Sungwoo Kim
2011
Diff: CAN/function_CAN.cpp
- Revision:
- 11:82d8768d7351
- Parent:
- 7:e9086c72bb22
- Child:
- 12:6f2531038ea4
diff -r 83a6baa77a2e -r 82d8768d7351 CAN/function_CAN.cpp
--- a/CAN/function_CAN.cpp Fri Aug 23 01:02:32 2019 +0000
+++ b/CAN/function_CAN.cpp Fri Aug 23 12:28:08 2019 +0000
@@ -1,4 +1,7 @@
#include "function_CAN.h"
+#include "setting.h"
+#include "function_utilities.h"
+#include "SPI_EEP_ENC.h"
// CAN ID Setting Variables
int CID_RX_CMD = 100;
@@ -15,26 +18,570 @@
int CID_TX_VOUT = 1500;
int CID_TX_VALVE_POSITION = 1600;
-// Board Information
-int BNO = 0;
-int CONTROL_MODE = 0;
-double P_GAIN_JOINT_POSITION = 0.0;
-double I_GAIN_JOINT_POSITION = 0.0;
-double D_GAIN_JOINT_POSITION = 0.0;
-double P_GAIN_JOINT_TORQUE = 0.0;
-double I_GAIN_JOINT_TORQUE = 0.0;
-double D_GAIN_JOINT_TORQUE = 0.0;
+
+/*******************************************************************************
+ * CAN functions
+ ******************************************************************************/
+void CAN_ID_INIT(void) {
+ CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
+ CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
+ CID_RX_REF_TORQUE = (int) (BNO + INIT_CID_RX_REF_TORQUE);
+ CID_RX_REF_PRES_DIFF = (int) (BNO + INIT_CID_RX_REF_PRES_DIFF);
+ CID_RX_REF_VOUT = (int) (BNO + INIT_CID_RX_REF_VOUT);
+ CID_RX_REF_VALVE_POSITION = (int) (BNO + INIT_CID_RX_REF_VALVE_POSITION);
+
+ CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
+ CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
+ CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
+ CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
+ CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
+ CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
+}
void ReadCMD(char CMD)
{
switch(CMD){
- case CRX_ASK_INFO:
-// CAN_TX_INFO();
- break;
- case CRX_ASK_BNO:
-// CAN_TX_BNO();
- break;
+ case CRX_ASK_INFO: {
+ CAN_TX_INFO();
+ break;
+ }
+ case CRX_ASK_BNO: {
+ CAN_TX_BNO();
+ break;
+ }
+ case CRX_SET_BNO: {
+ BNO = (int16_t) msg.data[1];
+ spi_eeprom_write(RID_BNO, (int16_t) BNO);
+ CAN_ID_INIT(); // can id init
+ break;
+ }
+ case CRX_ASK_OPERATING_MODE: {
+ CAN_TX_OPERATING_MODE();
+ break;
+ }
+ case CRX_SET_OPERATING_MODE: {
+ OPERATING_MODE = (int16_t) msg.data[1];
+ spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
+ break;
+ }
+ case CRX_SET_ENC_ZERO: {
+ ENC_SET_ZERO();
+
+ break;
+ }
+ case CRX_SET_FET_ON: {
+ LAT_MOT_EN = (int16_t) msg.data[1];;
+
+ break;
+ }
+
+ case CRX_SET_REF_UPDATE_ENABLE: {
+ flag_ref_enable = (int16_t) msg.data[1];
+
+ break;
+ }
+
+ case CRX_ASK_CAN_FREQ: {
+ CAN_TX_CAN_FREQ();
+
+ break;
+ }
+
+ case CRX_SET_CAN_FREQ: {
+ CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
+ break;
+ }
+
+ case CRX_ASK_CONTROL_MODE: {
+ CAN_TX_CONTROL_MODE();
+
+ break;
+ }
+
+ case CRX_SET_CONTROL_MODE: {
+ CONTROL_MODE = (int16_t) (msg.data[1]);
+ if (CONTROL_MODE == MODE_FIND_HOME) {
+ FLAG_FIND_HOME = true;
+ }
+ break;
+ }
+
+ case CRX_SET_DATA_REQUEST: {
+ int request_type = msg.data[2];
+ flag_data_request[request_type] = msg.data[1];
+
+ if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
+ if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
+
+ break;
+ }
+
+ case CRX_ASK_JOINT_ENC_DIR: {
+ CAN_TX_JOINT_ENC_DIR();
+
+ break;
+ }
+
+ case CRX_SET_JOINT_ENC_DIR: {
+ DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ if (DIR_JOINT_ENC >= 0)
+ DIR_JOINT_ENC = 1;
+ else
+ DIR_JOINT_ENC = -1;
+ spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
+
+ break;
+ }
+
+ case CRX_ASK_VALVE_DIR: {
+ CAN_TX_VALVE_DIR();
+
+ break;
+ }
+
+ case CRX_SET_VALVE_DIR: {
+ DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ if (DIR_VALVE >= 0)
