HydraulicControlBoard_Rainbow_v1_2_copy1 - 2011

Users » Lightvalve » Code » HydraulicControlBoard_Rainbow_v1_2_copy1

Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

CAN/function_CAN.cpp@170:42c938a40313, 2020-11-18 (annotated)

Committer:: Lightvalve
Date:: Wed Nov 18 12:03:39 2020 +0000
Revision:: 170:42c938a40313
Parent:: 169:645207e160ca
Child:: 177:8e9cf31d63f4

201118-1

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	49:e7bcfc244d40	11	int CID_RX_REF_VALVE_POS = 300;
Lightvalve	49: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;
jobuuu	2:a1c0a37df760	20
Lightvalve	12:6f2531038ea4	21	// variables
Lightvalve	12:6f2531038ea4	22	uint8_t can_index = 0;
Lightvalve	67:c2812cf26c38	23
Lightvalve	66:a8e6799dbce3	24	extern DigitalOut LED;
Lightvalve	12:6f2531038ea4	25
Lightvalve	99:7bbcb3c0fb06	26	extern float u_past[];
Lightvalve	68:328e1be06f5d	27	extern float x_past[];
Lightvalve	85:a3b46118b5cd	28	extern float x_future[];
Lightvalve	68:328e1be06f5d	29	extern float f_past[];
Lightvalve	68:328e1be06f5d	30	extern float f_future[];
Lightvalve	73:f80dc3970c99	31	extern float input_NN[];
Lightvalve	68:328e1be06f5d	32
Lightvalve	11:82d8768d7351	33	/*******************************************************************************
Lightvalve	11:82d8768d7351	34	* CAN functions
Lightvalve	11:82d8768d7351	35	******************************************************************************/
Lightvalve	170:42c938a40313	36	void CAN_ID_INIT(void)
Lightvalve	170:42c938a40313	37	{
jobuuu	7:e9086c72bb22	38
Lightvalve	11:82d8768d7351	39	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	40	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	41	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	42	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	43
Lightvalve	11:82d8768d7351	44	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	45	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	46	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	47	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	48	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	49	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
Lightvalve	28:2a62d73e3dd0	52	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	53	{
Lightvalve	170:42c938a40313	54	switch(CMD) {
Lightvalve	11:82d8768d7351	55	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	56	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	57	break;
Lightvalve	11:82d8768d7351	58	}
Lightvalve	11:82d8768d7351	59	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	60	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	61	break;
Lightvalve	11:82d8768d7351	62	}
Lightvalve	11:82d8768d7351	63	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	64	BNO = (int16_t) msg.data[1];
Lightvalve	170:42c938a40313	65
Lightvalve	170:42c938a40313	66	//ROM_RESET_DATA();
Lightvalve	170:42c938a40313	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	52:8ea76864368a	76	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	77	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	78	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	79	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	170:42c938a40313	80	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	81	spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve	170:42c938a40313	82	spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
Lightvalve	170:42c938a40313	83	spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
Lightvalve	170:42c938a40313	84	spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
Lightvalve	11:82d8768d7351	85	break;
Lightvalve	11:82d8768d7351	86	}
Lightvalve	11:82d8768d7351	87	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	88	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	89
Lightvalve	11:82d8768d7351	90	break;
Lightvalve	11:82d8768d7351	91	}
Lightvalve	11:82d8768d7351	92	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	93
Lightvalve	11:82d8768d7351	94	break;
Lightvalve	11:82d8768d7351	95	}
Lightvalve	11:82d8768d7351	96
Lightvalve	45:35fa6884d0c6	97	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	98	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	99	/*
Lightvalve	45:35fa6884d0c6	100	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	101	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	102	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	103	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	104	*/
Lightvalve	11:82d8768d7351	105	break;
Lightvalve	11:82d8768d7351	106	}
Lightvalve	11:82d8768d7351	107
Lightvalve	11:82d8768d7351	108	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	109	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	110
Lightvalve	11:82d8768d7351	111	break;
Lightvalve	11:82d8768d7351	112	}
Lightvalve	11:82d8768d7351	113
Lightvalve	11:82d8768d7351	114	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	115	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	116	ROM_RESET_DATA();
Lightvalve	170:42c938a40313	117	spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve	11:82d8768d7351	118	break;
Lightvalve	11:82d8768d7351	119	}
Lightvalve	11:82d8768d7351	120
Lightvalve	11:82d8768d7351	121	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	122	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	123
Lightvalve	11:82d8768d7351	124	break;
Lightvalve	11:82d8768d7351	125	}
Lightvalve	11:82d8768d7351	126
Lightvalve	11:82d8768d7351	127	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	128	//CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve	57:f4819de54e7a	129	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	130	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	131	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	132	}
Lightvalve	11:82d8768d7351	133	break;
Lightvalve	11:82d8768d7351	134	}
Lightvalve	11:82d8768d7351	135
Lightvalve	11:82d8768d7351	136	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	137	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	138	flag_data_request[request_type] = msg.data[1];
Lightvalve	14:8e7590227d22	139	//pc.printf("can middle %d\n", request_type);
Lightvalve	11:82d8768d7351	140
Lightvalve	12:6f2531038ea4	141	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	142	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	143	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	144	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	145
Lightvalve	11:82d8768d7351	146	break;
Lightvalve	11:82d8768d7351	147	}
Lightvalve	11:82d8768d7351	148
Lightvalve	11:82d8768d7351	149	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	150	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	151
Lightvalve	11:82d8768d7351	152	break;
Lightvalve	11:82d8768d7351	153	}
Lightvalve	11:82d8768d7351	154
Lightvalve	11:82d8768d7351	155	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	156	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	157	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	158	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	159	else
Lightvalve	11:82d8768d7351	160	DIR_JOINT_ENC = -1;
Lightvalve	170:42c938a40313	161
Lightvalve	170:42c938a40313	162	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	163
Lightvalve	170:42c938a40313	164	spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	165
Lightvalve	11:82d8768d7351	166	break;
Lightvalve	11:82d8768d7351	167	}
Lightvalve	11:82d8768d7351	168
Lightvalve	11:82d8768d7351	169	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	170	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	171
Lightvalve	11:82d8768d7351	172	break;
Lightvalve	11:82d8768d7351	173	}
Lightvalve	11:82d8768d7351	174
Lightvalve	11:82d8768d7351	175	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	176	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	177	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	178	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	179	else
Lightvalve	11:82d8768d7351	180	DIR_VALVE = -1;
Lightvalve	170:42c938a40313	181
Lightvalve	170:42c938a40313	182	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	183
Lightvalve	170:42c938a40313	184	spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	185
Lightvalve	11:82d8768d7351	186	break;
Lightvalve	11:82d8768d7351	187	}
Lightvalve	11:82d8768d7351	188
Lightvalve	11:82d8768d7351	189	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	190	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	191
Lightvalve	11:82d8768d7351	192	break;
Lightvalve	11:82d8768d7351	193	}
Lightvalve	11:82d8768d7351	194
Lightvalve	11:82d8768d7351	195	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	196	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	197	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	198	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	199	else
Lightvalve	11:82d8768d7351	200	DIR_VALVE_ENC = -1;
Lightvalve	11:82d8768d7351	201
Lightvalve	170:42c938a40313	202	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	203
Lightvalve	170:42c938a40313	204	spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	205
Lightvalve	11:82d8768d7351	206	break;
Lightvalve	11:82d8768d7351	207	}
Lightvalve	11:82d8768d7351	208
Lightvalve	11:82d8768d7351	209	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	210	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	211
Lightvalve	11:82d8768d7351	212	break;
Lightvalve	11:82d8768d7351	213	}
Lightvalve	11:82d8768d7351	214
Lightvalve	11:82d8768d7351	215	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	216	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	217
Lightvalve	170:42c938a40313	218	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	219
Lightvalve	170:42c938a40313	220	spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve	11:82d8768d7351	221
Lightvalve	11:82d8768d7351	222	break;
Lightvalve	11:82d8768d7351	223	}
