Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@73:f80dc3970c99, 2020-06-08 (annotated)

Committer:
Lightvalve
Date:
Mon Jun 08 11:00:23 2020 +0000
Revision:
73:f80dc3970c99
Parent:
72:3436ce769b1e
Child:
85:a3b46118b5cd
200608

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"
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 68:328e1be06f5d 26 extern float x_past[];
Lightvalve 68:328e1be06f5d 27 extern float f_past[];
Lightvalve 68:328e1be06f5d 28 extern float f_future[];
Lightvalve 73:f80dc3970c99 29 extern float input_NN[];
Lightvalve 68:328e1be06f5d 30
Lightvalve 11:82d8768d7351 31 /*******************************************************************************
Lightvalve 11:82d8768d7351 32 * CAN functions
Lightvalve 11:82d8768d7351 33 ******************************************************************************/
Lightvalve 11:82d8768d7351 34 void CAN_ID_INIT(void) {
jobuuu 7:e9086c72bb22 35
Lightvalve 11:82d8768d7351 36 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 37 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve 49:e7bcfc244d40 38 CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve 45:35fa6884d0c6 39 CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve 11:82d8768d7351 40
Lightvalve 11:82d8768d7351 41 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve 11:82d8768d7351 42 CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve 11:82d8768d7351 43 CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve 11:82d8768d7351 44 CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve 11:82d8768d7351 45 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 46 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve 11:82d8768d7351 47 }
jobuuu 2:a1c0a37df760 48
Lightvalve 28:2a62d73e3dd0 49 void ReadCMD(int16_t CMD)
jobuuu 2:a1c0a37df760 50 {
jobuuu 2:a1c0a37df760 51 switch(CMD){
Lightvalve 11:82d8768d7351 52 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 53 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 54 break;
Lightvalve 11:82d8768d7351 55 }
Lightvalve 11:82d8768d7351 56 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 57 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 58 break;
Lightvalve 11:82d8768d7351 59 }
Lightvalve 11:82d8768d7351 60 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 61 BNO = (int16_t) msg.data[1];
Lightvalve 16:903b5a4433b4 62
Lightvalve 16:903b5a4433b4 63 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 64
Lightvalve 16:903b5a4433b4 65 //spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 66 CAN_ID_INIT(); // can id init
Lightvalve 11:82d8768d7351 67 break;
Lightvalve 11:82d8768d7351 68 }
Lightvalve 11:82d8768d7351 69 case CRX_ASK_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 70 CAN_TX_OPERATING_MODE();
Lightvalve 11:82d8768d7351 71 break;
Lightvalve 11:82d8768d7351 72 }
Lightvalve 11:82d8768d7351 73 case CRX_SET_OPERATING_MODE: {
Lightvalve 52:8ea76864368a 74 OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve 52:8ea76864368a 75 SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve 52:8ea76864368a 76 CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve 52:8ea76864368a 77 FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve 16:903b5a4433b4 78 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 79 break;
Lightvalve 11:82d8768d7351 80 }
Lightvalve 11:82d8768d7351 81 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 82 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 83
Lightvalve 11:82d8768d7351 84 break;
Lightvalve 11:82d8768d7351 85 }
Lightvalve 11:82d8768d7351 86 case CRX_SET_FET_ON: {
Lightvalve 11:82d8768d7351 87
Lightvalve 11:82d8768d7351 88 break;
Lightvalve 11:82d8768d7351 89 }
Lightvalve 11:82d8768d7351 90
Lightvalve 45:35fa6884d0c6 91 case CRX_SET_POS_TORQ_TRANS: {
Lightvalve 45:35fa6884d0c6 92 MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve 45:35fa6884d0c6 93 /*
Lightvalve 45:35fa6884d0c6 94 MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve 45:35fa6884d0c6 95 MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve 45:35fa6884d0c6 96 MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve 45:35fa6884d0c6 97 MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve 45:35fa6884d0c6 98 */
Lightvalve 11:82d8768d7351 99 break;
Lightvalve 11:82d8768d7351 100 }
Lightvalve 11:82d8768d7351 101
Lightvalve 11:82d8768d7351 102 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 103 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 104
Lightvalve 11:82d8768d7351 105 break;
Lightvalve 11:82d8768d7351 106 }
Lightvalve 11:82d8768d7351 107
Lightvalve 11:82d8768d7351 108 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 109 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 110 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 111 break;
Lightvalve 11:82d8768d7351 112 }
Lightvalve 11:82d8768d7351 113
Lightvalve 11:82d8768d7351 114 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 115 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 116
Lightvalve 11:82d8768d7351 117 break;
Lightvalve 11:82d8768d7351 118 }
Lightvalve 11:82d8768d7351 119
Lightvalve 11:82d8768d7351 120 case CRX_SET_CONTROL_MODE: {
Lightvalve 57:f4819de54e7a 121 //CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 57:f4819de54e7a 122 CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 123 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 124 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 125 }
Lightvalve 11:82d8768d7351 126 break;
Lightvalve 11:82d8768d7351 127 }
Lightvalve 11:82d8768d7351 128
Lightvalve 11:82d8768d7351 129 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 130 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 131 flag_data_request[request_type] = msg.data[1];
Lightvalve 14:8e7590227d22 132 //pc.printf("can middle %d\n", request_type);
Lightvalve 11:82d8768d7351 133
Lightvalve 12:6f2531038ea4 134 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 135 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 136 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 137 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 11:82d8768d7351 138
Lightvalve 11:82d8768d7351 139 break;
Lightvalve 11:82d8768d7351 140 }
Lightvalve 11:82d8768d7351 141
Lightvalve 11:82d8768d7351 142 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 143 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 144
Lightvalve 11:82d8768d7351 145 break;
Lightvalve 11:82d8768d7351 146 }
Lightvalve 11:82d8768d7351 147
Lightvalve 11:82d8768d7351 148 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 149 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 150 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 151 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 152 else
Lightvalve 11:82d8768d7351 153 DIR_JOINT_ENC = -1;
Lightvalve 16:903b5a4433b4 154
Lightvalve 16:903b5a4433b4 155 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 156
Lightvalve 16:903b5a4433b4 157 //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 158
Lightvalve 11:82d8768d7351 159 break;
Lightvalve 11:82d8768d7351 160 }
Lightvalve 11:82d8768d7351 161
Lightvalve 11:82d8768d7351 162 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 163 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 164
Lightvalve 11:82d8768d7351 165 break;
Lightvalve 11:82d8768d7351 166 }
Lightvalve 11:82d8768d7351 167
Lightvalve 11:82d8768d7351 168 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 169 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 170 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 171 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 172 else
Lightvalve 11:82d8768d7351 173 DIR_VALVE = -1;
Lightvalve 16:903b5a4433b4 174
Lightvalve 16:903b5a4433b4 175 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 176
Lightvalve 16:903b5a4433b4 177 //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 178
Lightvalve 11:82d8768d7351 179 break;
Lightvalve 11:82d8768d7351 180 }
Lightvalve 11:82d8768d7351 181
Lightvalve 11:82d8768d7351 182 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 183 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 184
Lightvalve 11:82d8768d7351 185 break;
Lightvalve 11:82d8768d7351 186 }
Lightvalve 11:82d8768d7351 187
Lightvalve 11:82d8768d7351 188 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 189 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 190 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 191 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 192 else
Lightvalve 11:82d8768d7351 193 DIR_VALVE_ENC = -1;
Lightvalve 16:903b5a4433b4 194
Lightvalve 16:903b5a4433b4 195 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 196
Lightvalve 16:903b5a4433b4 197 //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 198
Lightvalve 11:82d8768d7351 199 break;
Lightvalve 11:82d8768d7351 200 }
Lightvalve 11:82d8768d7351 201
Lightvalve 11:82d8768d7351 202 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 203 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 204
