Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy

2011

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@44:35fa6884d0c6, 2020-01-16 (annotated)

Committer:
Lightvalve
Date:
Thu Jan 16 12:05:15 2020 +0000
Revision:
44:35fa6884d0c6
Parent:
42:b084e5f5d0d5
Child:
45:2694daea349b
200116

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 44:35fa6884d0c6 11 int CID_RX_REF_PWM = 300;
jobuuu 2:a1c0a37df760 12
jobuuu 2:a1c0a37df760 13 int CID_TX_INFO = 1100;
jobuuu 2:a1c0a37df760 14 int CID_TX_POSITION = 1200;
jobuuu 2:a1c0a37df760 15 int CID_TX_TORQUE = 1300;
jobuuu 2:a1c0a37df760 16 int CID_TX_PRES = 1400;
jobuuu 7:e9086c72bb22 17 int CID_TX_VOUT = 1500;
jobuuu 2:a1c0a37df760 18 int CID_TX_VALVE_POSITION = 1600;
jobuuu 2:a1c0a37df760 19
Lightvalve 12:6f2531038ea4 20 // variables
Lightvalve 12:6f2531038ea4 21 uint8_t can_index = 0;
Lightvalve 12:6f2531038ea4 22
Lightvalve 11:82d8768d7351 23
Lightvalve 11:82d8768d7351 24 /*******************************************************************************
Lightvalve 11:82d8768d7351 25 * CAN functions
Lightvalve 11:82d8768d7351 26 ******************************************************************************/
Lightvalve 11:82d8768d7351 27 void CAN_ID_INIT(void) {
jobuuu 7:e9086c72bb22 28
Lightvalve 11:82d8768d7351 29 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 30 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve 44:35fa6884d0c6 31 CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve 11:82d8768d7351 32
Lightvalve 11:82d8768d7351 33 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve 11:82d8768d7351 34 CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve 11:82d8768d7351 35 CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve 11:82d8768d7351 36 CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve 11:82d8768d7351 37 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 38 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve 11:82d8768d7351 39 }
jobuuu 2:a1c0a37df760 40
Lightvalve 28:2a62d73e3dd0 41 void ReadCMD(int16_t CMD)
jobuuu 2:a1c0a37df760 42 {
jobuuu 2:a1c0a37df760 43 switch(CMD){
Lightvalve 11:82d8768d7351 44 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 45 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 46 break;
Lightvalve 11:82d8768d7351 47 }
Lightvalve 11:82d8768d7351 48 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 49 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 50 break;
Lightvalve 11:82d8768d7351 51 }
Lightvalve 11:82d8768d7351 52 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 53 BNO = (int16_t) msg.data[1];
Lightvalve 16:903b5a4433b4 54
Lightvalve 16:903b5a4433b4 55 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 56
Lightvalve 16:903b5a4433b4 57 //spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 58 CAN_ID_INIT(); // can id init
Lightvalve 11:82d8768d7351 59 break;
Lightvalve 11:82d8768d7351 60 }
Lightvalve 11:82d8768d7351 61 case CRX_ASK_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 62 CAN_TX_OPERATING_MODE();
Lightvalve 11:82d8768d7351 63 break;
Lightvalve 11:82d8768d7351 64 }
Lightvalve 11:82d8768d7351 65 case CRX_SET_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 66 OPERATING_MODE = (int16_t) msg.data[1];
Lightvalve 16:903b5a4433b4 67
Lightvalve 16:903b5a4433b4 68 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 69
Lightvalve 23:59218d4a256d 70
Lightvalve 11:82d8768d7351 71 break;
Lightvalve 11:82d8768d7351 72 }
Lightvalve 11:82d8768d7351 73 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 74 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 75
Lightvalve 11:82d8768d7351 76 break;
Lightvalve 11:82d8768d7351 77 }
Lightvalve 11:82d8768d7351 78 case CRX_SET_FET_ON: {
Lightvalve 11:82d8768d7351 79
Lightvalve 11:82d8768d7351 80 break;
Lightvalve 11:82d8768d7351 81 }
Lightvalve 11:82d8768d7351 82
Lightvalve 44:35fa6884d0c6 83 case CRX_SET_POS_TORQ_TRANS: {
Lightvalve 44:35fa6884d0c6 84 MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve 44:35fa6884d0c6 85 /*
Lightvalve 44:35fa6884d0c6 86 MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve 44:35fa6884d0c6 87 MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve 44:35fa6884d0c6 88 MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve 44:35fa6884d0c6 89 MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve 44:35fa6884d0c6 90 */
Lightvalve 11:82d8768d7351 91 break;
Lightvalve 11:82d8768d7351 92 }
Lightvalve 11:82d8768d7351 93
Lightvalve 11:82d8768d7351 94 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 95 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 96
Lightvalve 11:82d8768d7351 97 break;
Lightvalve 11:82d8768d7351 98 }
Lightvalve 11:82d8768d7351 99
Lightvalve 11:82d8768d7351 100 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 101 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 102
Lightvalve 16:903b5a4433b4 103 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 104
Lightvalve 16:903b5a4433b4 105 //spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 106 break;
Lightvalve 11:82d8768d7351 107 }
Lightvalve 11:82d8768d7351 108
Lightvalve 11:82d8768d7351 109 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 110 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 111
Lightvalve 11:82d8768d7351 112 break;
Lightvalve 11:82d8768d7351 113 }
Lightvalve 11:82d8768d7351 114
Lightvalve 11:82d8768d7351 115 case CRX_SET_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 116 CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 117 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 118 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 119 }
Lightvalve 11:82d8768d7351 120 break;
Lightvalve 11:82d8768d7351 121 }
Lightvalve 11:82d8768d7351 122
Lightvalve 11:82d8768d7351 123 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 124 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 125 flag_data_request[request_type] = msg.data[1];
Lightvalve 14:8e7590227d22 126 //pc.printf("can middle %d\n", request_type);
Lightvalve 11:82d8768d7351 127
Lightvalve 12:6f2531038ea4 128 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 129 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 130 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 131 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 11:82d8768d7351 132
Lightvalve 11:82d8768d7351 133 break;
Lightvalve 11:82d8768d7351 134 }
Lightvalve 11:82d8768d7351 135
Lightvalve 11:82d8768d7351 136 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 137 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 138
Lightvalve 11:82d8768d7351 139 break;
Lightvalve 11:82d8768d7351 140 }
Lightvalve 11:82d8768d7351 141
Lightvalve 11:82d8768d7351 142 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 143 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 144 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 145 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 146 else
Lightvalve 11:82d8768d7351 147 DIR_JOINT_ENC = -1;
Lightvalve 16:903b5a4433b4 148
Lightvalve 16:903b5a4433b4 149 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 150
Lightvalve 16:903b5a4433b4 151 //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 152
Lightvalve 11:82d8768d7351 153 break;
Lightvalve 11:82d8768d7351 154 }
Lightvalve 11:82d8768d7351 155
Lightvalve 11:82d8768d7351 156 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 157 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 158
Lightvalve 11:82d8768d7351 159 break;
Lightvalve 11:82d8768d7351 160 }
Lightvalve 11:82d8768d7351 161
Lightvalve 11:82d8768d7351 162 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 163 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 164 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 165 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 166 else
