Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@41:abbd4e2af68b, 2019-12-23 (annotated)

Committer:
Lightvalve
Date:
Mon Dec 23 04:05:31 2019 +0000
Revision:
41:abbd4e2af68b
Parent:
38:118df027d851
Child:
42:1cf66990ccab
191223

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;
jobuuu 2:a1c0a37df760 11 int CID_RX_REF_TORQUE = 300;
jobuuu 2:a1c0a37df760 12 int CID_RX_REF_PRES_DIFF = 400;
jobuuu 7:e9086c72bb22 13 int CID_RX_REF_VOUT = 500;
jobuuu 2:a1c0a37df760 14 int CID_RX_REF_VALVE_POSITION = 600;
Lightvalve 14:8e7590227d22 15 int CID_RX_REF_CURRENT = 700;
jobuuu 2:a1c0a37df760 16
jobuuu 2:a1c0a37df760 17 int CID_TX_INFO = 1100;
jobuuu 2:a1c0a37df760 18 int CID_TX_POSITION = 1200;
jobuuu 2:a1c0a37df760 19 int CID_TX_TORQUE = 1300;
jobuuu 2:a1c0a37df760 20 int CID_TX_PRES = 1400;
jobuuu 7:e9086c72bb22 21 int CID_TX_VOUT = 1500;
jobuuu 2:a1c0a37df760 22 int CID_TX_VALVE_POSITION = 1600;
jobuuu 2:a1c0a37df760 23
Lightvalve 12:6f2531038ea4 24 // variables
Lightvalve 12:6f2531038ea4 25 uint8_t can_index = 0;
Lightvalve 12:6f2531038ea4 26
Lightvalve 11:82d8768d7351 27
Lightvalve 11:82d8768d7351 28 /*******************************************************************************
Lightvalve 11:82d8768d7351 29 * CAN functions
Lightvalve 11:82d8768d7351 30 ******************************************************************************/
Lightvalve 11:82d8768d7351 31 void CAN_ID_INIT(void) {
jobuuu 7:e9086c72bb22 32
Lightvalve 11:82d8768d7351 33 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 34 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve 11:82d8768d7351 35 CID_RX_REF_TORQUE = (int) (BNO + INIT_CID_RX_REF_TORQUE);
Lightvalve 11:82d8768d7351 36 CID_RX_REF_PRES_DIFF = (int) (BNO + INIT_CID_RX_REF_PRES_DIFF);
Lightvalve 11:82d8768d7351 37 CID_RX_REF_VOUT = (int) (BNO + INIT_CID_RX_REF_VOUT);
Lightvalve 11:82d8768d7351 38 CID_RX_REF_VALVE_POSITION = (int) (BNO + INIT_CID_RX_REF_VALVE_POSITION);
Lightvalve 14:8e7590227d22 39 CID_RX_REF_CURRENT = (int) (BNO + INIT_CID_RX_REF_CURRENT);
Lightvalve 11:82d8768d7351 40
Lightvalve 11:82d8768d7351 41 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve 11:82d8768d7351 42 CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve 11:82d8768d7351 43 CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve 11:82d8768d7351 44 CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve 11:82d8768d7351 45 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 46 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve 11:82d8768d7351 47 }
jobuuu 2:a1c0a37df760 48
Lightvalve 28:2a62d73e3dd0 49 void ReadCMD(int16_t CMD)
jobuuu 2:a1c0a37df760 50 {
jobuuu 2:a1c0a37df760 51 switch(CMD){
Lightvalve 11:82d8768d7351 52 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 53 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 54 break;
Lightvalve 11:82d8768d7351 55 }
Lightvalve 11:82d8768d7351 56 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 57 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 58 break;
Lightvalve 11:82d8768d7351 59 }
Lightvalve 11:82d8768d7351 60 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 61 BNO = (int16_t) msg.data[1];
Lightvalve 16:903b5a4433b4 62
Lightvalve 16:903b5a4433b4 63 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 64
Lightvalve 16:903b5a4433b4 65 //spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 66 CAN_ID_INIT(); // can id init
Lightvalve 11:82d8768d7351 67 break;
Lightvalve 11:82d8768d7351 68 }
Lightvalve 11:82d8768d7351 69 case CRX_ASK_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 70 CAN_TX_OPERATING_MODE();
Lightvalve 11:82d8768d7351 71 break;
Lightvalve 11:82d8768d7351 72 }
Lightvalve 11:82d8768d7351 73 case CRX_SET_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 74 OPERATING_MODE = (int16_t) msg.data[1];
Lightvalve 16:903b5a4433b4 75
Lightvalve 16:903b5a4433b4 76 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 77
Lightvalve 23:59218d4a256d 78
Lightvalve 11:82d8768d7351 79 break;
Lightvalve 11:82d8768d7351 80 }
Lightvalve 11:82d8768d7351 81 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 82 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 83
Lightvalve 11:82d8768d7351 84 break;
Lightvalve 11:82d8768d7351 85 }
Lightvalve 11:82d8768d7351 86 case CRX_SET_FET_ON: {
Lightvalve 11:82d8768d7351 87
Lightvalve 11:82d8768d7351 88 break;
Lightvalve 11:82d8768d7351 89 }
Lightvalve 11:82d8768d7351 90
Lightvalve 11:82d8768d7351 91 case CRX_SET_REF_UPDATE_ENABLE: {
Lightvalve 11:82d8768d7351 92 flag_ref_enable = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 93
Lightvalve 11:82d8768d7351 94 break;
Lightvalve 11:82d8768d7351 95 }
Lightvalve 11:82d8768d7351 96
Lightvalve 11:82d8768d7351 97 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 98 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 99
Lightvalve 11:82d8768d7351 100 break;
Lightvalve 11:82d8768d7351 101 }
Lightvalve 11:82d8768d7351 102
Lightvalve 11:82d8768d7351 103 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 104 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 105
Lightvalve 16:903b5a4433b4 106 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 107
Lightvalve 16:903b5a4433b4 108 //spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 109 break;
Lightvalve 11:82d8768d7351 110 }
Lightvalve 11:82d8768d7351 111
Lightvalve 11:82d8768d7351 112 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 113 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 114
Lightvalve 11:82d8768d7351 115 break;
Lightvalve 11:82d8768d7351 116 }
Lightvalve 11:82d8768d7351 117
Lightvalve 11:82d8768d7351 118 case CRX_SET_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 119 CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 120 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 121 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 122 }
Lightvalve 11:82d8768d7351 123 break;
Lightvalve 11:82d8768d7351 124 }
Lightvalve 11:82d8768d7351 125
Lightvalve 11:82d8768d7351 126 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 127 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 128 flag_data_request[request_type] = msg.data[1];
Lightvalve 14:8e7590227d22 129 //pc.printf("can middle %d\n", request_type);
Lightvalve 11:82d8768d7351 130
Lightvalve 12:6f2531038ea4 131 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 132 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 133 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 134 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 11:82d8768d7351 135
Lightvalve 11:82d8768d7351 136 break;
Lightvalve 11:82d8768d7351 137 }
Lightvalve 11:82d8768d7351 138
Lightvalve 11:82d8768d7351 139 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 140 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 141
Lightvalve 11:82d8768d7351 142 break;
Lightvalve 11:82d8768d7351 143 }
Lightvalve 11:82d8768d7351 144
Lightvalve 11:82d8768d7351 145 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 146 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 147 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 148 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 149 else
Lightvalve 11:82d8768d7351 150 DIR_JOINT_ENC = -1;
Lightvalve 16:903b5a4433b4 151
Lightvalve 16:903b5a4433b4 152 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 153
Lightvalve 16:903b5a4433b4 154 //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 155
Lightvalve 11:82d8768d7351 156 break;
Lightvalve 11:82d8768d7351 157 }
Lightvalve 11:82d8768d7351 158
Lightvalve 11:82d8768d7351 159 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 160 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 161
Lightvalve 11:82d8768d7351 162 break;
Lightvalve 11:82d8768d7351 163 }
Lightvalve 11:82d8768d7351 164
Lightvalve 11:82d8768d7351 165 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 166 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 167 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 168 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 169 else
Lightvalve 11:82d8768d7351 170 DIR_VALVE = -1;
Lightvalve 16:903b5a4433b4 171
Lightvalve 16:903b5a4433b4 172 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 173
Lightvalve 16:903b5a4433b4 174 //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 175
Lightvalve 11:82d8768d7351 176 break;
