HydraulicControlBoard_Rainbow_v1_2_copy1 - 2011

Users » Lightvalve » Code » HydraulicControlBoard_Rainbow_v1_2_copy1

Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

CAN/function_CAN.cpp@225:9c0becc196ba, 2021-02-04 (annotated)

Committer:: jeongyeseong
Date:: Thu Feb 04 05:43:47 2021 +0000
Revision:: 225:9c0becc196ba
Parent:: 224:985dba42f261
Child:: 226:82a3ca333004

20210204

Who changed what in which revision?

User	Revision	Line number	New contents of line
jobuuu	2:a1c0a37df760	1	#include "function_CAN.h"
Lightvalve	11:82d8768d7351	2	#include "setting.h"
Lightvalve	11:82d8768d7351	3	#include "function_utilities.h"
Lightvalve	11:82d8768d7351	4	#include "SPI_EEP_ENC.h"
Lightvalve	16:903b5a4433b4	5	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	6	#include "FlashWriter.h"
jobuuu	2:a1c0a37df760	7
jobuuu	2:a1c0a37df760	8	// CAN ID Setting Variables
jobuuu	2:a1c0a37df760	9	int CID_RX_CMD = 100;
jobuuu	2:a1c0a37df760	10	int CID_RX_REF_POSITION = 200;
Lightvalve	49:e7bcfc244d40	11	int CID_RX_REF_VALVE_POS = 300;
Lightvalve	49:e7bcfc244d40	12	int CID_RX_REF_PWM = 400;
jobuuu	2:a1c0a37df760	13
jobuuu	2:a1c0a37df760	14	int CID_TX_INFO = 1100;
jobuuu	2:a1c0a37df760	15	int CID_TX_POSITION = 1200;
jobuuu	2:a1c0a37df760	16	int CID_TX_TORQUE = 1300;
jobuuu	2:a1c0a37df760	17	int CID_TX_PRES = 1400;
jobuuu	7:e9086c72bb22	18	int CID_TX_VOUT = 1500;
jobuuu	2:a1c0a37df760	19	int CID_TX_VALVE_POSITION = 1600;
jeongyeseong	225:9c0becc196ba	20	int CID_TX_SOMETHING = 1700;
jobuuu	2:a1c0a37df760	21
Lightvalve	12:6f2531038ea4	22	// variables
Lightvalve	12:6f2531038ea4	23	uint8_t can_index = 0;
Lightvalve	67:c2812cf26c38	24
Lightvalve	66:a8e6799dbce3	25	extern DigitalOut LED;
Lightvalve	12:6f2531038ea4	26
Lightvalve	99:7bbcb3c0fb06	27	extern float u_past[];
Lightvalve	68:328e1be06f5d	28	extern float x_past[];
Lightvalve	85:a3b46118b5cd	29	extern float x_future[];
Lightvalve	68:328e1be06f5d	30	extern float f_past[];
Lightvalve	68:328e1be06f5d	31	extern float f_future[];
Lightvalve	73:f80dc3970c99	32	extern float input_NN[];
Lightvalve	68:328e1be06f5d	33
Lightvalve	11:82d8768d7351	34	/*******************************************************************************
Lightvalve	11:82d8768d7351	35	* CAN functions
Lightvalve	11:82d8768d7351	36	******************************************************************************/
Lightvalve	170:42c938a40313	37	void CAN_ID_INIT(void)
Lightvalve	170:42c938a40313	38	{
jobuuu	7:e9086c72bb22	39
Lightvalve	11:82d8768d7351	40	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	41	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	42	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	43	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	44
Lightvalve	11:82d8768d7351	45	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	46	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	47	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	48	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	49	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	50	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
jeongyeseong	225:9c0becc196ba	51	CID_TX_SOMETHING = (int) (BNO + INIT_CID_TX_SOMETHING);
Lightvalve	11:82d8768d7351	52	}
jobuuu	2:a1c0a37df760	53
Lightvalve	28:2a62d73e3dd0	54	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	55	{
Lightvalve	170:42c938a40313	56	switch(CMD) {
Lightvalve	11:82d8768d7351	57	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	58	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	59	break;
Lightvalve	11:82d8768d7351	60	}
Lightvalve	11:82d8768d7351	61	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	62	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	63	break;
Lightvalve	11:82d8768d7351	64	}
Lightvalve	11:82d8768d7351	65	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	66	BNO = (int16_t) msg.data[1];
Lightvalve	170:42c938a40313	67	spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	68	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	69	break;
Lightvalve	11:82d8768d7351	70	}
Lightvalve	11:82d8768d7351	71	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	72	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	73	break;
Lightvalve	11:82d8768d7351	74	}
Lightvalve	11:82d8768d7351	75	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	76	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	77	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	78	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	79	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	170:42c938a40313	80	spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve	170:42c938a40313	81	spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
Lightvalve	170:42c938a40313	82	spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
Lightvalve	170:42c938a40313	83	spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
Lightvalve	11:82d8768d7351	84	break;
Lightvalve	11:82d8768d7351	85	}
Lightvalve	11:82d8768d7351	86	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	87	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	88
Lightvalve	11:82d8768d7351	89	break;
Lightvalve	11:82d8768d7351	90	}
Lightvalve	11:82d8768d7351	91	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	92
Lightvalve	11:82d8768d7351	93	break;
Lightvalve	11:82d8768d7351	94	}
Lightvalve	11:82d8768d7351	95
Lightvalve	45:35fa6884d0c6	96	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	97	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	98	/*
Lightvalve	45:35fa6884d0c6	99	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	100	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	101	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	102	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	103	*/
Lightvalve	11:82d8768d7351	104	break;
Lightvalve	11:82d8768d7351	105	}
Lightvalve	11:82d8768d7351	106
Lightvalve	11:82d8768d7351	107	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	108	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	109
Lightvalve	11:82d8768d7351	110	break;
Lightvalve	11:82d8768d7351	111	}
Lightvalve	11:82d8768d7351	112
Lightvalve	11:82d8768d7351	113	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	114	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	115	spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve	11:82d8768d7351	116	break;
Lightvalve	11:82d8768d7351	117	}
Lightvalve	11:82d8768d7351	118
Lightvalve	11:82d8768d7351	119	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	120	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	121
Lightvalve	11:82d8768d7351	122	break;
Lightvalve	11:82d8768d7351	123	}
Lightvalve	11:82d8768d7351	124
Lightvalve	11:82d8768d7351	125	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	126	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	127	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	128	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	129	}
Lightvalve	11:82d8768d7351	130	break;
Lightvalve	11:82d8768d7351	131	}
Lightvalve	11:82d8768d7351	132
Lightvalve	11:82d8768d7351	133	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	134	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	135	flag_data_request[request_type] = msg.data[1];
Lightvalve	11:82d8768d7351	136
Lightvalve	12:6f2531038ea4	137	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	138	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	139	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	140	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	141
Lightvalve	11:82d8768d7351	142	break;
Lightvalve	11:82d8768d7351	143	}
Lightvalve	11:82d8768d7351	144
Lightvalve	11:82d8768d7351	145	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	146	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	147
Lightvalve	11:82d8768d7351	148	break;
Lightvalve	11:82d8768d7351	149	}
Lightvalve	11:82d8768d7351	150
Lightvalve	11:82d8768d7351	151	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	152	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	153	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	154	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	155	else
Lightvalve	11:82d8768d7351	156	DIR_JOINT_ENC = -1;
Lightvalve	170:42c938a40313	157
Lightvalve	170:42c938a40313	158	spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	159
Lightvalve	11:82d8768d7351	160	break;
Lightvalve	11:82d8768d7351	161	}
Lightvalve	11:82d8768d7351	162
Lightvalve	11:82d8768d7351	163	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	164	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	165
Lightvalve	11:82d8768d7351	166	break;
Lightvalve	11:82d8768d7351	167	}
Lightvalve	11:82d8768d7351	168
Lightvalve	11:82d8768d7351	169	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	170	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	171	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	172	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	173	else
Lightvalve	11:82d8768d7351	174	DIR_VALVE = -1;
Lightvalve	170:42c938a40313	175
Lightvalve	170:42c938a40313	176	spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	177
Lightvalve	11:82d8768d7351	178	break;
Lightvalve	11:82d8768d7351	179	}
Lightvalve	11:82d8768d7351	180