Lightvalve 11:82d8768d7351 167 DIR_VALVE = -1;
Lightvalve 16:903b5a4433b4 168
Lightvalve 16:903b5a4433b4 169 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 170
Lightvalve 16:903b5a4433b4 171 //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 172
Lightvalve 11:82d8768d7351 173 break;
Lightvalve 11:82d8768d7351 174 }
Lightvalve 11:82d8768d7351 175
Lightvalve 11:82d8768d7351 176 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 177 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 178
Lightvalve 11:82d8768d7351 179 break;
Lightvalve 11:82d8768d7351 180 }
Lightvalve 11:82d8768d7351 181
Lightvalve 11:82d8768d7351 182 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 183 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 184 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 185 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 186 else
Lightvalve 11:82d8768d7351 187 DIR_VALVE_ENC = -1;
Lightvalve 16:903b5a4433b4 188
Lightvalve 16:903b5a4433b4 189 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 190
Lightvalve 16:903b5a4433b4 191 //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 192
Lightvalve 11:82d8768d7351 193 break;
Lightvalve 11:82d8768d7351 194 }
Lightvalve 11:82d8768d7351 195
Lightvalve 11:82d8768d7351 196 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 197 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 198
Lightvalve 11:82d8768d7351 199 break;
Lightvalve 11:82d8768d7351 200 }
Lightvalve 11:82d8768d7351 201
Lightvalve 11:82d8768d7351 202 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 30:8d561f16383b 203 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 204
Lightvalve 16:903b5a4433b4 205 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 206
Lightvalve 16:903b5a4433b4 207 //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve 11:82d8768d7351 208
Lightvalve 11:82d8768d7351 209 break;
Lightvalve 11:82d8768d7351 210 }
Lightvalve 11:82d8768d7351 211
Lightvalve 11:82d8768d7351 212 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 213 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 214
Lightvalve 11:82d8768d7351 215 break;
Lightvalve 11:82d8768d7351 216 }
Lightvalve 11:82d8768d7351 217
Lightvalve 11:82d8768d7351 218 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 30:8d561f16383b 219 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 220
Lightvalve 16:903b5a4433b4 221 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 222
Lightvalve 16:903b5a4433b4 223 //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve 11:82d8768d7351 224
Lightvalve 11:82d8768d7351 225
Lightvalve 11:82d8768d7351 226 break;
Lightvalve 11:82d8768d7351 227 }
Lightvalve 12:6f2531038ea4 228
Lightvalve 11:82d8768d7351 229 case CRX_SET_HOMEPOS: {
Lightvalve 11:82d8768d7351 230 CONTROL_MODE = 22;
Lightvalve 11:82d8768d7351 231 SETTING_SWITCH = (int16_t) (msg.data[1]);
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 16:903b5a4433b4 246
Lightvalve 16:903b5a4433b4 247 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 248
Lightvalve 16:903b5a4433b4 249 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 250 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 251 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 252
Lightvalve 11:82d8768d7351 253
Lightvalve 11:82d8768d7351 254 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 255 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 256 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 257 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 258
Lightvalve 16:903b5a4433b4 259 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 260
Lightvalve 16:903b5a4433b4 261 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 262 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 263 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 264 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 265 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 266 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 267 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 268
Lightvalve 16:903b5a4433b4 269 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 270
Lightvalve 16:903b5a4433b4 271 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 272 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 273 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 274 }
Lightvalve 11:82d8768d7351 275
Lightvalve 11:82d8768d7351 276 break;
Lightvalve 11:82d8768d7351 277 }
Lightvalve 11:82d8768d7351 278
Lightvalve 11:82d8768d7351 279 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 280 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 281
Lightvalve 11:82d8768d7351 282 break;
Lightvalve 11:82d8768d7351 283 }
Lightvalve 11:82d8768d7351 284
Lightvalve 11:82d8768d7351 285 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 286 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 287 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 288 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 16:903b5a4433b4 289
Lightvalve 16:903b5a4433b4 290 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 291
Lightvalve 16:903b5a4433b4 292 //spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
Lightvalve 16:903b5a4433b4 293 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 16:903b5a4433b4 294 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 11:82d8768d7351 295
Lightvalve 11:82d8768d7351 296 break;
Lightvalve 11:82d8768d7351 297 }
Lightvalve 11:82d8768d7351 298
Lightvalve 11:82d8768d7351 299 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 300 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 301
Lightvalve 11:82d8768d7351 302 break;
Lightvalve 11:82d8768d7351 303 }
Lightvalve 11:82d8768d7351 304
Lightvalve 11:82d8768d7351 305 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 306 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 307
Lightvalve 16:903b5a4433b4 308 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 309
Lightvalve 16:903b5a4433b4 310 //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 311
Lightvalve 11:82d8768d7351 312 break;
Lightvalve 11:82d8768d7351 313 }
Lightvalve 11:82d8768d7351 314
Lightvalve 11:82d8768d7351 315 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 316 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 317
Lightvalve 11:82d8768d7351 318 break;
Lightvalve 11:82d8768d7351 319 }
Lightvalve 11:82d8768d7351 320
Lightvalve 11:82d8768d7351 321 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 322 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 323
Lightvalve 16:903b5a4433b4 324 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 325
Lightvalve 16:903b5a4433b4 326 //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 327
Lightvalve 11:82d8768d7351 328 break;
Lightvalve 11:82d8768d7351 329 }
Lightvalve 11:82d8768d7351 330
Lightvalve 11:82d8768d7351 331 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 332 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 333
Lightvalve 11:82d8768d7351 334 break;
Lightvalve 11:82d8768d7351 335 }
Lightvalve 11:82d8768d7351 336
Lightvalve 11:82d8768d7351 337 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 338 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 339
Lightvalve 16:903b5a4433b4 340 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 341
Lightvalve 16:903b5a4433b4 342 //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 343
Lightvalve 11:82d8768d7351 344 break;
Lightvalve 11:82d8768d7351 345 }
Lightvalve 11:82d8768d7351 346
Lightvalve 11:82d8768d7351 347 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 348 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 349
Lightvalve 11:82d8768d7351 350 break;
Lightvalve 11:82d8768d7351 351 }
Lightvalve 11:82d8768d7351 352
