Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

Dependencies:   mbed FastPWM

CAN/function_CAN.cpp@48:889798ff9329, 2020-01-29 (annotated)

Committer:
Lightvalve
Date:
Wed Jan 29 13:50:24 2020 +0000
Revision:
48:889798ff9329
Parent:
47:fdcb8bd86fd6
Child:
49:e7bcfc244d40
200129

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jobuuu 2:a1c0a37df760 1 #include "function_CAN.h"
Lightvalve 11:82d8768d7351 2 #include "setting.h"
Lightvalve 11:82d8768d7351 3 #include "function_utilities.h"
Lightvalve 11:82d8768d7351 4 #include "SPI_EEP_ENC.h"
Lightvalve 16:903b5a4433b4 5 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 6 #include "FlashWriter.h"
jobuuu 2:a1c0a37df760 7
jobuuu 2:a1c0a37df760 8 // CAN ID Setting Variables
jobuuu 2:a1c0a37df760 9 int CID_RX_CMD = 100;
jobuuu 2:a1c0a37df760 10 int CID_RX_REF_POSITION = 200;
Lightvalve 45:35fa6884d0c6 11 int CID_RX_REF_PWM = 300;
jobuuu 2:a1c0a37df760 12
jobuuu 2:a1c0a37df760 13 int CID_TX_INFO = 1100;
jobuuu 2:a1c0a37df760 14 int CID_TX_POSITION = 1200;
jobuuu 2:a1c0a37df760 15 int CID_TX_TORQUE = 1300;
jobuuu 2:a1c0a37df760 16 int CID_TX_PRES = 1400;
jobuuu 7:e9086c72bb22 17 int CID_TX_VOUT = 1500;
jobuuu 2:a1c0a37df760 18 int CID_TX_VALVE_POSITION = 1600;
jobuuu 2:a1c0a37df760 19
Lightvalve 12:6f2531038ea4 20 // variables
Lightvalve 12:6f2531038ea4 21 uint8_t can_index = 0;
Lightvalve 12:6f2531038ea4 22
Lightvalve 48:889798ff9329 23 extern DigitalOut LED;
Lightvalve 11:82d8768d7351 24
Lightvalve 11:82d8768d7351 25 /*******************************************************************************
Lightvalve 11:82d8768d7351 26 * CAN functions
Lightvalve 11:82d8768d7351 27 ******************************************************************************/
Lightvalve 11:82d8768d7351 28 void CAN_ID_INIT(void) {
jobuuu 7:e9086c72bb22 29
Lightvalve 11:82d8768d7351 30 CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve 11:82d8768d7351 31 CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve 45:35fa6884d0c6 32 CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve 11:82d8768d7351 33
Lightvalve 11:82d8768d7351 34 CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve 11:82d8768d7351 35 CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve 11:82d8768d7351 36 CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve 11:82d8768d7351 37 CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve 11:82d8768d7351 38 CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve 11:82d8768d7351 39 CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve 11:82d8768d7351 40 }
jobuuu 2:a1c0a37df760 41
Lightvalve 28:2a62d73e3dd0 42 void ReadCMD(int16_t CMD)
jobuuu 2:a1c0a37df760 43 {
jobuuu 2:a1c0a37df760 44 switch(CMD){
Lightvalve 11:82d8768d7351 45 case CRX_ASK_INFO: {
Lightvalve 11:82d8768d7351 46 CAN_TX_INFO();
Lightvalve 11:82d8768d7351 47 break;
Lightvalve 11:82d8768d7351 48 }
Lightvalve 11:82d8768d7351 49 case CRX_ASK_BNO: {
Lightvalve 11:82d8768d7351 50 CAN_TX_BNO();
Lightvalve 11:82d8768d7351 51 break;
Lightvalve 11:82d8768d7351 52 }
Lightvalve 11:82d8768d7351 53 case CRX_SET_BNO: {
Lightvalve 11:82d8768d7351 54 BNO = (int16_t) msg.data[1];
Lightvalve 16:903b5a4433b4 55
Lightvalve 16:903b5a4433b4 56 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 57
Lightvalve 16:903b5a4433b4 58 //spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 59 CAN_ID_INIT(); // can id init
Lightvalve 11:82d8768d7351 60 break;
Lightvalve 11:82d8768d7351 61 }
Lightvalve 11:82d8768d7351 62 case CRX_ASK_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 63 CAN_TX_OPERATING_MODE();
Lightvalve 11:82d8768d7351 64 break;
Lightvalve 11:82d8768d7351 65 }
Lightvalve 11:82d8768d7351 66 case CRX_SET_OPERATING_MODE: {
Lightvalve 11:82d8768d7351 67 OPERATING_MODE = (int16_t) msg.data[1];
Lightvalve 16:903b5a4433b4 68
Lightvalve 16:903b5a4433b4 69 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 70
Lightvalve 23:59218d4a256d 71
Lightvalve 11:82d8768d7351 72 break;
Lightvalve 11:82d8768d7351 73 }
Lightvalve 11:82d8768d7351 74 case CRX_SET_ENC_ZERO: {
Lightvalve 11:82d8768d7351 75 ENC_SET_ZERO();
Lightvalve 11:82d8768d7351 76
Lightvalve 11:82d8768d7351 77 break;
Lightvalve 11:82d8768d7351 78 }
Lightvalve 11:82d8768d7351 79 case CRX_SET_FET_ON: {
Lightvalve 11:82d8768d7351 80
Lightvalve 11:82d8768d7351 81 break;
Lightvalve 11:82d8768d7351 82 }
Lightvalve 11:82d8768d7351 83
Lightvalve 45:35fa6884d0c6 84 case CRX_SET_POS_TORQ_TRANS: {
Lightvalve 45:35fa6884d0c6 85 MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve 45:35fa6884d0c6 86 /*
Lightvalve 45:35fa6884d0c6 87 MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve 45:35fa6884d0c6 88 MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve 45:35fa6884d0c6 89 MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve 45:35fa6884d0c6 90 MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve 45:35fa6884d0c6 91 */
Lightvalve 11:82d8768d7351 92 break;
Lightvalve 11:82d8768d7351 93 }
Lightvalve 11:82d8768d7351 94
Lightvalve 11:82d8768d7351 95 case CRX_ASK_CAN_FREQ: {
Lightvalve 11:82d8768d7351 96 CAN_TX_CAN_FREQ();
Lightvalve 11:82d8768d7351 97
Lightvalve 11:82d8768d7351 98 break;
Lightvalve 11:82d8768d7351 99 }
Lightvalve 11:82d8768d7351 100
Lightvalve 11:82d8768d7351 101 case CRX_SET_CAN_FREQ: {
Lightvalve 11:82d8768d7351 102 CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 103
Lightvalve 16:903b5a4433b4 104 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 105
Lightvalve 16:903b5a4433b4 106 //spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 107 break;
Lightvalve 11:82d8768d7351 108 }
Lightvalve 11:82d8768d7351 109
Lightvalve 11:82d8768d7351 110 case CRX_ASK_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 111 CAN_TX_CONTROL_MODE();
Lightvalve 11:82d8768d7351 112
Lightvalve 11:82d8768d7351 113 break;
Lightvalve 11:82d8768d7351 114 }
Lightvalve 11:82d8768d7351 115
Lightvalve 11:82d8768d7351 116 case CRX_SET_CONTROL_MODE: {
Lightvalve 11:82d8768d7351 117 CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve 12:6f2531038ea4 118 if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve 11:82d8768d7351 119 FLAG_FIND_HOME = true;
Lightvalve 11:82d8768d7351 120 }
Lightvalve 11:82d8768d7351 121 break;
Lightvalve 11:82d8768d7351 122 }
Lightvalve 11:82d8768d7351 123
Lightvalve 11:82d8768d7351 124 case CRX_SET_DATA_REQUEST: {
Lightvalve 11:82d8768d7351 125 int request_type = msg.data[2];
Lightvalve 11:82d8768d7351 126 flag_data_request[request_type] = msg.data[1];
Lightvalve 14:8e7590227d22 127 //pc.printf("can middle %d\n", request_type);
Lightvalve 11:82d8768d7351 128
Lightvalve 12:6f2531038ea4 129 // if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 130 //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve 12:6f2531038ea4 131 // if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve 15:bd0d12728506 132 //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve 11:82d8768d7351 133
Lightvalve 11:82d8768d7351 134 break;
Lightvalve 11:82d8768d7351 135 }
Lightvalve 11:82d8768d7351 136
Lightvalve 11:82d8768d7351 137 case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 138 CAN_TX_JOINT_ENC_DIR();
Lightvalve 11:82d8768d7351 139
Lightvalve 11:82d8768d7351 140 break;
Lightvalve 11:82d8768d7351 141 }
Lightvalve 11:82d8768d7351 142
Lightvalve 11:82d8768d7351 143 case CRX_SET_JOINT_ENC_DIR: {
Lightvalve 11:82d8768d7351 144 DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 145 if (DIR_JOINT_ENC >= 0)
Lightvalve 11:82d8768d7351 146 DIR_JOINT_ENC = 1;
Lightvalve 11:82d8768d7351 147 else
Lightvalve 11:82d8768d7351 148 DIR_JOINT_ENC = -1;
Lightvalve 16:903b5a4433b4 149
Lightvalve 16:903b5a4433b4 150 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 151
Lightvalve 16:903b5a4433b4 152 //spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 153
Lightvalve 11:82d8768d7351 154 break;
Lightvalve 11:82d8768d7351 155 }
Lightvalve 11:82d8768d7351 156
Lightvalve 11:82d8768d7351 157 case CRX_ASK_VALVE_DIR: {
Lightvalve 11:82d8768d7351 158 CAN_TX_VALVE_DIR();
Lightvalve 11:82d8768d7351 159
Lightvalve 11:82d8768d7351 160 break;
Lightvalve 11:82d8768d7351 161 }
Lightvalve 11:82d8768d7351 162
Lightvalve 11:82d8768d7351 163 case CRX_SET_VALVE_DIR: {
Lightvalve 11:82d8768d7351 164 DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 165 if (DIR_VALVE >= 0)
Lightvalve 11:82d8768d7351 166 DIR_VALVE = 1;
Lightvalve 11:82d8768d7351 167 else
Lightvalve 11:82d8768d7351 168 DIR_VALVE = -1;
Lightvalve 16:903b5a4433b4 169
Lightvalve 16:903b5a4433b4 170 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 171
Lightvalve 16:903b5a4433b4 172 //spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 173
Lightvalve 11:82d8768d7351 174 break;
Lightvalve 11:82d8768d7351 175 }
Lightvalve 11:82d8768d7351 176
