HydraulicControlBoard_Rainbow_v1_2_copy - 2011

Users » Lightvalve » Code » HydraulicControlBoard_Rainbow_v1_2_copy

Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy

2011

CAN/function_CAN.cpp@214:82a3ca333004, 2021-03-03 (annotated)

Committer:: hyhoon
Date:: Wed Mar 03 10:56:25 2021 +0000
Revision:: 214:82a3ca333004
Parent:: 213:9c0becc196ba
Child:: 215:699c3e572283

20210305;

Who changed what in which revision?

User	Revision	Line number	New contents of line
jobuuu	2:a1c0a37df760	1	#include "function_CAN.h"
Lightvalve	11:82d8768d7351	2	#include "setting.h"
Lightvalve	11:82d8768d7351	3	#include "function_utilities.h"
Lightvalve	11:82d8768d7351	4	#include "SPI_EEP_ENC.h"
Lightvalve	16:903b5a4433b4	5	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	6	#include "FlashWriter.h"
jobuuu	2:a1c0a37df760	7
jobuuu	2:a1c0a37df760	8	// CAN ID Setting Variables
jobuuu	2:a1c0a37df760	9	int CID_RX_CMD = 100;
jobuuu	2:a1c0a37df760	10	int CID_RX_REF_POSITION = 200;
Lightvalve	48:e7bcfc244d40	11	int CID_RX_REF_VALVE_POS = 300;
Lightvalve	48: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;
jeongyeseong	213:9c0becc196ba	20	int CID_TX_SOMETHING = 1700;
jobuuu	2:a1c0a37df760	21
Lightvalve	12:6f2531038ea4	22	// variables
Lightvalve	12:6f2531038ea4	23	uint8_t can_index = 0;
Lightvalve	65:c2812cf26c38	24
Lightvalve	64:a8e6799dbce3	25	extern DigitalOut LED;
Lightvalve	12:6f2531038ea4	26
Lightvalve	97:7bbcb3c0fb06	27	extern float u_past[];
Lightvalve	66:328e1be06f5d	28	extern float x_past[];
Lightvalve	83:a3b46118b5cd	29	extern float x_future[];
Lightvalve	66:328e1be06f5d	30	extern float f_past[];
Lightvalve	66:328e1be06f5d	31	extern float f_future[];
Lightvalve	71:f80dc3970c99	32	extern float input_NN[];
Lightvalve	66:328e1be06f5d	33
Lightvalve	11:82d8768d7351	34	/*******************************************************************************
Lightvalve	11:82d8768d7351	35	* CAN functions
Lightvalve	11:82d8768d7351	36	******************************************************************************/
Lightvalve	165:42c938a40313	37	void CAN_ID_INIT(void)
Lightvalve	165:42c938a40313	38	{
jobuuu	7:e9086c72bb22	39
Lightvalve	11:82d8768d7351	40	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	41	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	48:e7bcfc244d40	42	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	44:35fa6884d0c6	43	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	44
Lightvalve	11:82d8768d7351	45	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	46	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	47	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	48	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	49	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	50	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
jeongyeseong	213:9c0becc196ba	51	CID_TX_SOMETHING = (int) (BNO + INIT_CID_TX_SOMETHING);
Lightvalve	11:82d8768d7351	52	}
jobuuu	2:a1c0a37df760	53
Lightvalve	28:2a62d73e3dd0	54	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	55	{
Lightvalve	165:42c938a40313	56	switch(CMD) {
Lightvalve	11:82d8768d7351	57	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	58	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	59	break;
Lightvalve	11:82d8768d7351	60	}
Lightvalve	11:82d8768d7351	61	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	62	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	63	break;
Lightvalve	11:82d8768d7351	64	}
Lightvalve	11:82d8768d7351	65	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	66	BNO = (int16_t) msg.data[1];
Lightvalve	165:42c938a40313	67	spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	68	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	69	break;
Lightvalve	11:82d8768d7351	70	}
Lightvalve	11:82d8768d7351	71	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	72	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	73	break;
Lightvalve	11:82d8768d7351	74	}
Lightvalve	11:82d8768d7351	75	case CRX_SET_OPERATING_MODE: {
Lightvalve	51:8ea76864368a	76	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	51:8ea76864368a	77	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	51:8ea76864368a	78	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	51:8ea76864368a	79	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	165:42c938a40313	80	spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve	165:42c938a40313	81	spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
Lightvalve	165:42c938a40313	82	spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
Lightvalve	165:42c938a40313	83	spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
Lightvalve	11:82d8768d7351	84	break;
Lightvalve	11:82d8768d7351	85	}
Lightvalve	11:82d8768d7351	86	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	87	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	88
Lightvalve	11:82d8768d7351	89	break;
Lightvalve	11:82d8768d7351	90	}
Lightvalve	11:82d8768d7351	91	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	92
Lightvalve	11:82d8768d7351	93	break;
Lightvalve	11:82d8768d7351	94	}
Lightvalve	11:82d8768d7351	95
Lightvalve	44:35fa6884d0c6	96	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	44:35fa6884d0c6	97	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	44:35fa6884d0c6	98	/*
Lightvalve	44:35fa6884d0c6	99	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	44:35fa6884d0c6	100	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	44:35fa6884d0c6	101	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	44:35fa6884d0c6	102	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	44:35fa6884d0c6	103	*/
Lightvalve	11:82d8768d7351	104	break;
Lightvalve	11:82d8768d7351	105	}
Lightvalve	11:82d8768d7351	106
Lightvalve	11:82d8768d7351	107	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	108	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	109
Lightvalve	11:82d8768d7351	110	break;
Lightvalve	11:82d8768d7351	111	}
Lightvalve	11:82d8768d7351	112
Lightvalve	11:82d8768d7351	113	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	114	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	165:42c938a40313	115	spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve	11:82d8768d7351	116	break;
Lightvalve	11:82d8768d7351	117	}
Lightvalve	11:82d8768d7351	118
Lightvalve	11:82d8768d7351	119	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	120	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	121
Lightvalve	11:82d8768d7351	122	break;
Lightvalve	11:82d8768d7351	123	}
Lightvalve	11:82d8768d7351	124
Lightvalve	11:82d8768d7351	125	case CRX_SET_CONTROL_MODE: {
Lightvalve	55:f4819de54e7a	126	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	127	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	128	FLAG_FIND_HOME = true;
hyhoon	214:82a3ca333004	129	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	11:82d8768d7351	130	}
Lightvalve	11:82d8768d7351	131	break;
Lightvalve	11:82d8768d7351	132	}
Lightvalve	11:82d8768d7351	133
Lightvalve	11:82d8768d7351	134	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	135	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	136	flag_data_request[request_type] = msg.data[1];
Lightvalve	11:82d8768d7351	137
Lightvalve	12:6f2531038ea4	138	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	139	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	140	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	141	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	142
Lightvalve	11:82d8768d7351	143	break;
Lightvalve	11:82d8768d7351	144	}
Lightvalve	11:82d8768d7351	145
Lightvalve	11:82d8768d7351	146	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	147	CAN_TX_JOINT_ENC_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_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	153	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	154	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	155	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	156	else
Lightvalve	11:82d8768d7351	157	DIR_JOINT_ENC = -1;
Lightvalve	165:42c938a40313	158
Lightvalve	165:42c938a40313	159	spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	160
Lightvalve	11:82d8768d7351	161	break;
Lightvalve	11:82d8768d7351	162	}
Lightvalve	11:82d8768d7351	163
Lightvalve	11:82d8768d7351	164	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	165	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	166
Lightvalve	11:82d8768d7351	167	break;
Lightvalve	11:82d8768d7351	168	}
Lightvalve	11:82d8768d7351	169