Lightvalve	11:82d8768d7351	224
Lightvalve	11:82d8768d7351	225	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	226	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	227
Lightvalve	11:82d8768d7351	228	break;
Lightvalve	11:82d8768d7351	229	}
Lightvalve	11:82d8768d7351	230
Lightvalve	11:82d8768d7351	231	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	232	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	233
Lightvalve	170:42c938a40313	234	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	235
Lightvalve	170:42c938a40313	236	spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve	11:82d8768d7351	237
Lightvalve	11:82d8768d7351	238
Lightvalve	11:82d8768d7351	239	break;
Lightvalve	11:82d8768d7351	240	}
Lightvalve	12:6f2531038ea4	241
Lightvalve	11:82d8768d7351	242	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	243	//CONTROL_MODE = 22;
Lightvalve	57:f4819de54e7a	244	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	245	break;
Lightvalve	11:82d8768d7351	246	}
Lightvalve	11:82d8768d7351	247
Lightvalve	11:82d8768d7351	248	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	249	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	250
Lightvalve	11:82d8768d7351	251	break;
Lightvalve	11:82d8768d7351	252	}
Lightvalve	11:82d8768d7351	253
Lightvalve	11:82d8768d7351	254	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	255	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	256	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	257	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	258	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	259
Lightvalve	170:42c938a40313	260	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	261	spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	262	spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	263	spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	11:82d8768d7351	264
Lightvalve	11:82d8768d7351	265	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	266	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	267	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	268	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	269
Lightvalve	170:42c938a40313	270	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	271	spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	272	spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	273	spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	274
Lightvalve	11:82d8768d7351	275	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	276	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	277	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	278	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	279
Lightvalve	170:42c938a40313	280	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	281	spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	282	spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	283	spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	284
Lightvalve	46:2694daea349b	285	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	286	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	287	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	170:42c938a40313	288
Lightvalve	67:c2812cf26c38	289	// ROM_RESET_DATA(); //For Real-time changing
Lightvalve	170:42c938a40313	290	// spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve	170:42c938a40313	291	// spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve	170:42c938a40313	292
Lightvalve	72:3436ce769b1e	293	} else if (msg.data[1] == 4) {
Lightvalve	72:3436ce769b1e	294	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	72:3436ce769b1e	295	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	72:3436ce769b1e	296	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	297
Lightvalve	170:42c938a40313	298	// ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	299	}
Lightvalve	11:82d8768d7351	300
Lightvalve	11:82d8768d7351	301	break;
Lightvalve	11:82d8768d7351	302	}
Lightvalve	11:82d8768d7351	303
Lightvalve	11:82d8768d7351	304	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	305	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	306
Lightvalve	11:82d8768d7351	307	break;
Lightvalve	11:82d8768d7351	308	}
Lightvalve	11:82d8768d7351	309
Lightvalve	11:82d8768d7351	310	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	311	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	312	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	313	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	170:42c938a40313	314
Lightvalve	170:42c938a40313	315	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	316	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	317	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	170:42c938a40313	318	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	11:82d8768d7351	319
Lightvalve	11:82d8768d7351	320	break;
Lightvalve	11:82d8768d7351	321	}
Lightvalve	11:82d8768d7351	322
Lightvalve	11:82d8768d7351	323	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	324	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	325
Lightvalve	11:82d8768d7351	326	break;
Lightvalve	11:82d8768d7351	327	}
Lightvalve	11:82d8768d7351	328
Lightvalve	11:82d8768d7351	329	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	330	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	331
Lightvalve	170:42c938a40313	332	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	333
Lightvalve	170:42c938a40313	334	spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	335
Lightvalve	11:82d8768d7351	336	break;
Lightvalve	11:82d8768d7351	337	}
Lightvalve	11:82d8768d7351	338
Lightvalve	11:82d8768d7351	339	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	340	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	341
Lightvalve	11:82d8768d7351	342	break;
Lightvalve	11:82d8768d7351	343	}
Lightvalve	11:82d8768d7351	344
Lightvalve	11:82d8768d7351	345	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	346	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	347
Lightvalve	170:42c938a40313	348	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	349
Lightvalve	170:42c938a40313	350	spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	351
Lightvalve	11:82d8768d7351	352	break;
Lightvalve	11:82d8768d7351	353	}
Lightvalve	11:82d8768d7351	354
Lightvalve	11:82d8768d7351	355	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	356	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	357
Lightvalve	11:82d8768d7351	358	break;
Lightvalve	11:82d8768d7351	359	}
Lightvalve	11:82d8768d7351	360
Lightvalve	11:82d8768d7351	361	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	362	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	363
Lightvalve	170:42c938a40313	364	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	365
Lightvalve	170:42c938a40313	366	spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	367
Lightvalve	11:82d8768d7351	368	break;
Lightvalve	11:82d8768d7351	369	}
Lightvalve	11:82d8768d7351	370
Lightvalve	11:82d8768d7351	371	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	372	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	373
Lightvalve	11:82d8768d7351	374	break;
Lightvalve	11:82d8768d7351	375	}
Lightvalve	11:82d8768d7351	376
Lightvalve	11:82d8768d7351	377	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	378	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	379
Lightvalve	170:42c938a40313	380	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	381
Lightvalve	170:42c938a40313	382	spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	383
Lightvalve	11:82d8768d7351	384	break;
Lightvalve	11:82d8768d7351	385	}
Lightvalve	11:82d8768d7351	386
Lightvalve	11:82d8768d7351	387	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	388	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	389
Lightvalve	11:82d8768d7351	390	break;
Lightvalve	11:82d8768d7351	391	}
Lightvalve	11:82d8768d7351	392
Lightvalve	11:82d8768d7351	393	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	394	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	395	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	396
Lightvalve	170:42c938a40313	397	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	398
Lightvalve	170:42c938a40313	399	spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	170:42c938a40313	400	spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	401
Lightvalve	11:82d8768d7351	402	break;
Lightvalve	11:82d8768d7351	403	}
Lightvalve	11:82d8768d7351	404
Lightvalve	11:82d8768d7351	405	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	406	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	407
Lightvalve	11:82d8768d7351	408	break;
Lightvalve	11:82d8768d7351	409	}
Lightvalve	11:82d8768d7351	410
Lightvalve	11:82d8768d7351	411	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	412	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	413	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	69:3995ffeaa786	414	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	415	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	170:42c938a40313	416
Lightvalve	170:42c938a40313	417	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	418
Lightvalve	170:42c938a40313	419	spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	170:42c938a40313	420	spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	421	break;
Lightvalve	11:82d8768d7351	422	}
Lightvalve	11:82d8768d7351	423
Lightvalve	11:82d8768d7351	424	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	425	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	426	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	427	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	428	//dac_2 = PRES_B_VREF;
Lightvalve	170:42c938a40313	429
Lightvalve	11:82d8768d7351	430	break;
Lightvalve	11:82d8768d7351	431	}
Lightvalve	11:82d8768d7351	432