Lightvalve 11:82d8768d7351 353 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 354 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 355
Lightvalve 16:903b5a4433b4 356 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 357
Lightvalve 16:903b5a4433b4 358 //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 359
Lightvalve 11:82d8768d7351 360 break;
Lightvalve 11:82d8768d7351 361 }
Lightvalve 11:82d8768d7351 362
Lightvalve 11:82d8768d7351 363 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 364 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 365
Lightvalve 11:82d8768d7351 366 break;
Lightvalve 11:82d8768d7351 367 }
Lightvalve 11:82d8768d7351 368
Lightvalve 11:82d8768d7351 369 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 370 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 371 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 372
Lightvalve 16:903b5a4433b4 373 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 374
Lightvalve 16:903b5a4433b4 375 //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 376 //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 377
Lightvalve 11:82d8768d7351 378 break;
Lightvalve 11:82d8768d7351 379 }
Lightvalve 11:82d8768d7351 380
Lightvalve 11:82d8768d7351 381 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 382 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 383
Lightvalve 11:82d8768d7351 384 break;
Lightvalve 11:82d8768d7351 385 }
Lightvalve 11:82d8768d7351 386
Lightvalve 11:82d8768d7351 387 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 388 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 389 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 390 PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve 16:903b5a4433b4 391
Lightvalve 16:903b5a4433b4 392 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 393
Lightvalve 16:903b5a4433b4 394 //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 395 //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 396 break;
Lightvalve 11:82d8768d7351 397 }
Lightvalve 11:82d8768d7351 398
Lightvalve 11:82d8768d7351 399 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 400 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 401 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 402 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 403 //dac_2 = PRES_B_VREF;
Lightvalve 12:6f2531038ea4 404
Lightvalve 11:82d8768d7351 405 break;
Lightvalve 11:82d8768d7351 406 }
Lightvalve 11:82d8768d7351 407
Lightvalve 11:82d8768d7351 408 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 409 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 410 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 411 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 412 //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 413 //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 414
Lightvalve 11:82d8768d7351 415
Lightvalve 11:82d8768d7351 416 break;
Lightvalve 11:82d8768d7351 417 }
Lightvalve 11:82d8768d7351 418
Lightvalve 11:82d8768d7351 419 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 420 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 421
Lightvalve 11:82d8768d7351 422 break;
Lightvalve 11:82d8768d7351 423 }
Lightvalve 11:82d8768d7351 424
Lightvalve 11:82d8768d7351 425 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 426 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 427 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 428 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 429 //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 430 //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 431
Lightvalve 11:82d8768d7351 432 break;
Lightvalve 11:82d8768d7351 433 }
Lightvalve 11:82d8768d7351 434
Lightvalve 11:82d8768d7351 435 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 436 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 437 break;
Lightvalve 11:82d8768d7351 438 }
Lightvalve 11:82d8768d7351 439
Lightvalve 11:82d8768d7351 440 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 441 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 442 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 443 //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 444
Lightvalve 11:82d8768d7351 445 break;
Lightvalve 11:82d8768d7351 446 }
Lightvalve 11:82d8768d7351 447
Lightvalve 11:82d8768d7351 448 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 449 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 450
Lightvalve 11:82d8768d7351 451 break;
Lightvalve 11:82d8768d7351 452 }
Lightvalve 11:82d8768d7351 453
Lightvalve 11:82d8768d7351 454 case CRX_SET_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 455 VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 456 VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 457 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 458 //spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 459 //spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 460
Lightvalve 11:82d8768d7351 461 break;
Lightvalve 11:82d8768d7351 462 }
Lightvalve 11:82d8768d7351 463
Lightvalve 11:82d8768d7351 464 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 465 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 466
Lightvalve 11:82d8768d7351 467 break;
Lightvalve 11:82d8768d7351 468 }
Lightvalve 11:82d8768d7351 469
Lightvalve 11:82d8768d7351 470 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 471 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 472 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 473 //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve 11:82d8768d7351 474
Lightvalve 11:82d8768d7351 475 break;
Lightvalve 11:82d8768d7351 476 }
Lightvalve 11:82d8768d7351 477
Lightvalve 11:82d8768d7351 478 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 479 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 480
Lightvalve 11:82d8768d7351 481 break;
Lightvalve 11:82d8768d7351 482 }
Lightvalve 11:82d8768d7351 483
Lightvalve 11:82d8768d7351 484 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 485 TORQUE_SENSOR_PULSE_PER_TORQUE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 486 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 487 //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve 11:82d8768d7351 488
Lightvalve 11:82d8768d7351 489 break;
Lightvalve 11:82d8768d7351 490 }
Lightvalve 11:82d8768d7351 491
Lightvalve 11:82d8768d7351 492 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 493 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 494
Lightvalve 11:82d8768d7351 495 break;
Lightvalve 11:82d8768d7351 496 }
Lightvalve 11:82d8768d7351 497
Lightvalve 11:82d8768d7351 498 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 30:8d561f16383b 499 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 30:8d561f16383b 500 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 16:903b5a4433b4 501 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 502 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 16:903b5a4433b4 503 //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 504
Lightvalve 11:82d8768d7351 505 break;
Lightvalve 11:82d8768d7351 506 }
Lightvalve 11:82d8768d7351 507
Lightvalve 11:82d8768d7351 508 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 509 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 510
Lightvalve 11:82d8768d7351 511 break;
Lightvalve 11:82d8768d7351 512 }
Lightvalve 11:82d8768d7351 513
Lightvalve 11:82d8768d7351 514 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 515 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 516 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 517 //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 518
Lightvalve 11:82d8768d7351 519 break;
Lightvalve 11:82d8768d7351 520 }
Lightvalve 11:82d8768d7351 521