Lightvalve 11:82d8768d7351 177 }
Lightvalve 11:82d8768d7351 178
Lightvalve 11:82d8768d7351 179 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 180 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 181
Lightvalve 11:82d8768d7351 182 break;
Lightvalve 11:82d8768d7351 183 }
Lightvalve 11:82d8768d7351 184
Lightvalve 11:82d8768d7351 185 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 186 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 187 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 188 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 189 else
Lightvalve 11:82d8768d7351 190 DIR_VALVE_ENC = -1;
Lightvalve 16:903b5a4433b4 191
Lightvalve 16:903b5a4433b4 192 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 193
Lightvalve 16:903b5a4433b4 194 //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 195
Lightvalve 11:82d8768d7351 196 break;
Lightvalve 11:82d8768d7351 197 }
Lightvalve 11:82d8768d7351 198
Lightvalve 11:82d8768d7351 199 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 200 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 201
Lightvalve 11:82d8768d7351 202 break;
Lightvalve 11:82d8768d7351 203 }
Lightvalve 11:82d8768d7351 204
Lightvalve 11:82d8768d7351 205 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 30:8d561f16383b 206 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 207
Lightvalve 16:903b5a4433b4 208 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 209
Lightvalve 16:903b5a4433b4 210 //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve 11:82d8768d7351 211
Lightvalve 11:82d8768d7351 212 break;
Lightvalve 11:82d8768d7351 213 }
Lightvalve 11:82d8768d7351 214
Lightvalve 11:82d8768d7351 215 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 216 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 217
Lightvalve 11:82d8768d7351 218 break;
Lightvalve 11:82d8768d7351 219 }
Lightvalve 11:82d8768d7351 220
Lightvalve 11:82d8768d7351 221 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 30:8d561f16383b 222 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 223
Lightvalve 16:903b5a4433b4 224 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 225
Lightvalve 16:903b5a4433b4 226 //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve 11:82d8768d7351 227
Lightvalve 11:82d8768d7351 228
Lightvalve 11:82d8768d7351 229 break;
Lightvalve 11:82d8768d7351 230 }
Lightvalve 12:6f2531038ea4 231
Lightvalve 11:82d8768d7351 232 case CRX_SET_HOMEPOS: {
Lightvalve 11:82d8768d7351 233 CONTROL_MODE = 22;
Lightvalve 11:82d8768d7351 234 SETTING_SWITCH = (int16_t) (msg.data[1]);
Lightvalve 11:82d8768d7351 235 break;
Lightvalve 11:82d8768d7351 236 }
Lightvalve 11:82d8768d7351 237
Lightvalve 11:82d8768d7351 238 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 239 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 240
Lightvalve 11:82d8768d7351 241 break;
Lightvalve 11:82d8768d7351 242 }
Lightvalve 11:82d8768d7351 243
Lightvalve 11:82d8768d7351 244 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 245 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 246 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 247 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 248 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 249
Lightvalve 16:903b5a4433b4 250 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 251
Lightvalve 16:903b5a4433b4 252 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 253 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 254 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 255
Lightvalve 11:82d8768d7351 256
Lightvalve 11:82d8768d7351 257 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 258 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 259 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 260 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 261
Lightvalve 16:903b5a4433b4 262 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 263
Lightvalve 16:903b5a4433b4 264 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 265 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 266 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 267 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 268 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 269 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 270 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 271
Lightvalve 16:903b5a4433b4 272 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 273
Lightvalve 16:903b5a4433b4 274 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 275 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 276 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 277 }
Lightvalve 11:82d8768d7351 278
Lightvalve 11:82d8768d7351 279 break;
Lightvalve 11:82d8768d7351 280 }
Lightvalve 11:82d8768d7351 281
Lightvalve 11:82d8768d7351 282 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 283 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 284
Lightvalve 11:82d8768d7351 285 break;
Lightvalve 11:82d8768d7351 286 }
Lightvalve 11:82d8768d7351 287
Lightvalve 11:82d8768d7351 288 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 289 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 290 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 291 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 16:903b5a4433b4 292
Lightvalve 16:903b5a4433b4 293 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 294
Lightvalve 16:903b5a4433b4 295 //spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
Lightvalve 16:903b5a4433b4 296 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 16:903b5a4433b4 297 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 11:82d8768d7351 298
Lightvalve 11:82d8768d7351 299 break;
Lightvalve 11:82d8768d7351 300 }
Lightvalve 11:82d8768d7351 301
Lightvalve 11:82d8768d7351 302 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 303 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 304
Lightvalve 11:82d8768d7351 305 break;
Lightvalve 11:82d8768d7351 306 }
Lightvalve 11:82d8768d7351 307
Lightvalve 11:82d8768d7351 308 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 309 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 310
Lightvalve 16:903b5a4433b4 311 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 312
Lightvalve 16:903b5a4433b4 313 //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 314
Lightvalve 11:82d8768d7351 315 break;
Lightvalve 11:82d8768d7351 316 }
Lightvalve 11:82d8768d7351 317
Lightvalve 11:82d8768d7351 318 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 319 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 320
Lightvalve 11:82d8768d7351 321 break;
Lightvalve 11:82d8768d7351 322 }
Lightvalve 11:82d8768d7351 323
Lightvalve 11:82d8768d7351 324 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 325 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 326
Lightvalve 16:903b5a4433b4 327 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 328
Lightvalve 16:903b5a4433b4 329 //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 330
Lightvalve 11:82d8768d7351 331 break;
Lightvalve 11:82d8768d7351 332 }
Lightvalve 11:82d8768d7351 333
Lightvalve 11:82d8768d7351 334 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 335 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 336
Lightvalve 11:82d8768d7351 337 break;
Lightvalve 11:82d8768d7351 338 }
Lightvalve 11:82d8768d7351 339
Lightvalve 11:82d8768d7351 340 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 341 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 342
Lightvalve 16:903b5a4433b4 343 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 344
Lightvalve 16:903b5a4433b4 345 //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 346
Lightvalve 11:82d8768d7351 347 break;
Lightvalve 11:82d8768d7351 348 }
Lightvalve 11:82d8768d7351 349
Lightvalve 11:82d8768d7351 350 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 351 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 352
Lightvalve 11:82d8768d7351 353 break;
Lightvalve 11:82d8768d7351 354 }
Lightvalve 11:82d8768d7351 355
Lightvalve 11:82d8768d7351 356 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 357 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 358
Lightvalve 16:903b5a4433b4 359 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 360