Lightvalve	11:82d8768d7351	433	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	434	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	435	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	436	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	437	spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	170:42c938a40313	438	spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	439
Lightvalve	11:82d8768d7351	440
Lightvalve	11:82d8768d7351	441	break;
Lightvalve	11:82d8768d7351	442	}
Lightvalve	11:82d8768d7351	443
Lightvalve	11:82d8768d7351	444	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	445	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	446
Lightvalve	11:82d8768d7351	447	break;
Lightvalve	11:82d8768d7351	448	}
Lightvalve	11:82d8768d7351	449
Lightvalve	11:82d8768d7351	450	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	451	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	452	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	453	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	454	spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	170:42c938a40313	455	spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	456
Lightvalve	11:82d8768d7351	457	break;
Lightvalve	11:82d8768d7351	458	}
Lightvalve	11:82d8768d7351	459
Lightvalve	11:82d8768d7351	460	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	461	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	462	break;
Lightvalve	11:82d8768d7351	463	}
Lightvalve	11:82d8768d7351	464
Lightvalve	11:82d8768d7351	465	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	466	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	467	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	468	spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	469
Lightvalve	11:82d8768d7351	470	break;
Lightvalve	11:82d8768d7351	471	}
Lightvalve	11:82d8768d7351	472
Lightvalve	11:82d8768d7351	473	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	474	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	475
Lightvalve	11:82d8768d7351	476	break;
Lightvalve	11:82d8768d7351	477	}
Lightvalve	11:82d8768d7351	478
Lightvalve	11:82d8768d7351	479	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	480	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	481	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	482	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	483
Lightvalve	170:42c938a40313	484	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	485	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	11:82d8768d7351	486
Lightvalve	11:82d8768d7351	487	break;
Lightvalve	11:82d8768d7351	488	}
Lightvalve	11:82d8768d7351	489
Lightvalve	11:82d8768d7351	490	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	491	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	492
Lightvalve	11:82d8768d7351	493	break;
Lightvalve	11:82d8768d7351	494	}
Lightvalve	11:82d8768d7351	495
Lightvalve	11:82d8768d7351	496	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	497	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	498	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	499	spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION*10.0f));
Lightvalve	11:82d8768d7351	500
Lightvalve	11:82d8768d7351	501	break;
Lightvalve	11:82d8768d7351	502	}
Lightvalve	11:82d8768d7351	503
Lightvalve	11:82d8768d7351	504	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	505	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	506
Lightvalve	11:82d8768d7351	507	break;
Lightvalve	11:82d8768d7351	508	}
Lightvalve	11:82d8768d7351	509
Lightvalve	11:82d8768d7351	510	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	139:15621998925b	511	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.0001f);
Lightvalve	170:42c938a40313	512	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	513	spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve	11:82d8768d7351	514
Lightvalve	11:82d8768d7351	515	break;
Lightvalve	11:82d8768d7351	516	}
Lightvalve	11:82d8768d7351	517
Lightvalve	11:82d8768d7351	518	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	519	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	520
Lightvalve	11:82d8768d7351	521	break;
Lightvalve	11:82d8768d7351	522	}
Lightvalve	11:82d8768d7351	523
Lightvalve	11:82d8768d7351	524	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	525	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	526	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	170:42c938a40313	527	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	528	spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	170:42c938a40313	529	spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	11:82d8768d7351	530
Lightvalve	11:82d8768d7351	531	break;
Lightvalve	11:82d8768d7351	532	}
Lightvalve	11:82d8768d7351	533
Lightvalve	11:82d8768d7351	534	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	535	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	536
Lightvalve	11:82d8768d7351	537	break;
Lightvalve	11:82d8768d7351	538	}
Lightvalve	11:82d8768d7351	539
Lightvalve	11:82d8768d7351	540	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	541	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	542	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	543	spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve	11:82d8768d7351	544
Lightvalve	11:82d8768d7351	545	break;
Lightvalve	11:82d8768d7351	546	}
Lightvalve	11:82d8768d7351	547
Lightvalve	11:82d8768d7351	548	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	549	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	550
Lightvalve	11:82d8768d7351	551	break;
Lightvalve	11:82d8768d7351	552	}
Lightvalve	11:82d8768d7351	553	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	554	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	555	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	556	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	557	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	558	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	559	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	560	spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	170:42c938a40313	561	spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	170:42c938a40313	562	spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	170:42c938a40313	563	spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	170:42c938a40313	564	spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	565
Lightvalve	11:82d8768d7351	566	break;
Lightvalve	11:82d8768d7351	567	}
Lightvalve	11:82d8768d7351	568
Lightvalve	11:82d8768d7351	569	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	570	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	571
Lightvalve	11:82d8768d7351	572	break;
Lightvalve	11:82d8768d7351	573	}
Lightvalve	11:82d8768d7351	574	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	575	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	576	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	577	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	578	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	579	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	580	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	581	spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	170:42c938a40313	582	spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	170:42c938a40313	583	spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	170:42c938a40313	584	spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	170:42c938a40313	585	spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	586
Lightvalve	11:82d8768d7351	587	break;
Lightvalve	11:82d8768d7351	588	}
Lightvalve	11:82d8768d7351	589	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	590	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	591	break;
Lightvalve	11:82d8768d7351	592	}
Lightvalve	11:82d8768d7351	593
Lightvalve	11:82d8768d7351	594	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	595	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	596
Lightvalve	11:82d8768d7351	597	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	598	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	599	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	600	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	601	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	602
Lightvalve	11:82d8768d7351	603	break;
Lightvalve	11:82d8768d7351	604	}
Lightvalve	11:82d8768d7351	605
Lightvalve	11:82d8768d7351	606	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	607	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	608
Lightvalve	11:82d8768d7351	609	break;
Lightvalve	11:82d8768d7351	610	}
Lightvalve	11:82d8768d7351	611
Lightvalve	11:82d8768d7351	612	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	613
Lightvalve	12:6f2531038ea4	614	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	615	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	616	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	617	}
Lightvalve	11:82d8768d7351	618
Lightvalve	11:82d8768d7351	619	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	620
Lightvalve	11:82d8768d7351	621
Lightvalve	11:82d8768d7351	622	break;
Lightvalve	11:82d8768d7351	623	}
Lightvalve	11:82d8768d7351	624
Lightvalve	11:82d8768d7351	625	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	626	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	627	break;
Lightvalve	11:82d8768d7351	628	}
Lightvalve	11:82d8768d7351	629	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	630	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	631	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	632	spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	633	break;
Lightvalve	11:82d8768d7351	634	}
Lightvalve	11:82d8768d7351	635