Lightvalve 11:82d8768d7351 205 break;
Lightvalve 11:82d8768d7351 206 }
Lightvalve 11:82d8768d7351 207
Lightvalve 11:82d8768d7351 208 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 30:8d561f16383b 209 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 210
Lightvalve 16:903b5a4433b4 211 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 212
Lightvalve 16:903b5a4433b4 213 //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve 11:82d8768d7351 214
Lightvalve 11:82d8768d7351 215 break;
Lightvalve 11:82d8768d7351 216 }
Lightvalve 11:82d8768d7351 217
Lightvalve 11:82d8768d7351 218 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 219 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 220
Lightvalve 11:82d8768d7351 221 break;
Lightvalve 11:82d8768d7351 222 }
Lightvalve 11:82d8768d7351 223
Lightvalve 11:82d8768d7351 224 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 30:8d561f16383b 225 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 226
Lightvalve 16:903b5a4433b4 227 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 228
Lightvalve 16:903b5a4433b4 229 //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve 11:82d8768d7351 230
Lightvalve 11:82d8768d7351 231
Lightvalve 11:82d8768d7351 232 break;
Lightvalve 11:82d8768d7351 233 }
Lightvalve 12:6f2531038ea4 234
Lightvalve 11:82d8768d7351 235 case CRX_SET_HOMEPOS: {
Lightvalve 57:f4819de54e7a 236 //CONTROL_MODE = 22;
Lightvalve 57:f4819de54e7a 237 CONTROL_UTILITY_MODE = 22;
Lightvalve 11:82d8768d7351 238 break;
Lightvalve 11:82d8768d7351 239 }
Lightvalve 11:82d8768d7351 240
Lightvalve 11:82d8768d7351 241 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 242 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 243
Lightvalve 11:82d8768d7351 244 break;
Lightvalve 11:82d8768d7351 245 }
Lightvalve 11:82d8768d7351 246
Lightvalve 11:82d8768d7351 247 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 248 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 249 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 250 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 251 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 252
Lightvalve 16:903b5a4433b4 253 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 254
Lightvalve 11:82d8768d7351 255 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 256 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 257 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 258 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 259
Lightvalve 16:903b5a4433b4 260 ROM_RESET_DATA();
Lightvalve 48:889798ff9329 261
Lightvalve 11:82d8768d7351 262 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 263 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 264 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 265 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 266
Lightvalve 16:903b5a4433b4 267 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 268
Lightvalve 46:2694daea349b 269 } else if (msg.data[1] == 3) {
Lightvalve 67:c2812cf26c38 270 K_SPRING = (float) (((float) ((int16_t) (msg.data[2] | msg.data[3] << 8))) * 0.1f);
Lightvalve 67:c2812cf26c38 271 D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f);
Lightvalve 46:2694daea349b 272
Lightvalve 67:c2812cf26c38 273 // ROM_RESET_DATA(); //For Real-time changing
Lightvalve 72:3436ce769b1e 274 } else if (msg.data[1] == 4) {
Lightvalve 72:3436ce769b1e 275 P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 72:3436ce769b1e 276 I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 72:3436ce769b1e 277 D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 72:3436ce769b1e 278
Lightvalve 72:3436ce769b1e 279 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 280 }
Lightvalve 11:82d8768d7351 281
Lightvalve 11:82d8768d7351 282 break;
Lightvalve 11:82d8768d7351 283 }
Lightvalve 11:82d8768d7351 284
Lightvalve 11:82d8768d7351 285 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 286 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 287
Lightvalve 11:82d8768d7351 288 break;
Lightvalve 11:82d8768d7351 289 }
Lightvalve 11:82d8768d7351 290
Lightvalve 11:82d8768d7351 291 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 292 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 293 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 294 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 16:903b5a4433b4 295
Lightvalve 16:903b5a4433b4 296 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 297
Lightvalve 11:82d8768d7351 298 break;
Lightvalve 11:82d8768d7351 299 }
Lightvalve 11:82d8768d7351 300
Lightvalve 11:82d8768d7351 301 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 302 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 303
Lightvalve 11:82d8768d7351 304 break;
Lightvalve 11:82d8768d7351 305 }
Lightvalve 11:82d8768d7351 306
Lightvalve 11:82d8768d7351 307 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 308 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 309
Lightvalve 16:903b5a4433b4 310 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 311
Lightvalve 16:903b5a4433b4 312 //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 313
Lightvalve 11:82d8768d7351 314 break;
Lightvalve 11:82d8768d7351 315 }
Lightvalve 11:82d8768d7351 316
Lightvalve 11:82d8768d7351 317 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 318 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 319
Lightvalve 11:82d8768d7351 320 break;
Lightvalve 11:82d8768d7351 321 }
Lightvalve 11:82d8768d7351 322
Lightvalve 11:82d8768d7351 323 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 324 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 325
Lightvalve 16:903b5a4433b4 326 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 327
Lightvalve 16:903b5a4433b4 328 //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 329
Lightvalve 11:82d8768d7351 330 break;
Lightvalve 11:82d8768d7351 331 }
Lightvalve 11:82d8768d7351 332
Lightvalve 11:82d8768d7351 333 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 334 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 335
Lightvalve 11:82d8768d7351 336 break;
Lightvalve 11:82d8768d7351 337 }
Lightvalve 11:82d8768d7351 338
Lightvalve 11:82d8768d7351 339 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 340 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 341
Lightvalve 16:903b5a4433b4 342 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 343
Lightvalve 16:903b5a4433b4 344 //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 345
Lightvalve 11:82d8768d7351 346 break;
Lightvalve 11:82d8768d7351 347 }
Lightvalve 11:82d8768d7351 348
Lightvalve 11:82d8768d7351 349 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 350 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 351
Lightvalve 11:82d8768d7351 352 break;
Lightvalve 11:82d8768d7351 353 }
Lightvalve 11:82d8768d7351 354
Lightvalve 11:82d8768d7351 355 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 356 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 357
Lightvalve 16:903b5a4433b4 358 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 359
Lightvalve 16:903b5a4433b4 360 //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 361
Lightvalve 11:82d8768d7351 362 break;
Lightvalve 11:82d8768d7351 363 }
Lightvalve 11:82d8768d7351 364
Lightvalve 11:82d8768d7351 365 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 366 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 367
Lightvalve 11:82d8768d7351 368 break;
Lightvalve 11:82d8768d7351 369 }
Lightvalve 11:82d8768d7351 370
Lightvalve 11:82d8768d7351 371 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 372 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 373 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 374
Lightvalve 16:903b5a4433b4 375 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 376
Lightvalve 16:903b5a4433b4 377 //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 378 //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 379
Lightvalve 11:82d8768d7351 380 break;
Lightvalve 11:82d8768d7351 381 }
Lightvalve 11:82d8768d7351 382
Lightvalve 11:82d8768d7351 383 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 384 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 385
Lightvalve 11:82d8768d7351 386 break;
Lightvalve 11:82d8768d7351 387 }
Lightvalve 11:82d8768d7351 388
Lightvalve 11:82d8768d7351 389 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 390 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 391 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 69:3995ffeaa786 392 PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve 57:f4819de54e7a 393 alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve 16:903b5a4433b4 394
Lightvalve 16:903b5a4433b4 395 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 396
Lightvalve 16:903b5a4433b4 397 //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 398 //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 399 break;
Lightvalve 11:82d8768d7351 400 }
Lightvalve 11:82d8768d7351 401