Lightvalve	11:82d8768d7351	170	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	171	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	172	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	173	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	174	else
Lightvalve	11:82d8768d7351	175	DIR_VALVE = -1;
Lightvalve	165:42c938a40313	176
Lightvalve	165:42c938a40313	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	11:82d8768d7351	194
Lightvalve	165:42c938a40313	195	spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	196
Lightvalve	11:82d8768d7351	197	break;
Lightvalve	11:82d8768d7351	198	}
Lightvalve	11:82d8768d7351	199
Lightvalve	11:82d8768d7351	200	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	201	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	202
Lightvalve	11:82d8768d7351	203	break;
Lightvalve	11:82d8768d7351	204	}
Lightvalve	11:82d8768d7351	205
Lightvalve	11:82d8768d7351	206	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	207	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	165:42c938a40313	208
Lightvalve	165:42c938a40313	209
Lightvalve	165:42c938a40313	210	spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve	11:82d8768d7351	211
Lightvalve	11:82d8768d7351	212	break;
Lightvalve	11:82d8768d7351	213	}
Lightvalve	11:82d8768d7351	214
Lightvalve	11:82d8768d7351	215	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	216	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	217
Lightvalve	11:82d8768d7351	218	break;
Lightvalve	11:82d8768d7351	219	}
Lightvalve	11:82d8768d7351	220
Lightvalve	11:82d8768d7351	221	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	222	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	165:42c938a40313	223
Lightvalve	165:42c938a40313	224	spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve	11:82d8768d7351	225
Lightvalve	11:82d8768d7351	226
Lightvalve	11:82d8768d7351	227	break;
Lightvalve	11:82d8768d7351	228	}
Lightvalve	12:6f2531038ea4	229
Lightvalve	11:82d8768d7351	230	case CRX_SET_HOMEPOS: {
Lightvalve	55:f4819de54e7a	231	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	232	break;
Lightvalve	11:82d8768d7351	233	}
Lightvalve	11:82d8768d7351	234
Lightvalve	11:82d8768d7351	235	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	236	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	237
Lightvalve	11:82d8768d7351	238	break;
Lightvalve	11:82d8768d7351	239	}
Lightvalve	11:82d8768d7351	240
Lightvalve	11:82d8768d7351	241	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	242	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	243	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	244	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	245	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	165:42c938a40313	246
Lightvalve	165:42c938a40313	247	spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	165:42c938a40313	248	spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	165:42c938a40313	249	spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	11:82d8768d7351	250
Lightvalve	11:82d8768d7351	251	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	252	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	253	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	254	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	165:42c938a40313	255
Lightvalve	165:42c938a40313	256	spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	165:42c938a40313	257	spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	165:42c938a40313	258	spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	165:42c938a40313	259
Lightvalve	11:82d8768d7351	260	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	261	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	262	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	263	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	165:42c938a40313	264
Lightvalve	165:42c938a40313	265	spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	165:42c938a40313	266	spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	165:42c938a40313	267	spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	165:42c938a40313	268
Lightvalve	45:2694daea349b	269	} else if (msg.data[1] == 3) {
Lightvalve	65:c2812cf26c38	270	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	65:c2812cf26c38	271	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	165:42c938a40313	272
Lightvalve	165:42c938a40313	273	// spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve	165:42c938a40313	274	// spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve	165:42c938a40313	275
Lightvalve	70:3436ce769b1e	276	} else if (msg.data[1] == 4) {
Lightvalve	70:3436ce769b1e	277	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	70:3436ce769b1e	278	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	70:3436ce769b1e	279	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	165:42c938a40313	280
Lightvalve	11:82d8768d7351	281	}
Lightvalve	11:82d8768d7351	282
Lightvalve	11:82d8768d7351	283	break;
Lightvalve	11:82d8768d7351	284	}
Lightvalve	11:82d8768d7351	285
Lightvalve	11:82d8768d7351	286	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	287	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	288
Lightvalve	11:82d8768d7351	289	break;
Lightvalve	11:82d8768d7351	290	}
Lightvalve	11:82d8768d7351	291
Lightvalve	11:82d8768d7351	292	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	293	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
hyhoon	214:82a3ca333004	294	VALVE_DEADZONE_PLUS = (int16_t)(msg.data[3] \| msg.data[4] << 8);
hyhoon	214:82a3ca333004	295	VALVE_DEADZONE_MINUS = (int16_t)(msg.data[5] \| msg.data[6] << 8);
Lightvalve	165:42c938a40313	296
hyhoon	214:82a3ca333004	297	spi_eeprom_write(RID_VALVE_CNETER, VALVE_CENTER);
hyhoon	214:82a3ca333004	298	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
hyhoon	214:82a3ca333004	299	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	11:82d8768d7351	300
Lightvalve	11:82d8768d7351	301	break;
Lightvalve	11:82d8768d7351	302	}
Lightvalve	11:82d8768d7351	303
Lightvalve	11:82d8768d7351	304	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	305	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	306
Lightvalve	11:82d8768d7351	307	break;
Lightvalve	11:82d8768d7351	308	}
Lightvalve	11:82d8768d7351	309
Lightvalve	11:82d8768d7351	310	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	311	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	165:42c938a40313	312
Lightvalve	165:42c938a40313	313
Lightvalve	165:42c938a40313	314	spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	315
Lightvalve	11:82d8768d7351	316	break;
Lightvalve	11:82d8768d7351	317	}
Lightvalve	11:82d8768d7351	318
Lightvalve	11:82d8768d7351	319	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	320	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	321
Lightvalve	11:82d8768d7351	322	break;
Lightvalve	11:82d8768d7351	323	}
Lightvalve	11:82d8768d7351	324
Lightvalve	11:82d8768d7351	325	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	326	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	327
Lightvalve	165:42c938a40313	328
Lightvalve	165:42c938a40313	329	spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	330
Lightvalve	11:82d8768d7351	331	break;
Lightvalve	11:82d8768d7351	332	}
Lightvalve	11:82d8768d7351	333
Lightvalve	11:82d8768d7351	334	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	335	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	336
Lightvalve	11:82d8768d7351	337	break;
Lightvalve	11:82d8768d7351	338	}
Lightvalve	11:82d8768d7351	339
Lightvalve	11:82d8768d7351	340	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	341	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	165:42c938a40313	342
Lightvalve	165:42c938a40313	343	spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	344
Lightvalve	11:82d8768d7351	345	break;
Lightvalve	11:82d8768d7351	346	}
Lightvalve	11:82d8768d7351	347
Lightvalve	11:82d8768d7351	348	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	349	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	350
Lightvalve	11:82d8768d7351	351	break;
Lightvalve	11:82d8768d7351	352	}
Lightvalve	11:82d8768d7351	353
Lightvalve	11:82d8768d7351	354	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	355	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	165:42c938a40313	356	spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	357
Lightvalve	11:82d8768d7351	358	break;
Lightvalve	11:82d8768d7351	359	}
Lightvalve	11:82d8768d7351	360
Lightvalve	11:82d8768d7351	361	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	362	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	363