Lightvalve	11:82d8768d7351	636	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	637	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	638	break;
Lightvalve	11:82d8768d7351	639	}
Lightvalve	11:82d8768d7351	640	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	641	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	642	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	643	spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	644	break;
Lightvalve	11:82d8768d7351	645	}
Lightvalve	11:82d8768d7351	646
Lightvalve	11:82d8768d7351	647	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	648	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	649	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	650	break;
Lightvalve	11:82d8768d7351	651	}
Lightvalve	11:82d8768d7351	652	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	653	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	654	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	655	break;
Lightvalve	11:82d8768d7351	656	}
Lightvalve	11:82d8768d7351	657	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	658	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	659	break;
Lightvalve	11:82d8768d7351	660	}
Lightvalve	170:42c938a40313	661
Lightvalve	28:2a62d73e3dd0	662	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	663	ROM_RESET_DATA();
Lightvalve	28:2a62d73e3dd0	664	break;
Lightvalve	28:2a62d73e3dd0	665	}
Lightvalve	32:4b8c0fedaf2c	666	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	667	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	668	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	170:42c938a40313	669	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	670	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	671
Lightvalve	33:91b17819ec30	672	break;
Lightvalve	33:91b17819ec30	673	}
Lightvalve	33:91b17819ec30	674	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	675	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	676	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	170:42c938a40313	677	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	678	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	170:42c938a40313	679
Lightvalve	33:91b17819ec30	680	break;
Lightvalve	33:91b17819ec30	681	}
Lightvalve	33:91b17819ec30	682	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	683	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	684	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	170:42c938a40313	685	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	686	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	32:4b8c0fedaf2c	687	break;
Lightvalve	32:4b8c0fedaf2c	688	}
Lightvalve	36:a46e63505ed8	689	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	690	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	691	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	692	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	693	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	694
Lightvalve	170:42c938a40313	695	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	696
Lightvalve	36:a46e63505ed8	697	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	698	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	699	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	700
Lightvalve	36:a46e63505ed8	701
Lightvalve	36:a46e63505ed8	702	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	703	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	704	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	705	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	706
Lightvalve	170:42c938a40313	707	// ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	708
Lightvalve	36:a46e63505ed8	709	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	710	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	711	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	712	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	713	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	714	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	715	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	716
Lightvalve	170:42c938a40313	717	// ROM_RESET_DATA();
Lightvalve	170:42c938a40313	718
Lightvalve	36:a46e63505ed8	719	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	720	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	721	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	722	}
Lightvalve	36:a46e63505ed8	723	break;
Lightvalve	36:a46e63505ed8	724	}
Lightvalve	38:118df027d851	725	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	57:f4819de54e7a	726	//CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	38:118df027d851	727	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	728	break;
Lightvalve	38:118df027d851	729	}
Lightvalve	170:42c938a40313	730	case CRX_DELAY_TEST: {
Lightvalve	54:647072f5307a	731	flag_delay_test = 1;
Lightvalve	54:647072f5307a	732	break;
Lightvalve	54:647072f5307a	733	}
Lightvalve	68:328e1be06f5d	734	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	68:328e1be06f5d	735	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	68:328e1be06f5d	736	CONTROL_UTILITY_MODE = 1;
Lightvalve	68:328e1be06f5d	737	break;
Lightvalve	68:328e1be06f5d	738	}
Lightvalve	169:645207e160ca	739	case CRX_SET_FREQ_TEST: {
Lightvalve	169:645207e160ca	740	cnt_freq_test = 0;
Lightvalve	169:645207e160ca	741	CONTROL_UTILITY_MODE = 34;
Lightvalve	169:645207e160ca	742	break;
Lightvalve	169:645207e160ca	743	}
Lightvalve	170:42c938a40313	744
Lightvalve	169:645207e160ca	745	case CRX_ASK_BUFFER: {
Lightvalve	169:645207e160ca	746	cnt_buffer = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	169:645207e160ca	747	CAN_TX_BUFFER(cnt_buffer);
Lightvalve	169:645207e160ca	748	break;
Lightvalve	169:645207e160ca	749	}
Lightvalve	170:42c938a40313	750
Lightvalve	169:645207e160ca	751	case CRX_SET_STEP_TEST: {
Lightvalve	169:645207e160ca	752	cnt_step_test = 0;
Lightvalve	169:645207e160ca	753	CONTROL_UTILITY_MODE = 37;
Lightvalve	169:645207e160ca	754	break;
Lightvalve	169:645207e160ca	755	}
Lightvalve	38:118df027d851	756
Lightvalve	170:42c938a40313	757	default:
Lightvalve	170:42c938a40313	758	break;
jobuuu	2:a1c0a37df760	759	}
jobuuu	2:a1c0a37df760	760	}
jobuuu	2:a1c0a37df760	761
jobuuu	2:a1c0a37df760	762	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	763	{
Lightvalve	170:42c938a40313	764
jobuuu	2:a1c0a37df760	765	can.read(msg);
jobuuu	2:a1c0a37df760	766	unsigned int address = msg.id;
Lightvalve	170:42c938a40313	767	if(address==CID_RX_CMD) {
jobuuu	2:a1c0a37df760	768	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	769	ReadCMD(CMD);
Lightvalve	170:42c938a40313	770
jobuuu	7:e9086c72bb22	771	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	170:42c938a40313	772
Lightvalve	43:b084e5f5d0d5	773	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	774	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	775	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	170:42c938a40313	776
Lightvalve	57:f4819de54e7a	777	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	778	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	779	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	170:42c938a40313	780	} else { //Linear Actuator
Lightvalve	67:c2812cf26c38	781	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	67:c2812cf26c38	782	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	57:f4819de54e7a	783	}
Lightvalve	170:42c938a40313	784
Lightvalve	68:328e1be06f5d	785	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	133:22ab22818e01	786	torq.ref_diff = torq.ref - torq.ref_old;
Lightvalve	133:22ab22818e01	787	torq.ref_old = torq.ref;
Lightvalve	170:42c938a40313	788
Lightvalve	68:328e1be06f5d	789	///////////////Make Data///////////////////
Lightvalve	170:42c938a40313	790	for(int i=0; i<num_array_u_past-1; i++) {
Lightvalve	99:7bbcb3c0fb06	791	u_past[i] = u_past[i+1];
Lightvalve	99:7bbcb3c0fb06	792	}
Lightvalve	99:7bbcb3c0fb06	793	u_past[num_array_u_past-1] = output_normalized;
Lightvalve	170:42c938a40313	794
Lightvalve	170:42c938a40313	795	for(int i=0; i<num_array_x_past-1; i++) {
Lightvalve	68:328e1be06f5d	796	x_past[i] = x_past[i+1];
Lightvalve	68:328e1be06f5d	797	}
Lightvalve	68:328e1be06f5d	798	x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	170:42c938a40313	799
Lightvalve	122:dcb3ce3056a0	800	// for(int i=0;i<num_array_x_future-1;i++){
Lightvalve	122:dcb3ce3056a0	801	// x_future[i] = x_future[i+1];
Lightvalve	122:dcb3ce3056a0	802	// }
Lightvalve	122:dcb3ce3056a0	803	// x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	170:42c938a40313	804
Lightvalve	170:42c938a40313	805	for(int i=0; i<num_array_f_past-1; i++) {
Lightvalve	68:328e1be06f5d	806	f_past[i] = f_past[i+1];
Lightvalve	68:328e1be06f5d	807	}
Lightvalve	101:50159049a518	808	f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve	170:42c938a40313	809
Lightvalve	68:328e1be06f5d	810	f_future[0] = torq.sen; //N
Lightvalve	170:42c938a40313	811	for(int i=1; i<num_array_f_future-1; i++) {
Lightvalve	68:328e1be06f5d	812	f_future[i] = f_future[i+1];
Lightvalve	68:328e1be06f5d	813	}
Lightvalve	68:328e1be06f5d	814	f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve	68:328e1be06f5d	815
Lightvalve	101:50159049a518	816
Lightvalve	162:9dd4f35e9de8	817	// int ind = 0;
Lightvalve	162:9dd4f35e9de8	818	// for(int i=0;i<numpast_u;i++){
Lightvalve	162:9dd4f35e9de8	819	// input_NN[ind] = u_past[1*i];
Lightvalve	162:9dd4f35e9de8	820	// ind = ind + 1;
Lightvalve	162:9dd4f35e9de8	821	// }
Lightvalve	170:42c938a40313	822	//
Lightvalve	162:9dd4f35e9de8	823	// for(int i=0;i<numpast_x;i++){
Lightvalve	162:9dd4f35e9de8	824	// input_NN[ind] = x_past[1*i] / 60.0f;
Lightvalve	86:b8ed7abddeb2	825	// ind = ind + 1;
Lightvalve	86:b8ed7abddeb2	826	// }
Lightvalve	162:9dd4f35e9de8	827	// input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	162:9dd4f35e9de8	828	// ind = ind + 1;
Lightvalve	162:9dd4f35e9de8	829	//// for(int i=0;i<numfuture_x;i++){