Lightvalve 11:82d8768d7351 177 case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 178 CAN_TX_VALVE_ENC_DIR();
Lightvalve 11:82d8768d7351 179
Lightvalve 11:82d8768d7351 180 break;
Lightvalve 11:82d8768d7351 181 }
Lightvalve 11:82d8768d7351 182
Lightvalve 11:82d8768d7351 183 case CRX_SET_VALVE_ENC_DIR: {
Lightvalve 11:82d8768d7351 184 DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 185 if (DIR_VALVE_ENC >= 0)
Lightvalve 11:82d8768d7351 186 DIR_VALVE_ENC = 1;
Lightvalve 11:82d8768d7351 187 else
Lightvalve 11:82d8768d7351 188 DIR_VALVE_ENC = -1;
Lightvalve 16:903b5a4433b4 189
Lightvalve 16:903b5a4433b4 190 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 191
Lightvalve 16:903b5a4433b4 192 //spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 193
Lightvalve 11:82d8768d7351 194 break;
Lightvalve 11:82d8768d7351 195 }
Lightvalve 11:82d8768d7351 196
Lightvalve 11:82d8768d7351 197 case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve 11:82d8768d7351 198 CAN_TX_VOLTAGE_SUPPLY();
Lightvalve 11:82d8768d7351 199
Lightvalve 11:82d8768d7351 200 break;
Lightvalve 11:82d8768d7351 201 }
Lightvalve 11:82d8768d7351 202
Lightvalve 11:82d8768d7351 203 case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve 30:8d561f16383b 204 SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 205
Lightvalve 16:903b5a4433b4 206 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 207
Lightvalve 16:903b5a4433b4 208 //spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve 11:82d8768d7351 209
Lightvalve 11:82d8768d7351 210 break;
Lightvalve 11:82d8768d7351 211 }
Lightvalve 11:82d8768d7351 212
Lightvalve 11:82d8768d7351 213 case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve 11:82d8768d7351 214 CAN_TX_VOLTAGE_VALVE();
Lightvalve 11:82d8768d7351 215
Lightvalve 11:82d8768d7351 216 break;
Lightvalve 11:82d8768d7351 217 }
Lightvalve 11:82d8768d7351 218
Lightvalve 11:82d8768d7351 219 case CRX_SET_VOLTAGE_VALVE: {
Lightvalve 30:8d561f16383b 220 VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 221
Lightvalve 16:903b5a4433b4 222 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 223
Lightvalve 16:903b5a4433b4 224 //spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve 11:82d8768d7351 225
Lightvalve 11:82d8768d7351 226
Lightvalve 11:82d8768d7351 227 break;
Lightvalve 11:82d8768d7351 228 }
Lightvalve 12:6f2531038ea4 229
Lightvalve 11:82d8768d7351 230 case CRX_SET_HOMEPOS: {
Lightvalve 11:82d8768d7351 231 CONTROL_MODE = 22;
Lightvalve 11:82d8768d7351 232 SETTING_SWITCH = (int16_t) (msg.data[1]);
Lightvalve 11:82d8768d7351 233 break;
Lightvalve 11:82d8768d7351 234 }
Lightvalve 11:82d8768d7351 235
Lightvalve 11:82d8768d7351 236 case CRX_ASK_PID_GAIN: {
Lightvalve 11:82d8768d7351 237 CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve 11:82d8768d7351 238
Lightvalve 11:82d8768d7351 239 break;
Lightvalve 11:82d8768d7351 240 }
Lightvalve 11:82d8768d7351 241
Lightvalve 11:82d8768d7351 242 case CRX_SET_PID_GAIN: {
Lightvalve 11:82d8768d7351 243 if (msg.data[1] == 0) {
Lightvalve 11:82d8768d7351 244 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 245 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 246 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 247
Lightvalve 16:903b5a4433b4 248 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 249
Lightvalve 11:82d8768d7351 250 } else if (msg.data[1] == 1) {
Lightvalve 11:82d8768d7351 251 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 252 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 253 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 254
Lightvalve 16:903b5a4433b4 255 ROM_RESET_DATA();
Lightvalve 48:889798ff9329 256
Lightvalve 11:82d8768d7351 257 } else if (msg.data[1] == 2) {
Lightvalve 11:82d8768d7351 258 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 11:82d8768d7351 259 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 11:82d8768d7351 260 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 16:903b5a4433b4 261
Lightvalve 16:903b5a4433b4 262 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 263
Lightvalve 46:2694daea349b 264 } else if (msg.data[1] == 3) {
Lightvalve 46:2694daea349b 265 K_SPRING = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 46:2694daea349b 266 D_DAMPER = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 46:2694daea349b 267
Lightvalve 46:2694daea349b 268 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 269 }
Lightvalve 11:82d8768d7351 270
Lightvalve 11:82d8768d7351 271 break;
Lightvalve 11:82d8768d7351 272 }
Lightvalve 11:82d8768d7351 273
Lightvalve 11:82d8768d7351 274 case CRX_ASK_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 275 CAN_TX_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 276
Lightvalve 11:82d8768d7351 277 break;
Lightvalve 11:82d8768d7351 278 }
Lightvalve 11:82d8768d7351 279
Lightvalve 11:82d8768d7351 280 case CRX_SET_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 281 VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 282 VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 283 VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
Lightvalve 16:903b5a4433b4 284
Lightvalve 16:903b5a4433b4 285 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 286
Lightvalve 16:903b5a4433b4 287 //spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
Lightvalve 16:903b5a4433b4 288 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 16:903b5a4433b4 289 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 11:82d8768d7351 290
Lightvalve 11:82d8768d7351 291 break;
Lightvalve 11:82d8768d7351 292 }
Lightvalve 11:82d8768d7351 293
Lightvalve 11:82d8768d7351 294 case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 295 CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve 11:82d8768d7351 296
Lightvalve 11:82d8768d7351 297 break;
Lightvalve 11:82d8768d7351 298 }
Lightvalve 11:82d8768d7351 299
Lightvalve 11:82d8768d7351 300 case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve 11:82d8768d7351 301 VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 302
Lightvalve 16:903b5a4433b4 303 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 304
Lightvalve 16:903b5a4433b4 305 //spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 306
Lightvalve 11:82d8768d7351 307 break;
Lightvalve 11:82d8768d7351 308 }
Lightvalve 11:82d8768d7351 309
Lightvalve 11:82d8768d7351 310 case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 311 CAN_TX_COMPLIANCE_GAIN();
Lightvalve 11:82d8768d7351 312
Lightvalve 11:82d8768d7351 313 break;
Lightvalve 11:82d8768d7351 314 }
Lightvalve 11:82d8768d7351 315
Lightvalve 11:82d8768d7351 316 case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve 11:82d8768d7351 317 COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 318
Lightvalve 16:903b5a4433b4 319 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 320
Lightvalve 16:903b5a4433b4 321 //spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 322
Lightvalve 11:82d8768d7351 323 break;
Lightvalve 11:82d8768d7351 324 }
Lightvalve 11:82d8768d7351 325
Lightvalve 11:82d8768d7351 326 case CRX_ASK_VALVE_FF: {
Lightvalve 11:82d8768d7351 327 CAN_TX_VALVE_FF();
Lightvalve 11:82d8768d7351 328
Lightvalve 11:82d8768d7351 329 break;
Lightvalve 11:82d8768d7351 330 }
Lightvalve 11:82d8768d7351 331
Lightvalve 11:82d8768d7351 332 case CRX_SET_VALVE_FF: {
Lightvalve 11:82d8768d7351 333 VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 334
Lightvalve 16:903b5a4433b4 335 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 336
Lightvalve 16:903b5a4433b4 337 //spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 338
Lightvalve 11:82d8768d7351 339 break;
Lightvalve 11:82d8768d7351 340 }
Lightvalve 11:82d8768d7351 341
Lightvalve 11:82d8768d7351 342 case CRX_ASK_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 343 CAN_TX_BULK_MODULUS();
Lightvalve 11:82d8768d7351 344
Lightvalve 11:82d8768d7351 345 break;
Lightvalve 11:82d8768d7351 346 }
Lightvalve 11:82d8768d7351 347
Lightvalve 11:82d8768d7351 348 case CRX_SET_BULK_MODULUS: {
Lightvalve 11:82d8768d7351 349 BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 350
Lightvalve 16:903b5a4433b4 351 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 352
Lightvalve 16:903b5a4433b4 353 //spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 354
Lightvalve 11:82d8768d7351 355 break;
Lightvalve 11:82d8768d7351 356 }
Lightvalve 11:82d8768d7351 357
Lightvalve 11:82d8768d7351 358 case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 359 CAN_TX_CHAMBER_VOLUME();
Lightvalve 11:82d8768d7351 360
Lightvalve 11:82d8768d7351 361 break;
Lightvalve 11:82d8768d7351 362 }
Lightvalve 11:82d8768d7351 363
Lightvalve 11:82d8768d7351 364 case CRX_SET_CHAMBER_VOLUME: {