Lightvalve 16:903b5a4433b4 361 //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 362
Lightvalve 11:82d8768d7351 363 break;
Lightvalve 11:82d8768d7351 364 }
Lightvalve 11:82d8768d7351 365
Lightvalve 11:82d8768d7351 366 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 367 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 368
Lightvalve 11:82d8768d7351 369 break;
Lightvalve 11:82d8768d7351 370 }
Lightvalve 11:82d8768d7351 371
Lightvalve 11:82d8768d7351 372 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 373 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 374 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 375
Lightvalve 16:903b5a4433b4 376 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 377
Lightvalve 16:903b5a4433b4 378 //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 379 //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 380
Lightvalve 11:82d8768d7351 381 break;
Lightvalve 11:82d8768d7351 382 }
Lightvalve 11:82d8768d7351 383
Lightvalve 11:82d8768d7351 384 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 385 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 386
Lightvalve 11:82d8768d7351 387 break;
Lightvalve 11:82d8768d7351 388 }
Lightvalve 11:82d8768d7351 389
Lightvalve 11:82d8768d7351 390 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 391 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 392 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 393 PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve 16:903b5a4433b4 394
Lightvalve 16:903b5a4433b4 395 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 396
Lightvalve 16:903b5a4433b4 397 //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 398 //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 399 break;
Lightvalve 11:82d8768d7351 400 }
Lightvalve 11:82d8768d7351 401
Lightvalve 11:82d8768d7351 402 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 403 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 404 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 405 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 406 //dac_2 = PRES_B_VREF;
Lightvalve 12:6f2531038ea4 407
Lightvalve 11:82d8768d7351 408 break;
Lightvalve 11:82d8768d7351 409 }
Lightvalve 11:82d8768d7351 410
Lightvalve 11:82d8768d7351 411 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 412 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 413 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 414 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 415 //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 416 //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 417
Lightvalve 11:82d8768d7351 418
Lightvalve 11:82d8768d7351 419 break;
Lightvalve 11:82d8768d7351 420 }
Lightvalve 11:82d8768d7351 421
Lightvalve 11:82d8768d7351 422 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 423 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 424
Lightvalve 11:82d8768d7351 425 break;
Lightvalve 11:82d8768d7351 426 }
Lightvalve 11:82d8768d7351 427
Lightvalve 11:82d8768d7351 428 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 429 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 430 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 431 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 432 //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 433 //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 434
Lightvalve 11:82d8768d7351 435 break;
Lightvalve 11:82d8768d7351 436 }
Lightvalve 11:82d8768d7351 437
Lightvalve 11:82d8768d7351 438 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 439 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 440 break;
Lightvalve 11:82d8768d7351 441 }
Lightvalve 11:82d8768d7351 442
Lightvalve 11:82d8768d7351 443 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 444 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 445 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 446 //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 447
Lightvalve 11:82d8768d7351 448 break;
Lightvalve 11:82d8768d7351 449 }
Lightvalve 11:82d8768d7351 450
Lightvalve 11:82d8768d7351 451 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 452 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 453
Lightvalve 11:82d8768d7351 454 break;
Lightvalve 11:82d8768d7351 455 }
Lightvalve 11:82d8768d7351 456
Lightvalve 11:82d8768d7351 457 case CRX_SET_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 458 VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 459 VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 460 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 461 //spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 462 //spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 463
Lightvalve 11:82d8768d7351 464 break;
Lightvalve 11:82d8768d7351 465 }
Lightvalve 11:82d8768d7351 466
Lightvalve 11:82d8768d7351 467 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 468 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 469
Lightvalve 11:82d8768d7351 470 break;
Lightvalve 11:82d8768d7351 471 }
Lightvalve 11:82d8768d7351 472
Lightvalve 11:82d8768d7351 473 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 474 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 475 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 476 //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve 11:82d8768d7351 477
Lightvalve 11:82d8768d7351 478 break;
Lightvalve 11:82d8768d7351 479 }
Lightvalve 11:82d8768d7351 480
Lightvalve 11:82d8768d7351 481 case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 482 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 483
Lightvalve 11:82d8768d7351 484 break;
Lightvalve 11:82d8768d7351 485 }
Lightvalve 11:82d8768d7351 486
Lightvalve 11:82d8768d7351 487 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 488 TORQUE_SENSOR_PULSE_PER_TORQUE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 489 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 490 //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve 11:82d8768d7351 491
Lightvalve 11:82d8768d7351 492 break;
Lightvalve 11:82d8768d7351 493 }
Lightvalve 11:82d8768d7351 494
Lightvalve 11:82d8768d7351 495 case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 496 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 497
Lightvalve 11:82d8768d7351 498 break;
Lightvalve 11:82d8768d7351 499 }
Lightvalve 11:82d8768d7351 500
Lightvalve 11:82d8768d7351 501 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 30:8d561f16383b 502 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 30:8d561f16383b 503 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 16:903b5a4433b4 504 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 505 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 16:903b5a4433b4 506 //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 507
Lightvalve 11:82d8768d7351 508 break;
Lightvalve 11:82d8768d7351 509 }
Lightvalve 11:82d8768d7351 510
Lightvalve 11:82d8768d7351 511 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 512 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 513
Lightvalve 11:82d8768d7351 514 break;
Lightvalve 11:82d8768d7351 515 }
Lightvalve 11:82d8768d7351 516
Lightvalve 11:82d8768d7351 517 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 518 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 519 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 520 //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 521
Lightvalve 11:82d8768d7351 522 break;
Lightvalve 11:82d8768d7351 523 }
Lightvalve 11:82d8768d7351 524
Lightvalve 11:82d8768d7351 525 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 526 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 527
Lightvalve 11:82d8768d7351 528 break;
Lightvalve 11:82d8768d7351 529 }
Lightvalve 11:82d8768d7351 530 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 531 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 532 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 533 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 534 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 535 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 536 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 537 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 30:8d561f16383b 538 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 30:8d561f16383b 539 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 30:8d561f16383b 540 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 30:8d561f16383b 541 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 542