Lightvalve	11:82d8768d7351	181	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	182	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	183
Lightvalve	11:82d8768d7351	184	break;
Lightvalve	11:82d8768d7351	185	}
Lightvalve	11:82d8768d7351	186
Lightvalve	11:82d8768d7351	187	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	188	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	189	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	190	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	191	else
Lightvalve	11:82d8768d7351	192	DIR_VALVE_ENC = -1;
Lightvalve	11:82d8768d7351	193
Lightvalve	170:42c938a40313	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	170:42c938a40313	207
Lightvalve	170:42c938a40313	208
Lightvalve	170:42c938a40313	209	spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve	11:82d8768d7351	210
Lightvalve	11:82d8768d7351	211	break;
Lightvalve	11:82d8768d7351	212	}
Lightvalve	11:82d8768d7351	213
Lightvalve	11:82d8768d7351	214	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	215	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	216
Lightvalve	11:82d8768d7351	217	break;
Lightvalve	11:82d8768d7351	218	}
Lightvalve	11:82d8768d7351	219
Lightvalve	11:82d8768d7351	220	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	221	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	222
Lightvalve	170:42c938a40313	223	spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve	11:82d8768d7351	224
Lightvalve	11:82d8768d7351	225
Lightvalve	11:82d8768d7351	226	break;
Lightvalve	11:82d8768d7351	227	}
Lightvalve	12:6f2531038ea4	228
Lightvalve	11:82d8768d7351	229	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	230	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	231	break;
Lightvalve	11:82d8768d7351	232	}
Lightvalve	11:82d8768d7351	233
Lightvalve	11:82d8768d7351	234	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	235	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	236
Lightvalve	11:82d8768d7351	237	break;
Lightvalve	11:82d8768d7351	238	}
Lightvalve	11:82d8768d7351	239
Lightvalve	11:82d8768d7351	240	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	241	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	242	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	243	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	244	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	245
Lightvalve	170:42c938a40313	246	spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	247	spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	248	spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
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	170:42c938a40313	254
Lightvalve	170:42c938a40313	255	spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	256	spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	257	spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	258
Lightvalve	11:82d8768d7351	259	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	260	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	261	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	262	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	263
Lightvalve	170:42c938a40313	264	spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	265	spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	266	spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	267
Lightvalve	46:2694daea349b	268	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	269	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	270	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	170:42c938a40313	271
Lightvalve	170:42c938a40313	272	// spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve	170:42c938a40313	273	// spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve	170:42c938a40313	274
Lightvalve	72:3436ce769b1e	275	} else if (msg.data[1] == 4) {
Lightvalve	72:3436ce769b1e	276	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	72:3436ce769b1e	277	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	72:3436ce769b1e	278	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	279
Lightvalve	11:82d8768d7351	280	}
Lightvalve	11:82d8768d7351	281
Lightvalve	11:82d8768d7351	282	break;
Lightvalve	11:82d8768d7351	283	}
Lightvalve	11:82d8768d7351	284
Lightvalve	11:82d8768d7351	285	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	286	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	287
Lightvalve	11:82d8768d7351	288	break;
Lightvalve	11:82d8768d7351	289	}
Lightvalve	11:82d8768d7351	290
Lightvalve	11:82d8768d7351	291	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	292	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	293	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	294	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	170:42c938a40313	295
Lightvalve	170:42c938a40313	296	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	297	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	170:42c938a40313	298	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	11:82d8768d7351	299
Lightvalve	11:82d8768d7351	300	break;
Lightvalve	11:82d8768d7351	301	}
Lightvalve	11:82d8768d7351	302
Lightvalve	11:82d8768d7351	303	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	304	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	305
Lightvalve	11:82d8768d7351	306	break;
Lightvalve	11:82d8768d7351	307	}
Lightvalve	11:82d8768d7351	308
Lightvalve	11:82d8768d7351	309	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	310	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	311
Lightvalve	170:42c938a40313	312
Lightvalve	170:42c938a40313	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	170:42c938a40313	327
Lightvalve	170:42c938a40313	328	spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	329
Lightvalve	11:82d8768d7351	330	break;
Lightvalve	11:82d8768d7351	331	}
Lightvalve	11:82d8768d7351	332
Lightvalve	11:82d8768d7351	333	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	334	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	335
Lightvalve	11:82d8768d7351	336	break;
Lightvalve	11:82d8768d7351	337	}
Lightvalve	11:82d8768d7351	338
Lightvalve	11:82d8768d7351	339	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	340	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	341
Lightvalve	170:42c938a40313	342	spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	343
Lightvalve	11:82d8768d7351	344	break;
Lightvalve	11:82d8768d7351	345	}
Lightvalve	11:82d8768d7351	346
Lightvalve	11:82d8768d7351	347	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	348	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	349
Lightvalve	11:82d8768d7351	350	break;
Lightvalve	11:82d8768d7351	351	}
Lightvalve	11:82d8768d7351	352
Lightvalve	11:82d8768d7351	353	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	354	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	355	spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	356
Lightvalve	11:82d8768d7351	357	break;
Lightvalve	11:82d8768d7351	358	}
Lightvalve	11:82d8768d7351	359
Lightvalve	11:82d8768d7351	360	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	361	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	362
Lightvalve	11:82d8768d7351	363	break;
Lightvalve	11:82d8768d7351	364	}
Lightvalve	11:82d8768d7351	365
Lightvalve	11:82d8768d7351	366	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	367	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	368	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	369
Lightvalve	170:42c938a40313	370	spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	170:42c938a40313	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	69:3995ffeaa786	385	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	386	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	170:42c938a40313	387
Lightvalve	170:42c938a40313	388	spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	170:42c938a40313	389	spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	390	break;
Lightvalve	11:82d8768d7351	391	}
Lightvalve	11:82d8768d7351	392
Lightvalve	11:82d8768d7351	393	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	394	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	395	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	396	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	397	//dac_2 = PRES_B_VREF;
Lightvalve	170:42c938a40313	398
Lightvalve	11:82d8768d7351	399	break;
Lightvalve	11:82d8768d7351	400	}
Lightvalve	11:82d8768d7351	401
Lightvalve	11:82d8768d7351	402	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	403	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	404	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	405	spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	170:42c938a40313	406	spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	407
Lightvalve	11:82d8768d7351	408
Lightvalve	11:82d8768d7351	409	break;
Lightvalve	11:82d8768d7351	410	}
Lightvalve	11:82d8768d7351	411
Lightvalve	11:82d8768d7351	412	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	413	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	414
Lightvalve	11:82d8768d7351	415	break;
Lightvalve	11:82d8768d7351	416	}
Lightvalve	11:82d8768d7351	417
