351 421 }
Lightvalve 11:82d8768d7351 422
Lightvalve 11:82d8768d7351 423 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 424 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 425
Lightvalve 11:82d8768d7351 426 break;
Lightvalve 11:82d8768d7351 427 }
Lightvalve 11:82d8768d7351 428
Lightvalve 11:82d8768d7351 429 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 430 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 431
Lightvalve 11:82d8768d7351 432 spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve 11:82d8768d7351 433
Lightvalve 11:82d8768d7351 434 break;
Lightvalve 11:82d8768d7351 435 }
Lightvalve 11:82d8768d7351 436
Lightvalve 11:82d8768d7351 437 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 438 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 439
Lightvalve 11:82d8768d7351 440 break;
Lightvalve 11:82d8768d7351 441 }
Lightvalve 11:82d8768d7351 442
Lightvalve 11:82d8768d7351 443 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 444 TORQUE_SENSOR_PULSE_PER_TORQUE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 445
Lightvalve 11:82d8768d7351 446 spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve 11:82d8768d7351 447
Lightvalve 11:82d8768d7351 448 break;
Lightvalve 11:82d8768d7351 449 }
Lightvalve 11:82d8768d7351 450
Lightvalve 11:82d8768d7351 451 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 452 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 453
Lightvalve 11:82d8768d7351 454 break;
Lightvalve 11:82d8768d7351 455 }
Lightvalve 11:82d8768d7351 456
Lightvalve 11:82d8768d7351 457 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 458 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01;
Lightvalve 11:82d8768d7351 459 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01;
Lightvalve 11:82d8768d7351 460
Lightvalve 11:82d8768d7351 461 spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 462 spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 463
Lightvalve 11:82d8768d7351 464 break;
Lightvalve 11:82d8768d7351 465 }
Lightvalve 11:82d8768d7351 466
Lightvalve 11:82d8768d7351 467 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 468 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 469
Lightvalve 11:82d8768d7351 470 break;
Lightvalve 11:82d8768d7351 471 }
Lightvalve 11:82d8768d7351 472
Lightvalve 11:82d8768d7351 473 case CRX_SET_FRICTION: {
Lightvalve 11:82d8768d7351 474 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
Lightvalve 11:82d8768d7351 475
Lightvalve 11:82d8768d7351 476 spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 477
Lightvalve 11:82d8768d7351 478 break;
Lightvalve 11:82d8768d7351 479 }
Lightvalve 11:82d8768d7351 480
Lightvalve 11:82d8768d7351 481 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 482 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 483
Lightvalve 11:82d8768d7351 484 break;
Lightvalve 11:82d8768d7351 485 }
Lightvalve 11:82d8768d7351 486 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 487 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.;
Lightvalve 11:82d8768d7351 488 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.;
Lightvalve 11:82d8768d7351 489 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.;
Lightvalve 11:82d8768d7351 490 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.;
Lightvalve 11:82d8768d7351 491 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.;
Lightvalve 11:82d8768d7351 492
Lightvalve 11:82d8768d7351 493 spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.));
Lightvalve 11:82d8768d7351 494 spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.));
Lightvalve 11:82d8768d7351 495 spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.));
Lightvalve 11:82d8768d7351 496 spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.));
Lightvalve 11:82d8768d7351 497 spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.));
Lightvalve 11:82d8768d7351 498
Lightvalve 11:82d8768d7351 499 break;
Lightvalve 11:82d8768d7351 500 }
Lightvalve 11:82d8768d7351 501
Lightvalve 11:82d8768d7351 502 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 503 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 504
Lightvalve 11:82d8768d7351 505 break;
Lightvalve 11:82d8768d7351 506 }
Lightvalve 11:82d8768d7351 507 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 508 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.;
Lightvalve 11:82d8768d7351 509 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.;
Lightvalve 11:82d8768d7351 510 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.;
Lightvalve 11:82d8768d7351 511 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.;
Lightvalve 11:82d8768d7351 512 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.;
Lightvalve 11:82d8768d7351 513
Lightvalve 11:82d8768d7351 514 spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.));
Lightvalve 11:82d8768d7351 515 spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.));
Lightvalve 11:82d8768d7351 516 spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.));
Lightvalve 11:82d8768d7351 517 spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.));
Lightvalve 11:82d8768d7351 518 spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.));
Lightvalve 11:82d8768d7351 519
Lightvalve 11:82d8768d7351 520 break;
Lightvalve 11:82d8768d7351 521 }
Lightvalve 11:82d8768d7351 522 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 523 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 524 break;
Lightvalve 11:82d8768d7351 525 }
Lightvalve 11:82d8768d7351 526
Lightvalve 11:82d8768d7351 527 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 528 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 529
Lightvalve 11:82d8768d7351 530 REF_NUM = msg.data[2];
Lightvalve 11:82d8768d7351 531 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.;