Lightvalve	11:82d8768d7351	364	break;
Lightvalve	11:82d8768d7351	365	}
Lightvalve	11:82d8768d7351	366
Lightvalve	11:82d8768d7351	367	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	368	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	369	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	370
Lightvalve	165:42c938a40313	371	spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	165:42c938a40313	372	spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	373
Lightvalve	11:82d8768d7351	374	break;
Lightvalve	11:82d8768d7351	375	}
Lightvalve	11:82d8768d7351	376
Lightvalve	11:82d8768d7351	377	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	378	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	379
Lightvalve	11:82d8768d7351	380	break;
Lightvalve	11:82d8768d7351	381	}
Lightvalve	11:82d8768d7351	382
Lightvalve	11:82d8768d7351	383	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	384	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	385	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	67:3995ffeaa786	386	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	55:f4819de54e7a	387	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	165:42c938a40313	388
Lightvalve	165:42c938a40313	389	spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	165:42c938a40313	390	spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	391	break;
Lightvalve	11:82d8768d7351	392	}
Lightvalve	11:82d8768d7351	393
Lightvalve	11:82d8768d7351	394	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	395	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	396	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	397	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	398	//dac_2 = PRES_B_VREF;
Lightvalve	165:42c938a40313	399
Lightvalve	11:82d8768d7351	400	break;
Lightvalve	11:82d8768d7351	401	}
Lightvalve	11:82d8768d7351	402
Lightvalve	11:82d8768d7351	403	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	404	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	405	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	165:42c938a40313	406	spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	165:42c938a40313	407	spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	408
Lightvalve	11:82d8768d7351	409
Lightvalve	11:82d8768d7351	410	break;
Lightvalve	11:82d8768d7351	411	}
Lightvalve	11:82d8768d7351	412
Lightvalve	11:82d8768d7351	413	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	414	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	415
Lightvalve	11:82d8768d7351	416	break;
Lightvalve	11:82d8768d7351	417	}
Lightvalve	11:82d8768d7351	418
Lightvalve	11:82d8768d7351	419	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	420	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	421	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	165:42c938a40313	422	spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	165:42c938a40313	423	spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	424
Lightvalve	11:82d8768d7351	425	break;
Lightvalve	11:82d8768d7351	426	}
Lightvalve	11:82d8768d7351	427
Lightvalve	11:82d8768d7351	428	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	429	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	430	break;
Lightvalve	11:82d8768d7351	431	}
Lightvalve	11:82d8768d7351	432
Lightvalve	11:82d8768d7351	433	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	434	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	165:42c938a40313	435	spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	436
Lightvalve	11:82d8768d7351	437	break;
Lightvalve	11:82d8768d7351	438	}
Lightvalve	11:82d8768d7351	439
Lightvalve	11:82d8768d7351	440	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	441	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	442
Lightvalve	11:82d8768d7351	443	break;
Lightvalve	11:82d8768d7351	444	}
Lightvalve	11:82d8768d7351	445
Lightvalve	11:82d8768d7351	446	case CRX_SET_VALVE_LIMIT: {
Lightvalve	55:f4819de54e7a	447	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	55:f4819de54e7a	448	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	165:42c938a40313	449
Lightvalve	165:42c938a40313	450	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	165:42c938a40313	451	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	11:82d8768d7351	452
Lightvalve	11:82d8768d7351	453	break;
Lightvalve	11:82d8768d7351	454	}
Lightvalve	11:82d8768d7351	455
Lightvalve	11:82d8768d7351	456	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	457	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	458
Lightvalve	11:82d8768d7351	459	break;
Lightvalve	11:82d8768d7351	460	}
Lightvalve	11:82d8768d7351	461
Lightvalve	11:82d8768d7351	462	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	463	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	175:02be1711ee0b	464	spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
Lightvalve	11:82d8768d7351	465
Lightvalve	11:82d8768d7351	466	break;
Lightvalve	11:82d8768d7351	467	}
Lightvalve	11:82d8768d7351	468
Lightvalve	11:82d8768d7351	469	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	470	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	471
Lightvalve	11:82d8768d7351	472	break;
Lightvalve	11:82d8768d7351	473	}
Lightvalve	11:82d8768d7351	474
Lightvalve	11:82d8768d7351	475	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	137:15621998925b	476	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.0001f);
Lightvalve	165:42c938a40313	477	spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve	11:82d8768d7351	478
Lightvalve	11:82d8768d7351	479	break;
Lightvalve	11:82d8768d7351	480	}
Lightvalve	11:82d8768d7351	481
Lightvalve	11:82d8768d7351	482	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	483	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	484
Lightvalve	11:82d8768d7351	485	break;
Lightvalve	11:82d8768d7351	486	}
Lightvalve	11:82d8768d7351	487
Lightvalve	11:82d8768d7351	488	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	489	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	490	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	165:42c938a40313	491	spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	165:42c938a40313	492	spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	11:82d8768d7351	493
Lightvalve	11:82d8768d7351	494	break;
Lightvalve	11:82d8768d7351	495	}
Lightvalve	11:82d8768d7351	496
Lightvalve	11:82d8768d7351	497	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	498	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	499
Lightvalve	11:82d8768d7351	500	break;
Lightvalve	11:82d8768d7351	501	}
Lightvalve	11:82d8768d7351	502
Lightvalve	11:82d8768d7351	503	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	504	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	165:42c938a40313	505	spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve	11:82d8768d7351	506
Lightvalve	11:82d8768d7351	507	break;
Lightvalve	11:82d8768d7351	508	}
Lightvalve	11:82d8768d7351	509
Lightvalve	11:82d8768d7351	510	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	511	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	512
Lightvalve	11:82d8768d7351	513	break;
Lightvalve	11:82d8768d7351	514	}
Lightvalve	11:82d8768d7351	515	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	516	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	517	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	518	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	519	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	520	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	165:42c938a40313	521	spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	165:42c938a40313	522	spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	165:42c938a40313	523	spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	165:42c938a40313	524	spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	165:42c938a40313	525	spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	526
Lightvalve	11:82d8768d7351	527	break;
Lightvalve	11:82d8768d7351	528	}
Lightvalve	11:82d8768d7351	529
Lightvalve	11:82d8768d7351	530	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	531	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	532
Lightvalve	11:82d8768d7351	533	break;
Lightvalve	11:82d8768d7351	534	}