Lightvalve	11:82d8768d7351	418	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	419	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	420	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	421	spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	170:42c938a40313	422	spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	423
Lightvalve	11:82d8768d7351	424	break;
Lightvalve	11:82d8768d7351	425	}
Lightvalve	11:82d8768d7351	426
Lightvalve	11:82d8768d7351	427	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	428	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	429	break;
Lightvalve	11:82d8768d7351	430	}
Lightvalve	11:82d8768d7351	431
Lightvalve	11:82d8768d7351	432	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	433	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	434	spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	435
Lightvalve	11:82d8768d7351	436	break;
Lightvalve	11:82d8768d7351	437	}
Lightvalve	11:82d8768d7351	438
Lightvalve	11:82d8768d7351	439	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	440	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	441
Lightvalve	11:82d8768d7351	442	break;
Lightvalve	11:82d8768d7351	443	}
Lightvalve	11:82d8768d7351	444
Lightvalve	11:82d8768d7351	445	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	446	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	447	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	448
Lightvalve	170:42c938a40313	449	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	450	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	11:82d8768d7351	451
Lightvalve	11:82d8768d7351	452	break;
Lightvalve	11:82d8768d7351	453	}
Lightvalve	11:82d8768d7351	454
Lightvalve	11:82d8768d7351	455	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	456	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	457
Lightvalve	11:82d8768d7351	458	break;
Lightvalve	11:82d8768d7351	459	}
Lightvalve	11:82d8768d7351	460
Lightvalve	11:82d8768d7351	461	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	462	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	180:02be1711ee0b	463	spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
Lightvalve	11:82d8768d7351	464
Lightvalve	11:82d8768d7351	465	break;
Lightvalve	11:82d8768d7351	466	}
Lightvalve	11:82d8768d7351	467
Lightvalve	11:82d8768d7351	468	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	469	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	470
Lightvalve	11:82d8768d7351	471	break;
Lightvalve	11:82d8768d7351	472	}
Lightvalve	11:82d8768d7351	473
Lightvalve	11:82d8768d7351	474	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	139:15621998925b	475	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.0001f);
Lightvalve	170:42c938a40313	476	spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve	11:82d8768d7351	477
Lightvalve	11:82d8768d7351	478	break;
Lightvalve	11:82d8768d7351	479	}
Lightvalve	11:82d8768d7351	480
Lightvalve	11:82d8768d7351	481	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	482	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	483
Lightvalve	11:82d8768d7351	484	break;
Lightvalve	11:82d8768d7351	485	}
Lightvalve	11:82d8768d7351	486
Lightvalve	11:82d8768d7351	487	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	488	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	489	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	170:42c938a40313	490	spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	170:42c938a40313	491	spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	11:82d8768d7351	492
Lightvalve	11:82d8768d7351	493	break;
Lightvalve	11:82d8768d7351	494	}
Lightvalve	11:82d8768d7351	495
Lightvalve	11:82d8768d7351	496	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	497	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	498
Lightvalve	11:82d8768d7351	499	break;
Lightvalve	11:82d8768d7351	500	}
Lightvalve	11:82d8768d7351	501
Lightvalve	11:82d8768d7351	502	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	503	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	504	spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve	11:82d8768d7351	505
Lightvalve	11:82d8768d7351	506	break;
Lightvalve	11:82d8768d7351	507	}
Lightvalve	11:82d8768d7351	508
Lightvalve	11:82d8768d7351	509	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	510	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	511
Lightvalve	11:82d8768d7351	512	break;
Lightvalve	11:82d8768d7351	513	}
Lightvalve	11:82d8768d7351	514	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	515	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	516	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	517	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	518	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	519	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	520	spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	170:42c938a40313	521	spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	170:42c938a40313	522	spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	170:42c938a40313	523	spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	170:42c938a40313	524	spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	525
Lightvalve	11:82d8768d7351	526	break;
Lightvalve	11:82d8768d7351	527	}
Lightvalve	11:82d8768d7351	528
Lightvalve	11:82d8768d7351	529	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	530	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	531
Lightvalve	11:82d8768d7351	532	break;
Lightvalve	11:82d8768d7351	533	}
Lightvalve	11:82d8768d7351	534	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	535	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	536	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	537	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	538	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	539	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	540	spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	170:42c938a40313	541	spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	170:42c938a40313	542	spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	170:42c938a40313	543	spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	170:42c938a40313	544	spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	545
Lightvalve	11:82d8768d7351	546	break;
Lightvalve	11:82d8768d7351	547	}
Lightvalve	11:82d8768d7351	548	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	549	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	550	break;
Lightvalve	11:82d8768d7351	551	}
Lightvalve	11:82d8768d7351	552
Lightvalve	11:82d8768d7351	553	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	554	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	555
Lightvalve	11:82d8768d7351	556	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	557	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	558	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	559	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	560	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	561
Lightvalve	11:82d8768d7351	562	break;
Lightvalve	11:82d8768d7351	563	}
Lightvalve	11:82d8768d7351	564
Lightvalve	11:82d8768d7351	565	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	566	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	567
Lightvalve	11:82d8768d7351	568	break;
Lightvalve	11:82d8768d7351	569	}
Lightvalve	11:82d8768d7351	570
Lightvalve	11:82d8768d7351	571	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	572
Lightvalve	12:6f2531038ea4	573	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	574	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	575	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	576	}
Lightvalve	11:82d8768d7351	577
Lightvalve	11:82d8768d7351	578	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	579
Lightvalve	11:82d8768d7351	580
Lightvalve	11:82d8768d7351	581	break;
Lightvalve	11:82d8768d7351	582	}
Lightvalve	11:82d8768d7351	583
Lightvalve	11:82d8768d7351	584	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	585	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	586	break;
Lightvalve	11:82d8768d7351	587	}
Lightvalve	11:82d8768d7351	588	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	589	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	590	spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	591	break;
Lightvalve	11:82d8768d7351	592	}
Lightvalve	11:82d8768d7351	593
Lightvalve	11:82d8768d7351	594	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	595	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	596	break;
Lightvalve	11:82d8768d7351	597	}
Lightvalve	11:82d8768d7351	598	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	599	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	600	spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	601	break;
Lightvalve	11:82d8768d7351	602	}
Lightvalve	11:82d8768d7351	603
Lightvalve	11:82d8768d7351	604	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	605	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	606	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	607	break;
Lightvalve	11:82d8768d7351	608	}
Lightvalve	11:82d8768d7351	609	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	610	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	611	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	612	break;