Lightvalve 11:82d8768d7351 522 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 523 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 524
Lightvalve 11:82d8768d7351 525 break;
Lightvalve 11:82d8768d7351 526 }
Lightvalve 11:82d8768d7351 527 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 528 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 529 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 530 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 531 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 532 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 533 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 534 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 30:8d561f16383b 535 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 30:8d561f16383b 536 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 30:8d561f16383b 537 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 30:8d561f16383b 538 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 539
Lightvalve 11:82d8768d7351 540 break;
Lightvalve 11:82d8768d7351 541 }
Lightvalve 11:82d8768d7351 542
Lightvalve 11:82d8768d7351 543 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 544 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 545
Lightvalve 11:82d8768d7351 546 break;
Lightvalve 11:82d8768d7351 547 }
Lightvalve 11:82d8768d7351 548 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 549 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 550 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 551 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 552 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 553 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 554 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 555 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 30:8d561f16383b 556 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 30:8d561f16383b 557 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 30:8d561f16383b 558 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 30:8d561f16383b 559 //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 560
Lightvalve 11:82d8768d7351 561 break;
Lightvalve 11:82d8768d7351 562 }
Lightvalve 11:82d8768d7351 563 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 564 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 565 break;
Lightvalve 11:82d8768d7351 566 }
Lightvalve 11:82d8768d7351 567
Lightvalve 11:82d8768d7351 568 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 569 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 570
Lightvalve 11:82d8768d7351 571 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 572 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 573 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 574 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 575 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 576
Lightvalve 11:82d8768d7351 577 break;
Lightvalve 11:82d8768d7351 578 }
Lightvalve 11:82d8768d7351 579
Lightvalve 11:82d8768d7351 580 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 581 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 582
Lightvalve 11:82d8768d7351 583 break;
Lightvalve 11:82d8768d7351 584 }
Lightvalve 11:82d8768d7351 585
Lightvalve 11:82d8768d7351 586 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 587
Lightvalve 12:6f2531038ea4 588 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 589 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 590 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 591 }
Lightvalve 11:82d8768d7351 592
Lightvalve 11:82d8768d7351 593 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 594
Lightvalve 11:82d8768d7351 595
Lightvalve 11:82d8768d7351 596 break;
Lightvalve 11:82d8768d7351 597 }
Lightvalve 11:82d8768d7351 598
Lightvalve 11:82d8768d7351 599 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 600 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 601 break;
Lightvalve 11:82d8768d7351 602 }
Lightvalve 11:82d8768d7351 603 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 604 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 605 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 606 //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 607 break;
Lightvalve 11:82d8768d7351 608 }
Lightvalve 11:82d8768d7351 609
Lightvalve 11:82d8768d7351 610 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 611 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 612 break;
Lightvalve 11:82d8768d7351 613 }
Lightvalve 11:82d8768d7351 614 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 615 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 616 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 617 //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 618 break;
Lightvalve 11:82d8768d7351 619 }
Lightvalve 11:82d8768d7351 620
Lightvalve 11:82d8768d7351 621 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 622 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 623 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 624 break;
Lightvalve 11:82d8768d7351 625 }
Lightvalve 11:82d8768d7351 626 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 627 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 628 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 629 break;
Lightvalve 11:82d8768d7351 630 }
Lightvalve 11:82d8768d7351 631 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 632 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 633 break;
Lightvalve 11:82d8768d7351 634 }
Lightvalve 28:2a62d73e3dd0 635
Lightvalve 28:2a62d73e3dd0 636 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 637 ROM_RESET_DATA();
Lightvalve 28:2a62d73e3dd0 638 break;
Lightvalve 28:2a62d73e3dd0 639 }
Lightvalve 32:4b8c0fedaf2c 640 case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve 32:4b8c0fedaf2c 641 VALVE_CENTER_OFFSET_times10 = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 33:91b17819ec30 642 VALVE_CENTER_OFFSET = ((float) VALVE_CENTER_OFFSET_times10) * 0.1f;
Lightvalve 33:91b17819ec30 643 DDV_CENTER = DDV_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 38:118df027d851 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 38:118df027d851 700
jobuuu 2:a1c0a37df760 701 default:
jobuuu 2:a1c0a37df760 702 break;
jobuuu 2:a1c0a37df760 703 }
jobuuu 2:a1c0a37df760 704 }
jobuuu 2:a1c0a37df760 705
jobuuu 2:a1c0a37df760 706 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 707 {
Lightvalve 23:59218d4a256d 708
jobuuu 2:a1c0a37df760 709 can.read(msg);
jobuuu 2:a1c0a37df760 710 unsigned int address = msg.id;
jobuuu 7:e9086c72bb22 711 if(address==CID_RX_CMD){
jobuuu 2:a1c0a37df760 712 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 713 ReadCMD(CMD);
jobuuu 7:e9086c72bb22 714 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 40:abbd4e2af68b 715 //int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24);
Lightvalve 42:b084e5f5d0d5 716 int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 40:abbd4e2af68b 717 //int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24);
Lightvalve 42:b084e5f5d0d5 718 int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 40:abbd4e2af68b 719
Lightvalve 40:abbd4e2af68b 720 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 40:abbd4e2af68b 721 pos.ref = (double)temp_pos * 4.0f;
Lightvalve 41:1cf66990ccab 722 vel.ref = (double)temp_vel * 100.0f;
Lightvalve 42:b084e5f5d0d5 723 torq.ref = (double)temp_torq * 0.1f;
Lightvalve 44:35fa6884d0c6 724 } else if(address==CID_RX_REF_PWM) {
Lightvalve 44:35fa6884d0c6 725 int16_t temp_vout = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 44:35fa6884d0c6 726 Vout.ref = (double)temp_vout;
Lightvalve 44:35fa6884d0c6 727 }
jobuuu 2:a1c0a37df760 728 }
jobuuu 2:a1c0a37df760 729
jobuuu 2:a1c0a37df760 730 /******************************************************************************
jobuuu 2:a1c0a37df760 731 Information Transmission Functions