Lightvalve 11:82d8768d7351 543 break;
Lightvalve 11:82d8768d7351 544 }
Lightvalve 11:82d8768d7351 545
Lightvalve 11:82d8768d7351 546 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 547 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 548
Lightvalve 11:82d8768d7351 549 break;
Lightvalve 11:82d8768d7351 550 }
Lightvalve 11:82d8768d7351 551 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 552 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 553 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 554 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 555 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 556 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 557 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 558 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 30:8d561f16383b 559 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 30:8d561f16383b 560 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 30:8d561f16383b 561 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 30:8d561f16383b 562 //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 563
Lightvalve 11:82d8768d7351 564 break;
Lightvalve 11:82d8768d7351 565 }
Lightvalve 11:82d8768d7351 566 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 567 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 568 break;
Lightvalve 11:82d8768d7351 569 }
Lightvalve 11:82d8768d7351 570
Lightvalve 11:82d8768d7351 571 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 572 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 573
Lightvalve 11:82d8768d7351 574 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 575 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 576 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 577 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 578 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 579
Lightvalve 11:82d8768d7351 580 break;
Lightvalve 11:82d8768d7351 581 }
Lightvalve 11:82d8768d7351 582
Lightvalve 11:82d8768d7351 583 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 584 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 585
Lightvalve 11:82d8768d7351 586 break;
Lightvalve 11:82d8768d7351 587 }
Lightvalve 11:82d8768d7351 588
Lightvalve 11:82d8768d7351 589 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 590
Lightvalve 12:6f2531038ea4 591 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 592 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 593 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 594 }
Lightvalve 11:82d8768d7351 595
Lightvalve 11:82d8768d7351 596 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 597
Lightvalve 11:82d8768d7351 598
Lightvalve 11:82d8768d7351 599 break;
Lightvalve 11:82d8768d7351 600 }
Lightvalve 11:82d8768d7351 601
Lightvalve 11:82d8768d7351 602 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 603 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 604 break;
Lightvalve 11:82d8768d7351 605 }
Lightvalve 11:82d8768d7351 606 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 607 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 608 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 609 //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 610 break;
Lightvalve 11:82d8768d7351 611 }
Lightvalve 11:82d8768d7351 612
Lightvalve 11:82d8768d7351 613 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 614 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 615 break;
Lightvalve 11:82d8768d7351 616 }
Lightvalve 11:82d8768d7351 617 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 618 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 619 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 620 //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 621 break;
Lightvalve 11:82d8768d7351 622 }
Lightvalve 11:82d8768d7351 623
Lightvalve 11:82d8768d7351 624 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 625 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 626 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 627 break;
Lightvalve 11:82d8768d7351 628 }
Lightvalve 11:82d8768d7351 629 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 630 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 631 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 632 break;
Lightvalve 11:82d8768d7351 633 }
Lightvalve 11:82d8768d7351 634 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 635 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 636 break;
Lightvalve 11:82d8768d7351 637 }
Lightvalve 28:2a62d73e3dd0 638
Lightvalve 28:2a62d73e3dd0 639 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 640 ROM_RESET_DATA();
Lightvalve 28:2a62d73e3dd0 641 break;
Lightvalve 28:2a62d73e3dd0 642 }
Lightvalve 32:4b8c0fedaf2c 643 case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve 32:4b8c0fedaf2c 644 VALVE_CENTER_OFFSET_times10 = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 33:91b17819ec30 645 VALVE_CENTER_OFFSET = ((float) VALVE_CENTER_OFFSET_times10) * 0.1f;
Lightvalve 33:91b17819ec30 646 DDV_CENTER = DDV_CENTER + VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 647 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 648 break;
Lightvalve 33:91b17819ec30 649 }
Lightvalve 33:91b17819ec30 650 case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve 33:91b17819ec30 651 VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 652 VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 653 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 654 break;
Lightvalve 33:91b17819ec30 655 }
Lightvalve 33:91b17819ec30 656 case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve 33:91b17819ec30 657 VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 658 VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve 32:4b8c0fedaf2c 659 ROM_RESET_DATA();
Lightvalve 32:4b8c0fedaf2c 660 break;
Lightvalve 32:4b8c0fedaf2c 661 }
Lightvalve 36:a46e63505ed8 662 case CRX_SET_PID_GAIN_OPP: {
Lightvalve 36:a46e63505ed8 663 if (msg.data[1] == 0) {
Lightvalve 36:a46e63505ed8 664 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 665 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 666 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 667
Lightvalve 36:a46e63505ed8 668 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 669
Lightvalve 36:a46e63505ed8 670 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 671 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 672 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 673
Lightvalve 36:a46e63505ed8 674
Lightvalve 36:a46e63505ed8 675 } else if (msg.data[1] == 1) {
Lightvalve 36:a46e63505ed8 676 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 677 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 678 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 679
Lightvalve 36:a46e63505ed8 680 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 681
Lightvalve 36:a46e63505ed8 682 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 683 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 684 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 685 } else if (msg.data[1] == 2) {
Lightvalve 36:a46e63505ed8 686 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 687 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 688 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 689
Lightvalve 36:a46e63505ed8 690 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 691
Lightvalve 36:a46e63505ed8 692 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 693 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 694 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 695 }
Lightvalve 36:a46e63505ed8 696 break;
Lightvalve 36:a46e63505ed8 697 }
Lightvalve 38:118df027d851 698 case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve 38:118df027d851 699 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 38:118df027d851 700 CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve 38:118df027d851 701 break;
Lightvalve 38:118df027d851 702 }
Lightvalve 38:118df027d851 703
jobuuu 2:a1c0a37df760 704 default:
jobuuu 2:a1c0a37df760 705 break;
jobuuu 2:a1c0a37df760 706 }
jobuuu 2:a1c0a37df760 707 }