Lightvalve	11:82d8768d7351	613	}
Lightvalve	11:82d8768d7351	614	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	615	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	616	break;
Lightvalve	11:82d8768d7351	617	}
Lightvalve	170:42c938a40313	618
Lightvalve	28:2a62d73e3dd0	619	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	620	break;
Lightvalve	28:2a62d73e3dd0	621	}
Lightvalve	32:4b8c0fedaf2c	622	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	623	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	624	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	170:42c938a40313	625	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	626
Lightvalve	33:91b17819ec30	627	break;
Lightvalve	33:91b17819ec30	628	}
Lightvalve	33:91b17819ec30	629	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	630	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	631	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	170:42c938a40313	632	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	170:42c938a40313	633
Lightvalve	33:91b17819ec30	634	break;
Lightvalve	33:91b17819ec30	635	}
Lightvalve	33:91b17819ec30	636	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	637	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	638	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	170:42c938a40313	639	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	32:4b8c0fedaf2c	640	break;
Lightvalve	32:4b8c0fedaf2c	641	}
Lightvalve	36:a46e63505ed8	642	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	643	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	644	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	645	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	646	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	647	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	648	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	649	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	650	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	651	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	652	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	653	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	654	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	655	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	656	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	657	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	658	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	659	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	660	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	661	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	662	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	663	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	664	}
Lightvalve	36:a46e63505ed8	665	break;
Lightvalve	36:a46e63505ed8	666	}
Lightvalve	38:118df027d851	667	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	38:118df027d851	668	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	669	break;
Lightvalve	38:118df027d851	670	}
Lightvalve	170:42c938a40313	671	case CRX_DELAY_TEST: {
Lightvalve	54:647072f5307a	672	flag_delay_test = 1;
Lightvalve	54:647072f5307a	673	break;
Lightvalve	54:647072f5307a	674	}
Lightvalve	68:328e1be06f5d	675	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	68:328e1be06f5d	676	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	68:328e1be06f5d	677	CONTROL_UTILITY_MODE = 1;
Lightvalve	68:328e1be06f5d	678	break;
Lightvalve	68:328e1be06f5d	679	}
Lightvalve	169:645207e160ca	680	case CRX_SET_FREQ_TEST: {
Lightvalve	169:645207e160ca	681	cnt_freq_test = 0;
Lightvalve	169:645207e160ca	682	CONTROL_UTILITY_MODE = 34;
Lightvalve	169:645207e160ca	683	break;
Lightvalve	169:645207e160ca	684	}
Lightvalve	170:42c938a40313	685
Lightvalve	169:645207e160ca	686	case CRX_ASK_BUFFER: {
Lightvalve	169:645207e160ca	687	cnt_buffer = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	169:645207e160ca	688	CAN_TX_BUFFER(cnt_buffer);
Lightvalve	169:645207e160ca	689	break;
Lightvalve	169:645207e160ca	690	}
Lightvalve	170:42c938a40313	691
Lightvalve	169:645207e160ca	692	case CRX_SET_STEP_TEST: {
Lightvalve	169:645207e160ca	693	cnt_step_test = 0;
Lightvalve	169:645207e160ca	694	CONTROL_UTILITY_MODE = 37;
Lightvalve	169:645207e160ca	695	break;
Lightvalve	169:645207e160ca	696	}
Lightvalve	38:118df027d851	697
Lightvalve	192:637092202815	698	case CRX_SET_CHANGE_EVERY_REFERNCE: {
Lightvalve	192:637092202815	699	flag_every_reference = 1;
Lightvalve	192:637092202815	700	break;
Lightvalve	192:637092202815	701	}
Lightvalve	192:637092202815	702
Lightvalve	170:42c938a40313	703	default:
Lightvalve	170:42c938a40313	704	break;
jobuuu	2:a1c0a37df760	705	}
jobuuu	2:a1c0a37df760	706	}
jobuuu	2:a1c0a37df760	707
jobuuu	2:a1c0a37df760	708	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	709	{
Lightvalve	170:42c938a40313	710
jobuuu	2:a1c0a37df760	711	can.read(msg);
jobuuu	2:a1c0a37df760	712	unsigned int address = msg.id;
Lightvalve	170:42c938a40313	713	if(address==CID_RX_CMD) {
jobuuu	2:a1c0a37df760	714	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	715	ReadCMD(CMD);
Lightvalve	170:42c938a40313	716
jobuuu	7:e9086c72bb22	717	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	170:42c938a40313	718
Lightvalve	43:b084e5f5d0d5	719	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	720	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	721	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	170:42c938a40313	722
Lightvalve	57:f4819de54e7a	723	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	724	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	725	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	170:42c938a40313	726	} else { //Linear Actuator
Lightvalve	67:c2812cf26c38	727	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	67:c2812cf26c38	728	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	57:f4819de54e7a	729	}
Lightvalve	170:42c938a40313	730
Lightvalve	68:328e1be06f5d	731	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	133:22ab22818e01	732	torq.ref_diff = torq.ref - torq.ref_old;
Lightvalve	224:985dba42f261	733	torq_dot.sen = torq.sen-torq_sen_past;
Lightvalve	133:22ab22818e01	734	torq.ref_old = torq.ref;
Lightvalve	224:985dba42f261	735	torq_sen_past = torq.sen;
jeongyeseong	225:9c0becc196ba	736
jeongyeseong	225:9c0becc196ba	737	if(CAN_FREQ == -1) {
jeongyeseong	225:9c0becc196ba	738	// Position, Velocity, and Torque (ID:1200)
jeongyeseong	225:9c0becc196ba	739	if (flag_data_request[0] == HIGH) {
jeongyeseong	225:9c0becc196ba	740	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
jeongyeseong	225:9c0becc196ba	741	if (SENSING_MODE == 0) {
jeongyeseong	225:9c0becc196ba	742	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
jeongyeseong	225:9c0becc196ba	743	} else if (SENSING_MODE == 1) {
jeongyeseong	225:9c0becc196ba	744	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
jeongyeseong	225:9c0becc196ba	745	}
jeongyeseong	225:9c0becc196ba	746	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
jeongyeseong	225:9c0becc196ba	747	if (SENSING_MODE == 0) {
jeongyeseong	225:9c0becc196ba	748	CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
jeongyeseong	225:9c0becc196ba	749	} else if (SENSING_MODE == 1) {
jeongyeseong	225:9c0becc196ba	750	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
jeongyeseong	225:9c0becc196ba	751	}
jeongyeseong	225:9c0becc196ba	752	}
jeongyeseong	225:9c0becc196ba	753	}
jeongyeseong	225:9c0becc196ba	754
jeongyeseong	225:9c0becc196ba	755	// ID:1300
jeongyeseong	225:9c0becc196ba	756	if (flag_data_request[1] == HIGH) {
jeongyeseong	225:9c0becc196ba	757	CAN_TX_TORQUE((int16_t) 7); //1300
jeongyeseong	225:9c0becc196ba	758	}
jeongyeseong	225:9c0becc196ba	759
jeongyeseong	225:9c0becc196ba	760	// Reference Current, Current Current (ID:1700)
jeongyeseong	225:9c0becc196ba	761	if (flag_data_request[2] == HIGH) {
jeongyeseong	225:9c0becc196ba	762
jeongyeseong	225:9c0becc196ba	763	CAN_TX_SOMETHING((int16_t) (I_REF_fil / mA_PER_pulse), (int16_t) (cur.sen / mA_PER_pulse), (int16_t) (0), (int16_t) (0));
jeongyeseong	225:9c0becc196ba	764	//double t_value = 0.0f;
jeongyeseong	225:9c0becc196ba	765	// if(value>=(float) VALVE_CENTER) {
jeongyeseong	225:9c0becc196ba	766	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jeongyeseong	225:9c0becc196ba	767	// } else {
jeongyeseong	225:9c0becc196ba	768	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jeongyeseong	225:9c0becc196ba	769	// }
jeongyeseong	225:9c0becc196ba	770	// double t_value_ref = 0.0f;
jeongyeseong	225:9c0becc196ba	771	// if(valve_pos.ref>=(float) VALVE_CENTER) {
jeongyeseong	225:9c0becc196ba	772	// t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jeongyeseong	225:9c0becc196ba	773	// } else {
jeongyeseong	225:9c0becc196ba	774	// t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jeongyeseong	225:9c0becc196ba	775	// }
jeongyeseong	225:9c0becc196ba	776	//
jeongyeseong	225:9c0becc196ba	777	//
jeongyeseong	225:9c0becc196ba	778	// CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400
jeongyeseong	225:9c0becc196ba	779	}
jeongyeseong	225:9c0becc196ba	780
jeongyeseong	225:9c0becc196ba	781	//If it doesn't rest, below can can not work.