jobuuu 2:a1c0a37df760 732 *******************************************************************************/
Lightvalve 11:82d8768d7351 733
Lightvalve 11:82d8768d7351 734 void CAN_TX_INFO(void) {
Lightvalve 12:6f2531038ea4 735 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 736
jobuuu 2:a1c0a37df760 737 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 738 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 739 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 740 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 741 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 742 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 743 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 12:6f2531038ea4 744 temp_msg.data[5] = (uint8_t) CONTROL_MODE;
Lightvalve 12:6f2531038ea4 745 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 746
jobuuu 2:a1c0a37df760 747 can.write(temp_msg);
jobuuu 2:a1c0a37df760 748 }
jobuuu 2:a1c0a37df760 749
Lightvalve 11:82d8768d7351 750 void CAN_TX_BNO(void) {
Lightvalve 12:6f2531038ea4 751 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 752
jobuuu 2:a1c0a37df760 753 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 754 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 755 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 756 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 757
jobuuu 2:a1c0a37df760 758 can.write(temp_msg);
jobuuu 2:a1c0a37df760 759 }
jobuuu 2:a1c0a37df760 760
Lightvalve 11:82d8768d7351 761 void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 762 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 763
jobuuu 2:a1c0a37df760 764 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 765 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 766 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 767 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 768
jobuuu 2:a1c0a37df760 769 can.write(temp_msg);
jobuuu 2:a1c0a37df760 770 }
jobuuu 2:a1c0a37df760 771
Lightvalve 11:82d8768d7351 772 void CAN_TX_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 773 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 774
jobuuu 2:a1c0a37df760 775 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 776 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 777 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 778 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 779 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 780
jobuuu 2:a1c0a37df760 781 can.write(temp_msg);
jobuuu 2:a1c0a37df760 782 }
Lightvalve 11:82d8768d7351 783
Lightvalve 11:82d8768d7351 784 void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 785 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 786
jobuuu 2:a1c0a37df760 787 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 788 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 789 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 12:6f2531038ea4 790 temp_msg.data[1] = (uint8_t) CONTROL_MODE;
jobuuu 2:a1c0a37df760 791
jobuuu 2:a1c0a37df760 792 can.write(temp_msg);
jobuuu 2:a1c0a37df760 793 }
Lightvalve 11:82d8768d7351 794
Lightvalve 11:82d8768d7351 795 void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 796 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 797
jobuuu 2:a1c0a37df760 798 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 799 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 800 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 801 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 802 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 803
jobuuu 2:a1c0a37df760 804 can.write(temp_msg);
jobuuu 2:a1c0a37df760 805 }
jobuuu 2:a1c0a37df760 806
Lightvalve 11:82d8768d7351 807 void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 808 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 809
jobuuu 2:a1c0a37df760 810 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 811 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 812 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 813 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 814 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 815
jobuuu 2:a1c0a37df760 816 can.write(temp_msg);
jobuuu 2:a1c0a37df760 817 }
jobuuu 2:a1c0a37df760 818
Lightvalve 11:82d8768d7351 819 void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 820 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 821
jobuuu 2:a1c0a37df760 822 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 823 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 824 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 825 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 826 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 827
jobuuu 2:a1c0a37df760 828 can.write(temp_msg);
jobuuu 2:a1c0a37df760 829 }
jobuuu 2:a1c0a37df760 830
Lightvalve 11:82d8768d7351 831 void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve 12:6f2531038ea4 832 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10);
jobuuu 2:a1c0a37df760 833
jobuuu 2:a1c0a37df760 834 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 835
jobuuu 2:a1c0a37df760 836 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 837 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 838 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 839 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 840 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 841
jobuuu 2:a1c0a37df760 842 can.write(temp_msg);
jobuuu 2:a1c0a37df760 843 }
jobuuu 2:a1c0a37df760 844
Lightvalve 11:82d8768d7351 845 void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve 12:6f2531038ea4 846 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10);
jobuuu 2:a1c0a37df760 847
jobuuu 2:a1c0a37df760 848 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 849
jobuuu 2:a1c0a37df760 850 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 851 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 852 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 853 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 854 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 855
jobuuu 2:a1c0a37df760 856 can.write(temp_msg);
jobuuu 2:a1c0a37df760 857 }
Lightvalve 11:82d8768d7351 858
jobuuu 2:a1c0a37df760 859
Lightvalve 11:82d8768d7351 860 void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 861 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 862 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 863 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 864
Lightvalve 12:6f2531038ea4 865 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 866 if (t_type == 0) {
Lightvalve 30:8d561f16383b 867 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 868 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 869 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 870 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 871 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 872 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 873 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 874 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 875 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 876 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 877 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
jobuuu 2:a1c0a37df760 878 }
jobuuu 2:a1c0a37df760 879
jobuuu 2:a1c0a37df760 880 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 881
jobuuu 2:a1c0a37df760 882 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 883 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 884 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 885 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 886 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 887 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 888 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 889 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 890 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 891 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 892