Lightvalve 11:82d8768d7351 402 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 403 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 404 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 405 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 406 //dac_2 = PRES_B_VREF;
Lightvalve 12:6f2531038ea4 407
Lightvalve 11:82d8768d7351 408 break;
Lightvalve 11:82d8768d7351 409 }
Lightvalve 11:82d8768d7351 410
Lightvalve 11:82d8768d7351 411 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 412 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 413 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 414 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 415 //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 416 //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 417
Lightvalve 11:82d8768d7351 418
Lightvalve 11:82d8768d7351 419 break;
Lightvalve 11:82d8768d7351 420 }
Lightvalve 11:82d8768d7351 421
Lightvalve 11:82d8768d7351 422 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 423 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 424
Lightvalve 11:82d8768d7351 425 break;
Lightvalve 11:82d8768d7351 426 }
Lightvalve 11:82d8768d7351 427
Lightvalve 11:82d8768d7351 428 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 429 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 430 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 431 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 432 //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 433 //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 434
Lightvalve 11:82d8768d7351 435 break;
Lightvalve 11:82d8768d7351 436 }
Lightvalve 11:82d8768d7351 437
Lightvalve 11:82d8768d7351 438 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 439 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 440 break;
Lightvalve 11:82d8768d7351 441 }
Lightvalve 11:82d8768d7351 442
Lightvalve 11:82d8768d7351 443 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 444 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 445 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 446 //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 447
Lightvalve 11:82d8768d7351 448 break;
Lightvalve 11:82d8768d7351 449 }
Lightvalve 11:82d8768d7351 450
Lightvalve 11:82d8768d7351 451 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 452 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 453
Lightvalve 11:82d8768d7351 454 break;
Lightvalve 11:82d8768d7351 455 }
Lightvalve 11:82d8768d7351 456
Lightvalve 11:82d8768d7351 457 case CRX_SET_VALVE_LIMIT: {
Lightvalve 57:f4819de54e7a 458 VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 57:f4819de54e7a 459 VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 460 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 461
Lightvalve 11:82d8768d7351 462 break;
Lightvalve 11:82d8768d7351 463 }
Lightvalve 11:82d8768d7351 464
Lightvalve 11:82d8768d7351 465 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 466 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 467
Lightvalve 11:82d8768d7351 468 break;
Lightvalve 11:82d8768d7351 469 }
Lightvalve 11:82d8768d7351 470
Lightvalve 11:82d8768d7351 471 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 472 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 473 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 474 //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve 11:82d8768d7351 475
Lightvalve 11:82d8768d7351 476 break;
Lightvalve 11:82d8768d7351 477 }
Lightvalve 11:82d8768d7351 478
Lightvalve 11:82d8768d7351 479 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 480 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 481
Lightvalve 11:82d8768d7351 482 break;
Lightvalve 11:82d8768d7351 483 }
Lightvalve 11:82d8768d7351 484
Lightvalve 11:82d8768d7351 485 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 48:889798ff9329 486 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.01f);
Lightvalve 16:903b5a4433b4 487 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 488 //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve 11:82d8768d7351 489
Lightvalve 11:82d8768d7351 490 break;
Lightvalve 11:82d8768d7351 491 }
Lightvalve 11:82d8768d7351 492
Lightvalve 11:82d8768d7351 493 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 494 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 495
Lightvalve 11:82d8768d7351 496 break;
Lightvalve 11:82d8768d7351 497 }
Lightvalve 11:82d8768d7351 498
Lightvalve 11:82d8768d7351 499 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 30:8d561f16383b 500 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 30:8d561f16383b 501 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 16:903b5a4433b4 502 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 503 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 16:903b5a4433b4 504 //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 505
Lightvalve 11:82d8768d7351 506 break;
Lightvalve 11:82d8768d7351 507 }
Lightvalve 11:82d8768d7351 508
Lightvalve 11:82d8768d7351 509 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 510 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 511
Lightvalve 11:82d8768d7351 512 break;
Lightvalve 11:82d8768d7351 513 }
Lightvalve 11:82d8768d7351 514
Lightvalve 11:82d8768d7351 515 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 516 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 517 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 518 //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 519
Lightvalve 11:82d8768d7351 520 break;
Lightvalve 11:82d8768d7351 521 }
Lightvalve 11:82d8768d7351 522
Lightvalve 11:82d8768d7351 523 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 524 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 525
Lightvalve 11:82d8768d7351 526 break;
Lightvalve 11:82d8768d7351 527 }
Lightvalve 11:82d8768d7351 528 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 529 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 530 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 531 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 532 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 533 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 534 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 535 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 30:8d561f16383b 536 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 30:8d561f16383b 537 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 30:8d561f16383b 538 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 30:8d561f16383b 539 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 540
Lightvalve 11:82d8768d7351 541 break;
Lightvalve 11:82d8768d7351 542 }
Lightvalve 11:82d8768d7351 543
Lightvalve 11:82d8768d7351 544 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 545 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 546
Lightvalve 11:82d8768d7351 547 break;
Lightvalve 11:82d8768d7351 548 }
Lightvalve 11:82d8768d7351 549 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 550 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 551 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 552 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 553 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 554 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 555 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 556 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 30:8d561f16383b 557 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 30:8d561f16383b 558 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 30:8d561f16383b 559 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 30:8d561f16383b 560 //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 561
Lightvalve 11:82d8768d7351 562 break;
Lightvalve 11:82d8768d7351 563 }
Lightvalve 11:82d8768d7351 564 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 565 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 566 break;
Lightvalve 11:82d8768d7351 567 }
Lightvalve 11:82d8768d7351 568
Lightvalve 11:82d8768d7351 569 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 570 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 571
Lightvalve 11:82d8768d7351 572 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 573 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 574 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 575 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 576 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 577
Lightvalve 11:82d8768d7351 578 break;
Lightvalve 11:82d8768d7351 579 }
Lightvalve 11:82d8768d7351 580
Lightvalve 11:82d8768d7351 581 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 582 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 583
Lightvalve 11:82d8768d7351 584 break;
Lightvalve 11:82d8768d7351 585 }
Lightvalve 11:82d8768d7351 586
Lightvalve 11:82d8768d7351 587 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 588