jeongyeseong	225:9c0becc196ba	782	for (int can_rest2 = 0; can_rest2 < 10000; can_rest2++) {
jeongyeseong	225:9c0becc196ba	783	;
jeongyeseong	225:9c0becc196ba	784	}
jeongyeseong	225:9c0becc196ba	785
jeongyeseong	225:9c0becc196ba	786	// ID:1500
jeongyeseong	225:9c0becc196ba	787	if (flag_data_request[3] == HIGH) {
jeongyeseong	225:9c0becc196ba	788	//PWM
jeongyeseong	225:9c0becc196ba	789	CAN_TX_PWM((int16_t) (torq.ref)); //1500
jeongyeseong	225:9c0becc196ba	790	}
jeongyeseong	225:9c0becc196ba	791
jeongyeseong	225:9c0becc196ba	792	// ID:1600
jeongyeseong	225:9c0becc196ba	793	if (flag_data_request[4] == HIGH) {
jeongyeseong	225:9c0becc196ba	794	//valve position
jeongyeseong	225:9c0becc196ba	795	CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //1600
jeongyeseong	225:9c0becc196ba	796	}
jeongyeseong	225:9c0becc196ba	797
jeongyeseong	225:9c0becc196ba	798	}
Lightvalve	68:328e1be06f5d	799
Lightvalve	101:50159049a518	800
Lightvalve	49:e7bcfc244d40	801	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	802	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	170:42c938a40313	803
Lightvalve	57:f4819de54e7a	804	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	805	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	806	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	807	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	808	} else { //SW Valve
Lightvalve	57:f4819de54e7a	809	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	810	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	811	} else {
Lightvalve	57:f4819de54e7a	812	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	813	}
Lightvalve	47:fdcb8bd86fd6	814	}
Lightvalve	170:42c938a40313	815	} else if(address==CID_RX_REF_PWM) {
Lightvalve	49:e7bcfc244d40	816	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	817	Vout.ref = (double) temp_ref_pwm;
Lightvalve	170:42c938a40313	818	}
jeongyeseong	225:9c0becc196ba	819
jeongyeseong	225:9c0becc196ba	820
jobuuu	2:a1c0a37df760	821	}
jobuuu	2:a1c0a37df760	822
jobuuu	2:a1c0a37df760	823	/******************************************************************************
jobuuu	2:a1c0a37df760	824	Information Transmission Functions
jobuuu	2:a1c0a37df760	825	*******************************************************************************/
Lightvalve	11:82d8768d7351	826
Lightvalve	170:42c938a40313	827	void CAN_TX_INFO(void)
Lightvalve	170:42c938a40313	828	{
Lightvalve	12:6f2531038ea4	829	CANMessage temp_msg;
Lightvalve	170:42c938a40313	830
jobuuu	2:a1c0a37df760	831	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	832	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	833	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	834	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	835	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	836	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	837	temp_msg.data[4] = (uint8_t) (flag_err[7] << 7 \| flag_err[6] << 6 \| flag_err[5] << 5 \| flag_err[4] << 4 \| flag_err[3] << 3 \| flag_err[2] << 2 \| flag_err[1] << 1 \| flag_err[0]);
Lightvalve	57:f4819de54e7a	838	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	839	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	840
jobuuu	2:a1c0a37df760	841	can.write(temp_msg);
jobuuu	2:a1c0a37df760	842	}
jobuuu	2:a1c0a37df760	843
Lightvalve	170:42c938a40313	844	void CAN_TX_BNO(void)
Lightvalve	170:42c938a40313	845	{
Lightvalve	12:6f2531038ea4	846	CANMessage temp_msg;
Lightvalve	170:42c938a40313	847
jobuuu	2:a1c0a37df760	848	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	849	//temp_msg.len = 2;
jeongyeseong	225:9c0becc196ba	850	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	851	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	852	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	853
jobuuu	2:a1c0a37df760	854	can.write(temp_msg);
jobuuu	2:a1c0a37df760	855	}
jobuuu	2:a1c0a37df760	856
Lightvalve	170:42c938a40313	857	void CAN_TX_OPERATING_MODE(void)
Lightvalve	170:42c938a40313	858	{
jobuuu	2:a1c0a37df760	859	CANMessage temp_msg;
Lightvalve	170:42c938a40313	860
jobuuu	2:a1c0a37df760	861	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	862	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	863	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	864	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	865	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	866	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	867	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	868
jobuuu	2:a1c0a37df760	869	can.write(temp_msg);
jobuuu	2:a1c0a37df760	870	}
jobuuu	2:a1c0a37df760	871
Lightvalve	170:42c938a40313	872	void CAN_TX_CAN_FREQ(void)
Lightvalve	170:42c938a40313	873	{
jobuuu	2:a1c0a37df760	874	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	875
jobuuu	2:a1c0a37df760	876	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	877	temp_msg.len = 8;
jobuuu	2:a1c0a37df760	878	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	879	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	880	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	881
jobuuu	2:a1c0a37df760	882	can.write(temp_msg);
jobuuu	2:a1c0a37df760	883	}
Lightvalve	11:82d8768d7351	884
Lightvalve	170:42c938a40313	885	void CAN_TX_CONTROL_MODE(void)
Lightvalve	170:42c938a40313	886	{
jobuuu	2:a1c0a37df760	887	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	888
jobuuu	2:a1c0a37df760	889	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	890	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	891	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	892	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	893
jobuuu	2:a1c0a37df760	894	can.write(temp_msg);
jobuuu	2:a1c0a37df760	895	}
Lightvalve	11:82d8768d7351	896
Lightvalve	170:42c938a40313	897	void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve	170:42c938a40313	898	{
jobuuu	2:a1c0a37df760	899	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	900
jobuuu	2:a1c0a37df760	901	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	902	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	903	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	904	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	905	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	906
jobuuu	2:a1c0a37df760	907	can.write(temp_msg);
jobuuu	2:a1c0a37df760	908	}
jobuuu	2:a1c0a37df760	909
Lightvalve	170:42c938a40313	910	void CAN_TX_VALVE_DIR(void)
Lightvalve	170:42c938a40313	911	{
jobuuu	2:a1c0a37df760	912	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	913
jobuuu	2:a1c0a37df760	914	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	915	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	916	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	917	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	918	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	919
jobuuu	2:a1c0a37df760	920	can.write(temp_msg);
jobuuu	2:a1c0a37df760	921	}
jobuuu	2:a1c0a37df760	922
Lightvalve	170:42c938a40313	923	void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve	170:42c938a40313	924	{
jobuuu	2:a1c0a37df760	925	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	926
jobuuu	2:a1c0a37df760	927	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	928	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	929	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	930	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	931	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	932
jobuuu	2:a1c0a37df760	933	can.write(temp_msg);
jobuuu	2:a1c0a37df760	934	}
jobuuu	2:a1c0a37df760	935
Lightvalve	170:42c938a40313	936	void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve	170:42c938a40313	937	{
Lightvalve	49:e7bcfc244d40	938	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	939
jobuuu	2:a1c0a37df760	940	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	941
jobuuu	2:a1c0a37df760	942	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	943	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	944	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	945	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	946	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	947
jobuuu	2:a1c0a37df760	948	can.write(temp_msg);
jobuuu	2:a1c0a37df760	949	}
jobuuu	2:a1c0a37df760	950
Lightvalve	170:42c938a40313	951	void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve	170:42c938a40313	952	{
Lightvalve	49:e7bcfc244d40	953	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	954
jobuuu	2:a1c0a37df760	955	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	956
jobuuu	2:a1c0a37df760	957	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	958	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	959	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	960	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	961	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	962
jobuuu	2:a1c0a37df760	963	can.write(temp_msg);
jobuuu	2:a1c0a37df760	964	}
Lightvalve	11:82d8768d7351	965
jobuuu	2:a1c0a37df760	966
Lightvalve	170:42c938a40313	967	void CAN_TX_PID_GAIN(int t_type)
Lightvalve	170:42c938a40313	968	{
jobuuu	2:a1c0a37df760	969	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	970	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	971	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	972
Lightvalve	12:6f2531038ea4	973	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	974	if (t_type == 0) {
Lightvalve	30:8d561f16383b	975	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	976	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	977	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	978	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	979	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	980	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	981	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	982	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	983	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	984	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	985	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	986	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	987	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	988	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	989	}