jobuuu 2:a1c0a37df760 893 can.write(temp_msg);
jobuuu 2:a1c0a37df760 894 }
jobuuu 2:a1c0a37df760 895
Lightvalve 11:82d8768d7351 896
Lightvalve 11:82d8768d7351 897 void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 898 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 899
jobuuu 2:a1c0a37df760 900 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 901 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 902 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 12:6f2531038ea4 903 temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER);
Lightvalve 12:6f2531038ea4 904 temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8);
Lightvalve 12:6f2531038ea4 905 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 906 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 907 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 908 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 909
jobuuu 2:a1c0a37df760 910 can.write(temp_msg);
jobuuu 2:a1c0a37df760 911 }
jobuuu 2:a1c0a37df760 912
Lightvalve 11:82d8768d7351 913 void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve 11:82d8768d7351 914 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 915
Lightvalve 11:82d8768d7351 916 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 917 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 918 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 919 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 920 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 921
Lightvalve 11:82d8768d7351 922 can.write(temp_msg);
Lightvalve 11:82d8768d7351 923 }
Lightvalve 11:82d8768d7351 924
Lightvalve 11:82d8768d7351 925 void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve 11:82d8768d7351 926 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 927
Lightvalve 11:82d8768d7351 928 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 929 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 930 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 931 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 932 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 933
Lightvalve 11:82d8768d7351 934 can.write(temp_msg);
Lightvalve 11:82d8768d7351 935 }
Lightvalve 11:82d8768d7351 936
Lightvalve 11:82d8768d7351 937 void CAN_TX_VALVE_FF(void) {
Lightvalve 11:82d8768d7351 938 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 939
Lightvalve 11:82d8768d7351 940 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 941 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 942 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 943 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 944 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 945
Lightvalve 11:82d8768d7351 946 can.write(temp_msg);
Lightvalve 11:82d8768d7351 947 }
Lightvalve 11:82d8768d7351 948
Lightvalve 11:82d8768d7351 949 void CAN_TX_BULK_MODULUS(void) {
Lightvalve 11:82d8768d7351 950 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 951
Lightvalve 11:82d8768d7351 952 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 953 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 954 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 955 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 956 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 957
Lightvalve 11:82d8768d7351 958 can.write(temp_msg);
Lightvalve 11:82d8768d7351 959 }
Lightvalve 11:82d8768d7351 960
Lightvalve 11:82d8768d7351 961 void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve 11:82d8768d7351 962 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 963
Lightvalve 11:82d8768d7351 964 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 965 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 966 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 967 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 968 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 969 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 970 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 971
Lightvalve 11:82d8768d7351 972 can.write(temp_msg);
Lightvalve 11:82d8768d7351 973 }
Lightvalve 11:82d8768d7351 974
Lightvalve 11:82d8768d7351 975 void CAN_TX_PISTON_AREA(void) {
jobuuu 2:a1c0a37df760 976 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 977
Lightvalve 11:82d8768d7351 978 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 979 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 980 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 981 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 982 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 983 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 984 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 985
Lightvalve 11:82d8768d7351 986 can.write(temp_msg);
Lightvalve 11:82d8768d7351 987 }
Lightvalve 11:82d8768d7351 988
Lightvalve 11:82d8768d7351 989 void CAN_TX_PRES_A_AND_B(void) {
Lightvalve 11:82d8768d7351 990 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 991
Lightvalve 11:82d8768d7351 992 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 993 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 994 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 995 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 996 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 997 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 998 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 999
Lightvalve 11:82d8768d7351 1000 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1001 }
Lightvalve 11:82d8768d7351 1002
Lightvalve 11:82d8768d7351 1003 void CAN_TX_ENC_LIMIT(void) {
Lightvalve 11:82d8768d7351 1004 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1005
Lightvalve 11:82d8768d7351 1006 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1007 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1008 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1009 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1010 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1011 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1012 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1013
Lightvalve 11:82d8768d7351 1014 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1015 }
Lightvalve 11:82d8768d7351 1016
Lightvalve 11:82d8768d7351 1017 void CAN_TX_STROKE(void) {
Lightvalve 11:82d8768d7351 1018 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1019
Lightvalve 11:82d8768d7351 1020 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1021 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1022 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1023 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1024 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1025
Lightvalve 11:82d8768d7351 1026 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1027 }
Lightvalve 11:82d8768d7351 1028
Lightvalve 11:82d8768d7351 1029 void CAN_TX_VALVE_LIMIT(void) {
Lightvalve 11:82d8768d7351 1030 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1031
Lightvalve 11:82d8768d7351 1032 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1033 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1034 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 12:6f2531038ea4 1035 temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1036 temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1037 temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1038 temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1039
Lightvalve 11:82d8768d7351 1040 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1041 }
Lightvalve 11:82d8768d7351 1042