Lightvalve 11:82d8768d7351 532 if (REF_PERIOD <= 0.) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 533 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 11:82d8768d7351 534 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.;
Lightvalve 11:82d8768d7351 535
Lightvalve 11:82d8768d7351 536 break;
Lightvalve 11:82d8768d7351 537 }
Lightvalve 11:82d8768d7351 538
Lightvalve 11:82d8768d7351 539 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 540 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 541
Lightvalve 11:82d8768d7351 542 break;
Lightvalve 11:82d8768d7351 543 }
Lightvalve 11:82d8768d7351 544
Lightvalve 11:82d8768d7351 545 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 546
Lightvalve 12:6f2531038ea4 547 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 548 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 549 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 550 }
Lightvalve 11:82d8768d7351 551
Lightvalve 11:82d8768d7351 552 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 553
Lightvalve 11:82d8768d7351 554
Lightvalve 11:82d8768d7351 555 break;
Lightvalve 11:82d8768d7351 556 }
Lightvalve 11:82d8768d7351 557
Lightvalve 11:82d8768d7351 558 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 559 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 560 break;
Lightvalve 11:82d8768d7351 561 }
Lightvalve 11:82d8768d7351 562 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 563 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 564
Lightvalve 11:82d8768d7351 565 spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 566 break;
Lightvalve 11:82d8768d7351 567 }
Lightvalve 11:82d8768d7351 568
Lightvalve 11:82d8768d7351 569 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 570 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 571 break;
Lightvalve 11:82d8768d7351 572 }
Lightvalve 11:82d8768d7351 573 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 574 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 575
Lightvalve 11:82d8768d7351 576 spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 577 break;
Lightvalve 11:82d8768d7351 578 }
Lightvalve 11:82d8768d7351 579
Lightvalve 11:82d8768d7351 580 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 581 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 582 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 583 break;
Lightvalve 11:82d8768d7351 584 }
Lightvalve 11:82d8768d7351 585 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 586 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 587 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 588 break;
Lightvalve 11:82d8768d7351 589 }
Lightvalve 11:82d8768d7351 590 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 591 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 592 break;
Lightvalve 11:82d8768d7351 593 }
jobuuu 2:a1c0a37df760 594 default:
jobuuu 2:a1c0a37df760 595 break;
jobuuu 2:a1c0a37df760 596 }
jobuuu 2:a1c0a37df760 597 }
jobuuu 2:a1c0a37df760 598
jobuuu 2:a1c0a37df760 599 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 600 {
Lightvalve 14:8e7590227d22 601 //pc.printf("can received");
jobuuu 2:a1c0a37df760 602 can.read(msg);
jobuuu 2:a1c0a37df760 603 unsigned int address = msg.id;
Lightvalve 14:8e7590227d22 604 //pc.printf("add %d\n",address);
Lightvalve 14:8e7590227d22 605 //pc.printf("cmd %d\n", CID_RX_CMD);
jobuuu 7:e9086c72bb22 606 if(address==CID_RX_CMD){
jobuuu 2:a1c0a37df760 607 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 608 ReadCMD(CMD);
Lightvalve 14:8e7590227d22 609 pc.printf("cmd %d\n ",CMD);
jobuuu 7:e9086c72bb22 610 } else if(address==CID_RX_REF_POSITION) {
jobuuu 7:e9086c72bb22 611 int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24);
jobuuu 7:e9086c72bb22 612 int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24);
jobuuu 7:e9086c72bb22 613 pos.ref = (double)temp_pos;
jobuuu 7:e9086c72bb22 614 vel.ref = (double)temp_vel;
jobuuu 7:e9086c72bb22 615 } else if(address==CID_RX_REF_TORQUE) {
jobuuu 7:e9086c72bb22 616 int16_t temp_torq = (int16_t) (msg.data[0] | msg.data[1] << 8);
jobuuu 7:e9086c72bb22 617 torq.ref = (double)temp_torq;
jobuuu 7:e9086c72bb22 618 } else if(address==CID_RX_REF_PRES_DIFF) {
Lightvalve 11:82d8768d7351 619 int16_t temp_presdiff = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 11:82d8768d7351 620 torq.ref = (double)temp_presdiff;
jobuuu 7:e9086c72bb22 621 } else if(address==CID_RX_REF_VOUT) {
jobuuu 7:e9086c72bb22 622 int16_t temp_PWM = (int16_t) (msg.data[0] | msg.data[1] << 8);
jobuuu 7:e9086c72bb22 623 Vout.ref = (double)temp_PWM;
jobuuu 7:e9086c72bb22 624 } else if(address==CID_RX_REF_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 625 int16_t temp_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 14:8e7590227d22 626 valve_pos.ref = (double)temp_valve_pos;
Lightvalve 14:8e7590227d22 627 } else if(address==CID_RX_REF_CURRENT) {
jobuuu 7:e9086c72bb22 628 int16_t temp_cur = (int16_t) (msg.data[0] | msg.data[1] << 8);
jobuuu 7:e9086c72bb22 629 cur.ref = (double)temp_cur;
jobuuu 2:a1c0a37df760 630 }
jobuuu 7:e9086c72bb22 631
jobuuu 2:a1c0a37df760 632 }
jobuuu 2:a1c0a37df760 633
jobuuu 2:a1c0a37df760 634 /******************************************************************************
jobuuu 2:a1c0a37df760 635 Information Transmission Functions
jobuuu 2:a1c0a37df760 636 *******************************************************************************/
Lightvalve 11:82d8768d7351 637
Lightvalve 11:82d8768d7351 638 void CAN_TX_INFO(void) {
Lightvalve 12:6f2531038ea4 639 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 640