jobuuu	2:a1c0a37df760	990
jobuuu	2:a1c0a37df760	991	CANMessage temp_msg;
Lightvalve	170:42c938a40313	992
jobuuu	2:a1c0a37df760	993	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	994	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	995	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	996	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	997	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	998	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	999	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	1000	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	1001	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	1002	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	1003
jobuuu	2:a1c0a37df760	1004	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1005	}
jobuuu	2:a1c0a37df760	1006
Lightvalve	11:82d8768d7351	1007
Lightvalve	170:42c938a40313	1008	void CAN_TX_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	1009	{
jobuuu	2:a1c0a37df760	1010	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1011
jobuuu	2:a1c0a37df760	1012	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1013	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1014	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	1015	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	1016	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	1017	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	1018	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	1019	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	1020	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	1021
jobuuu	2:a1c0a37df760	1022	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1023	}
jobuuu	2:a1c0a37df760	1024
Lightvalve	170:42c938a40313	1025	void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve	170:42c938a40313	1026	{
Lightvalve	11:82d8768d7351	1027	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1028
Lightvalve	11:82d8768d7351	1029	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1030	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1031	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1032	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1033	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	1034
Lightvalve	11:82d8768d7351	1035	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1036	}
Lightvalve	11:82d8768d7351	1037
Lightvalve	170:42c938a40313	1038	void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve	170:42c938a40313	1039	{
Lightvalve	11:82d8768d7351	1040	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1041
Lightvalve	11:82d8768d7351	1042	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1043	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1044	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1045	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1046	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	1047
Lightvalve	11:82d8768d7351	1048	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1049	}
Lightvalve	11:82d8768d7351	1050
Lightvalve	170:42c938a40313	1051	void CAN_TX_VALVE_FF(void)
Lightvalve	170:42c938a40313	1052	{
Lightvalve	11:82d8768d7351	1053	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1054
Lightvalve	11:82d8768d7351	1055	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1056	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1057	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	1058	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	1059	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	1060
Lightvalve	11:82d8768d7351	1061	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1062	}
Lightvalve	11:82d8768d7351	1063
Lightvalve	170:42c938a40313	1064	void CAN_TX_BULK_MODULUS(void)
Lightvalve	170:42c938a40313	1065	{
Lightvalve	11:82d8768d7351	1066	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1067
Lightvalve	11:82d8768d7351	1068	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1069	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1070	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1071	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1072	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	1073
Lightvalve	11:82d8768d7351	1074	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1075	}
Lightvalve	11:82d8768d7351	1076
Lightvalve	170:42c938a40313	1077	void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve	170:42c938a40313	1078	{
Lightvalve	11:82d8768d7351	1079	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1080
Lightvalve	11:82d8768d7351	1081	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1082	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1083	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1084	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1085	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1086	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1087	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1088
Lightvalve	11:82d8768d7351	1089	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1090	}
Lightvalve	11:82d8768d7351	1091
Lightvalve	170:42c938a40313	1092	void CAN_TX_PISTON_AREA(void)
Lightvalve	170:42c938a40313	1093	{
jobuuu	2:a1c0a37df760	1094	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1095
Lightvalve	11:82d8768d7351	1096	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1097	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1098	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1099	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1100	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1101	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1102	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1103
Lightvalve	11:82d8768d7351	1104	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1105	}
Lightvalve	11:82d8768d7351	1106
Lightvalve	170:42c938a40313	1107	void CAN_TX_PRES_A_AND_B(void)
Lightvalve	170:42c938a40313	1108	{
Lightvalve	11:82d8768d7351	1109	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1110
Lightvalve	11:82d8768d7351	1111	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1112	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1113	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1114	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1115	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1116	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1117	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1118
Lightvalve	11:82d8768d7351	1119	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1120	}
Lightvalve	11:82d8768d7351	1121
Lightvalve	170:42c938a40313	1122	void CAN_TX_ENC_LIMIT(void)
Lightvalve	170:42c938a40313	1123	{
Lightvalve	11:82d8768d7351	1124	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1125
Lightvalve	11:82d8768d7351	1126	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1127	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1128	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1129	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1130	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1131	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1132	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1133
Lightvalve	11:82d8768d7351	1134	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1135	}
Lightvalve	11:82d8768d7351	1136
Lightvalve	170:42c938a40313	1137	void CAN_TX_STROKE(void)
Lightvalve	170:42c938a40313	1138	{
Lightvalve	11:82d8768d7351	1139	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1140
Lightvalve	11:82d8768d7351	1141	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1142	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1143	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1144	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1145	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1146
Lightvalve	11:82d8768d7351	1147	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1148	}
Lightvalve	11:82d8768d7351	1149
Lightvalve	170:42c938a40313	1150	void CAN_TX_VALVE_LIMIT(void)
Lightvalve	170:42c938a40313	1151	{
Lightvalve	11:82d8768d7351	1152	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1153
Lightvalve	11:82d8768d7351	1154	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1155	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1156	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1157	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1158	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1159	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1160	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1161
Lightvalve	11:82d8768d7351	1162	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1163	}
Lightvalve	11:82d8768d7351	1164
Lightvalve	170:42c938a40313	1165	void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve	170:42c938a40313	1166	{
Lightvalve	11:82d8768d7351	1167	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1168
jobuuu	2:a1c0a37df760	1169	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1170	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1171	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1172	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1173	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1174	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1175
jobuuu	2:a1c0a37df760	1176	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1177	}
jobuuu	2:a1c0a37df760	1178
Lightvalve	170:42c938a40313	1179	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve	170:42c938a40313	1180	{
jobuuu	2:a1c0a37df760	1181	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1182