Lightvalve 11:82d8768d7351 365 CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 366 CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 367
Lightvalve 16:903b5a4433b4 368 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 369
Lightvalve 16:903b5a4433b4 370 //spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 371 //spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 372
Lightvalve 11:82d8768d7351 373 break;
Lightvalve 11:82d8768d7351 374 }
Lightvalve 11:82d8768d7351 375
Lightvalve 11:82d8768d7351 376 case CRX_ASK_PISTON_AREA: {
Lightvalve 11:82d8768d7351 377 CAN_TX_PISTON_AREA();
Lightvalve 11:82d8768d7351 378
Lightvalve 11:82d8768d7351 379 break;
Lightvalve 11:82d8768d7351 380 }
Lightvalve 11:82d8768d7351 381
Lightvalve 11:82d8768d7351 382 case CRX_SET_PISTON_AREA: {
Lightvalve 11:82d8768d7351 383 PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 384 PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 11:82d8768d7351 385 PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve 16:903b5a4433b4 386
Lightvalve 16:903b5a4433b4 387 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 388
Lightvalve 16:903b5a4433b4 389 //spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 390 //spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 391 break;
Lightvalve 11:82d8768d7351 392 }
Lightvalve 11:82d8768d7351 393
Lightvalve 11:82d8768d7351 394 case CRX_ASK_PRES: {
Lightvalve 11:82d8768d7351 395 CAN_TX_PRES_A_AND_B();
Lightvalve 12:6f2531038ea4 396 // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve 16:903b5a4433b4 397 //dac_1 = PRES_A_VREF;
Lightvalve 16:903b5a4433b4 398 //dac_2 = PRES_B_VREF;
Lightvalve 12:6f2531038ea4 399
Lightvalve 11:82d8768d7351 400 break;
Lightvalve 11:82d8768d7351 401 }
Lightvalve 11:82d8768d7351 402
Lightvalve 11:82d8768d7351 403 case CRX_SET_PRES: {
Lightvalve 11:82d8768d7351 404 PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 405 PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 406 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 407 //spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 408 //spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 409
Lightvalve 11:82d8768d7351 410
Lightvalve 11:82d8768d7351 411 break;
Lightvalve 11:82d8768d7351 412 }
Lightvalve 11:82d8768d7351 413
Lightvalve 11:82d8768d7351 414 case CRX_ASK_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 415 CAN_TX_ENC_LIMIT();
Lightvalve 11:82d8768d7351 416
Lightvalve 11:82d8768d7351 417 break;
Lightvalve 11:82d8768d7351 418 }
Lightvalve 11:82d8768d7351 419
Lightvalve 11:82d8768d7351 420 case CRX_SET_ENC_LIMIT: {
Lightvalve 11:82d8768d7351 421 ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 422 ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 423 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 424 //spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 425 //spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 426
Lightvalve 11:82d8768d7351 427 break;
Lightvalve 11:82d8768d7351 428 }
Lightvalve 11:82d8768d7351 429
Lightvalve 11:82d8768d7351 430 case CRX_ASK_STROKE: {
Lightvalve 11:82d8768d7351 431 CAN_TX_STROKE();
Lightvalve 11:82d8768d7351 432 break;
Lightvalve 11:82d8768d7351 433 }
Lightvalve 11:82d8768d7351 434
Lightvalve 11:82d8768d7351 435 case CRX_SET_STROKE: {
Lightvalve 11:82d8768d7351 436 STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 437 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 438 //spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 439
Lightvalve 11:82d8768d7351 440 break;
Lightvalve 11:82d8768d7351 441 }
Lightvalve 11:82d8768d7351 442
Lightvalve 11:82d8768d7351 443 case CRX_ASK_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 444 CAN_TX_VALVE_LIMIT();
Lightvalve 11:82d8768d7351 445
Lightvalve 11:82d8768d7351 446 break;
Lightvalve 11:82d8768d7351 447 }
Lightvalve 11:82d8768d7351 448
Lightvalve 11:82d8768d7351 449 case CRX_SET_VALVE_LIMIT: {
Lightvalve 11:82d8768d7351 450 VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 11:82d8768d7351 451 VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
Lightvalve 16:903b5a4433b4 452 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 453 //spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 454 //spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 455
Lightvalve 11:82d8768d7351 456 break;
Lightvalve 11:82d8768d7351 457 }
Lightvalve 11:82d8768d7351 458
Lightvalve 11:82d8768d7351 459 case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 460 CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve 11:82d8768d7351 461
Lightvalve 11:82d8768d7351 462 break;
Lightvalve 11:82d8768d7351 463 }
Lightvalve 11:82d8768d7351 464
Lightvalve 11:82d8768d7351 465 case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve 11:82d8768d7351 466 ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 467 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 468 //spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) 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_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 11:82d8768d7351 474 CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve 11:82d8768d7351 475
Lightvalve 11:82d8768d7351 476 break;
Lightvalve 11:82d8768d7351 477 }
Lightvalve 11:82d8768d7351 478
Lightvalve 11:82d8768d7351 479 case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve 48:889798ff9329 480 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.01f);
Lightvalve 16:903b5a4433b4 481 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 482 //spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) 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_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 11:82d8768d7351 488 CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve 11:82d8768d7351 489
Lightvalve 11:82d8768d7351 490 break;
Lightvalve 11:82d8768d7351 491 }
Lightvalve 11:82d8768d7351 492
Lightvalve 11:82d8768d7351 493 case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve 30:8d561f16383b 494 PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
Lightvalve 30:8d561f16383b 495 PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
Lightvalve 16:903b5a4433b4 496 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 497 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 16:903b5a4433b4 498 //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 499
Lightvalve 11:82d8768d7351 500 break;
Lightvalve 11:82d8768d7351 501 }
Lightvalve 11:82d8768d7351 502
Lightvalve 11:82d8768d7351 503 case CRX_ASK_FRICTION: {
Lightvalve 11:82d8768d7351 504 CAN_TX_FRICTION();
Lightvalve 11:82d8768d7351 505
Lightvalve 11:82d8768d7351 506 break;
Lightvalve 11:82d8768d7351 507 }
Lightvalve 11:82d8768d7351 508
Lightvalve 11:82d8768d7351 509 case CRX_SET_FRICTION: {
Lightvalve 30:8d561f16383b 510 FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
Lightvalve 16:903b5a4433b4 511 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 512 //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 513
Lightvalve 11:82d8768d7351 514 break;
Lightvalve 11:82d8768d7351 515 }
Lightvalve 11:82d8768d7351 516
Lightvalve 11:82d8768d7351 517 case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve 11:82d8768d7351 518 CAN_TX_VALVE_GAIN_PLUS();
Lightvalve 11:82d8768d7351 519
Lightvalve 11:82d8768d7351 520 break;
Lightvalve 11:82d8768d7351 521 }
Lightvalve 11:82d8768d7351 522 case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve 30:8d561f16383b 523 VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 524 VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 525 VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 526 VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 527 VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 528 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 529 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 30:8d561f16383b 530 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 30:8d561f16383b 531 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 30:8d561f16383b 532 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 30:8d561f16383b 533 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 11:82d8768d7351 534
Lightvalve 11:82d8768d7351 535 break;
Lightvalve 11:82d8768d7351 536 }
Lightvalve 11:82d8768d7351 537
Lightvalve 11:82d8768d7351 538 case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve 11:82d8768d7351 539 CAN_TX_VALVE_GAIN_MINUS();
Lightvalve 11:82d8768d7351 540
Lightvalve 11:82d8768d7351 541 break;
Lightvalve 11:82d8768d7351 542 }