jobuuu 2:a1c0a37df760 641 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 642 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 643 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 644 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 645 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 646 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 647 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 12:6f2531038ea4 648 temp_msg.data[5] = (uint8_t) CONTROL_MODE;
Lightvalve 12:6f2531038ea4 649 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 650
jobuuu 2:a1c0a37df760 651 can.write(temp_msg);
jobuuu 2:a1c0a37df760 652 }
jobuuu 2:a1c0a37df760 653
Lightvalve 11:82d8768d7351 654 void CAN_TX_BNO(void) {
Lightvalve 12:6f2531038ea4 655 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 656
jobuuu 2:a1c0a37df760 657 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 658 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 659 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 660 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 661
jobuuu 2:a1c0a37df760 662 can.write(temp_msg);
jobuuu 2:a1c0a37df760 663 }
jobuuu 2:a1c0a37df760 664
Lightvalve 11:82d8768d7351 665 void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 666 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 667
jobuuu 2:a1c0a37df760 668 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 669 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 670 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 671 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 672
jobuuu 2:a1c0a37df760 673 can.write(temp_msg);
jobuuu 2:a1c0a37df760 674 }
jobuuu 2:a1c0a37df760 675
Lightvalve 11:82d8768d7351 676 void CAN_TX_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 677 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 678
jobuuu 2:a1c0a37df760 679 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 680 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 681 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 682 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 683 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 684
jobuuu 2:a1c0a37df760 685 can.write(temp_msg);
jobuuu 2:a1c0a37df760 686 }
Lightvalve 11:82d8768d7351 687
Lightvalve 11:82d8768d7351 688 void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 689 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 690
jobuuu 2:a1c0a37df760 691 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 692 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 693 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 12:6f2531038ea4 694 temp_msg.data[1] = (uint8_t) CONTROL_MODE;
jobuuu 2:a1c0a37df760 695
jobuuu 2:a1c0a37df760 696 can.write(temp_msg);
jobuuu 2:a1c0a37df760 697 }
Lightvalve 11:82d8768d7351 698
Lightvalve 11:82d8768d7351 699 void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 700 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 701
jobuuu 2:a1c0a37df760 702 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 703 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 704 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 705 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 706 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 707
jobuuu 2:a1c0a37df760 708 can.write(temp_msg);
jobuuu 2:a1c0a37df760 709 }
jobuuu 2:a1c0a37df760 710
Lightvalve 11:82d8768d7351 711 void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 712 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 713
jobuuu 2:a1c0a37df760 714 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 715 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 716 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 717 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 718 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 719
jobuuu 2:a1c0a37df760 720 can.write(temp_msg);
jobuuu 2:a1c0a37df760 721 }
jobuuu 2:a1c0a37df760 722
Lightvalve 11:82d8768d7351 723 void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 724 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 725
jobuuu 2:a1c0a37df760 726 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 727 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 728 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 729 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 730 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 731
jobuuu 2:a1c0a37df760 732 can.write(temp_msg);
jobuuu 2:a1c0a37df760 733 }
jobuuu 2:a1c0a37df760 734
Lightvalve 11:82d8768d7351 735 void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve 12:6f2531038ea4 736 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10);
jobuuu 2:a1c0a37df760 737
jobuuu 2:a1c0a37df760 738 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 739
jobuuu 2:a1c0a37df760 740 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 741 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 742 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 743 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 744 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 745
jobuuu 2:a1c0a37df760 746 can.write(temp_msg);
jobuuu 2:a1c0a37df760 747 }
jobuuu 2:a1c0a37df760 748
Lightvalve 11:82d8768d7351 749 void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve 12:6f2531038ea4 750 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10);
jobuuu 2:a1c0a37df760 751
jobuuu 2:a1c0a37df760 752 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 753
jobuuu 2:a1c0a37df760 754 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 755 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 756 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 757 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 758 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 759
jobuuu 2:a1c0a37df760 760 can.write(temp_msg);
jobuuu 2:a1c0a37df760 761 }
Lightvalve 11:82d8768d7351 762
jobuuu 2:a1c0a37df760 763