jobuuu	2:a1c0a37df760	1183	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1184	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1185	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	139:15621998925b	1186	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve	48:889798ff9329	1187	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1188	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1189
jobuuu	2:a1c0a37df760	1190	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1191	}
jobuuu	2:a1c0a37df760	1192
Lightvalve	170:42c938a40313	1193	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve	170:42c938a40313	1194	{
jobuuu	2:a1c0a37df760	1195	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1196
jobuuu	2:a1c0a37df760	1197	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1198	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1199	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1200	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1201	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1202	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1203	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1204
jobuuu	2:a1c0a37df760	1205	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1206	}
jobuuu	2:a1c0a37df760	1207
Lightvalve	170:42c938a40313	1208	void CAN_TX_FRICTION(void)
Lightvalve	170:42c938a40313	1209	{
Lightvalve	11:82d8768d7351	1210	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1211	int16_t send_friction;
Lightvalve	30:8d561f16383b	1212	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	170:42c938a40313	1213
Lightvalve	11:82d8768d7351	1214	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1215	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1216	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1217	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1218	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1219
Lightvalve	11:82d8768d7351	1220	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1221	}
Lightvalve	11:82d8768d7351	1222
Lightvalve	170:42c938a40313	1223	void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve	170:42c938a40313	1224	{
Lightvalve	11:82d8768d7351	1225	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1226
Lightvalve	11:82d8768d7351	1227	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1228	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1229	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1230	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1231	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1232	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1233	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1234	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1235
Lightvalve	11:82d8768d7351	1236	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1237	}
Lightvalve	11:82d8768d7351	1238
Lightvalve	170:42c938a40313	1239	void CAN_TX_DDV_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	1240	{
Lightvalve	11:82d8768d7351	1241	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1242	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1243	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1244	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1245
Lightvalve	57:f4819de54e7a	1246	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1247	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1248	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	170:42c938a40313	1249
Lightvalve	11:82d8768d7351	1250	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1251	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1252	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1253	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1254	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1255	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1256	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1257	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1258	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1259
Lightvalve	11:82d8768d7351	1260	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1261	}
Lightvalve	11:82d8768d7351	1262
Lightvalve	170:42c938a40313	1263	void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve	170:42c938a40313	1264	{
Lightvalve	11:82d8768d7351	1265	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1266
Lightvalve	11:82d8768d7351	1267	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1268	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1269	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1270	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1271	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1272	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1273	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1274	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1275
Lightvalve	11:82d8768d7351	1276	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1277	}
Lightvalve	11:82d8768d7351	1278
Lightvalve	170:42c938a40313	1279	void CAN_TX_REFENCE_MODE(void)
Lightvalve	170:42c938a40313	1280	{
Lightvalve	11:82d8768d7351	1281	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1282
Lightvalve	11:82d8768d7351	1283	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1284	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1285	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1286	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1287	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1288	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1289	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1290	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1291
Lightvalve	11:82d8768d7351	1292	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1293	}
Lightvalve	11:82d8768d7351	1294
Lightvalve	170:42c938a40313	1295	void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve	170:42c938a40313	1296	{
Lightvalve	11:82d8768d7351	1297	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1298	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1299	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	170:42c938a40313	1300
jobuuu	2:a1c0a37df760	1301	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1302	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1303	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1304	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1305	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1306
jobuuu	2:a1c0a37df760	1307	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1308	}
Lightvalve	11:82d8768d7351	1309
Lightvalve	170:42c938a40313	1310	void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve	170:42c938a40313	1311	{
Lightvalve	11:82d8768d7351	1312	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1313	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1314	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	170:42c938a40313	1315
Lightvalve	11:82d8768d7351	1316	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1317	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1318	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1319	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1320	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1321
Lightvalve	11:82d8768d7351	1322	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1323	}
Lightvalve	11:82d8768d7351	1324
Lightvalve	170:42c938a40313	1325	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve	170:42c938a40313	1326	{
Lightvalve	11:82d8768d7351	1327	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1328	int16_t valve_pos_vs_pwm;
Lightvalve	170:42c938a40313	1329
Lightvalve	57:f4819de54e7a	1330	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1331	valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	49:e7bcfc244d40	1332	} else {
Lightvalve	57:f4819de54e7a	1333	valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	49:e7bcfc244d40	1334	}
Lightvalve	170:42c938a40313	1335
Lightvalve	12:6f2531038ea4	1336	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1337	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	170:42c938a40313	1338
Lightvalve	11:82d8768d7351	1339	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1340	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1341	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1342	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1343	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1344	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1345	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1346
Lightvalve	11:82d8768d7351	1347	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1348	}
Lightvalve	11:82d8768d7351	1349
Lightvalve	170:42c938a40313	1350	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve	170:42c938a40313	1351	{
Lightvalve	11:82d8768d7351	1352	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1353	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1354	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1355
Lightvalve	57:f4819de54e7a	1356	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1357	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1358	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1359	temp_valve_pos = (int16_t) (10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER));
Lightvalve	49:e7bcfc244d40	1360	} else {
Lightvalve	57:f4819de54e7a	1361	temp_valve_pos = (int16_t) (-10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER));
Lightvalve	49:e7bcfc244d40	1362	}
Lightvalve	170:42c938a40313	1363
Lightvalve	11:82d8768d7351	1364	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1365	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1366	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1367	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1368	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
jeongyeseong	225:9c0becc196ba	1369	temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
jeongyeseong	225:9c0becc196ba	1370	temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