+ DIR_VALVE = 1;
+ else
+ DIR_VALVE = -1;
+ spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
+
+ break;
+ }
+
+ case CRX_ASK_VALVE_ENC_DIR: {
+ CAN_TX_VALVE_ENC_DIR();
+
+ break;
+ }
+
+ case CRX_SET_VALVE_ENC_DIR: {
+ DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ if (DIR_VALVE_ENC >= 0)
+ DIR_VALVE_ENC = 1;
+ else
+ DIR_VALVE_ENC = -1;
+
+ spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
+
+ break;
+ }
+
+ case CRX_ASK_VOLTAGE_SUPPLY: {
+ CAN_TX_VOLTAGE_SUPPLY();
+
+ break;
+ }
+
+ case CRX_SET_VOLTAGE_SUPPLY: {
+ SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
+ spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
+
+ break;
+ }
+
+ case CRX_ASK_VOLTAGE_VALVE: {
+ CAN_TX_VOLTAGE_VALVE();
+
+ break;
+ }
+
+ case CRX_SET_VOLTAGE_VALVE: {
+ VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
+ spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
+
+
+ break;
+ }
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////
+ case CRX_SET_HOMEPOS: {
+ CONTROL_MODE = 22;
+ SETTING_SWITCH = (int16_t) (msg.data[1]);
+ break;
+ }
+
+ case CRX_ASK_PID_GAIN: {
+ CAN_TX_PID_GAIN(msg.data[1]);
+
+ break;
+ }
+
+ case CRX_SET_PID_GAIN: {
+ if (msg.data[1] == 0) {
+ P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
+ I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
+ D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
+
+ spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
+ spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
+ spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
+
+
+ } else if (msg.data[1] == 1) {
+ P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
+ I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
+ D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
+
+ spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
+ spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
+ spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
+ } else if (msg.data[1] == 2) {
+ P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
+ I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
+ D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
+
+ spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
+ spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
+ spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
+
+
+ }
+
+ break;
+ }
+
+ case CRX_ASK_VALVE_DEADZONE: {
+ CAN_TX_VALVE_DEADZONE();
+
+ break;
+ }
+
+ case CRX_SET_VALVE_DEADZONE: {
+ VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
+ VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] | msg.data[6] << 8);
+
+ spi_eeprom_write(RID_VALVE_CNETER, (int16_t) (VALVE_CENTER));
+ spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
+ spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
+
+ break;
+ }
+
+ case CRX_ASK_VELOCITY_COMP_GAIN: {
+ CAN_TX_VELOCITY_COMP_GAIN();
+
+ break;
+ }
+
+ case CRX_SET_VELOCITY_COMP_GAIN: {
+ VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
+
+ spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
+
+ break;
+ }
+
+ case CRX_ASK_COMPLIANCE_GAIN: {
+ CAN_TX_COMPLIANCE_GAIN();
+
+ break;
+ }
+
+ case CRX_SET_COMPLIANCE_GAIN: {
+ COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
+
+ spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
+
+ break;
+ }
+
+ case CRX_ASK_VALVE_FF: {
+ CAN_TX_VALVE_FF();
+
+ break;
+ }
+
+ case CRX_SET_VALVE_FF: {
+ VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
+
+ spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
+
+ break;
+ }
+
+ case CRX_ASK_BULK_MODULUS: {
+ CAN_TX_BULK_MODULUS();
+
+ break;
+ }
+
+ case CRX_SET_BULK_MODULUS: {
+ BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
+
+ spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