Lightvalve	11:82d8768d7351	535	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	536	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	537	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	538	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	539	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	540	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	165:42c938a40313	541	spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	165:42c938a40313	542	spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	165:42c938a40313	543	spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	165:42c938a40313	544	spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	165:42c938a40313	545	spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	546
Lightvalve	11:82d8768d7351	547	break;
Lightvalve	11:82d8768d7351	548	}
Lightvalve	11:82d8768d7351	549
Lightvalve	11:82d8768d7351	550	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	551	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	552
Lightvalve	11:82d8768d7351	553	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	554	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	555	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	556	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	557	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	558
Lightvalve	11:82d8768d7351	559	break;
Lightvalve	11:82d8768d7351	560	}
Lightvalve	11:82d8768d7351	561
Lightvalve	11:82d8768d7351	562	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	563	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	564
Lightvalve	11:82d8768d7351	565	break;
Lightvalve	11:82d8768d7351	566	}
Lightvalve	11:82d8768d7351	567
Lightvalve	11:82d8768d7351	568	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	569
Lightvalve	12:6f2531038ea4	570	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	571	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	572	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	573	}
Lightvalve	11:82d8768d7351	574
Lightvalve	11:82d8768d7351	575	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	576
Lightvalve	11:82d8768d7351	577
Lightvalve	11:82d8768d7351	578	break;
Lightvalve	11:82d8768d7351	579	}
Lightvalve	11:82d8768d7351	580
Lightvalve	11:82d8768d7351	581	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	582	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	583	break;
Lightvalve	11:82d8768d7351	584	}
Lightvalve	11:82d8768d7351	585	case CRX_SET_HOMEPOS_OFFSET: {
hyhoon	214:82a3ca333004	586	HOMEPOS_OFFSET = (int16_t)(msg.data[1] \| msg.data[2] << 8);
Lightvalve	165:42c938a40313	587	spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	588	break;
Lightvalve	11:82d8768d7351	589	}
Lightvalve	11:82d8768d7351	590
Lightvalve	11:82d8768d7351	591	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	592	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	593	break;
Lightvalve	11:82d8768d7351	594	}
Lightvalve	11:82d8768d7351	595	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	596	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	165:42c938a40313	597	spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	598	break;
Lightvalve	11:82d8768d7351	599	}
Lightvalve	11:82d8768d7351	600
Lightvalve	11:82d8768d7351	601	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	602	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	603	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	604	break;
Lightvalve	11:82d8768d7351	605	}
Lightvalve	11:82d8768d7351	606	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	607	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	608	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	609	break;
Lightvalve	11:82d8768d7351	610	}
Lightvalve	11:82d8768d7351	611	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	612	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	613	break;
Lightvalve	11:82d8768d7351	614	}
Lightvalve	165:42c938a40313	615
Lightvalve	28:2a62d73e3dd0	616	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	617	break;
Lightvalve	28:2a62d73e3dd0	618	}
Lightvalve	187:637092202815	619
Lightvalve	165:42c938a40313	620	default:
Lightvalve	165:42c938a40313	621	break;
jobuuu	2:a1c0a37df760	622	}
jobuuu	2:a1c0a37df760	623	}
jobuuu	2:a1c0a37df760	624
jobuuu	2:a1c0a37df760	625	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	626	{
Lightvalve	165:42c938a40313	627
jobuuu	2:a1c0a37df760	628	can.read(msg);
jobuuu	2:a1c0a37df760	629	unsigned int address = msg.id;
Lightvalve	165:42c938a40313	630	if(address==CID_RX_CMD) {
jobuuu	2:a1c0a37df760	631	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	632	ReadCMD(CMD);
Lightvalve	165:42c938a40313	633
jobuuu	7:e9086c72bb22	634	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	165:42c938a40313	635
Lightvalve	42:b084e5f5d0d5	636	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	42:b084e5f5d0d5	637	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	55:f4819de54e7a	638	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	165:42c938a40313	639
Lightvalve	55:f4819de54e7a	640	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
hyhoon	214:82a3ca333004	641	pos.ref = (double)temp_pos * 10.0f;
hyhoon	214:82a3ca333004	642	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	165:42c938a40313	643	} else { //Linear Actuator
Lightvalve	65:c2812cf26c38	644	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	65:c2812cf26c38	645	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	55:f4819de54e7a	646	}
Lightvalve	165:42c938a40313	647
Lightvalve	66:328e1be06f5d	648	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	131:22ab22818e01	649	torq.ref_diff = torq.ref - torq.ref_old;
Lightvalve	212:985dba42f261	650	torq_dot.sen = torq.sen-torq_sen_past;
Lightvalve	131:22ab22818e01	651	torq.ref_old = torq.ref;
Lightvalve	212:985dba42f261	652	torq_sen_past = torq.sen;
hyhoon	214:82a3ca333004	653
hyhoon	214:82a3ca333004	654	if(CAN_FREQ == -1) {
hyhoon	214:82a3ca333004	655	// Position, Velocity, and Torque (ID:1200)
hyhoon	214:82a3ca333004	656	if (flag_data_request[0] == HIGH) {
hyhoon	214:82a3ca333004	657	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
hyhoon	214:82a3ca333004	658	if (SENSING_MODE == 0) {
hyhoon	214:82a3ca333004	659	CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen*10.0f));
hyhoon	214:82a3ca333004	660	} else if (SENSING_MODE == 1) {
hyhoon	214:82a3ca333004	661	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)10.0f), (int16_t) ((pres_B.sen)10.0f));
hyhoon	214:82a3ca333004	662	}
hyhoon	214:82a3ca333004	663	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
hyhoon	214:82a3ca333004	664	if (SENSING_MODE == 0) {
hyhoon	214:82a3ca333004	665	CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
hyhoon	214:82a3ca333004	666	} else if (SENSING_MODE == 1) {
hyhoon	214:82a3ca333004	667	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)10.0f), (int16_t) ((pres_B.sen)10.0f));
hyhoon	214:82a3ca333004	668	}
jeongyeseong	213:9c0becc196ba	669	}
jeongyeseong	213:9c0becc196ba	670	}
hyhoon	214:82a3ca333004	671
hyhoon	214:82a3ca333004	672	// ID:1300
hyhoon	214:82a3ca333004	673	if (flag_data_request[1] == HIGH) {
hyhoon	214:82a3ca333004	674	CAN_TX_TORQUE((int16_t) (pos.ref/10.0f)); //1300
hyhoon	214:82a3ca333004	675	}
hyhoon	214:82a3ca333004	676
hyhoon	214:82a3ca333004	677	// Reference Current, Current Current (ID:1700)
hyhoon	214:82a3ca333004	678	if (flag_data_request[2] == HIGH) {
hyhoon	214:82a3ca333004	679
hyhoon	214:82a3ca333004	680	CAN_TX_SOMETHING((int16_t) (I_REF_fil_DZ / mA_PER_pulse), (int16_t) (cur.sen / mA_PER_pulse), (int16_t)HOMEPOS_OFFSET, (int16_t) (I_ERR / mA_PER_pulse));
hyhoon	214:82a3ca333004	681	//double t_value = 0.0f;
jeongyeseong	213:9c0becc196ba	682	// if(value>=(float) VALVE_CENTER) {
jeongyeseong	213:9c0becc196ba	683	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jeongyeseong	213:9c0becc196ba	684	// } else {
jeongyeseong	213:9c0becc196ba	685	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jeongyeseong	213:9c0becc196ba	686	// }
jeongyeseong	213:9c0becc196ba	687	// double t_value_ref = 0.0f;
jeongyeseong	213:9c0becc196ba	688	// if(valve_pos.ref>=(float) VALVE_CENTER) {
jeongyeseong	213:9c0becc196ba	689	// t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jeongyeseong	213:9c0becc196ba	690	// } else {
jeongyeseong	213:9c0becc196ba	691	// t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jeongyeseong	213:9c0becc196ba	692	// }
hyhoon	214:82a3ca333004	693	//
hyhoon	214:82a3ca333004	694	//
jeongyeseong	213:9c0becc196ba	695	// CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
hyhoon	214:82a3ca333004	696	}
hyhoon	214:82a3ca333004	697
hyhoon	214:82a3ca333004	698	//If it doesn't rest, below can can not work.