Lightvalve 11:82d8768d7351 543 case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve 30:8d561f16383b 544 VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve 30:8d561f16383b 545 VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve 30:8d561f16383b 546 VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve 30:8d561f16383b 547 VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve 30:8d561f16383b 548 VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve 16:903b5a4433b4 549 ROM_RESET_DATA();
Lightvalve 30:8d561f16383b 550 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 30:8d561f16383b 551 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 30:8d561f16383b 552 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 30:8d561f16383b 553 //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 30:8d561f16383b 554 //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 11:82d8768d7351 555
Lightvalve 11:82d8768d7351 556 break;
Lightvalve 11:82d8768d7351 557 }
Lightvalve 11:82d8768d7351 558 case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve 11:82d8768d7351 559 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 11:82d8768d7351 560 break;
Lightvalve 11:82d8768d7351 561 }
Lightvalve 11:82d8768d7351 562
Lightvalve 11:82d8768d7351 563 case CRX_LOW_REF: {
Lightvalve 11:82d8768d7351 564 REFERENCE_MODE = msg.data[1];
Lightvalve 11:82d8768d7351 565
Lightvalve 11:82d8768d7351 566 REF_NUM = msg.data[2];
Lightvalve 30:8d561f16383b 567 REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
Lightvalve 30:8d561f16383b 568 if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve 11:82d8768d7351 569 else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve 30:8d561f16383b 570 REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
Lightvalve 11:82d8768d7351 571
Lightvalve 11:82d8768d7351 572 break;
Lightvalve 11:82d8768d7351 573 }
Lightvalve 11:82d8768d7351 574
Lightvalve 11:82d8768d7351 575 case CRX_JUMP_STATUS: {
Lightvalve 11:82d8768d7351 576 MODE_JUMP_STATUS = msg.data[1];
Lightvalve 11:82d8768d7351 577
Lightvalve 11:82d8768d7351 578 break;
Lightvalve 11:82d8768d7351 579 }
Lightvalve 11:82d8768d7351 580
Lightvalve 11:82d8768d7351 581 case CRX_SET_ERR_CLEAR: {
Lightvalve 11:82d8768d7351 582
Lightvalve 12:6f2531038ea4 583 for (int i = 0; i < num_err; i++) {
Lightvalve 11:82d8768d7351 584 flag_err[i] = FALSE;
Lightvalve 11:82d8768d7351 585 flag_err_old[i] = FALSE;
Lightvalve 11:82d8768d7351 586 }
Lightvalve 11:82d8768d7351 587
Lightvalve 11:82d8768d7351 588 flag_err_rt = FALSE;
Lightvalve 11:82d8768d7351 589
Lightvalve 11:82d8768d7351 590
Lightvalve 11:82d8768d7351 591 break;
Lightvalve 11:82d8768d7351 592 }
Lightvalve 11:82d8768d7351 593
Lightvalve 11:82d8768d7351 594 case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 595 CAN_TX_HOMEPOS_OFFSET();
Lightvalve 11:82d8768d7351 596 break;
Lightvalve 11:82d8768d7351 597 }
Lightvalve 11:82d8768d7351 598 case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve 11:82d8768d7351 599 HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 600 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 601 //spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 602 break;
Lightvalve 11:82d8768d7351 603 }
Lightvalve 11:82d8768d7351 604
Lightvalve 11:82d8768d7351 605 case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 606 CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve 11:82d8768d7351 607 break;
Lightvalve 11:82d8768d7351 608 }
Lightvalve 11:82d8768d7351 609 case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve 11:82d8768d7351 610 HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 16:903b5a4433b4 611 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 612 //spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 613 break;
Lightvalve 11:82d8768d7351 614 }
Lightvalve 11:82d8768d7351 615
Lightvalve 11:82d8768d7351 616 case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve 11:82d8768d7351 617 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 618 CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve 11:82d8768d7351 619 break;
Lightvalve 11:82d8768d7351 620 }
Lightvalve 11:82d8768d7351 621 case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve 11:82d8768d7351 622 can_index = (int16_t) msg.data[1];
Lightvalve 11:82d8768d7351 623 CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve 11:82d8768d7351 624 break;
Lightvalve 11:82d8768d7351 625 }
Lightvalve 11:82d8768d7351 626 case CRX_ASK_VALVE_POS_NUM: {
Lightvalve 11:82d8768d7351 627 CAN_TX_VALVE_POS_NUM();
Lightvalve 11:82d8768d7351 628 break;
Lightvalve 11:82d8768d7351 629 }
Lightvalve 28:2a62d73e3dd0 630
Lightvalve 28:2a62d73e3dd0 631 case CRX_SET_ROM: {
Lightvalve 28:2a62d73e3dd0 632 ROM_RESET_DATA();
Lightvalve 28:2a62d73e3dd0 633 break;
Lightvalve 28:2a62d73e3dd0 634 }
Lightvalve 32:4b8c0fedaf2c 635 case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve 32:4b8c0fedaf2c 636 VALVE_CENTER_OFFSET_times10 = (int16_t) (msg.data[1] | msg.data[2] << 8);
Lightvalve 33:91b17819ec30 637 VALVE_CENTER_OFFSET = ((float) VALVE_CENTER_OFFSET_times10) * 0.1f;
Lightvalve 33:91b17819ec30 638 DDV_CENTER = DDV_CENTER + VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 639 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 640 break;
Lightvalve 33:91b17819ec30 641 }
Lightvalve 33:91b17819ec30 642 case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve 33:91b17819ec30 643 VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 644 VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 645 ROM_RESET_DATA();
Lightvalve 33:91b17819ec30 646 break;
Lightvalve 33:91b17819ec30 647 }
Lightvalve 33:91b17819ec30 648 case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve 33:91b17819ec30 649 VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] | msg.data[2] << 8))) * 0.1f;
Lightvalve 33:91b17819ec30 650 VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve 32:4b8c0fedaf2c 651 ROM_RESET_DATA();
Lightvalve 32:4b8c0fedaf2c 652 break;
Lightvalve 32:4b8c0fedaf2c 653 }
Lightvalve 36:a46e63505ed8 654 case CRX_SET_PID_GAIN_OPP: {
Lightvalve 36:a46e63505ed8 655 if (msg.data[1] == 0) {
Lightvalve 36:a46e63505ed8 656 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 657 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 658 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 659
Lightvalve 36:a46e63505ed8 660 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 661
Lightvalve 36:a46e63505ed8 662 //spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 663 //spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 664 //spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 36:a46e63505ed8 665
Lightvalve 36:a46e63505ed8 666
Lightvalve 36:a46e63505ed8 667 } else if (msg.data[1] == 1) {
Lightvalve 36:a46e63505ed8 668 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 669 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 670 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 671
Lightvalve 36:a46e63505ed8 672 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 673
Lightvalve 36:a46e63505ed8 674 //spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 675 //spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 676 //spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 36:a46e63505ed8 677 } else if (msg.data[1] == 2) {
Lightvalve 36:a46e63505ed8 678 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 36:a46e63505ed8 679 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 36:a46e63505ed8 680 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
Lightvalve 36:a46e63505ed8 681
Lightvalve 36:a46e63505ed8 682 ROM_RESET_DATA();
Lightvalve 36:a46e63505ed8 683
Lightvalve 36:a46e63505ed8 684 //spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 685 //spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 686 //spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 36:a46e63505ed8 687 }
Lightvalve 36:a46e63505ed8 688 break;
Lightvalve 36:a46e63505ed8 689 }
Lightvalve 38:118df027d851 690 case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve 38:118df027d851 691 CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve 38:118df027d851 692 CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve 38:118df027d851 693 break;
Lightvalve 38:118df027d851 694 }
Lightvalve 38:118df027d851 695
jobuuu 2:a1c0a37df760 696 default:
jobuuu 2:a1c0a37df760 697 break;
jobuuu 2:a1c0a37df760 698 }
jobuuu 2:a1c0a37df760 699 }
jobuuu 2:a1c0a37df760 700
jobuuu 2:a1c0a37df760 701 void CAN_RX_HANDLER()
jobuuu 2:a1c0a37df760 702 {
Lightvalve 23:59218d4a256d 703
jobuuu 2:a1c0a37df760 704 can.read(msg);
jobuuu 2:a1c0a37df760 705 unsigned int address = msg.id;
jobuuu 7:e9086c72bb22 706 if(address==CID_RX_CMD){
jobuuu 2:a1c0a37df760 707 unsigned int CMD = msg.data[0];
jobuuu 2:a1c0a37df760 708 ReadCMD(CMD);
jobuuu 7:e9086c72bb22 709 } else if(address==CID_RX_REF_POSITION) {
Lightvalve 41:abbd4e2af68b 710 //int32_t temp_pos = (int32_t) (msg.data[0] | msg.data[1] << 8 | msg.data[2] << 16 | msg.data[3] << 24);