jobuuu 2:a1c0a37df760 708
jobuuu 2:a1c0a37df760 709 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 710 {
Lightvalve 23:59218d4a256d 711
jobuuu 2:a1c0a37df760 712 can.read(msg);
jobuuu 2:a1c0a37df760 713 unsigned int address = msg.id;
jobuuu 7:e9086c72bb22 714 if(address==CID_RX_CMD){
jobuuu 2:a1c0a37df760 715 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 716 ReadCMD(CMD);
jobuuu 7:e9086c72bb22 717 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 41:abbd4e2af68b 718 //int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24);
Lightvalve 41:abbd4e2af68b 719 int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 41:abbd4e2af68b 720 //int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24);
Lightvalve 41:abbd4e2af68b 721 int32_t temp_vel = (int32_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 41:abbd4e2af68b 722
Lightvalve 41:abbd4e2af68b 723 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 41:abbd4e2af68b 724 pos.ref = (double)temp_pos * 4.0f;
Lightvalve 41:abbd4e2af68b 725 vel.ref = (double)temp_vel * 400.0f;
Lightvalve 41:abbd4e2af68b 726 torq.ref = (double)temp_torq;
jobuuu 7:e9086c72bb22 727 } else if(address==CID_RX_REF_TORQUE) {
jobuuu 7:e9086c72bb22 728 int16_t temp_torq = (int16_t) (msg.data[0] | msg.data[1] << 8);
jobuuu 7:e9086c72bb22 729 torq.ref = (double)temp_torq;
jobuuu 7:e9086c72bb22 730 } else if(address==CID_RX_REF_PRES_DIFF) {
Lightvalve 11:82d8768d7351 731 int16_t temp_presdiff = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 11:82d8768d7351 732 torq.ref = (double)temp_presdiff;
jobuuu 7:e9086c72bb22 733 } else if(address==CID_RX_REF_VOUT) {
jobuuu 7:e9086c72bb22 734 int16_t temp_PWM = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 35:34ce7b0347b8 735 Vout.ref = (double)temp_PWM;
jobuuu 7:e9086c72bb22 736 } else if(address==CID_RX_REF_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 737 int16_t temp_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 14:8e7590227d22 738 valve_pos.ref = (double)temp_valve_pos;
Lightvalve 14:8e7590227d22 739 } else if(address==CID_RX_REF_CURRENT) {
jobuuu 7:e9086c72bb22 740 int16_t temp_cur = (int16_t) (msg.data[0] | msg.data[1] << 8);
jobuuu 7:e9086c72bb22 741 cur.ref = (double)temp_cur;
jobuuu 2:a1c0a37df760 742 }
jobuuu 7:e9086c72bb22 743
jobuuu 2:a1c0a37df760 744 }
jobuuu 2:a1c0a37df760 745
jobuuu 2:a1c0a37df760 746 /******************************************************************************
jobuuu 2:a1c0a37df760 747 Information Transmission Functions
jobuuu 2:a1c0a37df760 748 *******************************************************************************/
Lightvalve 11:82d8768d7351 749
Lightvalve 11:82d8768d7351 750 void CAN_TX_INFO(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 = 7;
Lightvalve 12:6f2531038ea4 755 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 756 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 757 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 758 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 759 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 760 temp_msg.data[5] = (uint8_t) CONTROL_MODE;
Lightvalve 12:6f2531038ea4 761 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 762
jobuuu 2:a1c0a37df760 763 can.write(temp_msg);
jobuuu 2:a1c0a37df760 764 }
jobuuu 2:a1c0a37df760 765
Lightvalve 11:82d8768d7351 766 void CAN_TX_BNO(void) {
Lightvalve 12:6f2531038ea4 767 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 768
jobuuu 2:a1c0a37df760 769 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 770 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 771 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 772 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 773
jobuuu 2:a1c0a37df760 774 can.write(temp_msg);
jobuuu 2:a1c0a37df760 775 }
jobuuu 2:a1c0a37df760 776
Lightvalve 11:82d8768d7351 777 void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 778 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 779
jobuuu 2:a1c0a37df760 780 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 781 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 782 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 783 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 784
jobuuu 2:a1c0a37df760 785 can.write(temp_msg);
jobuuu 2:a1c0a37df760 786 }
jobuuu 2:a1c0a37df760 787
Lightvalve 11:82d8768d7351 788 void CAN_TX_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 789 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 790
jobuuu 2:a1c0a37df760 791 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 792 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 793 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 794 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 795 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 796
jobuuu 2:a1c0a37df760 797 can.write(temp_msg);
jobuuu 2:a1c0a37df760 798 }
Lightvalve 11:82d8768d7351 799
Lightvalve 11:82d8768d7351 800 void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 801 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 802
jobuuu 2:a1c0a37df760 803 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 804 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 805 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 12:6f2531038ea4 806 temp_msg.data[1] = (uint8_t) CONTROL_MODE;
jobuuu 2:a1c0a37df760 807
jobuuu 2:a1c0a37df760 808 can.write(temp_msg);
jobuuu 2:a1c0a37df760 809 }
Lightvalve 11:82d8768d7351 810
Lightvalve 11:82d8768d7351 811 void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 812 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 813
jobuuu 2:a1c0a37df760 814 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 815 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 816 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 817 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 818 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 819
jobuuu 2:a1c0a37df760 820 can.write(temp_msg);
jobuuu 2:a1c0a37df760 821 }
jobuuu 2:a1c0a37df760 822
Lightvalve 11:82d8768d7351 823 void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 824 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 825
jobuuu 2:a1c0a37df760 826 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 827 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 828 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 829 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 830 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 831
jobuuu 2:a1c0a37df760 832 can.write(temp_msg);
jobuuu 2:a1c0a37df760 833 }
jobuuu 2:a1c0a37df760 834
Lightvalve 11:82d8768d7351 835 void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 836 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 837
jobuuu 2:a1c0a37df760 838 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 839 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 840 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 841 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 842 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 843
jobuuu 2:a1c0a37df760 844 can.write(temp_msg);
jobuuu 2:a1c0a37df760 845 }
jobuuu 2:a1c0a37df760 846
Lightvalve 11:82d8768d7351 847 void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve 12:6f2531038ea4 848 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10);
jobuuu 2:a1c0a37df760 849
jobuuu 2:a1c0a37df760 850 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 851
jobuuu 2:a1c0a37df760 852 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 853 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 854 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 855 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 856 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 857
jobuuu 2:a1c0a37df760 858 can.write(temp_msg);
jobuuu 2:a1c0a37df760 859 }
jobuuu 2:a1c0a37df760 860
Lightvalve 11:82d8768d7351 861 void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve 12:6f2531038ea4 862 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10);
jobuuu 2:a1c0a37df760 863
jobuuu 2:a1c0a37df760 864 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 865
jobuuu 2:a1c0a37df760 866 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 867 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 868 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 869 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 870 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 871