+
+ break;
+ }
+
+ case CRX_ASK_CHAMBER_VOLUME: {
+ CAN_TX_CHAMBER_VOLUME();
+
+ break;
+ }
+
+ case CRX_SET_CHAMBER_VOLUME: {
+ CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
+
+ spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
+ spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
+
+ break;
+ }
+
+ case CRX_ASK_PISTON_AREA: {
+ CAN_TX_PISTON_AREA();
+
+ break;
+ }
+
+ case CRX_SET_PISTON_AREA: {
+ PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
+ PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
+
+ spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
+ spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
+ break;
+ }
+
+ case CRX_ASK_PRES: {
+ CAN_TX_PRES_A_AND_B();
+ SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
+ break;
+ }
+
+ case CRX_SET_PRES: {
+ PRES_SUPPLY = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ PRES_RETURN = (int16_t) (msg.data[3] | msg.data[4] << 8);
+
+ spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
+ spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
+
+
+ break;
+ }
+
+ case CRX_ASK_ENC_LIMIT: {
+ CAN_TX_ENC_LIMIT();
+
+ break;
+ }
+
+ case CRX_SET_ENC_LIMIT: {
+ ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
+
+ spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
+ spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
+
+ break;
+ }
+
+ case CRX_ASK_STROKE: {
+ CAN_TX_STROKE();
+ break;
+ }
+
+ case CRX_SET_STROKE: {
+ STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
+
+ spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
+
+ break;
+ }
+
+ case CRX_ASK_VALVE_LIMIT: {
+ CAN_TX_VALVE_LIMIT();
+
+ break;
+ }
+
+ case CRX_SET_VALVE_LIMIT: {
+ VALVE_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
+ VALVE_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
+
+ spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
+ spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
+
+ break;
+ }
+
+ case CRX_ASK_ENC_PULSE_PER_POSITION: {
+ CAN_TX_ENC_PULSE_PER_POSITION();
+
+ break;
+ }
+
+ case CRX_SET_ENC_PULSE_PER_POSITION: {
+ ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
+
+ spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
+
+ break;
+ }
+
+ case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
+ CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
+
+ break;
+ }
+
+ case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
+ TORQUE_SENSOR_PULSE_PER_TORQUE = (int16_t) (msg.data[1] | msg.data[2] << 8);
+
+ spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
+
+ break;
+ }
+
+ case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
+ CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
+
+ break;
+ }
+
+ case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
+ PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01;
+ PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01;
+
+ spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
+ spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
+
+ break;
+ }
+
+ case CRX_ASK_FRICTION: {
+ CAN_TX_FRICTION();
+
+ break;
+ }
+
+ case CRX_SET_FRICTION: {
+ FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
+
+ spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
+
+ break;
+ }
+
+ case CRX_ASK_VALVE_GAIN_PLUS: {
+ CAN_TX_VALVE_GAIN_PLUS();
+
+ break;
+ }
+ case CRX_SET_VALVE_GAIN_PLUS: {
+ VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.;
+ VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.;
+ VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.;
+ VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.;
+ VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.;
+
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.));
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.));