Lightvalve 43:b084e5f5d0d5 711 int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 41:abbd4e2af68b 712 //int32_t temp_vel = (int32_t) (msg.data[4] | msg.data[5] << 8 | msg.data[6] << 16 | msg.data[7] << 24);
Lightvalve 43:b084e5f5d0d5 713 int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
Lightvalve 41:abbd4e2af68b 714
Lightvalve 41:abbd4e2af68b 715 int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
Lightvalve 41:abbd4e2af68b 716 pos.ref = (double)temp_pos * 4.0f;
Lightvalve 42:1cf66990ccab 717 vel.ref = (double)temp_vel * 100.0f;
Lightvalve 43:b084e5f5d0d5 718 torq.ref = (double)temp_torq * 0.1f;
Lightvalve 45:35fa6884d0c6 719 } else if(address==CID_RX_REF_PWM) {
Lightvalve 47:fdcb8bd86fd6 720 int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
Lightvalve 47:fdcb8bd86fd6 721 if(temp_ref_valve_pos >= 0){
Lightvalve 47:fdcb8bd86fd6 722 valve_pos.ref = (double)DDV_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)DDV_CENTER)/10000.0f ;
Lightvalve 47:fdcb8bd86fd6 723 }else{
Lightvalve 47:fdcb8bd86fd6 724 valve_pos.ref = (double)DDV_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)DDV_CENTER)/10000.0f;
Lightvalve 47:fdcb8bd86fd6 725 }
Lightvalve 45:35fa6884d0c6 726 }
jobuuu 2:a1c0a37df760 727 }
jobuuu 2:a1c0a37df760 728
jobuuu 2:a1c0a37df760 729 /******************************************************************************
jobuuu 2:a1c0a37df760 730 Information Transmission Functions
jobuuu 2:a1c0a37df760 731 *******************************************************************************/
Lightvalve 11:82d8768d7351 732
Lightvalve 11:82d8768d7351 733 void CAN_TX_INFO(void) {
Lightvalve 12:6f2531038ea4 734 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 735
jobuuu 2:a1c0a37df760 736 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 737 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 738 temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve 12:6f2531038ea4 739 temp_msg.data[1] = (uint8_t) BNO;
Lightvalve 12:6f2531038ea4 740 temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve 12:6f2531038ea4 741 temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve 12:6f2531038ea4 742 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 743 temp_msg.data[5] = (uint8_t) CONTROL_MODE;
Lightvalve 12:6f2531038ea4 744 temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 745
jobuuu 2:a1c0a37df760 746 can.write(temp_msg);
jobuuu 2:a1c0a37df760 747 }
jobuuu 2:a1c0a37df760 748
Lightvalve 11:82d8768d7351 749 void CAN_TX_BNO(void) {
Lightvalve 12:6f2531038ea4 750 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 751
jobuuu 2:a1c0a37df760 752 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 753 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 754 temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve 12:6f2531038ea4 755 temp_msg.data[1] = (uint8_t) BNO;
jobuuu 2:a1c0a37df760 756
jobuuu 2:a1c0a37df760 757 can.write(temp_msg);
jobuuu 2:a1c0a37df760 758 }
jobuuu 2:a1c0a37df760 759
Lightvalve 11:82d8768d7351 760 void CAN_TX_OPERATING_MODE(void) {
jobuuu 2:a1c0a37df760 761 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 762
jobuuu 2:a1c0a37df760 763 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 764 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 765 temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve 12:6f2531038ea4 766 temp_msg.data[1] = (uint8_t) OPERATING_MODE;
jobuuu 2:a1c0a37df760 767
jobuuu 2:a1c0a37df760 768 can.write(temp_msg);
jobuuu 2:a1c0a37df760 769 }
jobuuu 2:a1c0a37df760 770
Lightvalve 11:82d8768d7351 771 void CAN_TX_CAN_FREQ(void) {
jobuuu 2:a1c0a37df760 772 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 773
jobuuu 2:a1c0a37df760 774 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 775 temp_msg.len = 3;
jobuuu 2:a1c0a37df760 776 temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu 2:a1c0a37df760 777 temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu 2:a1c0a37df760 778 temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu 2:a1c0a37df760 779
jobuuu 2:a1c0a37df760 780 can.write(temp_msg);
jobuuu 2:a1c0a37df760 781 }
Lightvalve 11:82d8768d7351 782
Lightvalve 11:82d8768d7351 783 void CAN_TX_CONTROL_MODE(void) {
jobuuu 2:a1c0a37df760 784 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 785
jobuuu 2:a1c0a37df760 786 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 787 temp_msg.len = 2;
Lightvalve 12:6f2531038ea4 788 temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve 12:6f2531038ea4 789 temp_msg.data[1] = (uint8_t) CONTROL_MODE;
jobuuu 2:a1c0a37df760 790
jobuuu 2:a1c0a37df760 791 can.write(temp_msg);
jobuuu 2:a1c0a37df760 792 }
Lightvalve 11:82d8768d7351 793
Lightvalve 11:82d8768d7351 794 void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 795 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 796
jobuuu 2:a1c0a37df760 797 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 798 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 799 temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve 12:6f2531038ea4 800 temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve 12:6f2531038ea4 801 temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu 2:a1c0a37df760 802
jobuuu 2:a1c0a37df760 803 can.write(temp_msg);
jobuuu 2:a1c0a37df760 804 }
jobuuu 2:a1c0a37df760 805
Lightvalve 11:82d8768d7351 806 void CAN_TX_VALVE_DIR(void) {
jobuuu 2:a1c0a37df760 807 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 808
jobuuu 2:a1c0a37df760 809 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 810 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 811 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve 12:6f2531038ea4 812 temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve 12:6f2531038ea4 813 temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu 2:a1c0a37df760 814
jobuuu 2:a1c0a37df760 815 can.write(temp_msg);
jobuuu 2:a1c0a37df760 816 }
jobuuu 2:a1c0a37df760 817
Lightvalve 11:82d8768d7351 818 void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu 2:a1c0a37df760 819 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 820
jobuuu 2:a1c0a37df760 821 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 822 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 823 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve 12:6f2531038ea4 824 temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve 12:6f2531038ea4 825 temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu 2:a1c0a37df760 826
jobuuu 2:a1c0a37df760 827 can.write(temp_msg);
jobuuu 2:a1c0a37df760 828 }
jobuuu 2:a1c0a37df760 829
Lightvalve 11:82d8768d7351 830 void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve 12:6f2531038ea4 831 int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10);
jobuuu 2:a1c0a37df760 832
jobuuu 2:a1c0a37df760 833 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 834
jobuuu 2:a1c0a37df760 835 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 836 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 837 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve 12:6f2531038ea4 838 temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve 12:6f2531038ea4 839 temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu 2:a1c0a37df760 840
jobuuu 2:a1c0a37df760 841 can.write(temp_msg);
jobuuu 2:a1c0a37df760 842 }
jobuuu 2:a1c0a37df760 843
Lightvalve 11:82d8768d7351 844 void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve 12:6f2531038ea4 845 int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10);
jobuuu 2:a1c0a37df760 846
jobuuu 2:a1c0a37df760 847 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 848
jobuuu 2:a1c0a37df760 849 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 850 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 851 temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve 12:6f2531038ea4 852 temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve 12:6f2531038ea4 853 temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu 2:a1c0a37df760 854
jobuuu 2:a1c0a37df760 855 can.write(temp_msg);
jobuuu 2:a1c0a37df760 856 }
Lightvalve 11:82d8768d7351 857
jobuuu 2:a1c0a37df760 858
Lightvalve 11:82d8768d7351 859 void CAN_TX_PID_GAIN(int t_type) {
jobuuu 2:a1c0a37df760 860 // t_type = 0 : valve position control gain
jobuuu 2:a1c0a37df760 861 // t_type = 1 : joint position control gain
jobuuu 2:a1c0a37df760 862 // t_type = 2 : joint torque control gain
jobuuu 2:a1c0a37df760 863
Lightvalve 12:6f2531038ea4 864 int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu 2:a1c0a37df760 865 if (t_type == 0) {
Lightvalve 30:8d561f16383b 866 sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 867 sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve 30:8d561f16383b 868 sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu 2:a1c0a37df760 869 } else if (t_type == 1) {