jobuuu 2:a1c0a37df760 872 can.write(temp_msg);
jobuuu 2:a1c0a37df760 873 }
Lightvalve 11:82d8768d7351 874
jobuuu 2:a1c0a37df760 875
Lightvalve 11:82d8768d7351 876 void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 877 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 878 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 879 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 880
Lightvalve 12:6f2531038ea4 881 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 882 if (t_type == 0) {
Lightvalve 30:8d561f16383b 883 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 884 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 885 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 886 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 887 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 888 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 889 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 890 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 891 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 892 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 893 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
jobuuu 2:a1c0a37df760 894 }
jobuuu 2:a1c0a37df760 895
jobuuu 2:a1c0a37df760 896 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 897
jobuuu 2:a1c0a37df760 898 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 899 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 900 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 901 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 902 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 903 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 904 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 905 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 906 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 907 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 908
jobuuu 2:a1c0a37df760 909 can.write(temp_msg);
jobuuu 2:a1c0a37df760 910 }
jobuuu 2:a1c0a37df760 911
Lightvalve 11:82d8768d7351 912
Lightvalve 11:82d8768d7351 913 void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 914 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 915
jobuuu 2:a1c0a37df760 916 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 917 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 918 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 12:6f2531038ea4 919 temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER);
Lightvalve 12:6f2531038ea4 920 temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8);
Lightvalve 12:6f2531038ea4 921 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 922 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 923 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 924 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 925
jobuuu 2:a1c0a37df760 926 can.write(temp_msg);
jobuuu 2:a1c0a37df760 927 }
jobuuu 2:a1c0a37df760 928
Lightvalve 11:82d8768d7351 929 void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve 11:82d8768d7351 930 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 931
Lightvalve 11:82d8768d7351 932 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 933 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 934 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 935 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 936 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 937
Lightvalve 11:82d8768d7351 938 can.write(temp_msg);
Lightvalve 11:82d8768d7351 939 }
Lightvalve 11:82d8768d7351 940
Lightvalve 11:82d8768d7351 941 void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve 11:82d8768d7351 942 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 943
Lightvalve 11:82d8768d7351 944 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 945 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 946 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 947 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 948 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 949
Lightvalve 11:82d8768d7351 950 can.write(temp_msg);
Lightvalve 11:82d8768d7351 951 }
Lightvalve 11:82d8768d7351 952
Lightvalve 11:82d8768d7351 953 void CAN_TX_VALVE_FF(void) {
Lightvalve 11:82d8768d7351 954 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 955
Lightvalve 11:82d8768d7351 956 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 957 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 958 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 959 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 960 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 961
Lightvalve 11:82d8768d7351 962 can.write(temp_msg);
Lightvalve 11:82d8768d7351 963 }
Lightvalve 11:82d8768d7351 964
Lightvalve 11:82d8768d7351 965 void CAN_TX_BULK_MODULUS(void) {
Lightvalve 11:82d8768d7351 966 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 967
Lightvalve 11:82d8768d7351 968 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 969 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 970 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 971 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 972 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 973
Lightvalve 11:82d8768d7351 974 can.write(temp_msg);
Lightvalve 11:82d8768d7351 975 }
Lightvalve 11:82d8768d7351 976
Lightvalve 11:82d8768d7351 977 void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve 11:82d8768d7351 978 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 979
Lightvalve 11:82d8768d7351 980 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 981 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 982 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 983 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 984 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 985 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 986 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve 11:82d8768d7351 987
Lightvalve 11:82d8768d7351 988 can.write(temp_msg);
Lightvalve 11:82d8768d7351 989 }
Lightvalve 11:82d8768d7351 990
Lightvalve 11:82d8768d7351 991 void CAN_TX_PISTON_AREA(void) {
jobuuu 2:a1c0a37df760 992 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 993
Lightvalve 11:82d8768d7351 994 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 995 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 996 temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve 12:6f2531038ea4 997 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 998 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 999 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 1000 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 1001
Lightvalve 11:82d8768d7351 1002 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1003 }
Lightvalve 11:82d8768d7351 1004
Lightvalve 11:82d8768d7351 1005 void CAN_TX_PRES_A_AND_B(void) {
Lightvalve 11:82d8768d7351 1006 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1007
Lightvalve 11:82d8768d7351 1008 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1009 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1010 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve 12:6f2531038ea4 1011 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 1012 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 1013 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 1014 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 1015
Lightvalve 11:82d8768d7351 1016 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1017 }
Lightvalve 11:82d8768d7351 1018
Lightvalve 11:82d8768d7351 1019 void CAN_TX_ENC_LIMIT(void) {
Lightvalve 11:82d8768d7351 1020 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1021
Lightvalve 11:82d8768d7351 1022 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1023 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1024 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1025 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1026 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1027 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1028 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1029
Lightvalve 11:82d8768d7351 1030 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1031 }
Lightvalve 11:82d8768d7351 1032