Lightvalve 11:82d8768d7351 764 void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 765 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 766 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 767 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 768
Lightvalve 12:6f2531038ea4 769 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 770 if (t_type == 0) {
Lightvalve 12:6f2531038ea4 771 // sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 12:6f2531038ea4 772 // sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 12:6f2531038ea4 773 // sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 774 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 775 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 776 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 777 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 778 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 779 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 780 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 781 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
jobuuu 2:a1c0a37df760 782 }
jobuuu 2:a1c0a37df760 783
jobuuu 2:a1c0a37df760 784 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 785
jobuuu 2:a1c0a37df760 786 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 787 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 788 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 789 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 790 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 791 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 792 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 793 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 794 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 795 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 796
jobuuu 2:a1c0a37df760 797 can.write(temp_msg);
jobuuu 2:a1c0a37df760 798 }
jobuuu 2:a1c0a37df760 799
Lightvalve 11:82d8768d7351 800
Lightvalve 11:82d8768d7351 801 void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 802 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 803
jobuuu 2:a1c0a37df760 804 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 805 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 806 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 12:6f2531038ea4 807 temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER);
Lightvalve 12:6f2531038ea4 808 temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8);
Lightvalve 12:6f2531038ea4 809 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 810 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 811 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 812 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 813
jobuuu 2:a1c0a37df760 814 can.write(temp_msg);
jobuuu 2:a1c0a37df760 815 }
jobuuu 2:a1c0a37df760 816
Lightvalve 11:82d8768d7351 817 void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve 11:82d8768d7351 818 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 819
Lightvalve 11:82d8768d7351 820 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 821 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 822 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 823 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 824 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 825
Lightvalve 11:82d8768d7351 826 can.write(temp_msg);
Lightvalve 11:82d8768d7351 827 }
Lightvalve 11:82d8768d7351 828
Lightvalve 11:82d8768d7351 829 void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve 11:82d8768d7351 830 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 831
Lightvalve 11:82d8768d7351 832 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 833 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 834 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 835 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 836 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 837
Lightvalve 11:82d8768d7351 838 can.write(temp_msg);
Lightvalve 11:82d8768d7351 839 }
Lightvalve 11:82d8768d7351 840
Lightvalve 11:82d8768d7351 841 void CAN_TX_VALVE_FF(void) {
Lightvalve 11:82d8768d7351 842 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 843
Lightvalve 11:82d8768d7351 844 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 845 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 846 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 847 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 848 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 849
Lightvalve 11:82d8768d7351 850 can.write(temp_msg);
Lightvalve 11:82d8768d7351 851 }
Lightvalve 11:82d8768d7351 852
Lightvalve 11:82d8768d7351 853 void CAN_TX_BULK_MODULUS(void) {
Lightvalve 11:82d8768d7351 854 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 855
Lightvalve 11:82d8768d7351 856 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 857 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 858 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 859 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 860 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 861
Lightvalve 11:82d8768d7351 862 can.write(temp_msg);
Lightvalve 11:82d8768d7351 863 }
Lightvalve 11:82d8768d7351 864
Lightvalve 11:82d8768d7351 865 void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve 11:82d8768d7351 866 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 867
Lightvalve 11:82d8768d7351 868 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 869 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 870 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 871 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 872 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 873 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 874 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 875