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.));
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.));
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.));
+
+ break;
+ }
+
+ case CRX_ASK_VALVE_GAIN_MINUS: {
+ CAN_TX_VALVE_GAIN_MINUS();
+
+ break;
+ }
+ case CRX_SET_VALVE_GAIN_MINUS: {
+ VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.;
+ VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.;
+ VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.;
+ VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.;
+ VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.;
+
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.));
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.));
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.));
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.));
+ spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.));
+
+ break;
+ }
+ case CRX_ASK_DDV_VALVE_DEADZONE: {
+ CAN_TX_DDV_VALVE_DEADZONE();
+ break;
+ }
+
+ case CRX_LOW_REF: {
+ REFERENCE_MODE = msg.data[1];
+
+ REF_NUM = msg.data[2];
+ REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.;
+ if (REF_PERIOD <= 0.) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
+ else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
+ REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.;
+
+ break;
+ }
+
+ case CRX_JUMP_STATUS: {
+ MODE_JUMP_STATUS = msg.data[1];
+
+ break;
+ }
+
+ case CRX_SET_ERR_CLEAR: {
+
+ for (i = 0; i < num_err; i++) {
+ flag_err[i] = FALSE;
+ flag_err_old[i] = FALSE;
+ }
+
+ flag_err_rt = FALSE;
+
+
+ break;
+ }
+
+ case CRX_ASK_HOMEPOS_OFFSET: {
+ CAN_TX_HOMEPOS_OFFSET();
+ break;
+ }
+ case CRX_SET_HOMEPOS_OFFSET: {
+ HOMEPOS_OFFSET = (int16_t) (msg.data[1] | msg.data[2] << 8);
+
+ spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
+ break;
+ }
+
+ case CRX_ASK_HOMEPOS_VALVE_OPENING: {
+ CAN_TX_HOMPOS_VALVE_OPENING();
+ break;
+ }
+ case CRX_SET_HOMEPOS_VALVE_OPENING: {
+ HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
+
+ spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
+ break;
+ }
+
+ case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
+ can_index = (int16_t) msg.data[1];
+ CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
+ break;
+ }
+ case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
+ can_index = (int16_t) msg.data[1];
+ CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
+ break;
+ }
+ case CRX_ASK_VALVE_POS_NUM: {
+ CAN_TX_VALVE_POS_NUM();
+ break;
+ }
default:
break;
}
@@ -57,8 +604,8 @@
int16_t temp_torq = (int16_t) (msg.data[0] | msg.data[1] << 8);
torq.ref = (double)temp_torq;
} else if(address==CID_RX_REF_PRES_DIFF) {
-// int16_t temp_presdiff = (int16_t) (msg.data[0] | msg.data[1] << 8);
-// torq.ref = (double)temp_presdiff;
+ int16_t temp_presdiff = (int16_t) (msg.data[0] | msg.data[1] << 8);
+ torq.ref = (double)temp_presdiff;
} else if(address==CID_RX_REF_VOUT) {
int16_t temp_PWM = (int16_t) (msg.data[0] | msg.data[1] << 8);
Vout.ref = (double)temp_PWM;
@@ -72,9 +619,9 @@
/******************************************************************************
Information Transmission Functions
*******************************************************************************/
-/*
-inline void CAN_TX_INFO(void) {
- CANMessage temp_msg;
+
+void CAN_TX_INFO(void) {
+ CANmsg.data temp_msg;
temp_msg.id = CID_TX_INFO;
temp_msg.len = 7;
@@ -89,8 +636,8 @@
can.write(temp_msg);
}
-inline void CAN_TX_BNO(void) {
- CANMessage temp_msg;
+void CAN_TX_BNO(void) {
+ CANmsg.data temp_msg;
temp_msg.id = CID_TX_INFO;
temp_msg.len = 2;
@@ -100,7 +647,7 @@
can.write(temp_msg);
}
-inline void CAN_TX_OPERATING_MODE(void) {
+void CAN_TX_OPERATING_MODE(void) {