hyhoon	214:82a3ca333004	699	for (int can_rest2 = 0; can_rest2 < 10000; can_rest2++) {
hyhoon	214:82a3ca333004	700	;
hyhoon	214:82a3ca333004	701	}
hyhoon	214:82a3ca333004	702
hyhoon	214:82a3ca333004	703	// ID:1500
hyhoon	214:82a3ca333004	704	if (flag_data_request[3] == HIGH) {
hyhoon	214:82a3ca333004	705	//PWM
hyhoon	214:82a3ca333004	706	CAN_TX_PWM((int16_t) (torq.ref)); //1500
hyhoon	214:82a3ca333004	707	}
hyhoon	214:82a3ca333004	708
hyhoon	214:82a3ca333004	709	// ID:1600
hyhoon	214:82a3ca333004	710	if (flag_data_request[4] == HIGH) {
hyhoon	214:82a3ca333004	711	//valve position
hyhoon	214:82a3ca333004	712	CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
hyhoon	214:82a3ca333004	713	}
hyhoon	214:82a3ca333004	714
jeongyeseong	213:9c0becc196ba	715	}
Lightvalve	66:328e1be06f5d	716
Lightvalve	99:50159049a518	717
Lightvalve	48:e7bcfc244d40	718	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	46:fdcb8bd86fd6	719	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	165:42c938a40313	720
Lightvalve	55:f4819de54e7a	721	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	55:f4819de54e7a	722	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	55:f4819de54e7a	723	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	55:f4819de54e7a	724	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	55:f4819de54e7a	725	} else { //SW Valve
Lightvalve	55:f4819de54e7a	726	if(temp_ref_valve_pos >= 0) {
Lightvalve	55:f4819de54e7a	727	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	55:f4819de54e7a	728	} else {
Lightvalve	55:f4819de54e7a	729	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	55:f4819de54e7a	730	}
Lightvalve	46:fdcb8bd86fd6	731	}
Lightvalve	165:42c938a40313	732	} else if(address==CID_RX_REF_PWM) {
Lightvalve	48:e7bcfc244d40	733	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	48:e7bcfc244d40	734	Vout.ref = (double) temp_ref_pwm;
Lightvalve	165:42c938a40313	735	}
jeongyeseong	213:9c0becc196ba	736
jeongyeseong	213:9c0becc196ba	737
jobuuu	2:a1c0a37df760	738	}
jobuuu	2:a1c0a37df760	739
jobuuu	2:a1c0a37df760	740	/******************************************************************************
jobuuu	2:a1c0a37df760	741	Information Transmission Functions
jobuuu	2:a1c0a37df760	742	*******************************************************************************/
Lightvalve	11:82d8768d7351	743
Lightvalve	165:42c938a40313	744	void CAN_TX_INFO(void)
Lightvalve	165:42c938a40313	745	{
Lightvalve	12:6f2531038ea4	746	CANMessage temp_msg;
Lightvalve	165:42c938a40313	747
jobuuu	2:a1c0a37df760	748	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	749	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	750	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	751	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	752	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	753	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	754	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	55:f4819de54e7a	755	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	756	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	757
jobuuu	2:a1c0a37df760	758	can.write(temp_msg);
jobuuu	2:a1c0a37df760	759	}
jobuuu	2:a1c0a37df760	760
Lightvalve	165:42c938a40313	761	void CAN_TX_BNO(void)
Lightvalve	165:42c938a40313	762	{
Lightvalve	12:6f2531038ea4	763	CANMessage temp_msg;
Lightvalve	165:42c938a40313	764
jobuuu	2:a1c0a37df760	765	temp_msg.id = CID_TX_INFO;
jeongyeseong	213:9c0becc196ba	766	//temp_msg.len = 2;
hyhoon	214:82a3ca333004	767	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	768	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	769	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	770
jobuuu	2:a1c0a37df760	771	can.write(temp_msg);
jobuuu	2:a1c0a37df760	772	}
jobuuu	2:a1c0a37df760	773
Lightvalve	165:42c938a40313	774	void CAN_TX_OPERATING_MODE(void)
Lightvalve	165:42c938a40313	775	{
jobuuu	2:a1c0a37df760	776	CANMessage temp_msg;
Lightvalve	165:42c938a40313	777
jobuuu	2:a1c0a37df760	778	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	779	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	780	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	781	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	51:8ea76864368a	782	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	51:8ea76864368a	783	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	51:8ea76864368a	784	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	785
jobuuu	2:a1c0a37df760	786	can.write(temp_msg);
jobuuu	2:a1c0a37df760	787	}
jobuuu	2:a1c0a37df760	788
Lightvalve	165:42c938a40313	789	void CAN_TX_CAN_FREQ(void)
Lightvalve	165:42c938a40313	790	{
jobuuu	2:a1c0a37df760	791	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	792
jobuuu	2:a1c0a37df760	793	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	794	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	795	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	796	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	797	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	798
jobuuu	2:a1c0a37df760	799	can.write(temp_msg);
jobuuu	2:a1c0a37df760	800	}
Lightvalve	11:82d8768d7351	801
Lightvalve	165:42c938a40313	802	void CAN_TX_CONTROL_MODE(void)
Lightvalve	165:42c938a40313	803	{
jobuuu	2:a1c0a37df760	804	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	805
jobuuu	2:a1c0a37df760	806	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	807	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	808	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	55:f4819de54e7a	809	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	810
jobuuu	2:a1c0a37df760	811	can.write(temp_msg);
jobuuu	2:a1c0a37df760	812	}
Lightvalve	11:82d8768d7351	813
Lightvalve	165:42c938a40313	814	void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve	165:42c938a40313	815	{
jobuuu	2:a1c0a37df760	816	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	817
jobuuu	2:a1c0a37df760	818	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	819	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	820	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	821	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	822	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	823
jobuuu	2:a1c0a37df760	824	can.write(temp_msg);
jobuuu	2:a1c0a37df760	825	}
jobuuu	2:a1c0a37df760	826
Lightvalve	165:42c938a40313	827	void CAN_TX_VALVE_DIR(void)
Lightvalve	165:42c938a40313	828	{
jobuuu	2:a1c0a37df760	829	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	830
jobuuu	2:a1c0a37df760	831	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	832	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	833	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	834	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	835	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	836
jobuuu	2:a1c0a37df760	837	can.write(temp_msg);
jobuuu	2:a1c0a37df760	838	}
jobuuu	2:a1c0a37df760	839
Lightvalve	165:42c938a40313	840	void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve	165:42c938a40313	841	{
jobuuu	2:a1c0a37df760	842	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	843
jobuuu	2:a1c0a37df760	844	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	845	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	846	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	847	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	848	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	849
jobuuu	2:a1c0a37df760	850	can.write(temp_msg);
jobuuu	2:a1c0a37df760	851	}
jobuuu	2:a1c0a37df760	852
Lightvalve	165:42c938a40313	853	void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve	165:42c938a40313	854	{
Lightvalve	48:e7bcfc244d40	855	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	856
jobuuu	2:a1c0a37df760	857	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	858
jobuuu	2:a1c0a37df760	859	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	860	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	861	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	862	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	863	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	864
jobuuu	2:a1c0a37df760	865	can.write(temp_msg);
jobuuu	2:a1c0a37df760	866	}
jobuuu	2:a1c0a37df760	867
Lightvalve	165:42c938a40313	868	void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve	165:42c938a40313	869	{
Lightvalve	48:e7bcfc244d40	870	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	871
jobuuu	2:a1c0a37df760	872	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	873
jobuuu	2:a1c0a37df760	874	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	875	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	876	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	877	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	878	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	879
jobuuu	2:a1c0a37df760	880	can.write(temp_msg);
jobuuu	2:a1c0a37df760	881	}
Lightvalve	11:82d8768d7351	882
jobuuu	2:a1c0a37df760	883
Lightvalve	165:42c938a40313	884	void CAN_TX_PID_GAIN(int t_type)
Lightvalve	165:42c938a40313	885	{
jobuuu	2:a1c0a37df760	886	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	887	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	888	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	889
Lightvalve	12:6f2531038ea4	890	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	891	if (t_type == 0) {
Lightvalve	30:8d561f16383b	892	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	893	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	894	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	895	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	896	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	897	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	898	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	899	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	900	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	901	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	902	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	45:2694daea349b	903	} else if (t_type == 3) {