Lightvalve 12:6f2531038ea4 589 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 590 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 591 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 592 }
Lightvalve 11:82d8768d7351 593
Lightvalve 11:82d8768d7351 594 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 595
Lightvalve 11:82d8768d7351 596
Lightvalve 11:82d8768d7351 597 break;
Lightvalve 11:82d8768d7351 598 }
Lightvalve 11:82d8768d7351 599
Lightvalve 11:82d8768d7351 600 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 601 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 602 break;
Lightvalve 11:82d8768d7351 603 }
Lightvalve 11:82d8768d7351 604 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 605 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 606 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 607 //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 608 break;
Lightvalve 11:82d8768d7351 609 }
Lightvalve 11:82d8768d7351 610
Lightvalve 11:82d8768d7351 611 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 612 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 613 break;
Lightvalve 11:82d8768d7351 614 }
Lightvalve 11:82d8768d7351 615 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 616 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 617 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 618 //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 619 break;
Lightvalve 11:82d8768d7351 620 }
Lightvalve 11:82d8768d7351 621
Lightvalve 11:82d8768d7351 622 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 623 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 624 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 625 break;
Lightvalve 11:82d8768d7351 626 }
Lightvalve 11:82d8768d7351 627 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 628 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 629 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 630 break;
Lightvalve 11:82d8768d7351 631 }
Lightvalve 11:82d8768d7351 632 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 633 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 634 break;
Lightvalve 11:82d8768d7351 635 }
Lightvalve 28:2a62d73e3dd0 636
Lightvalve 28:2a62d73e3dd0 637 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 638 ROM_RESET_DATA();
Lightvalve 28:2a62d73e3dd0 639 break;
Lightvalve 28:2a62d73e3dd0 640 }
Lightvalve 32:4b8c0fedaf2c 641 case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve 57:f4819de54e7a 642 VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 57:f4819de54e7a 643 VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 644 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 645 break;
Lightvalve 33:91b17819ec30 646 }
Lightvalve 33:91b17819ec30 647 case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve 33:91b17819ec30 648 VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 649 VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 650 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 651 break;
Lightvalve 33:91b17819ec30 652 }
Lightvalve 33:91b17819ec30 653 case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve 33:91b17819ec30 654 VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 655 VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve 32:4b8c0fedaf2c 656 ROM_RESET_DATA();
Lightvalve 32:4b8c0fedaf2c 657 break;
Lightvalve 32:4b8c0fedaf2c 658 }
Lightvalve 36:a46e63505ed8 659 case CRX_SET_PID_GAIN_OPP: {
Lightvalve 36:a46e63505ed8 660 if (msg.data[1] == 0) {
Lightvalve 36:a46e63505ed8 661 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 662 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 663 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 664
Lightvalve 36:a46e63505ed8 665 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 666
Lightvalve 36:a46e63505ed8 667 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 668 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 669 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 670
Lightvalve 36:a46e63505ed8 671
Lightvalve 36:a46e63505ed8 672 } else if (msg.data[1] == 1) {
Lightvalve 36:a46e63505ed8 673 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 674 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 675 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 676
Lightvalve 36:a46e63505ed8 677 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 678
Lightvalve 36:a46e63505ed8 679 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 680 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 681 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 682 } else if (msg.data[1] == 2) {
Lightvalve 36:a46e63505ed8 683 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 684 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 685 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 686
Lightvalve 36:a46e63505ed8 687 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 688
Lightvalve 36:a46e63505ed8 689 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 690 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 691 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 692 }
Lightvalve 36:a46e63505ed8 693 break;
Lightvalve 36:a46e63505ed8 694 }
Lightvalve 38:118df027d851 695 case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve 57:f4819de54e7a 696 //CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 38:118df027d851 697 CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve 38:118df027d851 698 break;
Lightvalve 38:118df027d851 699 }
Lightvalve 54:647072f5307a 700 case CRX_DELAY_TEST:{
Lightvalve 54:647072f5307a 701 flag_delay_test = 1;
Lightvalve 54:647072f5307a 702 break;
Lightvalve 54:647072f5307a 703 }
Lightvalve 68:328e1be06f5d 704 case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve 68:328e1be06f5d 705 NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve 68:328e1be06f5d 706 CONTROL_UTILITY_MODE = 1;
Lightvalve 68:328e1be06f5d 707 break;
Lightvalve 68:328e1be06f5d 708 }
Lightvalve 38:118df027d851 709
jobuuu 2:a1c0a37df760 710 default:
jobuuu 2:a1c0a37df760 711 break;
jobuuu 2:a1c0a37df760 712 }
jobuuu 2:a1c0a37df760 713 }
jobuuu 2:a1c0a37df760 714
jobuuu 2:a1c0a37df760 715 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 716 {
Lightvalve 23:59218d4a256d 717
jobuuu 2:a1c0a37df760 718 can.read(msg);
jobuuu 2:a1c0a37df760 719 unsigned int address = msg.id;
jobuuu 7:e9086c72bb22 720 if(address==CID_RX_CMD){
jobuuu 2:a1c0a37df760 721 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 722 ReadCMD(CMD);
Lightvalve 57:f4819de54e7a 723
jobuuu 7:e9086c72bb22 724 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 57:f4819de54e7a 725
Lightvalve 43:b084e5f5d0d5 726 int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 43:b084e5f5d0d5 727 int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 57:f4819de54e7a 728 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 41:abbd4e2af68b 729
Lightvalve 57:f4819de54e7a 730 if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve 57:f4819de54e7a 731 pos.ref = (double)temp_pos * 1.0f;
Lightvalve 57:f4819de54e7a 732 vel.ref = (double)temp_vel * 10.0f;
Lightvalve 57:f4819de54e7a 733 }
Lightvalve 57:f4819de54e7a 734 else { //Linear Actuator
Lightvalve 67:c2812cf26c38 735 pos.ref = (double)temp_pos * 10.0f;
Lightvalve 67:c2812cf26c38 736 vel.ref = (double)temp_vel * 256.0f;
Lightvalve 57:f4819de54e7a 737 }
Lightvalve 57:f4819de54e7a 738
Lightvalve 68:328e1be06f5d 739 torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve 68:328e1be06f5d 740
Lightvalve 68:328e1be06f5d 741
Lightvalve 68:328e1be06f5d 742 ///////////////Make Data///////////////////
Lightvalve 68:328e1be06f5d 743 for(int i=0; i<num_array_x_past-1;i++){
Lightvalve 68:328e1be06f5d 744 x_past[i] = x_past[i+1];
Lightvalve 68:328e1be06f5d 745 }
Lightvalve 68:328e1be06f5d 746 x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve 68:328e1be06f5d 747
Lightvalve 68:328e1be06f5d 748 for(int i=0; i<num_array_f_past-1;i++){
Lightvalve 68:328e1be06f5d 749 f_past[i] = f_past[i+1];
Lightvalve 68:328e1be06f5d 750 }
Lightvalve 68:328e1be06f5d 751 f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve 68:328e1be06f5d 752
Lightvalve 68:328e1be06f5d 753 f_future[0] = torq.sen; //N
Lightvalve 68:328e1be06f5d 754 for(int i=1;i<num_array_f_future-1;i++){
Lightvalve 68:328e1be06f5d 755 f_future[i] = f_future[i+1];
Lightvalve 68:328e1be06f5d 756 }
Lightvalve 68:328e1be06f5d 757 f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve 68:328e1be06f5d 758
Lightvalve 68:328e1be06f5d 759 int ind = 0;
Lightvalve 68:328e1be06f5d 760 for(int i=0;i<numpast_x;i++){
Lightvalve 73:f80dc3970c99 761 input_NN[ind] = x_past[2*i] / 60.0f;
Lightvalve 68:328e1be06f5d 762 ind = ind + 1;
Lightvalve 68:328e1be06f5d 763 }
Lightvalve 73:f80dc3970c99 764 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 68:328e1be06f5d 765 ind = ind + 1;
Lightvalve 68:328e1be06f5d 766 for(int i=0;i<numpast_f;i++){
Lightvalve 73:f80dc3970c99 767 input_NN[ind] = f_past[2*i] / 10000.0f + 0.5f;
Lightvalve 68:328e1be06f5d 768 ind = ind + 1;
Lightvalve 68:328e1be06f5d 769 }