CANMessage temp_msg;
temp_msg.id = CID_TX_INFO;
@@ -111,8 +658,7 @@
can.write(temp_msg);
}
-
-inline void CAN_TX_CAN_FREQ(void) {
+void CAN_TX_CAN_FREQ(void) {
CANMessage temp_msg;
temp_msg.id = CID_TX_INFO;
@@ -123,8 +669,8 @@
can.write(temp_msg);
}
-*/
-inline void CAN_TX_CONTROL_MODE(void) {
+
+void CAN_TX_CONTROL_MODE(void) {
CANMessage temp_msg;
temp_msg.id = CID_TX_INFO;
@@ -134,8 +680,8 @@
can.write(temp_msg);
}
-/*
-inline void CAN_TX_JOINT_ENC_DIR(void) {
+
+void CAN_TX_JOINT_ENC_DIR(void) {
CANMessage temp_msg;
temp_msg.id = CID_TX_INFO;
@@ -147,7 +693,7 @@
can.write(temp_msg);
}
-inline void CAN_TX_VALVE_DIR(void) {
+void CAN_TX_VALVE_DIR(void) {
CANMessage temp_msg;
temp_msg.id = CID_TX_INFO;
@@ -159,7 +705,7 @@
can.write(temp_msg);
}
-inline void CAN_TX_VALVE_ENC_DIR(void) {
+void CAN_TX_VALVE_ENC_DIR(void) {
CANMessage temp_msg;
temp_msg.id = CID_TX_INFO;
@@ -171,7 +717,7 @@
can.write(temp_msg);
}
-inline void CAN_TX_VOLTAGE_SUPPLY(void) {
+void CAN_TX_VOLTAGE_SUPPLY(void) {
long send_voltage_supply = (long) (SUPPLY_VOLTAGE * 10);
CANMessage temp_msg;
@@ -185,7 +731,7 @@
can.write(temp_msg);
}
-inline void CAN_TX_VOLTAGE_VALVE(void) {
+void CAN_TX_VOLTAGE_VALVE(void) {
long send_voltage_valve = (long) (VALVE_VOLTAGE_LIMIT * 10);
CANMessage temp_msg;
@@ -198,9 +744,9 @@
can.write(temp_msg);
}
-*/
+
-inline void CAN_TX_PID_GAIN(int t_type) {
+void CAN_TX_PID_GAIN(int t_type) {
// t_type = 0 : valve position control gain
// t_type = 1 : joint position control gain
// t_type = 2 : joint torque control gain
@@ -236,8 +782,8 @@
can.write(temp_msg);
}
-/*
-inline void CAN_TX_VALVE_DEADZONE(void) {
+
+void CAN_TX_VALVE_DEADZONE(void) {
CANMessage temp_msg;
temp_msg.id = CID_TX_INFO;
@@ -253,9 +799,139 @@
can.write(temp_msg);
}
-inline void CAN_TX_ENC_PULSE_PER_POSITION(void) {
+void CAN_TX_VELOCITY_COMP_GAIN(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 3;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_VELOCITY_COMP_GAIN;
+ temp_msg.data[1] = (unsigned char) VELOCITY_COMP_GAIN;
+ temp_msg.data[2] = (unsigned char) (VELOCITY_COMP_GAIN >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_COMPLIANCE_GAIN(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 3;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_COMPLIANCE_GAIN;
+ temp_msg.data[1] = (unsigned char) COMPLIANCE_GAIN;
+ temp_msg.data[2] = (unsigned char) (COMPLIANCE_GAIN >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_VALVE_FF(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 3;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_FF;
+ temp_msg.data[1] = (unsigned char) VALVE_FF;
+ temp_msg.data[2] = (unsigned char) (VALVE_FF >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_BULK_MODULUS(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 3;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_BULK_MODULUS;
+ temp_msg.data[1] = (unsigned char) BULK_MODULUS;
+ temp_msg.data[2] = (unsigned char) (BULK_MODULUS >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_CHAMBER_VOLUME(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 5;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_CHAMBER_VOLUME;
+ temp_msg.data[1] = (unsigned char) CHAMBER_VOLUME_A;
+ temp_msg.data[2] = (unsigned char) (CHAMBER_VOLUME_A >> 8);
+ temp_msg.data[3] = (unsigned char) CHAMBER_VOLUME_B;
+ temp_msg.data[4] = (unsigned char) (CHAMBER_VOLUME_B >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_PISTON_AREA(void) {
CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 5;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_PISTON_AREA;
+ temp_msg.data[1] = (unsigned char) PISTON_AREA_A;
+ temp_msg.data[2] = (unsigned char) (PISTON_AREA_A >> 8);
+ temp_msg.data[3] = (unsigned char) PISTON_AREA_B;