Lightvalve	65:c2812cf26c38	904	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	65:c2812cf26c38	905	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	906	}
jobuuu	2:a1c0a37df760	907
jobuuu	2:a1c0a37df760	908	CANMessage temp_msg;
Lightvalve	165:42c938a40313	909
jobuuu	2:a1c0a37df760	910	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	911	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	912	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	913	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	914	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	915	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	916	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	917	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	918	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	919	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	920
jobuuu	2:a1c0a37df760	921	can.write(temp_msg);
jobuuu	2:a1c0a37df760	922	}
jobuuu	2:a1c0a37df760	923
Lightvalve	11:82d8768d7351	924
Lightvalve	165:42c938a40313	925	void CAN_TX_VALVE_DEADZONE(void)
Lightvalve	165:42c938a40313	926	{
jobuuu	2:a1c0a37df760	927	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	928
jobuuu	2:a1c0a37df760	929	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	930	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	931	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	55:f4819de54e7a	932	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	55:f4819de54e7a	933	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
hyhoon	214:82a3ca333004	934	temp_msg.data[3] = (uint8_t) VALVE_DEADZONE_PLUS;
hyhoon	214:82a3ca333004	935	temp_msg.data[4] = (uint8_t) (VALVE_DEADZONE_PLUS >> 8);
hyhoon	214:82a3ca333004	936	temp_msg.data[5] = (uint8_t) VALVE_DEADZONE_MINUS;
hyhoon	214:82a3ca333004	937	temp_msg.data[6] = (uint8_t) (VALVE_DEADZONE_MINUS >> 8);
jobuuu	2:a1c0a37df760	938
jobuuu	2:a1c0a37df760	939	can.write(temp_msg);
jobuuu	2:a1c0a37df760	940	}
jobuuu	2:a1c0a37df760	941
Lightvalve	165:42c938a40313	942	void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve	165:42c938a40313	943	{
Lightvalve	11:82d8768d7351	944	CANMessage temp_msg;
Lightvalve	165:42c938a40313	945
Lightvalve	11:82d8768d7351	946	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	947	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	948	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	949	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	950	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	951
Lightvalve	11:82d8768d7351	952	can.write(temp_msg);
Lightvalve	11:82d8768d7351	953	}
Lightvalve	11:82d8768d7351	954
Lightvalve	165:42c938a40313	955	void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve	165:42c938a40313	956	{
Lightvalve	11:82d8768d7351	957	CANMessage temp_msg;
Lightvalve	165:42c938a40313	958
Lightvalve	11:82d8768d7351	959	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	960	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	961	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	962	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	963	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	964
Lightvalve	11:82d8768d7351	965	can.write(temp_msg);
Lightvalve	11:82d8768d7351	966	}
Lightvalve	11:82d8768d7351	967
Lightvalve	165:42c938a40313	968	void CAN_TX_VALVE_FF(void)
Lightvalve	165:42c938a40313	969	{
Lightvalve	11:82d8768d7351	970	CANMessage temp_msg;
Lightvalve	165:42c938a40313	971
Lightvalve	11:82d8768d7351	972	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	973	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	974	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	975	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	976	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	977
Lightvalve	11:82d8768d7351	978	can.write(temp_msg);
Lightvalve	11:82d8768d7351	979	}
Lightvalve	11:82d8768d7351	980
Lightvalve	165:42c938a40313	981	void CAN_TX_BULK_MODULUS(void)
Lightvalve	165:42c938a40313	982	{
Lightvalve	11:82d8768d7351	983	CANMessage temp_msg;
Lightvalve	165:42c938a40313	984
Lightvalve	11:82d8768d7351	985	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	986	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	987	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	988	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	989	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	990
Lightvalve	11:82d8768d7351	991	can.write(temp_msg);
Lightvalve	11:82d8768d7351	992	}
Lightvalve	11:82d8768d7351	993
Lightvalve	165:42c938a40313	994	void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve	165:42c938a40313	995	{
Lightvalve	11:82d8768d7351	996	CANMessage temp_msg;
Lightvalve	165:42c938a40313	997
Lightvalve	11:82d8768d7351	998	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	999	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1000	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1001	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1002	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1003	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1004	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1005
Lightvalve	11:82d8768d7351	1006	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1007	}
Lightvalve	11:82d8768d7351	1008
Lightvalve	165:42c938a40313	1009	void CAN_TX_PISTON_AREA(void)
Lightvalve	165:42c938a40313	1010	{
jobuuu	2:a1c0a37df760	1011	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1012
Lightvalve	11:82d8768d7351	1013	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1014	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1015	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1016	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1017	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1018	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1019	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1020
Lightvalve	11:82d8768d7351	1021	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1022	}
Lightvalve	11:82d8768d7351	1023
Lightvalve	165:42c938a40313	1024	void CAN_TX_PRES_A_AND_B(void)
Lightvalve	165:42c938a40313	1025	{
Lightvalve	11:82d8768d7351	1026	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1027
Lightvalve	11:82d8768d7351	1028	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1029	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1030	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1031	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1032	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1033	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1034	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1035
Lightvalve	11:82d8768d7351	1036	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1037	}
Lightvalve	11:82d8768d7351	1038
Lightvalve	165:42c938a40313	1039	void CAN_TX_ENC_LIMIT(void)
Lightvalve	165:42c938a40313	1040	{
Lightvalve	11:82d8768d7351	1041	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1042
Lightvalve	11:82d8768d7351	1043	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1044	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1045	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1046	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1047	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1048	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1049	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1050
Lightvalve	11:82d8768d7351	1051	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1052	}
Lightvalve	11:82d8768d7351	1053
Lightvalve	165:42c938a40313	1054	void CAN_TX_STROKE(void)
Lightvalve	165:42c938a40313	1055	{
Lightvalve	11:82d8768d7351	1056	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1057
Lightvalve	11:82d8768d7351	1058	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1059	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1060	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1061	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1062	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1063
Lightvalve	11:82d8768d7351	1064	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1065	}
Lightvalve	11:82d8768d7351	1066
Lightvalve	165:42c938a40313	1067	void CAN_TX_VALVE_LIMIT(void)
Lightvalve	165:42c938a40313	1068	{
Lightvalve	11:82d8768d7351	1069	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1070
Lightvalve	11:82d8768d7351	1071	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1072	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1073	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	55:f4819de54e7a	1074	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	55:f4819de54e7a	1075	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	55:f4819de54e7a	1076	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	55:f4819de54e7a	1077	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1078
Lightvalve	11:82d8768d7351	1079	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1080	}
Lightvalve	11:82d8768d7351	1081
Lightvalve	165:42c938a40313	1082	void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve	165:42c938a40313	1083	{
Lightvalve	11:82d8768d7351	1084	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1085
jobuuu	2:a1c0a37df760	1086	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1087	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1088	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	52:647072f5307a	1089	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	47:889798ff9329	1090	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	47:889798ff9329	1091	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1092