Lightvalve	162:9dd4f35e9de8	830	//// input_NN[ind] = x_future[2*i+2] / 60.0f;
Lightvalve	162:9dd4f35e9de8	831	//// ind = ind + 1;
Lightvalve	162:9dd4f35e9de8	832	//// }
Lightvalve	170:42c938a40313	833	//
Lightvalve	162:9dd4f35e9de8	834	// for(int i=0;i<numpast_f;i++){
Lightvalve	162:9dd4f35e9de8	835	// input_NN[ind] = f_past[1*i] / 10000.0f + 0.5f;
Lightvalve	162:9dd4f35e9de8	836	// ind = ind + 1;
Lightvalve	162:9dd4f35e9de8	837	// }
Lightvalve	162:9dd4f35e9de8	838	// input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	162:9dd4f35e9de8	839	// ind = ind + 1;
Lightvalve	162:9dd4f35e9de8	840	// for(int i=0;i<numfuture_f;i++){
Lightvalve	162:9dd4f35e9de8	841	// input_NN[ind] = (f_future[1*i+1] - f_future[0])/10000.0f+0.5f;
Lightvalve	162:9dd4f35e9de8	842	//// input_NN[ind] = (f_future[2*i+2])/10000.0f+0.5f;
Lightvalve	162:9dd4f35e9de8	843	// ind = ind + 1;
Lightvalve	162:9dd4f35e9de8	844	// }
Lightvalve	170:42c938a40313	845
Lightvalve	49:e7bcfc244d40	846	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	847	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	170:42c938a40313	848
Lightvalve	57:f4819de54e7a	849	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	850	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	851	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	852	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	853	} else { //SW Valve
Lightvalve	57:f4819de54e7a	854	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	855	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	856	} else {
Lightvalve	57:f4819de54e7a	857	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	858	}
Lightvalve	47:fdcb8bd86fd6	859	}
Lightvalve	170:42c938a40313	860	} else if(address==CID_RX_REF_PWM) {
Lightvalve	49:e7bcfc244d40	861	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	862	Vout.ref = (double) temp_ref_pwm;
Lightvalve	170:42c938a40313	863	}
jobuuu	2:a1c0a37df760	864	}
jobuuu	2:a1c0a37df760	865
jobuuu	2:a1c0a37df760	866	/******************************************************************************
jobuuu	2:a1c0a37df760	867	Information Transmission Functions
jobuuu	2:a1c0a37df760	868	*******************************************************************************/
Lightvalve	11:82d8768d7351	869
Lightvalve	170:42c938a40313	870	void CAN_TX_INFO(void)
Lightvalve	170:42c938a40313	871	{
Lightvalve	12:6f2531038ea4	872	CANMessage temp_msg;
Lightvalve	170:42c938a40313	873
jobuuu	2:a1c0a37df760	874	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	875	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	876	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	877	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	878	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	879	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	880	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	57:f4819de54e7a	881	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	882	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	883
jobuuu	2:a1c0a37df760	884	can.write(temp_msg);
jobuuu	2:a1c0a37df760	885	}
jobuuu	2:a1c0a37df760	886
Lightvalve	170:42c938a40313	887	void CAN_TX_BNO(void)
Lightvalve	170:42c938a40313	888	{
Lightvalve	12:6f2531038ea4	889	CANMessage temp_msg;
Lightvalve	170:42c938a40313	890
jobuuu	2:a1c0a37df760	891	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	892	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	893	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	894	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	895
jobuuu	2:a1c0a37df760	896	can.write(temp_msg);
jobuuu	2:a1c0a37df760	897	}
jobuuu	2:a1c0a37df760	898
Lightvalve	170:42c938a40313	899	void CAN_TX_OPERATING_MODE(void)
Lightvalve	170:42c938a40313	900	{
jobuuu	2:a1c0a37df760	901	CANMessage temp_msg;
Lightvalve	170:42c938a40313	902
jobuuu	2:a1c0a37df760	903	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	904	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	905	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	906	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	907	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	908	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	909	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	910
jobuuu	2:a1c0a37df760	911	can.write(temp_msg);
jobuuu	2:a1c0a37df760	912	}
jobuuu	2:a1c0a37df760	913
Lightvalve	170:42c938a40313	914	void CAN_TX_CAN_FREQ(void)
Lightvalve	170:42c938a40313	915	{
jobuuu	2:a1c0a37df760	916	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	917
jobuuu	2:a1c0a37df760	918	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	919	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	920	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	921	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	922	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	923
jobuuu	2:a1c0a37df760	924	can.write(temp_msg);
jobuuu	2:a1c0a37df760	925	}
Lightvalve	11:82d8768d7351	926
Lightvalve	170:42c938a40313	927	void CAN_TX_CONTROL_MODE(void)
Lightvalve	170:42c938a40313	928	{
jobuuu	2:a1c0a37df760	929	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	930
jobuuu	2:a1c0a37df760	931	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	932	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	933	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	934	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	935
jobuuu	2:a1c0a37df760	936	can.write(temp_msg);
jobuuu	2:a1c0a37df760	937	}
Lightvalve	11:82d8768d7351	938
Lightvalve	170:42c938a40313	939	void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve	170:42c938a40313	940	{
jobuuu	2:a1c0a37df760	941	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	942
jobuuu	2:a1c0a37df760	943	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	944	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	945	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	946	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	947	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	948
jobuuu	2:a1c0a37df760	949	can.write(temp_msg);
jobuuu	2:a1c0a37df760	950	}
jobuuu	2:a1c0a37df760	951
Lightvalve	170:42c938a40313	952	void CAN_TX_VALVE_DIR(void)
Lightvalve	170:42c938a40313	953	{
jobuuu	2:a1c0a37df760	954	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	955
jobuuu	2:a1c0a37df760	956	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	957	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	958	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	959	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	960	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	961
jobuuu	2:a1c0a37df760	962	can.write(temp_msg);
jobuuu	2:a1c0a37df760	963	}
jobuuu	2:a1c0a37df760	964
Lightvalve	170:42c938a40313	965	void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve	170:42c938a40313	966	{
jobuuu	2:a1c0a37df760	967	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	968
jobuuu	2:a1c0a37df760	969	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	970	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	971	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	972	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	973	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	974
jobuuu	2:a1c0a37df760	975	can.write(temp_msg);
jobuuu	2:a1c0a37df760	976	}
jobuuu	2:a1c0a37df760	977
Lightvalve	170:42c938a40313	978	void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve	170:42c938a40313	979	{
Lightvalve	49:e7bcfc244d40	980	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	981
jobuuu	2:a1c0a37df760	982	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	983
jobuuu	2:a1c0a37df760	984	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	985	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	986	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	987	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	988	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	989
jobuuu	2:a1c0a37df760	990	can.write(temp_msg);
jobuuu	2:a1c0a37df760	991	}
jobuuu	2:a1c0a37df760	992
Lightvalve	170:42c938a40313	993	void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve	170:42c938a40313	994	{
Lightvalve	49:e7bcfc244d40	995	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	996
jobuuu	2:a1c0a37df760	997	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	998
jobuuu	2:a1c0a37df760	999	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1000	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1001	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	1002	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	1003	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	1004
jobuuu	2:a1c0a37df760	1005	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1006	}
Lightvalve	11:82d8768d7351	1007
jobuuu	2:a1c0a37df760	1008
Lightvalve	170:42c938a40313	1009	void CAN_TX_PID_GAIN(int t_type)
Lightvalve	170:42c938a40313	1010	{
jobuuu	2:a1c0a37df760	1011	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	1012	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	1013	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	1014
Lightvalve	12:6f2531038ea4	1015	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	1016	if (t_type == 0) {
Lightvalve	30:8d561f16383b	1017	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	1018	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	1019	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	1020	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	1021	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	1022	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	1023	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	1024	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	1025	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	1026	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	1027	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	1028	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	1029	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	1030	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	1031	}