+ temp_msg.data[4] = (unsigned char) (PISTON_AREA_B >> 8);
+ can.write(temp_msg);
+}
+
+void CAN_TX_PRES_A_AND_B(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 5;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_PRES;
+ temp_msg.data[1] = (unsigned char) PRES_SUPPLY;
+ temp_msg.data[2] = (unsigned char) (PRES_SUPPLY >> 8);
+ temp_msg.data[3] = (unsigned char) PRES_RETURN;
+ temp_msg.data[4] = (unsigned char) (PRES_RETURN >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_ENC_LIMIT(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 5;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_LIMIT;
+ temp_msg.data[1] = (unsigned char) ENC_LIMIT_MINUS;
+ temp_msg.data[2] = (unsigned char) (ENC_LIMIT_MINUS >> 8);
+ temp_msg.data[3] = (unsigned char) ENC_LIMIT_PLUS;
+ temp_msg.data[4] = (unsigned char) (ENC_LIMIT_PLUS >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_STROKE(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 3;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_STROKE;
+ temp_msg.data[1] = (unsigned char) STROKE;
+ temp_msg.data[2] = (unsigned char) (STROKE >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_VALVE_LIMIT(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 5;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_LIMIT;
+ temp_msg.data[1] = (unsigned char) VALVE_LIMIT_MINUS;
+ temp_msg.data[2] = (unsigned char) (VALVE_LIMIT_MINUS >> 8);
+ temp_msg.data[3] = (unsigned char) VALVE_LIMIT_PLUS;
+ temp_msg.data[4] = (unsigned char) (VALVE_LIMIT_PLUS >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_ENC_PULSE_PER_POSITION(void) {
+ CANMessage temp_msg;
+
temp_msg.id = CID_TX_INFO;
temp_msg.len = 3;
temp_msg.data[0] = (unsigned char) CTX_SEND_ENC_PULSE_PER_POSITION;
@@ -265,9 +941,9 @@
can.write(temp_msg);
}
-inline void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
+void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
CANMessage temp_msg;
-
+
temp_msg.id = CID_TX_INFO;
temp_msg.len = 3;
temp_msg.data[0] = (unsigned char) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
@@ -277,9 +953,9 @@
can.write(temp_msg);
}
-inline void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
+void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
CANMessage temp_msg;
-
+
temp_msg.id = CID_TX_INFO;
temp_msg.len = 5;
temp_msg.data[0] = (unsigned char) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
@@ -291,12 +967,86 @@
can.write(temp_msg);
}
-inline void CAN_TX_HOMEPOS_OFFSET(void) {
+void CAN_TX_FRICTION(void) {
+ CANMessage temp_msg;
+ long send_friction;
+ send_friction = (long) (FRICTION * 10.);
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 3;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_FRICTION;
+ temp_msg.data[1] = (unsigned char) send_friction;
+ temp_msg.data[2] = (unsigned char) (send_friction >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_VALVE_GAIN_PLUS(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 6;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_PLUS;
+ temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[0] * 50.);
+ temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[2] * 50.);
+ temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[4] * 50.);
+ temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[6] * 50.);
+ temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[8] * 50.);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_DDV_VALVE_DEADZONE(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 7;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_DDV_VALVE_DEADZONE;
+ temp_msg.data[1] = (unsigned char) VALVE_DEADZONE_MINUS;
+ temp_msg.data[2] = (unsigned char) ((int) (VALVE_DEADZONE_MINUS) >> 8);