jobuuu	2:a1c0a37df760	1093	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1094	}
jobuuu	2:a1c0a37df760	1095
Lightvalve	165:42c938a40313	1096	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve	165:42c938a40313	1097	{
jobuuu	2:a1c0a37df760	1098	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1099
jobuuu	2:a1c0a37df760	1100	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1101	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1102	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	137:15621998925b	1103	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve	47:889798ff9329	1104	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	47:889798ff9329	1105	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1106
jobuuu	2:a1c0a37df760	1107	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1108	}
jobuuu	2:a1c0a37df760	1109
Lightvalve	165:42c938a40313	1110	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve	165:42c938a40313	1111	{
jobuuu	2:a1c0a37df760	1112	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1113
jobuuu	2:a1c0a37df760	1114	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1115	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1116	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1117	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1118	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1119	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1120	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1121
jobuuu	2:a1c0a37df760	1122	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1123	}
jobuuu	2:a1c0a37df760	1124
Lightvalve	165:42c938a40313	1125	void CAN_TX_FRICTION(void)
Lightvalve	165:42c938a40313	1126	{
Lightvalve	11:82d8768d7351	1127	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1128	int16_t send_friction;
Lightvalve	30:8d561f16383b	1129	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	165:42c938a40313	1130
Lightvalve	11:82d8768d7351	1131	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1132	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1133	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1134	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1135	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1136
Lightvalve	11:82d8768d7351	1137	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1138	}
Lightvalve	11:82d8768d7351	1139
Lightvalve	165:42c938a40313	1140	void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve	165:42c938a40313	1141	{
Lightvalve	11:82d8768d7351	1142	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1143
Lightvalve	11:82d8768d7351	1144	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1145	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1146	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1147	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1148	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1149	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1150	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1151	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1152
Lightvalve	11:82d8768d7351	1153	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1154	}
Lightvalve	11:82d8768d7351	1155
Lightvalve	11:82d8768d7351	1156
Lightvalve	165:42c938a40313	1157	void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve	165:42c938a40313	1158	{
Lightvalve	11:82d8768d7351	1159	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1160
Lightvalve	11:82d8768d7351	1161	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1162	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1163	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1164	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1165	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1166	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1167	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1168	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1169
Lightvalve	11:82d8768d7351	1170	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1171	}
Lightvalve	11:82d8768d7351	1172
Lightvalve	165:42c938a40313	1173	void CAN_TX_REFENCE_MODE(void)
Lightvalve	165:42c938a40313	1174	{
Lightvalve	11:82d8768d7351	1175	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1176
Lightvalve	11:82d8768d7351	1177	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1178	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1179	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1180	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1181	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1182	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1183	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1184	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1185
Lightvalve	11:82d8768d7351	1186	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1187	}
Lightvalve	11:82d8768d7351	1188
Lightvalve	165:42c938a40313	1189	void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve	165:42c938a40313	1190	{
Lightvalve	11:82d8768d7351	1191	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1192	int16_t send_homepos_offset;
hyhoon	214:82a3ca333004	1193	send_homepos_offset = (int16_t)HOMEPOS_OFFSET;
Lightvalve	165:42c938a40313	1194
jobuuu	2:a1c0a37df760	1195	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1196	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1197	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1198	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1199	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1200
jobuuu	2:a1c0a37df760	1201	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1202	}
Lightvalve	11:82d8768d7351	1203
Lightvalve	165:42c938a40313	1204	void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve	165:42c938a40313	1205	{
Lightvalve	11:82d8768d7351	1206	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1207	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1208	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	165:42c938a40313	1209
Lightvalve	11:82d8768d7351	1210	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1211	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1212	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1213	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1214	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1215
Lightvalve	11:82d8768d7351	1216	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1217	}
Lightvalve	11:82d8768d7351	1218
Lightvalve	165:42c938a40313	1219	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve	165:42c938a40313	1220	{
Lightvalve	11:82d8768d7351	1221	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1222	int16_t valve_pos_vs_pwm;
Lightvalve	165:42c938a40313	1223
Lightvalve	55:f4819de54e7a	1224	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	55:f4819de54e7a	1225	valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	48:e7bcfc244d40	1226	} else {
Lightvalve	55:f4819de54e7a	1227	valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	48:e7bcfc244d40	1228	}
Lightvalve	165:42c938a40313	1229
Lightvalve	12:6f2531038ea4	1230	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1231	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	165:42c938a40313	1232
Lightvalve	11:82d8768d7351	1233	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1234	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1235	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1236	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1237	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1238	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1239	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1240
Lightvalve	11:82d8768d7351	1241	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1242	}
Lightvalve	11:82d8768d7351	1243
Lightvalve	165:42c938a40313	1244	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve	165:42c938a40313	1245	{
Lightvalve	11:82d8768d7351	1246	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1247	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1248	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1249
Lightvalve	55:f4819de54e7a	1250	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	48:e7bcfc244d40	1251	int16_t temp_valve_pos = 0;
Lightvalve	55:f4819de54e7a	1252	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	55:f4819de54e7a	1253	temp_valve_pos = (int16_t) (10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER));
Lightvalve	48:e7bcfc244d40	1254	} else {
Lightvalve	55:f4819de54e7a	1255	temp_valve_pos = (int16_t) (-10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER));
Lightvalve	48:e7bcfc244d40	1256	}
Lightvalve	165:42c938a40313	1257
Lightvalve	11:82d8768d7351	1258	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1259	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1260	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	48:e7bcfc244d40	1261	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	48:e7bcfc244d40	1262	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
jeongyeseong	213:9c0becc196ba	1263	temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
jeongyeseong	213:9c0becc196ba	1264	temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
jeongyeseong	213:9c0becc196ba	1265	temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
jeongyeseong	213:9c0becc196ba	1266	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1267
Lightvalve	11:82d8768d7351	1268	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1269	}
Lightvalve	11:82d8768d7351	1270
Lightvalve	165:42c938a40313	1271	void CAN_TX_VALVE_POS_NUM(void)
Lightvalve	165:42c938a40313	1272	{