Lightvalve 11:82d8768d7351 1043 void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve 11:82d8768d7351 1044 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1045
jobuuu 2:a1c0a37df760 1046 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1047 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1048 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 12:6f2531038ea4 1049 temp_msg.data[1] = (uint8_t) ENC_PULSE_PER_POSITION;
Lightvalve 12:6f2531038ea4 1050 temp_msg.data[2] = (uint8_t) (ENC_PULSE_PER_POSITION >> 8);
jobuuu 2:a1c0a37df760 1051
jobuuu 2:a1c0a37df760 1052 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1053 }
jobuuu 2:a1c0a37df760 1054
Lightvalve 11:82d8768d7351 1055 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu 2:a1c0a37df760 1056 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1057
jobuuu 2:a1c0a37df760 1058 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1059 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1060 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 12:6f2531038ea4 1061 temp_msg.data[1] = (uint8_t) TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 12:6f2531038ea4 1062 temp_msg.data[2] = (uint8_t) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8);
jobuuu 2:a1c0a37df760 1063
jobuuu 2:a1c0a37df760 1064 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1065 }
jobuuu 2:a1c0a37df760 1066
Lightvalve 11:82d8768d7351 1067 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu 2:a1c0a37df760 1068 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1069
jobuuu 2:a1c0a37df760 1070 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1071 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1072 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1073 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1074 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1075 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1076 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1077
jobuuu 2:a1c0a37df760 1078 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1079 }
jobuuu 2:a1c0a37df760 1080
Lightvalve 11:82d8768d7351 1081 void CAN_TX_FRICTION(void) {
Lightvalve 11:82d8768d7351 1082 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1083 int16_t send_friction;
Lightvalve 30:8d561f16383b 1084 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 11:82d8768d7351 1085
Lightvalve 11:82d8768d7351 1086 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1087 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1088 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1089 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1090 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1091
Lightvalve 11:82d8768d7351 1092 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1093 }
Lightvalve 11:82d8768d7351 1094
Lightvalve 11:82d8768d7351 1095 void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve 11:82d8768d7351 1096 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1097
Lightvalve 11:82d8768d7351 1098 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1099 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1100 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1101 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1102 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1103 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1104 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1105 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve 11:82d8768d7351 1106
Lightvalve 11:82d8768d7351 1107 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1108 }
Lightvalve 11:82d8768d7351 1109
Lightvalve 11:82d8768d7351 1110 void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve 11:82d8768d7351 1111 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1112
Lightvalve 11:82d8768d7351 1113 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1114 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1115 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 12:6f2531038ea4 1116 temp_msg.data[1] = (uint8_t) VALVE_DEADZONE_MINUS;
Lightvalve 12:6f2531038ea4 1117 temp_msg.data[2] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
Lightvalve 12:6f2531038ea4 1118 temp_msg.data[3] = (uint8_t) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 1119 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 1120 temp_msg.data[5] = (uint8_t) (DDV_CENTER);
Lightvalve 12:6f2531038ea4 1121 temp_msg.data[6] = (uint8_t) ((int) (DDV_CENTER) >> 8);
Lightvalve 11:82d8768d7351 1122
Lightvalve 11:82d8768d7351 1123 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1124 }
Lightvalve 11:82d8768d7351 1125
Lightvalve 11:82d8768d7351 1126 void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve 11:82d8768d7351 1127 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1128
Lightvalve 11:82d8768d7351 1129 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1130 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1131 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1132 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1133 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1134 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1135 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1136 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1137
Lightvalve 11:82d8768d7351 1138 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1139 }
Lightvalve 11:82d8768d7351 1140
Lightvalve 11:82d8768d7351 1141 void CAN_TX_REFENCE_MODE(void) {
Lightvalve 11:82d8768d7351 1142 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1143
Lightvalve 11:82d8768d7351 1144 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1145 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1146 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1147 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1148 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1149 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1150 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1151 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1152
Lightvalve 11:82d8768d7351 1153 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1154 }
Lightvalve 11:82d8768d7351 1155
Lightvalve 11:82d8768d7351 1156 void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve 11:82d8768d7351 1157 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1158 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1159 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 1160
jobuuu 2:a1c0a37df760 1161 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1162 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1163 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1164 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1165 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1166
jobuuu 2:a1c0a37df760 1167 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1168 }
Lightvalve 11:82d8768d7351 1169
Lightvalve 11:82d8768d7351 1170 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve 11:82d8768d7351 1171 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1172 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1173 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 1174
Lightvalve 11:82d8768d7351 1175 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1176 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1177 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1178 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1179 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1180
Lightvalve 11:82d8768d7351 1181 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1182 }
Lightvalve 11:82d8768d7351 1183
Lightvalve 12:6f2531038ea4 1184 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve 11:82d8768d7351 1185 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1186 int16_t valve_pos_vs_pwm;