Lightvalve 11:82d8768d7351 876 can.write(temp_msg);
Lightvalve 11:82d8768d7351 877 }
Lightvalve 11:82d8768d7351 878
Lightvalve 11:82d8768d7351 879 void CAN_TX_PISTON_AREA(void) {
jobuuu 2:a1c0a37df760 880 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 881
Lightvalve 11:82d8768d7351 882 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 883 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 884 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 885 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 886 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 887 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 888 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 889
Lightvalve 11:82d8768d7351 890 can.write(temp_msg);
Lightvalve 11:82d8768d7351 891 }
Lightvalve 11:82d8768d7351 892
Lightvalve 11:82d8768d7351 893 void CAN_TX_PRES_A_AND_B(void) {
Lightvalve 11:82d8768d7351 894 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 895
Lightvalve 11:82d8768d7351 896 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 897 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 898 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 899 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 900 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 901 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 902 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 903
Lightvalve 11:82d8768d7351 904 can.write(temp_msg);
Lightvalve 11:82d8768d7351 905 }
Lightvalve 11:82d8768d7351 906
Lightvalve 11:82d8768d7351 907 void CAN_TX_ENC_LIMIT(void) {
Lightvalve 11:82d8768d7351 908 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 909
Lightvalve 11:82d8768d7351 910 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 911 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 912 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 913 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 914 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 915 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 916 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 917
Lightvalve 11:82d8768d7351 918 can.write(temp_msg);
Lightvalve 11:82d8768d7351 919 }
Lightvalve 11:82d8768d7351 920
Lightvalve 11:82d8768d7351 921 void CAN_TX_STROKE(void) {
Lightvalve 11:82d8768d7351 922 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 923
Lightvalve 11:82d8768d7351 924 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 925 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 926 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 927 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 928 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 929
Lightvalve 11:82d8768d7351 930 can.write(temp_msg);
Lightvalve 11:82d8768d7351 931 }
Lightvalve 11:82d8768d7351 932
Lightvalve 11:82d8768d7351 933 void CAN_TX_VALVE_LIMIT(void) {
Lightvalve 11:82d8768d7351 934 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 935
Lightvalve 11:82d8768d7351 936 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 937 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 938 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 12:6f2531038ea4 939 temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 940 temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 941 temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 942 temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 943
Lightvalve 11:82d8768d7351 944 can.write(temp_msg);
Lightvalve 11:82d8768d7351 945 }
Lightvalve 11:82d8768d7351 946
Lightvalve 11:82d8768d7351 947 void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve 11:82d8768d7351 948 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 949
jobuuu 2:a1c0a37df760 950 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 951 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 952 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 12:6f2531038ea4 953 temp_msg.data[1] = (uint8_t) ENC_PULSE_PER_POSITION;
Lightvalve 12:6f2531038ea4 954 temp_msg.data[2] = (uint8_t) (ENC_PULSE_PER_POSITION >> 8);
jobuuu 2:a1c0a37df760 955
jobuuu 2:a1c0a37df760 956 can.write(temp_msg);
jobuuu 2:a1c0a37df760 957 }
jobuuu 2:a1c0a37df760 958
Lightvalve 11:82d8768d7351 959 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu 2:a1c0a37df760 960 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 961
jobuuu 2:a1c0a37df760 962 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 963 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 964 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 12:6f2531038ea4 965 temp_msg.data[1] = (uint8_t) TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 12:6f2531038ea4 966 temp_msg.data[2] = (uint8_t) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8);
jobuuu 2:a1c0a37df760 967
jobuuu 2:a1c0a37df760 968 can.write(temp_msg);
jobuuu 2:a1c0a37df760 969 }
jobuuu 2:a1c0a37df760 970
Lightvalve 11:82d8768d7351 971 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu 2:a1c0a37df760 972 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 973
jobuuu 2:a1c0a37df760 974 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 975 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 976 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 12:6f2531038ea4 977 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.);
Lightvalve 12:6f2531038ea4 978 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8);
Lightvalve 12:6f2531038ea4 979 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.);
Lightvalve 12:6f2531038ea4 980 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8);
jobuuu 2:a1c0a37df760 981
jobuuu 2:a1c0a37df760 982 can.write(temp_msg);
jobuuu 2:a1c0a37df760 983 }
jobuuu 2:a1c0a37df760 984
Lightvalve 11:82d8768d7351 985 void CAN_TX_FRICTION(void) {