Lightvalve 73:f80dc3970c99 770 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 68:328e1be06f5d 771 ind = ind + 1;
Lightvalve 68:328e1be06f5d 772 for(int i=0;i<numfuture_f;i++){
Lightvalve 73:f80dc3970c99 773 input_NN[ind] = (f_future[2*i+2] - f_future[0])/10000.0f+0.5f;
Lightvalve 68:328e1be06f5d 774 ind = ind + 1;
Lightvalve 68:328e1be06f5d 775 }
Lightvalve 66:a8e6799dbce3 776
Lightvalve 49:e7bcfc244d40 777 } else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve 47:fdcb8bd86fd6 778 int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 57:f4819de54e7a 779
Lightvalve 57:f4819de54e7a 780 if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve 57:f4819de54e7a 781 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 57:f4819de54e7a 782 } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve 57:f4819de54e7a 783 valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve 57:f4819de54e7a 784 } else { //SW Valve
Lightvalve 57:f4819de54e7a 785 if(temp_ref_valve_pos >= 0) {
Lightvalve 57:f4819de54e7a 786 valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 57:f4819de54e7a 787 } else {
Lightvalve 57:f4819de54e7a 788 valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve 57:f4819de54e7a 789 }
Lightvalve 47:fdcb8bd86fd6 790 }
Lightvalve 49:e7bcfc244d40 791 } else if(address==CID_RX_REF_PWM){
Lightvalve 49:e7bcfc244d40 792 int temp_ref_pwm = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 49:e7bcfc244d40 793 Vout.ref = (double) temp_ref_pwm;
Lightvalve 45:35fa6884d0c6 794 }
jobuuu 2:a1c0a37df760 795 }
jobuuu 2:a1c0a37df760 796
jobuuu 2:a1c0a37df760 797 /******************************************************************************
jobuuu 2:a1c0a37df760 798 Information Transmission Functions
jobuuu 2:a1c0a37df760 799 *******************************************************************************/
Lightvalve 11:82d8768d7351 800
Lightvalve 11:82d8768d7351 801 void CAN_TX_INFO(void) {
Lightvalve 12:6f2531038ea4 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_INFO;
Lightvalve 12:6f2531038ea4 807 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 808 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 809 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 810 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 811 temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve 12:6f2531038ea4 812 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
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_BNO(void) {
Lightvalve 12:6f2531038ea4 818 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 819
jobuuu 2:a1c0a37df760 820 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 821 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 822 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 823 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 824
jobuuu 2:a1c0a37df760 825 can.write(temp_msg);
jobuuu 2:a1c0a37df760 826 }
jobuuu 2:a1c0a37df760 827
Lightvalve 11:82d8768d7351 828 void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 829 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 830
jobuuu 2:a1c0a37df760 831 temp_msg.id = CID_TX_INFO;
Lightvalve 52:8ea76864368a 832 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 833 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 834 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve 52:8ea76864368a 835 temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve 52:8ea76864368a 836 temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 837 temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
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_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 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 = 3;
jobuuu 2:a1c0a37df760 847 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 848 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 849 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 850
jobuuu 2:a1c0a37df760 851 can.write(temp_msg);
jobuuu 2:a1c0a37df760 852 }
Lightvalve 11:82d8768d7351 853
Lightvalve 11:82d8768d7351 854 void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 855 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 856
jobuuu 2:a1c0a37df760 857 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 858 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 859 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 57:f4819de54e7a 860 temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu 2:a1c0a37df760 861
jobuuu 2:a1c0a37df760 862 can.write(temp_msg);
jobuuu 2:a1c0a37df760 863 }
Lightvalve 11:82d8768d7351 864
Lightvalve 11:82d8768d7351 865 void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 866 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 867
jobuuu 2:a1c0a37df760 868 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 869 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 870 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 871 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 872 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 873
jobuuu 2:a1c0a37df760 874 can.write(temp_msg);
jobuuu 2:a1c0a37df760 875 }
jobuuu 2:a1c0a37df760 876
Lightvalve 11:82d8768d7351 877 void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 878 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 879
jobuuu 2:a1c0a37df760 880 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 881 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 882 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 883 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 884 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 885
jobuuu 2:a1c0a37df760 886 can.write(temp_msg);
jobuuu 2:a1c0a37df760 887 }
jobuuu 2:a1c0a37df760 888
Lightvalve 11:82d8768d7351 889 void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 890 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 891
jobuuu 2:a1c0a37df760 892 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 893 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 894 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 895 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 896 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 897
jobuuu 2:a1c0a37df760 898 can.write(temp_msg);
jobuuu 2:a1c0a37df760 899 }
jobuuu 2:a1c0a37df760 900
Lightvalve 11:82d8768d7351 901 void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve 49:e7bcfc244d40 902 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu 2:a1c0a37df760 903
jobuuu 2:a1c0a37df760 904 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 905
jobuuu 2:a1c0a37df760 906 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 907 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 908 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 909 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 910 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 911
jobuuu 2:a1c0a37df760 912 can.write(temp_msg);
jobuuu 2:a1c0a37df760 913 }
jobuuu 2:a1c0a37df760 914
Lightvalve 11:82d8768d7351 915 void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve 49:e7bcfc244d40 916 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu 2:a1c0a37df760 917
jobuuu 2:a1c0a37df760 918 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 919
jobuuu 2:a1c0a37df760 920 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 921 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 922 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 923 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 924 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 925
jobuuu 2:a1c0a37df760 926 can.write(temp_msg);
jobuuu 2:a1c0a37df760 927 }
Lightvalve 11:82d8768d7351 928
jobuuu 2:a1c0a37df760 929
Lightvalve 11:82d8768d7351 930 void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 931 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 932 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 933 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 934
Lightvalve 12:6f2531038ea4 935 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 936 if (t_type == 0) {
Lightvalve 30:8d561f16383b 937 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 938 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 939 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 940 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 941 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 942 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 943 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 944 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 945 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 946 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 947 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve 46:2694daea349b 948 } else if (t_type == 3) {
Lightvalve 67:c2812cf26c38 949 sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve 67:c2812cf26c38 950 sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu 2:a1c0a37df760 951 }
jobuuu 2:a1c0a37df760 952
jobuuu 2:a1c0a37df760 953 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 954