Lightvalve 11:82d8768d7351 1187 valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 11:82d8768d7351 1188
Lightvalve 12:6f2531038ea4 1189 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1190 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 11:82d8768d7351 1191
Lightvalve 11:82d8768d7351 1192 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1193 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1194 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1195 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1196 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1197 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1198 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1199
Lightvalve 11:82d8768d7351 1200 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1201 }
Lightvalve 11:82d8768d7351 1202
Lightvalve 12:6f2531038ea4 1203 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve 11:82d8768d7351 1204 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1205 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1206 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1207
Lightvalve 33:91b17819ec30 1208 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + (int) DDV_CENTER;
Lightvalve 11:82d8768d7351 1209
Lightvalve 11:82d8768d7351 1210 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1211 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1212 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 12:6f2531038ea4 1213 temp_msg.data[1] = (uint8_t) VALVE_POS_VALVE_ID;
Lightvalve 12:6f2531038ea4 1214 temp_msg.data[2] = (uint8_t) (VALVE_POS_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1215 temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 12:6f2531038ea4 1216 temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 12:6f2531038ea4 1217 temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 12:6f2531038ea4 1218 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1219
Lightvalve 11:82d8768d7351 1220 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1221 }
Lightvalve 11:82d8768d7351 1222
Lightvalve 11:82d8768d7351 1223 void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve 11:82d8768d7351 1224 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1225 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1226 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1227
Lightvalve 11:82d8768d7351 1228 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1229 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1230 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1231 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1232 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1233
Lightvalve 11:82d8768d7351 1234 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1235 }
Lightvalve 11:82d8768d7351 1236
Lightvalve 38:118df027d851 1237 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve 38:118df027d851 1238 CANMessage temp_msg;
Lightvalve 38:118df027d851 1239
Lightvalve 38:118df027d851 1240 temp_msg.id = CID_TX_INFO;
Lightvalve 38:118df027d851 1241 temp_msg.len = 7;
Lightvalve 38:118df027d851 1242 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 38:118df027d851 1243 temp_msg.data[1] = (uint8_t) VALVE_MAX_POS;
Lightvalve 38:118df027d851 1244 temp_msg.data[2] = (uint8_t) ((int) (VALVE_MAX_POS) >> 8);
Lightvalve 38:118df027d851 1245 temp_msg.data[3] = (uint8_t) (VALVE_MIN_POS);
Lightvalve 38:118df027d851 1246 temp_msg.data[4] = (uint8_t) ((int) (VALVE_MIN_POS) >> 8);
Lightvalve 38:118df027d851 1247 temp_msg.data[5] = (uint8_t) (DDV_CENTER);
Lightvalve 38:118df027d851 1248 temp_msg.data[6] = (uint8_t) ((int) (DDV_CENTER) >> 8);
Lightvalve 38:118df027d851 1249
Lightvalve 38:118df027d851 1250 can.write(temp_msg);
Lightvalve 38:118df027d851 1251 }
Lightvalve 38:118df027d851 1252
jobuuu 2:a1c0a37df760 1253 /******************************************************************************
jobuuu 2:a1c0a37df760 1254 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1255 *******************************************************************************/
jobuuu 2:a1c0a37df760 1256
Lightvalve 40:abbd4e2af68b 1257 void CAN_TX_POSITION(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
jobuuu 2:a1c0a37df760 1258 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1259
jobuuu 2:a1c0a37df760 1260 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1261 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1262 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1263 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 40:abbd4e2af68b 1264 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 40:abbd4e2af68b 1265 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 40:abbd4e2af68b 1266 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 40:abbd4e2af68b 1267 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
jobuuu 2:a1c0a37df760 1268
jobuuu 2:a1c0a37df760 1269 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1270 }
jobuuu 2:a1c0a37df760 1271
Lightvalve 11:82d8768d7351 1272 void CAN_TX_TORQUE(int16_t t_torque) {
jobuuu 2:a1c0a37df760 1273 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1274
jobuuu 2:a1c0a37df760 1275 temp_msg.id = CID_TX_TORQUE;
jobuuu 2:a1c0a37df760 1276 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 1277 temp_msg.data[0] = (uint8_t) t_torque;
Lightvalve 12:6f2531038ea4 1278 temp_msg.data[1] = (uint8_t) (t_torque >> 8);
jobuuu 2:a1c0a37df760 1279
jobuuu 2:a1c0a37df760 1280 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1281 }
jobuuu 2:a1c0a37df760 1282
Lightvalve 11:82d8768d7351 1283 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 1284 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1285
jobuuu 2:a1c0a37df760 1286 temp_msg.id = CID_TX_PRES;
jobuuu 2:a1c0a37df760 1287 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1288 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1289 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1290 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1291 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1292
jobuuu 2:a1c0a37df760 1293 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1294 }
jobuuu 2:a1c0a37df760 1295
Lightvalve 11:82d8768d7351 1296 void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 1297 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1298
jobuuu 2:a1c0a37df760 1299 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1300 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1301 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1302 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1303
jobuuu 2:a1c0a37df760 1304 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1305 }
jobuuu 2:a1c0a37df760 1306
Lightvalve 27:a2254a485f23 1307 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve 27:a2254a485f23 1308 {
jobuuu 2:a1c0a37df760 1309 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1310
jobuuu 2:a1c0a37df760 1311 temp_msg.id = CID_TX_VALVE_POSITION;
jobuuu 2:a1c0a37df760 1312 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1313 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 12:6f2531038ea4 1314 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1315 temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
Lightvalve 27:a2254a485f23 1316 temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1317 temp_msg.data[4] = (uint8_t) t_pwm;
Lightvalve 27:a2254a485f23 1318 temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
Lightvalve 27:a2254a485f23 1319
jobuuu 2:a1c0a37df760 1320
jobuuu 2:a1c0a37df760 1321 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1322 }
Lightvalve 23:59218d4a256d 1323
Lightvalve 23:59218d4a256d 1324
Lightvalve 32:4b8c0fedaf2c 1325
Lightvalve 38:118df027d851 1326