jobuuu	2:a1c0a37df760	1032
jobuuu	2:a1c0a37df760	1033	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1034
jobuuu	2:a1c0a37df760	1035	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1036	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1037	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	1038	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	1039	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	1040	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	1041	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	1042	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	1043	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	1044	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	1045
jobuuu	2:a1c0a37df760	1046	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1047	}
jobuuu	2:a1c0a37df760	1048
Lightvalve	11:82d8768d7351	1049
Lightvalve	170:42c938a40313	1050	void CAN_TX_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	1051	{
jobuuu	2:a1c0a37df760	1052	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1053
jobuuu	2:a1c0a37df760	1054	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1055	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1056	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	1057	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	1058	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	1059	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	1060	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	1061	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	1062	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	1063
jobuuu	2:a1c0a37df760	1064	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1065	}
jobuuu	2:a1c0a37df760	1066
Lightvalve	170:42c938a40313	1067	void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve	170:42c938a40313	1068	{
Lightvalve	11:82d8768d7351	1069	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1070
Lightvalve	11:82d8768d7351	1071	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1072	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1073	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1074	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1075	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	1076
Lightvalve	11:82d8768d7351	1077	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1078	}
Lightvalve	11:82d8768d7351	1079
Lightvalve	170:42c938a40313	1080	void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve	170:42c938a40313	1081	{
Lightvalve	11:82d8768d7351	1082	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1083
Lightvalve	11:82d8768d7351	1084	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1085	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1086	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1087	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1088	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	1089
Lightvalve	11:82d8768d7351	1090	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1091	}
Lightvalve	11:82d8768d7351	1092
Lightvalve	170:42c938a40313	1093	void CAN_TX_VALVE_FF(void)
Lightvalve	170:42c938a40313	1094	{
Lightvalve	11:82d8768d7351	1095	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1096
Lightvalve	11:82d8768d7351	1097	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1098	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1099	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	1100	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	1101	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	1102
Lightvalve	11:82d8768d7351	1103	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1104	}
Lightvalve	11:82d8768d7351	1105
Lightvalve	170:42c938a40313	1106	void CAN_TX_BULK_MODULUS(void)
Lightvalve	170:42c938a40313	1107	{
Lightvalve	11:82d8768d7351	1108	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1109
Lightvalve	11:82d8768d7351	1110	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1111	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1112	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1113	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1114	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	1115
Lightvalve	11:82d8768d7351	1116	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1117	}
Lightvalve	11:82d8768d7351	1118
Lightvalve	170:42c938a40313	1119	void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve	170:42c938a40313	1120	{
Lightvalve	11:82d8768d7351	1121	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1122
Lightvalve	11:82d8768d7351	1123	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1124	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1125	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1126	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1127	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1128	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1129	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1130
Lightvalve	11:82d8768d7351	1131	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1132	}
Lightvalve	11:82d8768d7351	1133
Lightvalve	170:42c938a40313	1134	void CAN_TX_PISTON_AREA(void)
Lightvalve	170:42c938a40313	1135	{
jobuuu	2:a1c0a37df760	1136	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1137
Lightvalve	11:82d8768d7351	1138	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1139	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1140	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1141	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1142	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1143	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1144	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1145
Lightvalve	11:82d8768d7351	1146	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1147	}
Lightvalve	11:82d8768d7351	1148
Lightvalve	170:42c938a40313	1149	void CAN_TX_PRES_A_AND_B(void)
Lightvalve	170:42c938a40313	1150	{
Lightvalve	11:82d8768d7351	1151	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1152
Lightvalve	11:82d8768d7351	1153	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1154	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1155	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1156	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1157	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1158	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1159	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1160
Lightvalve	11:82d8768d7351	1161	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1162	}
Lightvalve	11:82d8768d7351	1163
Lightvalve	170:42c938a40313	1164	void CAN_TX_ENC_LIMIT(void)
Lightvalve	170:42c938a40313	1165	{
Lightvalve	11:82d8768d7351	1166	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1167
Lightvalve	11:82d8768d7351	1168	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1169	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1170	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1171	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1172	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1173	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1174	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1175
Lightvalve	11:82d8768d7351	1176	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1177	}
Lightvalve	11:82d8768d7351	1178
Lightvalve	170:42c938a40313	1179	void CAN_TX_STROKE(void)
Lightvalve	170:42c938a40313	1180	{
Lightvalve	11:82d8768d7351	1181	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1182
Lightvalve	11:82d8768d7351	1183	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1184	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1185	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1186	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1187	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1188
Lightvalve	11:82d8768d7351	1189	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1190	}
Lightvalve	11:82d8768d7351	1191
Lightvalve	170:42c938a40313	1192	void CAN_TX_VALVE_LIMIT(void)
Lightvalve	170:42c938a40313	1193	{
Lightvalve	11:82d8768d7351	1194	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1195
Lightvalve	11:82d8768d7351	1196	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1197	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1198	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1199	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1200	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1201	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1202	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1203
Lightvalve	11:82d8768d7351	1204	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1205	}
Lightvalve	11:82d8768d7351	1206
Lightvalve	170:42c938a40313	1207	void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve	170:42c938a40313	1208	{
Lightvalve	11:82d8768d7351	1209	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1210
jobuuu	2:a1c0a37df760	1211	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1212	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1213	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1214	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1215	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1216	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1217
jobuuu	2:a1c0a37df760	1218	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1219	}
jobuuu	2:a1c0a37df760	1220
Lightvalve	170:42c938a40313	1221	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve	170:42c938a40313	1222	{
jobuuu	2:a1c0a37df760	1223	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1224