jobuuu 2:a1c0a37df760 955 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 956 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 957 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 958 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 959 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 960 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 961 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 962 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 963 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 964 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 965
jobuuu 2:a1c0a37df760 966 can.write(temp_msg);
jobuuu 2:a1c0a37df760 967 }
jobuuu 2:a1c0a37df760 968
Lightvalve 11:82d8768d7351 969
Lightvalve 11:82d8768d7351 970 void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 971 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 972
jobuuu 2:a1c0a37df760 973 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 974 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 975 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 57:f4819de54e7a 976 temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve 57:f4819de54e7a 977 temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve 12:6f2531038ea4 978 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 979 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 980 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 981 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 982
jobuuu 2:a1c0a37df760 983 can.write(temp_msg);
jobuuu 2:a1c0a37df760 984 }
jobuuu 2:a1c0a37df760 985
Lightvalve 11:82d8768d7351 986 void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve 11:82d8768d7351 987 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 988
Lightvalve 11:82d8768d7351 989 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 990 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 991 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 992 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 993 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 994
Lightvalve 11:82d8768d7351 995 can.write(temp_msg);
Lightvalve 11:82d8768d7351 996 }
Lightvalve 11:82d8768d7351 997
Lightvalve 11:82d8768d7351 998 void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve 11:82d8768d7351 999 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1000
Lightvalve 11:82d8768d7351 1001 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1002 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1003 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 1004 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 1005 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 1006
Lightvalve 11:82d8768d7351 1007 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1008 }
Lightvalve 11:82d8768d7351 1009
Lightvalve 11:82d8768d7351 1010 void CAN_TX_VALVE_FF(void) {
Lightvalve 11:82d8768d7351 1011 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1012
Lightvalve 11:82d8768d7351 1013 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1014 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1015 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 1016 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 1017 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 1018
Lightvalve 11:82d8768d7351 1019 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1020 }
Lightvalve 11:82d8768d7351 1021
Lightvalve 11:82d8768d7351 1022 void CAN_TX_BULK_MODULUS(void) {
Lightvalve 11:82d8768d7351 1023 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1024
Lightvalve 11:82d8768d7351 1025 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1026 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1027 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 1028 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 1029 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 1030
Lightvalve 11:82d8768d7351 1031 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1032 }
Lightvalve 11:82d8768d7351 1033
Lightvalve 11:82d8768d7351 1034 void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve 11:82d8768d7351 1035 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1036
Lightvalve 11:82d8768d7351 1037 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1038 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1039 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 1040 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 1041 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 1042 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 1043 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 1044
Lightvalve 11:82d8768d7351 1045 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1046 }
Lightvalve 11:82d8768d7351 1047
Lightvalve 11:82d8768d7351 1048 void CAN_TX_PISTON_AREA(void) {
jobuuu 2:a1c0a37df760 1049 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1050
Lightvalve 11:82d8768d7351 1051 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1052 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1053 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 1054 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 1055 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 1056 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 1057 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 1058
Lightvalve 11:82d8768d7351 1059 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1060 }
Lightvalve 11:82d8768d7351 1061
Lightvalve 11:82d8768d7351 1062 void CAN_TX_PRES_A_AND_B(void) {
Lightvalve 11:82d8768d7351 1063 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1064
Lightvalve 11:82d8768d7351 1065 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1066 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1067 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 1068 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 1069 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 1070 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 1071 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 1072
Lightvalve 11:82d8768d7351 1073 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1074 }
Lightvalve 11:82d8768d7351 1075
Lightvalve 11:82d8768d7351 1076 void CAN_TX_ENC_LIMIT(void) {
Lightvalve 11:82d8768d7351 1077 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1078
Lightvalve 11:82d8768d7351 1079 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1080 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1081 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1082 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1083 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1084 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1085 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1086
Lightvalve 11:82d8768d7351 1087 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1088 }
Lightvalve 11:82d8768d7351 1089
Lightvalve 11:82d8768d7351 1090 void CAN_TX_STROKE(void) {
Lightvalve 11:82d8768d7351 1091 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1092
Lightvalve 11:82d8768d7351 1093 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1094 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1095 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1096 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1097 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1098
Lightvalve 11:82d8768d7351 1099 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1100 }
Lightvalve 11:82d8768d7351 1101
Lightvalve 11:82d8768d7351 1102 void CAN_TX_VALVE_LIMIT(void) {
Lightvalve 11:82d8768d7351 1103 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1104
Lightvalve 11:82d8768d7351 1105 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1106 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1107 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 57:f4819de54e7a 1108 temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1109 temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve 57:f4819de54e7a 1110 temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1111 temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve 11:82d8768d7351 1112
Lightvalve 11:82d8768d7351 1113 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1114 }
Lightvalve 11:82d8768d7351 1115
Lightvalve 11:82d8768d7351 1116 void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve 11:82d8768d7351 1117 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1118
jobuuu 2:a1c0a37df760 1119 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1120 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1121 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 54:647072f5307a 1122 int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve 48:889798ff9329 1123 temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve 48:889798ff9329 1124 temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu 2:a1c0a37df760 1125
jobuuu 2:a1c0a37df760 1126 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1127 }