Lightvalve 12:6f2531038ea4 870 sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 871 sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve 12:6f2531038ea4 872 sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu 2:a1c0a37df760 873 } else if (t_type == 2) {
Lightvalve 12:6f2531038ea4 874 sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 875 sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve 12:6f2531038ea4 876 sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve 46:2694daea349b 877 } else if (t_type == 3) {
Lightvalve 46:2694daea349b 878 sendPgain = (int16_t) (K_SPRING);
Lightvalve 46:2694daea349b 879 sendIgain = (int16_t) (D_DAMPER);
jobuuu 2:a1c0a37df760 880 }
jobuuu 2:a1c0a37df760 881
jobuuu 2:a1c0a37df760 882 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 883
jobuuu 2:a1c0a37df760 884 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 885 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 886 temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve 12:6f2531038ea4 887 temp_msg.data[1] = (uint8_t) t_type;
Lightvalve 12:6f2531038ea4 888 temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve 12:6f2531038ea4 889 temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve 12:6f2531038ea4 890 temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve 12:6f2531038ea4 891 temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve 12:6f2531038ea4 892 temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve 12:6f2531038ea4 893 temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu 2:a1c0a37df760 894
jobuuu 2:a1c0a37df760 895 can.write(temp_msg);
jobuuu 2:a1c0a37df760 896 }
jobuuu 2:a1c0a37df760 897
Lightvalve 11:82d8768d7351 898
Lightvalve 11:82d8768d7351 899 void CAN_TX_VALVE_DEADZONE(void) {
jobuuu 2:a1c0a37df760 900 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 901
jobuuu 2:a1c0a37df760 902 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 903 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 904 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve 12:6f2531038ea4 905 temp_msg.data[1] = (uint8_t) (int) (VALVE_CENTER);
Lightvalve 12:6f2531038ea4 906 temp_msg.data[2] = (uint8_t) ((int) (VALVE_CENTER) >> 8);
Lightvalve 12:6f2531038ea4 907 temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve 12:6f2531038ea4 908 temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve 12:6f2531038ea4 909 temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve 12:6f2531038ea4 910 temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu 2:a1c0a37df760 911
jobuuu 2:a1c0a37df760 912 can.write(temp_msg);
jobuuu 2:a1c0a37df760 913 }
jobuuu 2:a1c0a37df760 914
Lightvalve 11:82d8768d7351 915 void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve 11:82d8768d7351 916 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 917
Lightvalve 11:82d8768d7351 918 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 919 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 920 temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 921 temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve 12:6f2531038ea4 922 temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve 11:82d8768d7351 923
Lightvalve 11:82d8768d7351 924 can.write(temp_msg);
Lightvalve 11:82d8768d7351 925 }
Lightvalve 11:82d8768d7351 926
Lightvalve 11:82d8768d7351 927 void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve 11:82d8768d7351 928 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 929
Lightvalve 11:82d8768d7351 930 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 931 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 932 temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 933 temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve 12:6f2531038ea4 934 temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve 11:82d8768d7351 935
Lightvalve 11:82d8768d7351 936 can.write(temp_msg);
Lightvalve 11:82d8768d7351 937 }
Lightvalve 11:82d8768d7351 938
Lightvalve 11:82d8768d7351 939 void CAN_TX_VALVE_FF(void) {
Lightvalve 11:82d8768d7351 940 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 941
Lightvalve 11:82d8768d7351 942 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 943 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 944 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve 12:6f2531038ea4 945 temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve 12:6f2531038ea4 946 temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve 11:82d8768d7351 947
Lightvalve 11:82d8768d7351 948 can.write(temp_msg);
Lightvalve 11:82d8768d7351 949 }
Lightvalve 11:82d8768d7351 950
Lightvalve 11:82d8768d7351 951 void CAN_TX_BULK_MODULUS(void) {
Lightvalve 11:82d8768d7351 952 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 953
Lightvalve 11:82d8768d7351 954 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 955 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 956 temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve 12:6f2531038ea4 957 temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve 12:6f2531038ea4 958 temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve 11:82d8768d7351 959
Lightvalve 11:82d8768d7351 960 can.write(temp_msg);
Lightvalve 11:82d8768d7351 961 }
Lightvalve 11:82d8768d7351 962
Lightvalve 11:82d8768d7351 963 void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve 11:82d8768d7351 964 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 965
Lightvalve 11:82d8768d7351 966 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 967 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 968 temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve 12:6f2531038ea4 969 temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve 12:6f2531038ea4 970 temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve 12:6f2531038ea4 971 temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve 12:6f2531038ea4 972 temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 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_PISTON_AREA(void) {
jobuuu 2:a1c0a37df760 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_PISTON_AREA;
Lightvalve 12:6f2531038ea4 983 temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve 12:6f2531038ea4 984 temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve 12:6f2531038ea4 985 temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve 12:6f2531038ea4 986 temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu 2:a1c0a37df760 987
Lightvalve 11:82d8768d7351 988 can.write(temp_msg);
Lightvalve 11:82d8768d7351 989 }
Lightvalve 11:82d8768d7351 990
Lightvalve 11:82d8768d7351 991 void CAN_TX_PRES_A_AND_B(void) {
Lightvalve 11:82d8768d7351 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_PRES;
Lightvalve 12:6f2531038ea4 997 temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve 12:6f2531038ea4 998 temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve 12:6f2531038ea4 999 temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve 12:6f2531038ea4 1000 temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve 11:82d8768d7351 1001
Lightvalve 11:82d8768d7351 1002 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1003 }
Lightvalve 11:82d8768d7351 1004
Lightvalve 11:82d8768d7351 1005 void CAN_TX_ENC_LIMIT(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_ENC_LIMIT;
Lightvalve 12:6f2531038ea4 1011 temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1012 temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1013 temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1014 temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 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_STROKE(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 = 3;
Lightvalve 12:6f2531038ea4 1024 temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve 12:6f2531038ea4 1025 temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve 12:6f2531038ea4 1026 temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve 11:82d8768d7351 1027
Lightvalve 11:82d8768d7351 1028 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1029 }
Lightvalve 11:82d8768d7351 1030
Lightvalve 11:82d8768d7351 1031 void CAN_TX_VALVE_LIMIT(void) {
Lightvalve 11:82d8768d7351 1032 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1033
Lightvalve 11:82d8768d7351 1034 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1035 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1036 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve 12:6f2531038ea4 1037 temp_msg.data[1] = (uint8_t) VALVE_LIMIT_MINUS;
Lightvalve 12:6f2531038ea4 1038 temp_msg.data[2] = (uint8_t) (VALVE_LIMIT_MINUS >> 8);
