Diff: CAN/function_CAN.cpp

Revision:

236:544011ad9c85

Parent:

235:bfdf0f479a38

Child:

238:91d3ec3a087e

--- a/CAN/function_CAN.cpp	Fri Jun 24 00:18:20 2022 +0000
+++ b/CAN/function_CAN.cpp	Fri Jun 24 05:55:29 2022 +0000
@@ -732,11 +732,11 @@
             valve_pos.ref = (double) temp_ref_valve_pos; // Unit : pulse (0~30000)
         } else { //SW Valve
             if(temp_ref_valve_pos >= 0) {
-//                valve_pos.ref = (double)VALVE_ELECTRIC_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
-                valve_pos.ref = (double)temp_ref_valve_pos; // -10000~10000
+                valve_pos.ref = (double)VALVE_ELECTRIC_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
+//                valve_pos.ref = (double)temp_ref_valve_pos;
             } else {
-//                valve_pos.ref = (double)VALVE_ELECTRIC_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
-                valve_pos.ref = (double)temp_ref_valve_pos; // -10000~10000
+                valve_pos.ref = (double)VALVE_ELECTRIC_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
+//                valve_pos.ref = (double)temp_ref_valve_pos;
             }
         }
     } else if(address==CID_RX_REF_PWM) {
@@ -1089,8 +1089,8 @@
     CANMessage temp_msg;
      int16_t temp_valve_min_pos = 0;
      int16_t temp_valve_max_pos = 0;
-     temp_valve_min_pos = (int16_t) ((float) VALVE_MIN_POS * 0.1f);
-     temp_valve_max_pos = (int16_t) ((float) VALVE_MAX_POS * 0.1f);
+     temp_valve_min_pos = (int16_t) VALVE_MIN_POS;
+     temp_valve_max_pos = (int16_t) VALVE_MAX_POS;
 
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
@@ -1246,9 +1246,9 @@
     int16_t valve_pos_vs_pwm;
 
     if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_ELECTRIC_CENTER) {
-        valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER);
+        valve_pos_vs_pwm = (int16_t) (10000.0f*((float)VALVE_POS_VS_PWM[canindex]-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER));
     } else {
-        valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER);
+        valve_pos_vs_pwm = (int16_t) (-10000.0f*((float)VALVE_POS_VS_PWM[canindex]-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER));
     }
 
     int16_t PWM_VALVE_ID;