jobuuu	2:a1c0a37df760	1225	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1226	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1227	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	139:15621998925b	1228	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve	48:889798ff9329	1229	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1230	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1231
jobuuu	2:a1c0a37df760	1232	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1233	}
jobuuu	2:a1c0a37df760	1234
Lightvalve	170:42c938a40313	1235	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve	170:42c938a40313	1236	{
jobuuu	2:a1c0a37df760	1237	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1238
jobuuu	2:a1c0a37df760	1239	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1240	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1241	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1242	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1243	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1244	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1245	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1246
jobuuu	2:a1c0a37df760	1247	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1248	}
jobuuu	2:a1c0a37df760	1249
Lightvalve	170:42c938a40313	1250	void CAN_TX_FRICTION(void)
Lightvalve	170:42c938a40313	1251	{
Lightvalve	11:82d8768d7351	1252	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1253	int16_t send_friction;
Lightvalve	30:8d561f16383b	1254	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	170:42c938a40313	1255
Lightvalve	11:82d8768d7351	1256	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1257	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1258	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1259	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1260	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1261
Lightvalve	11:82d8768d7351	1262	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1263	}
Lightvalve	11:82d8768d7351	1264
Lightvalve	170:42c938a40313	1265	void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve	170:42c938a40313	1266	{
Lightvalve	11:82d8768d7351	1267	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1268
Lightvalve	11:82d8768d7351	1269	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1270	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1271	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1272	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1273	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1274	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1275	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1276	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1277
Lightvalve	11:82d8768d7351	1278	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1279	}
Lightvalve	11:82d8768d7351	1280
Lightvalve	170:42c938a40313	1281	void CAN_TX_DDV_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	1282	{
Lightvalve	11:82d8768d7351	1283	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1284	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1285	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1286	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1287
Lightvalve	57:f4819de54e7a	1288	//temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1289	//temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1290	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1291	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1292	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	170:42c938a40313	1293
Lightvalve	11:82d8768d7351	1294	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1295	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1296	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1297	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1298	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1299	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1300	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1301	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1302	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1303
Lightvalve	11:82d8768d7351	1304	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1305	}
Lightvalve	11:82d8768d7351	1306
Lightvalve	170:42c938a40313	1307	void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve	170:42c938a40313	1308	{
Lightvalve	11:82d8768d7351	1309	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1310
Lightvalve	11:82d8768d7351	1311	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1312	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1313	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1314	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1315	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1316	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1317	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1318	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1319
Lightvalve	11:82d8768d7351	1320	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1321	}
Lightvalve	11:82d8768d7351	1322
Lightvalve	170:42c938a40313	1323	void CAN_TX_REFENCE_MODE(void)
Lightvalve	170:42c938a40313	1324	{
Lightvalve	11:82d8768d7351	1325	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1326
Lightvalve	11:82d8768d7351	1327	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1328	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1329	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1330	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1331	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1332	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1333	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1334	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1335
Lightvalve	11:82d8768d7351	1336	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1337	}
Lightvalve	11:82d8768d7351	1338
Lightvalve	170:42c938a40313	1339	void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve	170:42c938a40313	1340	{
Lightvalve	11:82d8768d7351	1341	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1342	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1343	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	170:42c938a40313	1344
jobuuu	2:a1c0a37df760	1345	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1346	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1347	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1348	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1349	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1350
jobuuu	2:a1c0a37df760	1351	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1352	}
Lightvalve	11:82d8768d7351	1353
Lightvalve	170:42c938a40313	1354	void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve	170:42c938a40313	1355	{
Lightvalve	11:82d8768d7351	1356	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1357	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1358	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	170:42c938a40313	1359
Lightvalve	11:82d8768d7351	1360	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1361	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1362	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1363	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1364	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1365
Lightvalve	11:82d8768d7351	1366	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1367	}
Lightvalve	11:82d8768d7351	1368
Lightvalve	170:42c938a40313	1369	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve	170:42c938a40313	1370	{
Lightvalve	11:82d8768d7351	1371	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1372	int16_t valve_pos_vs_pwm;
Lightvalve	49:e7bcfc244d40	1373	// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve	170:42c938a40313	1374
Lightvalve	57:f4819de54e7a	1375	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1376	valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	49:e7bcfc244d40	1377	} else {
Lightvalve	57:f4819de54e7a	1378	valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	49:e7bcfc244d40	1379	}
Lightvalve	170:42c938a40313	1380
Lightvalve	12:6f2531038ea4	1381	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1382	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	170:42c938a40313	1383
Lightvalve	11:82d8768d7351	1384	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1385	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1386	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1387	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1388	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1389	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1390	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1391
Lightvalve	11:82d8768d7351	1392	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1393	}
Lightvalve	11:82d8768d7351	1394
Lightvalve	170:42c938a40313	1395	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve	170:42c938a40313	1396	{
Lightvalve	11:82d8768d7351	1397	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1398	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1399	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1400
Lightvalve	57:f4819de54e7a	1401	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1402	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1403	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1404	temp_valve_pos = (int16_t) (10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER));
Lightvalve	49:e7bcfc244d40	1405	} else {
Lightvalve	57:f4819de54e7a	1406	temp_valve_pos = (int16_t) (-10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER));
Lightvalve	49:e7bcfc244d40	1407	}
Lightvalve	170:42c938a40313	1408