Lightvalve 12:6f2531038ea4 1039 temp_msg.data[3] = (uint8_t) VALVE_LIMIT_PLUS;
Lightvalve 12:6f2531038ea4 1040 temp_msg.data[4] = (uint8_t) (VALVE_LIMIT_PLUS >> 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_ENC_PULSE_PER_POSITION(void) {
Lightvalve 11:82d8768d7351 1046 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1047
jobuuu 2:a1c0a37df760 1048 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1049 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1050 temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve 48:889798ff9329 1051 int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION * 10.0f);
Lightvalve 48:889798ff9329 1052 temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve 48:889798ff9329 1053 temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu 2:a1c0a37df760 1054
jobuuu 2:a1c0a37df760 1055 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1056 }
jobuuu 2:a1c0a37df760 1057
Lightvalve 11:82d8768d7351 1058 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu 2:a1c0a37df760 1059 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1060
jobuuu 2:a1c0a37df760 1061 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1062 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1063 temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 48:889798ff9329 1064 int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve 48:889798ff9329 1065 temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve 48:889798ff9329 1066 temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 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_PRES_SENSOR_PULSE_PER_PRES(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 = 5;
Lightvalve 12:6f2531038ea4 1076 temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 1077 temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1078 temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1079 temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve 30:8d561f16383b 1080 temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu 2:a1c0a37df760 1081
jobuuu 2:a1c0a37df760 1082 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1083 }
jobuuu 2:a1c0a37df760 1084
Lightvalve 11:82d8768d7351 1085 void CAN_TX_FRICTION(void) {
Lightvalve 11:82d8768d7351 1086 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1087 int16_t send_friction;
Lightvalve 30:8d561f16383b 1088 send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve 11:82d8768d7351 1089
Lightvalve 11:82d8768d7351 1090 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1091 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1092 temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve 12:6f2531038ea4 1093 temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve 12:6f2531038ea4 1094 temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve 11:82d8768d7351 1095
Lightvalve 11:82d8768d7351 1096 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1097 }
Lightvalve 11:82d8768d7351 1098
Lightvalve 11:82d8768d7351 1099 void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve 11:82d8768d7351 1100 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1101
Lightvalve 11:82d8768d7351 1102 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1103 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1104 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve 30:8d561f16383b 1105 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve 30:8d561f16383b 1106 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve 30:8d561f16383b 1107 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve 30:8d561f16383b 1108 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve 30:8d561f16383b 1109 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve 11:82d8768d7351 1110
Lightvalve 11:82d8768d7351 1111 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1112 }
Lightvalve 11:82d8768d7351 1113
Lightvalve 11:82d8768d7351 1114 void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve 11:82d8768d7351 1115 CANMessage temp_msg;
Lightvalve 48:889798ff9329 1116 float temp_valve_deadzone_minus = 0.0f;
Lightvalve 48:889798ff9329 1117 float temp_valve_deadzone_plus = 0.0f;
Lightvalve 48:889798ff9329 1118 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1119
Lightvalve 48:889798ff9329 1120 temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 48:889798ff9329 1121 temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 48:889798ff9329 1122 temp_ddv_center = 0.0f;
Lightvalve 11:82d8768d7351 1123
Lightvalve 11:82d8768d7351 1124 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1125 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1126 temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve 48:889798ff9329 1127 temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve 48:889798ff9329 1128 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve 48:889798ff9329 1129 temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve 48:889798ff9329 1130 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve 48:889798ff9329 1131 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1132 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 11:82d8768d7351 1133
Lightvalve 11:82d8768d7351 1134 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1135 }
Lightvalve 11:82d8768d7351 1136
Lightvalve 11:82d8768d7351 1137 void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve 11:82d8768d7351 1138 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1139
Lightvalve 11:82d8768d7351 1140 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1141 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1142 temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve 30:8d561f16383b 1143 temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve 30:8d561f16383b 1144 temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve 30:8d561f16383b 1145 temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve 30:8d561f16383b 1146 temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve 30:8d561f16383b 1147 temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve 11:82d8768d7351 1148
Lightvalve 11:82d8768d7351 1149 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1150 }
Lightvalve 11:82d8768d7351 1151
Lightvalve 11:82d8768d7351 1152 void CAN_TX_REFENCE_MODE(void) {
Lightvalve 11:82d8768d7351 1153 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1154
Lightvalve 11:82d8768d7351 1155 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1156 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1157 temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve 12:6f2531038ea4 1158 temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve 30:8d561f16383b 1159 temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve 30:8d561f16383b 1160 temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve 30:8d561f16383b 1161 temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve 30:8d561f16383b 1162 temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve 11:82d8768d7351 1163
Lightvalve 11:82d8768d7351 1164 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1165 }
Lightvalve 11:82d8768d7351 1166
Lightvalve 11:82d8768d7351 1167 void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve 11:82d8768d7351 1168 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1169 int16_t send_homepos_offset;
Lightvalve 12:6f2531038ea4 1170 send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 1171
jobuuu 2:a1c0a37df760 1172 temp_msg.id = CID_TX_INFO;
jobuuu 2:a1c0a37df760 1173 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1174 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve 12:6f2531038ea4 1175 temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve 12:6f2531038ea4 1176 temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu 2:a1c0a37df760 1177
jobuuu 2:a1c0a37df760 1178 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1179 }
Lightvalve 11:82d8768d7351 1180
Lightvalve 11:82d8768d7351 1181 void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve 11:82d8768d7351 1182 CANMessage temp_msg;
Lightvalve 12:6f2531038ea4 1183 int16_t send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1184 send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 1185
Lightvalve 11:82d8768d7351 1186 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1187 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1188 temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve 12:6f2531038ea4 1189 temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve 12:6f2531038ea4 1190 temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve 11:82d8768d7351 1191
Lightvalve 11:82d8768d7351 1192 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1193 }
Lightvalve 11:82d8768d7351 1194