jobuuu 2:a1c0a37df760 1128
Lightvalve 11:82d8768d7351 1129 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu 2:a1c0a37df760 1130 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1131
jobuuu 2:a1c0a37df760 1132 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1133 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1134 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 48:889798ff9329 1135 int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve 48:889798ff9329 1136 temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve 48:889798ff9329 1137 temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu 2:a1c0a37df760 1138
jobuuu 2:a1c0a37df760 1139 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1140 }
jobuuu 2:a1c0a37df760 1141
Lightvalve 11:82d8768d7351 1142 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu 2:a1c0a37df760 1143 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1144
jobuuu 2:a1c0a37df760 1145 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1146 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1147 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1148 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1149 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1150 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1151 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1152
jobuuu 2:a1c0a37df760 1153 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1154 }
jobuuu 2:a1c0a37df760 1155
Lightvalve 11:82d8768d7351 1156 void CAN_TX_FRICTION(void) {
Lightvalve 11:82d8768d7351 1157 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1158 int16_t send_friction;
Lightvalve 30:8d561f16383b 1159 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 11:82d8768d7351 1160
Lightvalve 11:82d8768d7351 1161 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1162 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1163 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1164 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1165 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1166
Lightvalve 11:82d8768d7351 1167 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1168 }
Lightvalve 11:82d8768d7351 1169
Lightvalve 11:82d8768d7351 1170 void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve 11:82d8768d7351 1171 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1172
Lightvalve 11:82d8768d7351 1173 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1174 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1175 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1176 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1177 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1178 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1179 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1180 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve 11:82d8768d7351 1181
Lightvalve 11:82d8768d7351 1182 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1183 }
Lightvalve 11:82d8768d7351 1184
Lightvalve 11:82d8768d7351 1185 void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve 11:82d8768d7351 1186 CANMessage temp_msg;
Lightvalve 48:889798ff9329 1187 float temp_valve_deadzone_minus = 0.0f;
Lightvalve 48:889798ff9329 1188 float temp_valve_deadzone_plus = 0.0f;
Lightvalve 48:889798ff9329 1189 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1190
Lightvalve 57:f4819de54e7a 1191 //temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1192 //temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1193 temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1194 temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1195 temp_ddv_center = (double)VALVE_CENTER;
Lightvalve 11:82d8768d7351 1196
Lightvalve 11:82d8768d7351 1197 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1198 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1199 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 48:889798ff9329 1200 temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve 48:889798ff9329 1201 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve 48:889798ff9329 1202 temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve 48:889798ff9329 1203 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve 48:889798ff9329 1204 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1205 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
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_VALVE_GAIN_MINUS(void) {
Lightvalve 11:82d8768d7351 1211 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1212
Lightvalve 11:82d8768d7351 1213 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1214 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1215 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1216 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1217 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1218 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1219 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1220 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1221
Lightvalve 11:82d8768d7351 1222 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1223 }
Lightvalve 11:82d8768d7351 1224
Lightvalve 11:82d8768d7351 1225 void CAN_TX_REFENCE_MODE(void) {
Lightvalve 11:82d8768d7351 1226 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1227
Lightvalve 11:82d8768d7351 1228 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1229 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1230 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1231 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1232 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1233 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1234 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1235 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1236
Lightvalve 11:82d8768d7351 1237 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1238 }
Lightvalve 11:82d8768d7351 1239
Lightvalve 11:82d8768d7351 1240 void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve 11:82d8768d7351 1241 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1242 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1243 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 1244
jobuuu 2:a1c0a37df760 1245 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1246 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1247 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1248 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1249 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1250
jobuuu 2:a1c0a37df760 1251 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1252 }
Lightvalve 11:82d8768d7351 1253
Lightvalve 11:82d8768d7351 1254 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve 11:82d8768d7351 1255 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1256 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1257 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 1258
Lightvalve 11:82d8768d7351 1259 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1260 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1261 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1262 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1263 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1264
Lightvalve 11:82d8768d7351 1265 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1266 }
Lightvalve 11:82d8768d7351 1267
Lightvalve 12:6f2531038ea4 1268 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve 11:82d8768d7351 1269 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1270 int16_t valve_pos_vs_pwm;
Lightvalve 49:e7bcfc244d40 1271 // valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 49:e7bcfc244d40 1272
Lightvalve 57:f4819de54e7a 1273 if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1274 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 1275 } else {
Lightvalve 57:f4819de54e7a 1276 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 1277 }
Lightvalve 11:82d8768d7351 1278
Lightvalve 12:6f2531038ea4 1279 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1280 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 11:82d8768d7351 1281
Lightvalve 11:82d8768d7351 1282 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1283 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1284 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1285 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1286 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1287 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1288 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 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_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve 11:82d8768d7351 1294 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1295 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1296 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1297
Lightvalve 57:f4819de54e7a 1298 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve 49:e7bcfc244d40 1299 int16_t temp_valve_pos = 0;