Lightvalve 11:82d8768d7351 986 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 987 int16_t send_friction;
Lightvalve 12:6f2531038ea4 988 send_friction = (int16_t) (FRICTION * 10.);
Lightvalve 11:82d8768d7351 989
Lightvalve 11:82d8768d7351 990 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 991 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 992 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 993 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 994 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
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_VALVE_GAIN_PLUS(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 = 6;
Lightvalve 12:6f2531038ea4 1004 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 12:6f2531038ea4 1005 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.);
Lightvalve 12:6f2531038ea4 1006 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.);
Lightvalve 12:6f2531038ea4 1007 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.);
Lightvalve 12:6f2531038ea4 1008 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.);
Lightvalve 12:6f2531038ea4 1009 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.);
Lightvalve 11:82d8768d7351 1010
Lightvalve 11:82d8768d7351 1011 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1012 }
Lightvalve 11:82d8768d7351 1013
Lightvalve 11:82d8768d7351 1014 void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve 11:82d8768d7351 1015 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1016
Lightvalve 11:82d8768d7351 1017 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1018 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1019 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 12:6f2531038ea4 1020 temp_msg.data[1] = (uint8_t) VALVE_DEADZONE_MINUS;
Lightvalve 12:6f2531038ea4 1021 temp_msg.data[2] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
Lightvalve 12:6f2531038ea4 1022 temp_msg.data[3] = (uint8_t) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 1023 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 1024 temp_msg.data[5] = (uint8_t) (DDV_CENTER);
Lightvalve 12:6f2531038ea4 1025 temp_msg.data[6] = (uint8_t) ((int) (DDV_CENTER) >> 8);
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_VALVE_GAIN_MINUS(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 12:6f2531038ea4 1035 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 12:6f2531038ea4 1036 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.);
Lightvalve 12:6f2531038ea4 1037 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.);
Lightvalve 12:6f2531038ea4 1038 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.);
Lightvalve 12:6f2531038ea4 1039 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.);
Lightvalve 12:6f2531038ea4 1040 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.);
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_REFENCE_MODE(void) {
Lightvalve 11:82d8768d7351 1046 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1047
Lightvalve 11:82d8768d7351 1048 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1049 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1050 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1051 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 12:6f2531038ea4 1052 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.);
Lightvalve 12:6f2531038ea4 1053 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.) >> 8);
Lightvalve 12:6f2531038ea4 1054 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.);
Lightvalve 12:6f2531038ea4 1055 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.) >> 8);
Lightvalve 11:82d8768d7351 1056
Lightvalve 11:82d8768d7351 1057 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1058 }
Lightvalve 11:82d8768d7351 1059
Lightvalve 11:82d8768d7351 1060 void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve 11:82d8768d7351 1061 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1062 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1063 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 1064
jobuuu 2:a1c0a37df760 1065 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1066 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1067 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1068 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1069 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1070
jobuuu 2:a1c0a37df760 1071 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1072 }
Lightvalve 11:82d8768d7351 1073
Lightvalve 11:82d8768d7351 1074 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve 11:82d8768d7351 1075 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1076 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1077 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 1078
Lightvalve 11:82d8768d7351 1079 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1080 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1081 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1082 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1083 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1084
Lightvalve 11:82d8768d7351 1085 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1086 }
Lightvalve 11:82d8768d7351 1087
Lightvalve 12:6f2531038ea4 1088 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve 11:82d8768d7351 1089 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1090 int16_t valve_pos_vs_pwm;
Lightvalve 11:82d8768d7351 1091 valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 11:82d8768d7351 1092
Lightvalve 12:6f2531038ea4 1093 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1094 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 11:82d8768d7351 1095