Lightvalve 12:6f2531038ea4 1195 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve 11:82d8768d7351 1196 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1197 int16_t valve_pos_vs_pwm;
Lightvalve 11:82d8768d7351 1198 valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve 11:82d8768d7351 1199
Lightvalve 12:6f2531038ea4 1200 int16_t PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1201 PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve 11:82d8768d7351 1202
Lightvalve 11:82d8768d7351 1203 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1204 temp_msg.len = 5;
Lightvalve 12:6f2531038ea4 1205 temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve 12:6f2531038ea4 1206 temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve 12:6f2531038ea4 1207 temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1208 temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve 12:6f2531038ea4 1209 temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve 11:82d8768d7351 1210
Lightvalve 11:82d8768d7351 1211 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1212 }
Lightvalve 11:82d8768d7351 1213
Lightvalve 12:6f2531038ea4 1214 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve 11:82d8768d7351 1215 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1216 int32_t valve_pos_vs_flowrate;
Lightvalve 11:82d8768d7351 1217 valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve 11:82d8768d7351 1218
Lightvalve 33:91b17819ec30 1219 int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + (int) DDV_CENTER;
Lightvalve 11:82d8768d7351 1220
Lightvalve 11:82d8768d7351 1221 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1222 temp_msg.len = 7;
Lightvalve 12:6f2531038ea4 1223 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve 12:6f2531038ea4 1224 temp_msg.data[1] = (uint8_t) VALVE_POS_VALVE_ID;
Lightvalve 12:6f2531038ea4 1225 temp_msg.data[2] = (uint8_t) (VALVE_POS_VALVE_ID >> 8);
Lightvalve 12:6f2531038ea4 1226 temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve 12:6f2531038ea4 1227 temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve 12:6f2531038ea4 1228 temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve 12:6f2531038ea4 1229 temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve 11:82d8768d7351 1230
Lightvalve 11:82d8768d7351 1231 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1232 }
Lightvalve 11:82d8768d7351 1233
Lightvalve 11:82d8768d7351 1234 void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve 11:82d8768d7351 1235 CANMessage temp_msg;
Lightvalve 11:82d8768d7351 1236 int32_t valve_pos_num;
Lightvalve 11:82d8768d7351 1237 valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 1238
Lightvalve 11:82d8768d7351 1239 temp_msg.id = CID_TX_INFO;
Lightvalve 11:82d8768d7351 1240 temp_msg.len = 3;
Lightvalve 12:6f2531038ea4 1241 temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve 12:6f2531038ea4 1242 temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve 12:6f2531038ea4 1243 temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve 11:82d8768d7351 1244
Lightvalve 11:82d8768d7351 1245 can.write(temp_msg);
Lightvalve 11:82d8768d7351 1246 }
Lightvalve 11:82d8768d7351 1247
Lightvalve 38:118df027d851 1248 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve 38:118df027d851 1249 CANMessage temp_msg;
Lightvalve 38:118df027d851 1250
Lightvalve 48:889798ff9329 1251 float temp_valve_max_pos = 0.0f;
Lightvalve 48:889798ff9329 1252 float temp_valve_min_pos = 0.0f;
Lightvalve 48:889798ff9329 1253 float temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1254
Lightvalve 48:889798ff9329 1255 temp_valve_max_pos = 10000.0f;
Lightvalve 48:889798ff9329 1256 temp_valve_min_pos = -10000.0f;
Lightvalve 48:889798ff9329 1257 temp_ddv_center = 0.0f;
Lightvalve 48:889798ff9329 1258
Lightvalve 38:118df027d851 1259 temp_msg.id = CID_TX_INFO;
Lightvalve 38:118df027d851 1260 temp_msg.len = 7;
Lightvalve 38:118df027d851 1261 temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve 48:889798ff9329 1262 temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve 48:889798ff9329 1263 temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve 48:889798ff9329 1264 temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve 48:889798ff9329 1265 temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve 48:889798ff9329 1266 temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve 48:889798ff9329 1267 temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve 38:118df027d851 1268
Lightvalve 38:118df027d851 1269 can.write(temp_msg);
Lightvalve 38:118df027d851 1270 }
Lightvalve 38:118df027d851 1271
jobuuu 2:a1c0a37df760 1272 /******************************************************************************
jobuuu 2:a1c0a37df760 1273 Sensor & State Transmission Functions
jobuuu 2:a1c0a37df760 1274 *******************************************************************************/
jobuuu 2:a1c0a37df760 1275
Lightvalve 41:abbd4e2af68b 1276 void CAN_TX_POSITION(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
jobuuu 2:a1c0a37df760 1277 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1278
jobuuu 2:a1c0a37df760 1279 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1280 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1281 temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve 12:6f2531038ea4 1282 temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve 41:abbd4e2af68b 1283 temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve 41:abbd4e2af68b 1284 temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve 41:abbd4e2af68b 1285 temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve 41:abbd4e2af68b 1286 temp_msg.data[5] = (uint8_t) (t_torq >> 8);
jobuuu 2:a1c0a37df760 1287
jobuuu 2:a1c0a37df760 1288 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1289 }
jobuuu 2:a1c0a37df760 1290
Lightvalve 48:889798ff9329 1291 void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu 2:a1c0a37df760 1292 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1293
jobuuu 2:a1c0a37df760 1294 temp_msg.id = CID_TX_TORQUE;
jobuuu 2:a1c0a37df760 1295 temp_msg.len = 2;
Lightvalve 48:889798ff9329 1296 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 48:889798ff9329 1297 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu 2:a1c0a37df760 1298
jobuuu 2:a1c0a37df760 1299 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1300 }
jobuuu 2:a1c0a37df760 1301
Lightvalve 11:82d8768d7351 1302 void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu 2:a1c0a37df760 1303 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1304
jobuuu 2:a1c0a37df760 1305 temp_msg.id = CID_TX_PRES;
jobuuu 2:a1c0a37df760 1306 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1307 temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve 12:6f2531038ea4 1308 temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve 12:6f2531038ea4 1309 temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve 12:6f2531038ea4 1310 temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu 2:a1c0a37df760 1311
jobuuu 2:a1c0a37df760 1312 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1313 }
jobuuu 2:a1c0a37df760 1314
Lightvalve 11:82d8768d7351 1315 void CAN_TX_PWM(int16_t t_pwm) {
jobuuu 2:a1c0a37df760 1316 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1317
jobuuu 2:a1c0a37df760 1318 temp_msg.id = CID_TX_POSITION;
jobuuu 2:a1c0a37df760 1319 temp_msg.len = 8;
Lightvalve 12:6f2531038ea4 1320 temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve 12:6f2531038ea4 1321 temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu 2:a1c0a37df760 1322
jobuuu 2:a1c0a37df760 1323 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1324 }
jobuuu 2:a1c0a37df760 1325
Lightvalve 27:a2254a485f23 1326 void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve 27:a2254a485f23 1327 {
jobuuu 2:a1c0a37df760 1328 CANMessage temp_msg;
jobuuu 2:a1c0a37df760 1329
jobuuu 2:a1c0a37df760 1330 temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve 48:889798ff9329 1331 temp_msg.len = 6;
Lightvalve 12:6f2531038ea4 1332 temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve 12:6f2531038ea4 1333 temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1334 temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
Lightvalve 27:a2254a485f23 1335 temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve 27:a2254a485f23 1336 temp_msg.data[4] = (uint8_t) t_pwm;
Lightvalve 27:a2254a485f23 1337 temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
Lightvalve 27:a2254a485f23 1338
jobuuu 2:a1c0a37df760 1339
jobuuu 2:a1c0a37df760 1340 can.write(temp_msg);
jobuuu 2:a1c0a37df760 1341 }
Lightvalve 23:59218d4a256d 1342
Lightvalve 23:59218d4a256d 1343
Lightvalve 32:4b8c0fedaf2c 1344
Lightvalve 38:118df027d851 1345
Lightvalve 48:889798ff9329 1346