Lightvalve 11:82d8768d7351 1033 void CAN_TX_STROKE(void) {
Lightvalve 11:82d8768d7351 1034 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1035
Lightvalve 11:82d8768d7351 1036 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1037 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1038 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1039 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1040 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1041
Lightvalve 11:82d8768d7351 1042 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1043 }
Lightvalve 11:82d8768d7351 1044
Lightvalve 11:82d8768d7351 1045 void CAN_TX_VALVE_LIMIT(void) {
Lightvalve 11:82d8768d7351 1046 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1047
Lightvalve 11:82d8768d7351 1048 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1049 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1050 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 12:6f2531038ea4 1051 temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1052 temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1053 temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1054 temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 8);
Lightvalve 11:82d8768d7351 1055
Lightvalve 11:82d8768d7351 1056 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1057 }
Lightvalve 11:82d8768d7351 1058
Lightvalve 11:82d8768d7351 1059 void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve 11:82d8768d7351 1060 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1061
jobuuu 2:a1c0a37df760 1062 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1063 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1064 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 12:6f2531038ea4 1065 temp_msg.data[1] = (uint8_t) ENC_PULSE_PER_POSITION;
Lightvalve 12:6f2531038ea4 1066 temp_msg.data[2] = (uint8_t) (ENC_PULSE_PER_POSITION >> 8);
jobuuu 2:a1c0a37df760 1067
jobuuu 2:a1c0a37df760 1068 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1069 }
jobuuu 2:a1c0a37df760 1070
Lightvalve 11:82d8768d7351 1071 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu 2:a1c0a37df760 1072 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1073
jobuuu 2:a1c0a37df760 1074 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1075 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1076 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 12:6f2531038ea4 1077 temp_msg.data[1] = (uint8_t) TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 12:6f2531038ea4 1078 temp_msg.data[2] = (uint8_t) (TORQUE_SENSOR_PULSE_PER_TORQUE >> 8);
jobuuu 2:a1c0a37df760 1079
jobuuu 2:a1c0a37df760 1080 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1081 }
jobuuu 2:a1c0a37df760 1082
Lightvalve 11:82d8768d7351 1083 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu 2:a1c0a37df760 1084 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1085
jobuuu 2:a1c0a37df760 1086 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1087 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1088 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1089 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1090 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1091 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1092 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1093
jobuuu 2:a1c0a37df760 1094 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1095 }
jobuuu 2:a1c0a37df760 1096
Lightvalve 11:82d8768d7351 1097 void CAN_TX_FRICTION(void) {
Lightvalve 11:82d8768d7351 1098 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1099 int16_t send_friction;
Lightvalve 30:8d561f16383b 1100 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 11:82d8768d7351 1101
Lightvalve 11:82d8768d7351 1102 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1103 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1104 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1105 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1106 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1107
Lightvalve 11:82d8768d7351 1108 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1109 }
Lightvalve 11:82d8768d7351 1110
Lightvalve 11:82d8768d7351 1111 void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve 11:82d8768d7351 1112 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1113
Lightvalve 11:82d8768d7351 1114 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1115 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1116 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1117 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1118 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1119 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1120 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1121 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
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_DDV_VALVE_DEADZONE(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 = 7;
Lightvalve 12:6f2531038ea4 1131 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 12:6f2531038ea4 1132 temp_msg.data[1] = (uint8_t) VALVE_DEADZONE_MINUS;
Lightvalve 12:6f2531038ea4 1133 temp_msg.data[2] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
Lightvalve 12:6f2531038ea4 1134 temp_msg.data[3] = (uint8_t) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 1135 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 1136 temp_msg.data[5] = (uint8_t) (DDV_CENTER);
Lightvalve 12:6f2531038ea4 1137 temp_msg.data[6] = (uint8_t) ((int) (DDV_CENTER) >> 8);
Lightvalve 11:82d8768d7351 1138
Lightvalve 11:82d8768d7351 1139 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1140 }
Lightvalve 11:82d8768d7351 1141
Lightvalve 11:82d8768d7351 1142 void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve 11:82d8768d7351 1143 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1144
Lightvalve 11:82d8768d7351 1145 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1146 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1147 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1148 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1149 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1150 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1151 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1152 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1153
Lightvalve 11:82d8768d7351 1154 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1155 }
Lightvalve 11:82d8768d7351 1156
Lightvalve 11:82d8768d7351 1157 void CAN_TX_REFENCE_MODE(void) {
Lightvalve 11:82d8768d7351 1158 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1159
Lightvalve 11:82d8768d7351 1160 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1161 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1162 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1163 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1164 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1165 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1166 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1167 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1168
Lightvalve 11:82d8768d7351 1169 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1170 }
Lightvalve 11:82d8768d7351 1171
Lightvalve 11:82d8768d7351 1172 void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve 11:82d8768d7351 1173 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1174 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1175 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 1176
jobuuu 2:a1c0a37df760 1177 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1178 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1179 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1180 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1181 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1182
jobuuu 2:a1c0a37df760 1183 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1184 }
Lightvalve 11:82d8768d7351 1185
Lightvalve 11:82d8768d7351 1186 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve 11:82d8768d7351 1187 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1188 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1189 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 1190
