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2011
Diff: CAN/function_CAN.cpp
- Revision:
- 38:118df027d851
- Parent:
- 36:a46e63505ed8
- Child:
- 40:abbd4e2af68b
--- a/CAN/function_CAN.cpp Mon Nov 25 05:04:12 2019 +0000 +++ b/CAN/function_CAN.cpp Thu Nov 28 09:18:03 2019 +0000 @@ -693,9 +693,14 @@ //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE); //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE); } - break; } + case CRX_ASK_VALVE_MAX_MIN_POS: { + CAN_TX_DDV_VALVE_DEADZONE(); + CAN_TX_DDV_VALVE_MAX_MIN_POS(); + break; + } + default: break; } @@ -1240,6 +1245,22 @@ can.write(temp_msg); } +void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) { + CANMessage temp_msg; + + temp_msg.id = CID_TX_INFO; + temp_msg.len = 7; + temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS; + temp_msg.data[1] = (uint8_t) VALVE_MAX_POS; + temp_msg.data[2] = (uint8_t) ((int) (VALVE_MAX_POS) >> 8); + temp_msg.data[3] = (uint8_t) (VALVE_MIN_POS); + temp_msg.data[4] = (uint8_t) ((int) (VALVE_MIN_POS) >> 8); + temp_msg.data[5] = (uint8_t) (DDV_CENTER); + temp_msg.data[6] = (uint8_t) ((int) (DDV_CENTER) >> 8); + + can.write(temp_msg); +} + /****************************************************************************** Sensor & State Transmission Functions *******************************************************************************/ @@ -1315,3 +1336,4 @@ +