![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
2011
Diff: function_utilities/function_utilities.cpp
- Revision:
- 19:23b7c1ad8683
- Parent:
- 18:b8adf1582ea3
- Child:
- 23:59218d4a256d
--- a/function_utilities/function_utilities.cpp Wed Sep 04 11:02:57 2019 +0000 +++ b/function_utilities/function_utilities.cpp Mon Sep 09 06:29:56 2019 +0000 @@ -9,6 +9,21 @@ //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector +//int CID_RX_CMD = 100; +//int CID_RX_REF_POSITION = 200; +//int CID_RX_REF_TORQUE = 300; +//int CID_RX_REF_PRES_DIFF = 400; +//int CID_RX_REF_VOUT = 500; +//int CID_RX_REF_VALVE_POSITION = 600; +//int CID_RX_REF_CURRENT = 700; +// +//int CID_TX_INFO = 1100; +//int CID_TX_POSITION = 1200; +//int CID_TX_TORQUE = 1300; +//int CID_TX_PRES = 1400; +//int CID_TX_VOUT = 1500; +//int CID_TX_VALVE_POSITION = 1600; + /******************************************************************************* * VARIABLE ******************************************************************************/ @@ -206,13 +221,12 @@ int VALVE_POS_TMP = 0; int JOINT_VEL_TMP = 0; int DDV_POS_AVG = 0; -int VALVE_POS_AVG[100] = {0}; +int VALVE_POS_AVG[50] = {0}; int VALVE_POS_AVG_OLD = 0; int data_num = 0; int ID_index = 0; int DZ_index = 1; -int ID_index_array[100] = {0}; -int FR_index_array[100] = {0}; +int ID_index_array[50] = {0}; int first_check = 0; double init_time = 0.0; int VEL_POINT = 0; @@ -226,7 +240,8 @@ int one_period_end = 0; double Ref_Vel_Test = 0.0; long TMR2_FOR_SLOW_LOGGING = 0; -int velcount = 0; +//int velcount = 0; +int Ref_Valve_Pos_FF_CAN = 0; char max_check = 0; char min_check = 0; @@ -284,6 +299,8 @@ double CUR_CURRENT = 0.0; double u_CUR[3] = {0.0,0.0,0.0}; +//int Ref_Valve_Pos_FF_CAN = 0; + /******************************************************************************* * General math functions ******************************************************************************/ @@ -324,12 +341,6 @@ /******************************************************************************* * ROM functions ******************************************************************************/ -void ROM_INIT_DATA(void) -{ - //ROM_RESET_DATA(); - ROM_CALL_DATA(); -} - void ROM_RESET_DATA(void) { FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector if (!writer.ready()) writer.open(); @@ -395,8 +406,8 @@ } for(int i=0; i<100; i++) { - writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[ID_index] & 0xFFFF)); - writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF)); + writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[i] & 0xFFFF)); + writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[i] >> 16) & 0xFFFF)); } writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS); writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS); @@ -550,3 +561,4 @@ } +