Lightvalve	11:82d8768d7351	1409	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1410	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1411	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1412	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1413	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1414	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1415	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1416	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1417	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1418
Lightvalve	11:82d8768d7351	1419	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1420	}
Lightvalve	11:82d8768d7351	1421
Lightvalve	170:42c938a40313	1422	void CAN_TX_VALVE_POS_NUM(void)
Lightvalve	170:42c938a40313	1423	{
Lightvalve	11:82d8768d7351	1424	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1425	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1426	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	170:42c938a40313	1427
Lightvalve	11:82d8768d7351	1428	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1429	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1430	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1431	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1432	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1433
Lightvalve	11:82d8768d7351	1434	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1435	}
Lightvalve	11:82d8768d7351	1436
Lightvalve	170:42c938a40313	1437	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve	170:42c938a40313	1438	{
Lightvalve	38:118df027d851	1439	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1440
Lightvalve	48:889798ff9329	1441	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1442	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1443	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1444
Lightvalve	57:f4819de54e7a	1445	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1446	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1447	temp_ddv_center = VALVE_CENTER;
Lightvalve	170:42c938a40313	1448
Lightvalve	38:118df027d851	1449	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1450	temp_msg.len = 7;
Lightvalve	38:118df027d851	1451	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1452	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1453	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1454	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1455	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1456	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1457	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1458
Lightvalve	38:118df027d851	1459	can.write(temp_msg);
Lightvalve	38:118df027d851	1460	}
Lightvalve	38:118df027d851	1461
Lightvalve	169:645207e160ca	1462
Lightvalve	170:42c938a40313	1463	void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve	170:42c938a40313	1464	{
Lightvalve	169:645207e160ca	1465	CANMessage temp_msg;
Lightvalve	169:645207e160ca	1466	int16_t send_pos_array, send_ref_array;
Lightvalve	169:645207e160ca	1467	send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve	169:645207e160ca	1468	send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve	170:42c938a40313	1469
Lightvalve	169:645207e160ca	1470	temp_msg.id = CID_TX_INFO;
Lightvalve	169:645207e160ca	1471	temp_msg.len = 5;
Lightvalve	169:645207e160ca	1472	temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve	169:645207e160ca	1473	temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve	169:645207e160ca	1474	temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve	169:645207e160ca	1475	temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve	169:645207e160ca	1476	temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve	169:645207e160ca	1477
Lightvalve	169:645207e160ca	1478	can.write(temp_msg);
Lightvalve	169:645207e160ca	1479	}
Lightvalve	169:645207e160ca	1480
Lightvalve	169:645207e160ca	1481
jobuuu	2:a1c0a37df760	1482	/******************************************************************************
jobuuu	2:a1c0a37df760	1483	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1484	*******************************************************************************/
jobuuu	2:a1c0a37df760	1485
Lightvalve	170:42c938a40313	1486	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve	170:42c938a40313	1487	{
Lightvalve	52:8ea76864368a	1488	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1489
Lightvalve	52:8ea76864368a	1490	temp_msg.id = CID_TX_POSITION;
Lightvalve	52:8ea76864368a	1491	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1492	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1493	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1494	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1495	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1496	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1497	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1498
Lightvalve	52:8ea76864368a	1499	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1500	}
Lightvalve	52:8ea76864368a	1501
Lightvalve	170:42c938a40313	1502	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve	170:42c938a40313	1503	{
Lightvalve	170:42c938a40313	1504
jobuuu	2:a1c0a37df760	1505	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1506
jobuuu	2:a1c0a37df760	1507	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1508	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1509	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1510	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1511	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1512	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1513	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1514	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1515	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1516	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1517
jobuuu	2:a1c0a37df760	1518	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1519	}
jobuuu	2:a1c0a37df760	1520
Lightvalve	67:c2812cf26c38	1521	//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve	67:c2812cf26c38	1522	// CANMessage temp_msg;
Lightvalve	67:c2812cf26c38	1523	//
Lightvalve	67:c2812cf26c38	1524	// temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1525	// temp_msg.len = 4;
Lightvalve	67:c2812cf26c38	1526	// temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	67:c2812cf26c38	1527	// temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	67:c2812cf26c38	1528	// temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve	67:c2812cf26c38	1529	// temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve	67:c2812cf26c38	1530	//
Lightvalve	67:c2812cf26c38	1531	// can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1532	//}
Lightvalve	67:c2812cf26c38	1533
Lightvalve	170:42c938a40313	1534	void CAN_TX_TORQUE(int16_t t_valve_pos)
Lightvalve	170:42c938a40313	1535	{
jobuuu	2:a1c0a37df760	1536	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1537
jobuuu	2:a1c0a37df760	1538	temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1539	temp_msg.len = 2;
Lightvalve	48:889798ff9329	1540	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1541	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1542
jobuuu	2:a1c0a37df760	1543	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1544	}
jobuuu	2:a1c0a37df760	1545
Lightvalve	170:42c938a40313	1546	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve	170:42c938a40313	1547	{
jobuuu	2:a1c0a37df760	1548	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1549
jobuuu	2:a1c0a37df760	1550	temp_msg.id = CID_TX_PRES;
Lightvalve	57:f4819de54e7a	1551	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1552	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1553	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1554	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1555	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1556
jobuuu	2:a1c0a37df760	1557	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1558	}
jobuuu	2:a1c0a37df760	1559
Lightvalve	170:42c938a40313	1560	void CAN_TX_PWM(int16_t t_pwm)
Lightvalve	170:42c938a40313	1561	{
jobuuu	2:a1c0a37df760	1562	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1563
Lightvalve	57:f4819de54e7a	1564	temp_msg.id = CID_TX_VOUT;
Lightvalve	57:f4819de54e7a	1565	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1566	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1567	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1568
jobuuu	2:a1c0a37df760	1569	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1570	}
jobuuu	2:a1c0a37df760	1571
Lightvalve	73:f80dc3970c99	1572	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	1573	{
jobuuu	2:a1c0a37df760	1574	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1575
jobuuu	2:a1c0a37df760	1576	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	73:f80dc3970c99	1577	temp_msg.len = 8;
Lightvalve	73:f80dc3970c99	1578	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	73:f80dc3970c99	1579	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	73:f80dc3970c99	1580	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	73:f80dc3970c99	1581	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	73:f80dc3970c99	1582	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	73:f80dc3970c99	1583	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	73:f80dc3970c99	1584	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	73:f80dc3970c99	1585	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	170:42c938a40313	1586
jobuuu	2:a1c0a37df760	1587
jobuuu	2:a1c0a37df760	1588	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1589	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Aug 2022
Imports:	1
Forks:	0
Commits:	258
Dependents:	0
Dependencies:	2
Followers:	1

CAN/function_CAN.cpp@170:42c938a40313, 2020-11-18 (annotated)

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