Lightvalve 11:82d8768d7351 1096 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1097 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1098 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1099 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1100 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1101 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1102 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1103
Lightvalve 11:82d8768d7351 1104 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1105 }
Lightvalve 11:82d8768d7351 1106
Lightvalve 12:6f2531038ea4 1107 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve 11:82d8768d7351 1108 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1109 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1110 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1111
Lightvalve 11:82d8768d7351 1112 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 50 + DDV_CENTER;
Lightvalve 11:82d8768d7351 1113
Lightvalve 11:82d8768d7351 1114 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1115 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1116 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 12:6f2531038ea4 1117 temp_msg.data[1] = (uint8_t) VALVE_POS_VALVE_ID;
Lightvalve 12:6f2531038ea4 1118 temp_msg.data[2] = (uint8_t) (VALVE_POS_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1119 temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 12:6f2531038ea4 1120 temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 12:6f2531038ea4 1121 temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 12:6f2531038ea4 1122 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
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_POS_NUM(void) {
Lightvalve 11:82d8768d7351 1128 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1129 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1130 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1131
Lightvalve 11:82d8768d7351 1132 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1133 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1134 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1135 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1136 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1137
Lightvalve 11:82d8768d7351 1138 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1139 }
Lightvalve 11:82d8768d7351 1140
jobuuu 2:a1c0a37df760 1141 /******************************************************************************
jobuuu 2:a1c0a37df760 1142 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1143 *******************************************************************************/
jobuuu 2:a1c0a37df760 1144
Lightvalve 12:6f2531038ea4 1145 void CAN_TX_POSITION(int32_t t_pos, int32_t t_vel) {
jobuuu 2:a1c0a37df760 1146 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1147
jobuuu 2:a1c0a37df760 1148 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1149 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1150 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1151 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 12:6f2531038ea4 1152 temp_msg.data[2] = (uint8_t) (t_pos >> 16);
Lightvalve 12:6f2531038ea4 1153 temp_msg.data[3] = (uint8_t) (t_pos >> 24);
Lightvalve 12:6f2531038ea4 1154 temp_msg.data[4] = (uint8_t) t_vel;
Lightvalve 12:6f2531038ea4 1155 temp_msg.data[5] = (uint8_t) (t_vel >> 8);
Lightvalve 12:6f2531038ea4 1156 temp_msg.data[6] = (uint8_t) (t_vel >> 16);
Lightvalve 12:6f2531038ea4 1157 temp_msg.data[7] = (uint8_t) (t_vel >> 24);
jobuuu 2:a1c0a37df760 1158
jobuuu 2:a1c0a37df760 1159 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1160 }
jobuuu 2:a1c0a37df760 1161
Lightvalve 11:82d8768d7351 1162 void CAN_TX_TORQUE(int16_t t_torque) {
jobuuu 2:a1c0a37df760 1163 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1164
jobuuu 2:a1c0a37df760 1165 temp_msg.id = CID_TX_TORQUE;
jobuuu 2:a1c0a37df760 1166 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 1167 temp_msg.data[0] = (uint8_t) t_torque;
Lightvalve 12:6f2531038ea4 1168 temp_msg.data[1] = (uint8_t) (t_torque >> 8);
jobuuu 2:a1c0a37df760 1169
jobuuu 2:a1c0a37df760 1170 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1171 }
jobuuu 2:a1c0a37df760 1172
Lightvalve 11:82d8768d7351 1173 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 1174 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1175
jobuuu 2:a1c0a37df760 1176 temp_msg.id = CID_TX_PRES;
jobuuu 2:a1c0a37df760 1177 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1178 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1179 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1180 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1181 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1182
jobuuu 2:a1c0a37df760 1183 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1184 }
jobuuu 2:a1c0a37df760 1185
Lightvalve 11:82d8768d7351 1186 void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 1187 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1188
jobuuu 2:a1c0a37df760 1189 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1190 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1191 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1192 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1193
jobuuu 2:a1c0a37df760 1194 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1195 }
jobuuu 2:a1c0a37df760 1196
Lightvalve 11:82d8768d7351 1197 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) {
jobuuu 2:a1c0a37df760 1198 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1199
jobuuu 2:a1c0a37df760 1200 temp_msg.id = CID_TX_VALVE_POSITION;
jobuuu 2:a1c0a37df760 1201 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1202 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 12:6f2531038ea4 1203 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 1204
jobuuu 2:a1c0a37df760 1205 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1206 }