Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2_
rainbow
Diff: CAN/function_CAN.cpp
- Revision:
- 169:645207e160ca
- Parent:
- 162:9dd4f35e9de8
- Child:
- 170:42c938a40313
diff -r f05a45d5f318 -r 645207e160ca CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Fri Oct 16 00:25:32 2020 +0000 +++ b/CAN/function_CAN.cpp Mon Nov 16 02:23:23 2020 +0000 @@ -708,6 +708,23 @@ CONTROL_UTILITY_MODE = 1; break; } + case CRX_SET_FREQ_TEST: { + cnt_freq_test = 0; + CONTROL_UTILITY_MODE = 34; + break; + } + + case CRX_ASK_BUFFER: { + cnt_buffer = (int16_t) (msg.data[1] | msg.data[2] << 8); + CAN_TX_BUFFER(cnt_buffer); + break; + } + + case CRX_SET_STEP_TEST: { + cnt_step_test = 0; + CONTROL_UTILITY_MODE = 37; + break; + } default: break; @@ -1379,6 +1396,25 @@ can.write(temp_msg); } + +void CAN_TX_BUFFER(int16_t t_cnt_buffer) { + CANMessage temp_msg; + int16_t send_pos_array, send_ref_array; + send_pos_array = (int16_t) (pos_array[t_cnt_buffer]); + send_ref_array = (int16_t) (ref_array[t_cnt_buffer]); + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 5; + temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER; + temp_msg.data[1] = (uint8_t) send_pos_array; + temp_msg.data[2] = (uint8_t) (send_pos_array >> 8); + temp_msg.data[3] = (uint8_t) (send_ref_array); + temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8); + + can.write(temp_msg); +} + + /****************************************************************************** Sensor & State Transmission Functions *******************************************************************************/