Lightvalve	11:82d8768d7351	1273	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1274	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1275	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	165:42c938a40313	1276
Lightvalve	11:82d8768d7351	1277	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1278	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1279	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1280	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1281	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1282
Lightvalve	11:82d8768d7351	1283	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1284	}
Lightvalve	11:82d8768d7351	1285
Lightvalve	165:42c938a40313	1286	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve	165:42c938a40313	1287	{
Lightvalve	38:118df027d851	1288	CANMessage temp_msg;
Lightvalve	165:42c938a40313	1289
Lightvalve	47:889798ff9329	1290	float temp_valve_max_pos = 0.0f;
Lightvalve	47:889798ff9329	1291	float temp_valve_min_pos = 0.0f;
Lightvalve	47:889798ff9329	1292	float temp_ddv_center = 0.0f;
Lightvalve	165:42c938a40313	1293
Lightvalve	55:f4819de54e7a	1294	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	55:f4819de54e7a	1295	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	55:f4819de54e7a	1296	temp_ddv_center = VALVE_CENTER;
Lightvalve	165:42c938a40313	1297
Lightvalve	38:118df027d851	1298	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1299	temp_msg.len = 7;
Lightvalve	38:118df027d851	1300	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	47:889798ff9329	1301	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	47:889798ff9329	1302	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	47:889798ff9329	1303	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	47:889798ff9329	1304	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	47:889798ff9329	1305	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	47:889798ff9329	1306	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1307
Lightvalve	38:118df027d851	1308	can.write(temp_msg);
Lightvalve	38:118df027d851	1309	}
Lightvalve	38:118df027d851	1310
Lightvalve	164:645207e160ca	1311
Lightvalve	165:42c938a40313	1312	void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve	165:42c938a40313	1313	{
Lightvalve	164:645207e160ca	1314	CANMessage temp_msg;
Lightvalve	164:645207e160ca	1315	int16_t send_pos_array, send_ref_array;
Lightvalve	164:645207e160ca	1316	send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve	164:645207e160ca	1317	send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve	165:42c938a40313	1318
Lightvalve	164:645207e160ca	1319	temp_msg.id = CID_TX_INFO;
hyhoon	214:82a3ca333004	1320	temp_msg.len = 5;
Lightvalve	164:645207e160ca	1321	temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve	164:645207e160ca	1322	temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve	164:645207e160ca	1323	temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve	164:645207e160ca	1324	temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve	164:645207e160ca	1325	temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve	164:645207e160ca	1326
Lightvalve	164:645207e160ca	1327	can.write(temp_msg);
Lightvalve	164:645207e160ca	1328	}
Lightvalve	164:645207e160ca	1329
Lightvalve	164:645207e160ca	1330
jobuuu	2:a1c0a37df760	1331	/******************************************************************************
jobuuu	2:a1c0a37df760	1332	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1333	*******************************************************************************/
jobuuu	2:a1c0a37df760	1334
Lightvalve	165:42c938a40313	1335	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve	165:42c938a40313	1336	{
Lightvalve	51:8ea76864368a	1337	CANMessage temp_msg;
Lightvalve	51:8ea76864368a	1338
Lightvalve	51:8ea76864368a	1339	temp_msg.id = CID_TX_POSITION;
hyhoon	214:82a3ca333004	1340	temp_msg.len = 6;
Lightvalve	51:8ea76864368a	1341	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	51:8ea76864368a	1342	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	51:8ea76864368a	1343	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	51:8ea76864368a	1344	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	51:8ea76864368a	1345	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	51:8ea76864368a	1346	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	51:8ea76864368a	1347
Lightvalve	51:8ea76864368a	1348	can.write(temp_msg);
Lightvalve	51:8ea76864368a	1349	}
Lightvalve	51:8ea76864368a	1350
Lightvalve	165:42c938a40313	1351	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve	165:42c938a40313	1352	{
Lightvalve	165:42c938a40313	1353
jobuuu	2:a1c0a37df760	1354	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1355
jobuuu	2:a1c0a37df760	1356	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1357	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1358	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1359	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	40:abbd4e2af68b	1360	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	40:abbd4e2af68b	1361	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	51:8ea76864368a	1362	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	51:8ea76864368a	1363	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	51:8ea76864368a	1364	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	51:8ea76864368a	1365	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1366
jobuuu	2:a1c0a37df760	1367	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1368	}
jobuuu	2:a1c0a37df760	1369
Lightvalve	65:c2812cf26c38	1370
hyhoon	214:82a3ca333004	1371	void CAN_TX_TORQUE(int16_t t_torque)
Lightvalve	165:42c938a40313	1372	{
jobuuu	2:a1c0a37df760	1373	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1374
jobuuu	2:a1c0a37df760	1375	temp_msg.id = CID_TX_TORQUE;
hyhoon	214:82a3ca333004	1376	temp_msg.len = 2;
hyhoon	214:82a3ca333004	1377	temp_msg.data[0] = (uint8_t) t_torque;
hyhoon	214:82a3ca333004	1378	temp_msg.data[1] = (uint8_t) (t_torque >> 8);
jobuuu	2:a1c0a37df760	1379
jobuuu	2:a1c0a37df760	1380	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1381	}
jobuuu	2:a1c0a37df760	1382
Lightvalve	165:42c938a40313	1383	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve	165:42c938a40313	1384	{
jobuuu	2:a1c0a37df760	1385	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1386
jobuuu	2:a1c0a37df760	1387	temp_msg.id = CID_TX_PRES;
hyhoon	214:82a3ca333004	1388	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1389	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1390	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1391	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1392	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1393
jobuuu	2:a1c0a37df760	1394	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1395	}
jobuuu	2:a1c0a37df760	1396
Lightvalve	165:42c938a40313	1397	void CAN_TX_PWM(int16_t t_pwm)
Lightvalve	165:42c938a40313	1398	{
jobuuu	2:a1c0a37df760	1399	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1400
Lightvalve	55:f4819de54e7a	1401	temp_msg.id = CID_TX_VOUT;
hyhoon	214:82a3ca333004	1402	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1403	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1404	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1405
jobuuu	2:a1c0a37df760	1406	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1407	}
jobuuu	2:a1c0a37df760	1408
Lightvalve	71:f80dc3970c99	1409	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	1410	{
jobuuu	2:a1c0a37df760	1411	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1412
jobuuu	2:a1c0a37df760	1413	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	71:f80dc3970c99	1414	temp_msg.len = 8;
Lightvalve	71:f80dc3970c99	1415	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	71:f80dc3970c99	1416	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	71:f80dc3970c99	1417	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	71:f80dc3970c99	1418	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	71:f80dc3970c99	1419	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	71:f80dc3970c99	1420	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	71:f80dc3970c99	1421	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	71:f80dc3970c99	1422	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	165:42c938a40313	1423
jobuuu	2:a1c0a37df760	1424
jobuuu	2:a1c0a37df760	1425	can.write(temp_msg);
jeongyeseong	213:9c0becc196ba	1426	}
jeongyeseong	213:9c0becc196ba	1427
jeongyeseong	213:9c0becc196ba	1428	void CAN_TX_SOMETHING(int16_t t_a, int16_t t_b, int16_t t_c, int16_t t_d)
jeongyeseong	213:9c0becc196ba	1429	{
jeongyeseong	213:9c0becc196ba	1430	CANMessage temp_msg;
jeongyeseong	213:9c0becc196ba	1431
jeongyeseong	213:9c0becc196ba	1432	temp_msg.id = CID_TX_SOMETHING;
jeongyeseong	213:9c0becc196ba	1433	temp_msg.len = 8;
jeongyeseong	213:9c0becc196ba	1434	temp_msg.data[0] = (uint8_t) t_a;
jeongyeseong	213:9c0becc196ba	1435	temp_msg.data[1] = (uint8_t) (t_a >> 8);
jeongyeseong	213:9c0becc196ba	1436	temp_msg.data[2] = (uint8_t) t_b;
jeongyeseong	213:9c0becc196ba	1437	temp_msg.data[3] = (uint8_t) (t_b >> 8);
jeongyeseong	213:9c0becc196ba	1438	temp_msg.data[4] = (uint8_t) t_c;
jeongyeseong	213:9c0becc196ba	1439	temp_msg.data[5] = (uint8_t) (t_c >> 8);
jeongyeseong	213:9c0becc196ba	1440	temp_msg.data[6] = (uint8_t) t_d;
jeongyeseong	213:9c0becc196ba	1441	temp_msg.data[7] = (uint8_t) (t_d >> 8);
jeongyeseong	213:9c0becc196ba	1442
jeongyeseong	213:9c0becc196ba	1443
jeongyeseong	213:9c0becc196ba	1444	can.write(temp_msg);
Lightvalve	65:c2812cf26c38	1445	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Aug 2022
Imports:	0
Forks:	0
Commits:	245
Dependents:	0
Dependencies:	2
Followers:	1

CAN/function_CAN.cpp@214:82a3ca333004, 2021-03-03 (annotated)

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