Lightvalve 11:82d8768d7351 1191 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1192 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1193 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1194 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1195 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1196
Lightvalve 11:82d8768d7351 1197 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1198 }
Lightvalve 11:82d8768d7351 1199
Lightvalve 12:6f2531038ea4 1200 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve 11:82d8768d7351 1201 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1202 int16_t valve_pos_vs_pwm;
Lightvalve 11:82d8768d7351 1203 valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 11:82d8768d7351 1204
Lightvalve 12:6f2531038ea4 1205 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1206 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 11:82d8768d7351 1207
Lightvalve 11:82d8768d7351 1208 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1209 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1210 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1211 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1212 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1213 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1214 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1215
Lightvalve 11:82d8768d7351 1216 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1217 }
Lightvalve 11:82d8768d7351 1218
Lightvalve 12:6f2531038ea4 1219 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve 11:82d8768d7351 1220 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1221 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1222 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1223
Lightvalve 33:91b17819ec30 1224 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + (int) DDV_CENTER;
Lightvalve 11:82d8768d7351 1225
Lightvalve 11:82d8768d7351 1226 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1227 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1228 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 12:6f2531038ea4 1229 temp_msg.data[1] = (uint8_t) VALVE_POS_VALVE_ID;
Lightvalve 12:6f2531038ea4 1230 temp_msg.data[2] = (uint8_t) (VALVE_POS_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1231 temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 12:6f2531038ea4 1232 temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 12:6f2531038ea4 1233 temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 12:6f2531038ea4 1234 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1235
Lightvalve 11:82d8768d7351 1236 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1237 }
Lightvalve 11:82d8768d7351 1238
Lightvalve 11:82d8768d7351 1239 void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve 11:82d8768d7351 1240 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1241 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1242 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1243
Lightvalve 11:82d8768d7351 1244 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1245 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1246 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1247 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1248 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1249
Lightvalve 11:82d8768d7351 1250 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1251 }
Lightvalve 11:82d8768d7351 1252
Lightvalve 38:118df027d851 1253 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve 38:118df027d851 1254 CANMessage temp_msg;
Lightvalve 38:118df027d851 1255
Lightvalve 38:118df027d851 1256 temp_msg.id = CID_TX_INFO;
Lightvalve 38:118df027d851 1257 temp_msg.len = 7;
Lightvalve 38:118df027d851 1258 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 38:118df027d851 1259 temp_msg.data[1] = (uint8_t) VALVE_MAX_POS;
Lightvalve 38:118df027d851 1260 temp_msg.data[2] = (uint8_t) ((int) (VALVE_MAX_POS) >> 8);
Lightvalve 38:118df027d851 1261 temp_msg.data[3] = (uint8_t) (VALVE_MIN_POS);
Lightvalve 38:118df027d851 1262 temp_msg.data[4] = (uint8_t) ((int) (VALVE_MIN_POS) >> 8);
Lightvalve 38:118df027d851 1263 temp_msg.data[5] = (uint8_t) (DDV_CENTER);
Lightvalve 38:118df027d851 1264 temp_msg.data[6] = (uint8_t) ((int) (DDV_CENTER) >> 8);
Lightvalve 38:118df027d851 1265
Lightvalve 38:118df027d851 1266 can.write(temp_msg);
Lightvalve 38:118df027d851 1267 }
Lightvalve 38:118df027d851 1268
jobuuu 2:a1c0a37df760 1269 /******************************************************************************
jobuuu 2:a1c0a37df760 1270 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1271 *******************************************************************************/
jobuuu 2:a1c0a37df760 1272
Lightvalve 41:abbd4e2af68b 1273 void CAN_TX_POSITION(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
jobuuu 2:a1c0a37df760 1274 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1275
jobuuu 2:a1c0a37df760 1276 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1277 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1278 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1279 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 41:abbd4e2af68b 1280 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 41:abbd4e2af68b 1281 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 41:abbd4e2af68b 1282 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 41:abbd4e2af68b 1283 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
jobuuu 2:a1c0a37df760 1284
jobuuu 2:a1c0a37df760 1285 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1286 }
jobuuu 2:a1c0a37df760 1287
Lightvalve 11:82d8768d7351 1288 void CAN_TX_TORQUE(int16_t t_torque) {
jobuuu 2:a1c0a37df760 1289 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1290
jobuuu 2:a1c0a37df760 1291 temp_msg.id = CID_TX_TORQUE;
jobuuu 2:a1c0a37df760 1292 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 1293 temp_msg.data[0] = (uint8_t) t_torque;
Lightvalve 12:6f2531038ea4 1294 temp_msg.data[1] = (uint8_t) (t_torque >> 8);
jobuuu 2:a1c0a37df760 1295
jobuuu 2:a1c0a37df760 1296 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1297 }
jobuuu 2:a1c0a37df760 1298
Lightvalve 11:82d8768d7351 1299 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 1300 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1301
jobuuu 2:a1c0a37df760 1302 temp_msg.id = CID_TX_PRES;
jobuuu 2:a1c0a37df760 1303 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1304 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1305 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1306 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1307 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1308
jobuuu 2:a1c0a37df760 1309 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1310 }
jobuuu 2:a1c0a37df760 1311
Lightvalve 11:82d8768d7351 1312 void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 1313 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1314
jobuuu 2:a1c0a37df760 1315 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1316 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1317 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1318 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1319
jobuuu 2:a1c0a37df760 1320 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1321 }
jobuuu 2:a1c0a37df760 1322
Lightvalve 27:a2254a485f23 1323 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve 27:a2254a485f23 1324 {
jobuuu 2:a1c0a37df760 1325 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1326
jobuuu 2:a1c0a37df760 1327 temp_msg.id = CID_TX_VALVE_POSITION;
jobuuu 2:a1c0a37df760 1328 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1329 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 12:6f2531038ea4 1330 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1331 temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
Lightvalve 27:a2254a485f23 1332 temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1333 temp_msg.data[4] = (uint8_t) t_pwm;
Lightvalve 27:a2254a485f23 1334 temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
Lightvalve 27:a2254a485f23 1335
jobuuu 2:a1c0a37df760 1336
jobuuu 2:a1c0a37df760 1337 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1338 }
Lightvalve 23:59218d4a256d 1339
Lightvalve 23:59218d4a256d 1340
Lightvalve 32:4b8c0fedaf2c 1341
Lightvalve 38:118df027d851 1342