Lightvalve 57:f4819de54e7a 1300 if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1301 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 1302 } else {
Lightvalve 57:f4819de54e7a 1303 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 1304 }
Lightvalve 11:82d8768d7351 1305
Lightvalve 11:82d8768d7351 1306 temp_msg.id = CID_TX_INFO;
Lightvalve 49:e7bcfc244d40 1307 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1308 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 49:e7bcfc244d40 1309 temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve 49:e7bcfc244d40 1310 temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve 49:e7bcfc244d40 1311 temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 49:e7bcfc244d40 1312 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 49:e7bcfc244d40 1313 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 49:e7bcfc244d40 1314 temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1315
Lightvalve 11:82d8768d7351 1316 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1317 }
Lightvalve 11:82d8768d7351 1318
Lightvalve 11:82d8768d7351 1319 void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve 11:82d8768d7351 1320 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1321 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1322 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1323
Lightvalve 11:82d8768d7351 1324 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1325 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1326 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1327 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1328 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1329
Lightvalve 11:82d8768d7351 1330 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1331 }
Lightvalve 11:82d8768d7351 1332
Lightvalve 38:118df027d851 1333 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve 38:118df027d851 1334 CANMessage temp_msg;
Lightvalve 38:118df027d851 1335
Lightvalve 48:889798ff9329 1336 float temp_valve_max_pos = 0.0f;
Lightvalve 48:889798ff9329 1337 float temp_valve_min_pos = 0.0f;
Lightvalve 48:889798ff9329 1338 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1339
Lightvalve 57:f4819de54e7a 1340 temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1341 temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1342 temp_ddv_center = VALVE_CENTER;
Lightvalve 48:889798ff9329 1343
Lightvalve 38:118df027d851 1344 temp_msg.id = CID_TX_INFO;
Lightvalve 38:118df027d851 1345 temp_msg.len = 7;
Lightvalve 38:118df027d851 1346 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 48:889798ff9329 1347 temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve 48:889798ff9329 1348 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve 48:889798ff9329 1349 temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve 48:889798ff9329 1350 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve 48:889798ff9329 1351 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1352 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 38:118df027d851 1353
Lightvalve 38:118df027d851 1354 can.write(temp_msg);
Lightvalve 38:118df027d851 1355 }
Lightvalve 38:118df027d851 1356
jobuuu 2:a1c0a37df760 1357 /******************************************************************************
jobuuu 2:a1c0a37df760 1358 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1359 *******************************************************************************/
jobuuu 2:a1c0a37df760 1360
Lightvalve 52:8ea76864368a 1361 void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
Lightvalve 52:8ea76864368a 1362 CANMessage temp_msg;
Lightvalve 52:8ea76864368a 1363
Lightvalve 52:8ea76864368a 1364 temp_msg.id = CID_TX_POSITION;
Lightvalve 52:8ea76864368a 1365 temp_msg.len = 6;
Lightvalve 52:8ea76864368a 1366 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 52:8ea76864368a 1367 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 52:8ea76864368a 1368 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 52:8ea76864368a 1369 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1370 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 52:8ea76864368a 1371 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve 52:8ea76864368a 1372
Lightvalve 52:8ea76864368a 1373 can.write(temp_msg);
Lightvalve 52:8ea76864368a 1374 }
Lightvalve 52:8ea76864368a 1375
Lightvalve 52:8ea76864368a 1376 void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) {
Lightvalve 52:8ea76864368a 1377
jobuuu 2:a1c0a37df760 1378 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1379
jobuuu 2:a1c0a37df760 1380 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1381 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1382 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1383 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 41:abbd4e2af68b 1384 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 41:abbd4e2af68b 1385 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 52:8ea76864368a 1386 temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve 52:8ea76864368a 1387 temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve 52:8ea76864368a 1388 temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve 52:8ea76864368a 1389 temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu 2:a1c0a37df760 1390
jobuuu 2:a1c0a37df760 1391 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1392 }
jobuuu 2:a1c0a37df760 1393
Lightvalve 67:c2812cf26c38 1394 //void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve 67:c2812cf26c38 1395 // CANMessage temp_msg;
Lightvalve 67:c2812cf26c38 1396 //
Lightvalve 67:c2812cf26c38 1397 // temp_msg.id = CID_TX_TORQUE;
Lightvalve 67:c2812cf26c38 1398 // temp_msg.len = 4;
Lightvalve 67:c2812cf26c38 1399 // temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 67:c2812cf26c38 1400 // temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve 67:c2812cf26c38 1401 // temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve 67:c2812cf26c38 1402 // temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve 67:c2812cf26c38 1403 //
Lightvalve 67:c2812cf26c38 1404 // can.write(temp_msg);
Lightvalve 67:c2812cf26c38 1405 //}
Lightvalve 67:c2812cf26c38 1406
Lightvalve 67:c2812cf26c38 1407 void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu 2:a1c0a37df760 1408 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1409
jobuuu 2:a1c0a37df760 1410 temp_msg.id = CID_TX_TORQUE;
Lightvalve 67:c2812cf26c38 1411 temp_msg.len = 2;
Lightvalve 48:889798ff9329 1412 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 48:889798ff9329 1413 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 1414
jobuuu 2:a1c0a37df760 1415 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1416 }
jobuuu 2:a1c0a37df760 1417
Lightvalve 11:82d8768d7351 1418 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 1419 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1420
jobuuu 2:a1c0a37df760 1421 temp_msg.id = CID_TX_PRES;
Lightvalve 57:f4819de54e7a 1422 temp_msg.len = 4;
Lightvalve 12:6f2531038ea4 1423 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1424 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1425 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1426 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1427
jobuuu 2:a1c0a37df760 1428 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1429 }
jobuuu 2:a1c0a37df760 1430
Lightvalve 11:82d8768d7351 1431 void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 1432 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1433
Lightvalve 57:f4819de54e7a 1434 temp_msg.id = CID_TX_VOUT;
Lightvalve 57:f4819de54e7a 1435 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 1436 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1437 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1438
jobuuu 2:a1c0a37df760 1439 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1440 }
jobuuu 2:a1c0a37df760 1441
Lightvalve 73:f80dc3970c99 1442 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 1443 {
jobuuu 2:a1c0a37df760 1444 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1445
jobuuu 2:a1c0a37df760 1446 temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve 73:f80dc3970c99 1447 temp_msg.len = 8;
Lightvalve 73:f80dc3970c99 1448 temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve 73:f80dc3970c99 1449 temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve 73:f80dc3970c99 1450 temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve 73:f80dc3970c99 1451 temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve 73:f80dc3970c99 1452 temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve 73:f80dc3970c99 1453 temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 73:f80dc3970c99 1454 temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve 73:f80dc3970c99 1455 temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve 27:a2254a485f23 1456
jobuuu 2:a1c0a37df760 1457
jobuuu 2:a1c0a37df760 1458 can.write(temp_msg);
Lightvalve 67:c2812cf26c38 1459 }