jeongyeseong	225:9c0becc196ba	1371	temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
jeongyeseong	225:9c0becc196ba	1372	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1373
Lightvalve	11:82d8768d7351	1374	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1375	}
Lightvalve	11:82d8768d7351	1376
Lightvalve	170:42c938a40313	1377	void CAN_TX_VALVE_POS_NUM(void)
Lightvalve	170:42c938a40313	1378	{
Lightvalve	11:82d8768d7351	1379	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1380	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1381	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	170:42c938a40313	1382
Lightvalve	11:82d8768d7351	1383	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1384	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1385	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1386	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1387	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1388
Lightvalve	11:82d8768d7351	1389	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1390	}
Lightvalve	11:82d8768d7351	1391
Lightvalve	170:42c938a40313	1392	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve	170:42c938a40313	1393	{
Lightvalve	38:118df027d851	1394	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1395
Lightvalve	48:889798ff9329	1396	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1397	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1398	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1399
Lightvalve	57:f4819de54e7a	1400	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1401	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1402	temp_ddv_center = VALVE_CENTER;
Lightvalve	170:42c938a40313	1403
Lightvalve	38:118df027d851	1404	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1405	temp_msg.len = 8;
Lightvalve	38:118df027d851	1406	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1407	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1408	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1409	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1410	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1411	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1412	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1413
Lightvalve	38:118df027d851	1414	can.write(temp_msg);
Lightvalve	38:118df027d851	1415	}
Lightvalve	38:118df027d851	1416
Lightvalve	169:645207e160ca	1417
Lightvalve	170:42c938a40313	1418	void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve	170:42c938a40313	1419	{
Lightvalve	169:645207e160ca	1420	CANMessage temp_msg;
Lightvalve	169:645207e160ca	1421	int16_t send_pos_array, send_ref_array;
Lightvalve	169:645207e160ca	1422	send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve	169:645207e160ca	1423	send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve	170:42c938a40313	1424
Lightvalve	169:645207e160ca	1425	temp_msg.id = CID_TX_INFO;
jeongyeseong	225:9c0becc196ba	1426	temp_msg.len = 8;
Lightvalve	169:645207e160ca	1427	temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve	169:645207e160ca	1428	temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve	169:645207e160ca	1429	temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve	169:645207e160ca	1430	temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve	169:645207e160ca	1431	temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve	169:645207e160ca	1432
Lightvalve	169:645207e160ca	1433	can.write(temp_msg);
Lightvalve	169:645207e160ca	1434	}
Lightvalve	169:645207e160ca	1435
Lightvalve	169:645207e160ca	1436
jobuuu	2:a1c0a37df760	1437	/******************************************************************************
jobuuu	2:a1c0a37df760	1438	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1439	*******************************************************************************/
jobuuu	2:a1c0a37df760	1440
Lightvalve	170:42c938a40313	1441	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve	170:42c938a40313	1442	{
Lightvalve	52:8ea76864368a	1443	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1444
Lightvalve	52:8ea76864368a	1445	temp_msg.id = CID_TX_POSITION;
jeongyeseong	225:9c0becc196ba	1446	temp_msg.len = 8;
Lightvalve	52:8ea76864368a	1447	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1448	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1449	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1450	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1451	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1452	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1453
Lightvalve	52:8ea76864368a	1454	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1455	}
Lightvalve	52:8ea76864368a	1456
Lightvalve	170:42c938a40313	1457	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve	170:42c938a40313	1458	{
Lightvalve	170:42c938a40313	1459
jobuuu	2:a1c0a37df760	1460	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1461
jobuuu	2:a1c0a37df760	1462	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1463	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1464	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1465	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1466	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1467	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1468	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1469	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1470	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1471	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1472
jobuuu	2:a1c0a37df760	1473	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1474	}
jobuuu	2:a1c0a37df760	1475
Lightvalve	67:c2812cf26c38	1476
Lightvalve	170:42c938a40313	1477	void CAN_TX_TORQUE(int16_t t_valve_pos)
Lightvalve	170:42c938a40313	1478	{
jobuuu	2:a1c0a37df760	1479	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1480
jobuuu	2:a1c0a37df760	1481	temp_msg.id = CID_TX_TORQUE;
jeongyeseong	225:9c0becc196ba	1482	temp_msg.len = 8;
Lightvalve	48:889798ff9329	1483	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1484	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1485
jobuuu	2:a1c0a37df760	1486	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1487	}
jobuuu	2:a1c0a37df760	1488
Lightvalve	170:42c938a40313	1489	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve	170:42c938a40313	1490	{
jobuuu	2:a1c0a37df760	1491	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1492
jobuuu	2:a1c0a37df760	1493	temp_msg.id = CID_TX_PRES;
jeongyeseong	225:9c0becc196ba	1494	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1495	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1496	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1497	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1498	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1499
jobuuu	2:a1c0a37df760	1500	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1501	}
jobuuu	2:a1c0a37df760	1502
Lightvalve	170:42c938a40313	1503	void CAN_TX_PWM(int16_t t_pwm)
Lightvalve	170:42c938a40313	1504	{
jobuuu	2:a1c0a37df760	1505	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1506
Lightvalve	57:f4819de54e7a	1507	temp_msg.id = CID_TX_VOUT;
jeongyeseong	225:9c0becc196ba	1508	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1509	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1510	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1511
jobuuu	2:a1c0a37df760	1512	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1513	}
jobuuu	2:a1c0a37df760	1514
Lightvalve	73:f80dc3970c99	1515	void CAN_TX_VALVE_POSITION(int16_t t_valve_pos_1, int16_t t_valve_pos_2, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve	27:a2254a485f23	1516	{
jobuuu	2:a1c0a37df760	1517	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1518
jobuuu	2:a1c0a37df760	1519	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	73:f80dc3970c99	1520	temp_msg.len = 8;
Lightvalve	73:f80dc3970c99	1521	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	73:f80dc3970c99	1522	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	73:f80dc3970c99	1523	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	73:f80dc3970c99	1524	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	73:f80dc3970c99	1525	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	73:f80dc3970c99	1526	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	73:f80dc3970c99	1527	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	73:f80dc3970c99	1528	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	170:42c938a40313	1529
jobuuu	2:a1c0a37df760	1530
jobuuu	2:a1c0a37df760	1531	can.write(temp_msg);
jeongyeseong	225:9c0becc196ba	1532	}
jeongyeseong	225:9c0becc196ba	1533
jeongyeseong	225:9c0becc196ba	1534	void CAN_TX_SOMETHING(int16_t t_a, int16_t t_b, int16_t t_c, int16_t t_d)
jeongyeseong	225:9c0becc196ba	1535	{
jeongyeseong	225:9c0becc196ba	1536	CANMessage temp_msg;
jeongyeseong	225:9c0becc196ba	1537
jeongyeseong	225:9c0becc196ba	1538	temp_msg.id = CID_TX_SOMETHING;
jeongyeseong	225:9c0becc196ba	1539	temp_msg.len = 8;
jeongyeseong	225:9c0becc196ba	1540	temp_msg.data[0] = (uint8_t) t_a;
jeongyeseong	225:9c0becc196ba	1541	temp_msg.data[1] = (uint8_t) (t_a >> 8);
jeongyeseong	225:9c0becc196ba	1542	temp_msg.data[2] = (uint8_t) t_b;
jeongyeseong	225:9c0becc196ba	1543	temp_msg.data[3] = (uint8_t) (t_b >> 8);
jeongyeseong	225:9c0becc196ba	1544	temp_msg.data[4] = (uint8_t) t_c;
jeongyeseong	225:9c0becc196ba	1545	temp_msg.data[5] = (uint8_t) (t_c >> 8);
jeongyeseong	225:9c0becc196ba	1546	temp_msg.data[6] = (uint8_t) t_d;
jeongyeseong	225:9c0becc196ba	1547	temp_msg.data[7] = (uint8_t) (t_d >> 8);
jeongyeseong	225:9c0becc196ba	1548
jeongyeseong	225:9c0becc196ba	1549
jeongyeseong	225:9c0becc196ba	1550	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1551	}

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

CAN/function_CAN.cpp@225:9c0becc196ba, 2021-02-04 (annotated)

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