+ temp_msg.data[3] = (unsigned char) (VALVE_DEADZONE_PLUS);
+ temp_msg.data[4] = (unsigned char) ((int) (VALVE_DEADZONE_PLUS) >> 8);
+ temp_msg.data[5] = (unsigned char) (DDV_CENTER);
+ temp_msg.data[6] = (unsigned char) ((int) (DDV_CENTER) >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_VALVE_GAIN_MINUS(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 6;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_VALVE_GAIN_MINUS;
+ temp_msg.data[1] = (unsigned char) (VALVE_GAIN_LPM_PER_V[1] * 50.);
+ temp_msg.data[2] = (unsigned char) (VALVE_GAIN_LPM_PER_V[3] * 50.);
+ temp_msg.data[3] = (unsigned char) (VALVE_GAIN_LPM_PER_V[5] * 50.);
+ temp_msg.data[4] = (unsigned char) (VALVE_GAIN_LPM_PER_V[7] * 50.);
+ temp_msg.data[5] = (unsigned char) (VALVE_GAIN_LPM_PER_V[9] * 50.);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_REFENCE_MODE(void) {
+ CANMessage temp_msg;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 6;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_REFENCE_MODE;
+ temp_msg.data[1] = (unsigned char) REFERENCE_MODE;
+ temp_msg.data[2] = (unsigned char) (int) (REFERENCE_FREQ * 100.);
+ temp_msg.data[3] = (unsigned char) ((int) (REFERENCE_FREQ * 100.) >> 8);
+ temp_msg.data[4] = (unsigned char) (int) (REFERENCE_MAG * 100.);
+ temp_msg.data[5] = (unsigned char) ((int) (REFERENCE_MAG * 100.) >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_HOMEPOS_OFFSET(void) {
+ CANMessage temp_msg;
long send_homepos_offset;
send_homepos_offset = (long) (HOMEPOS_OFFSET);
-
- CANMessage temp_msg;
-
+
temp_msg.id = CID_TX_INFO;
temp_msg.len = 3;
temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_OFFSET;
@@ -305,12 +1055,78 @@
can.write(temp_msg);
}
-*/
+
+void CAN_TX_HOMPOS_VALVE_OPENING(void) {
+ CANMessage temp_msg;
+ long send_homepos_valve_opening;
+ send_homepos_valve_opening = (long) (HOMEPOS_VALVE_OPENING);
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 3;
+ temp_msg.data[0] = (unsigned char) CTX_SEND_HOMEPOS_VALVE_OPENING;
+ temp_msg.data[1] = (unsigned char) send_homepos_valve_opening;
+ temp_msg.data[2] = (unsigned char) (send_homepos_valve_opening >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_VALVE_PWM_VS_VALVE_POS(char canindex) {
+ CANMessage temp_msg;
+ int16_t valve_pos_vs_pwm;
+ valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
+
+ int16_t PWM_VALVE_ID = ID_index_array[canindex] * 1000;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 5;
+ temp_msg.data[0] = (unsigned char) CTX_VALVE_PWM_VS_VALVE_POS;
+ temp_msg.data[1] = (unsigned char) PWM_VALVE_ID;
+ temp_msg.data[2] = (unsigned char) (PWM_VALVE_ID >> 8);
+ temp_msg.data[3] = (unsigned char) valve_pos_vs_pwm;
+ temp_msg.data[4] = (unsigned char) (valve_pos_vs_pwm >> 8);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_VALVE_POS_VS_FLOWRATE(char canindex) {
+ CANMessage temp_msg;
+ int32_t valve_pos_vs_flowrate;
+ valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
+
+ int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 50 + DDV_CENTER;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 7;
+ temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_VS_FLOWRATE;
+ temp_msg.data[1] = (unsigned char) VALVE_POS_VALVE_ID;
+ temp_msg.data[2] = (unsigned char) (VALVE_POS_VALVE_ID >> 8);
+ temp_msg.data[3] = (unsigned char) valve_pos_vs_flowrate;
+ temp_msg.data[4] = (unsigned char) (valve_pos_vs_flowrate >> 8);
+ temp_msg.data[5] = (unsigned char) (valve_pos_vs_flowrate >> 16);
+ temp_msg.data[6] = (unsigned char) (valve_pos_vs_flowrate >> 24);
+
+ can.write(temp_msg);
+}
+
+void CAN_TX_VALVE_POS_NUM(void) {
+ CANMessage temp_msg;
+ int32_t valve_pos_num;
+ valve_pos_num = (int16_t) VALVE_POS_NUM;
+
+ temp_msg.id = CID_TX_INFO;
+ temp_msg.len = 3;
+ temp_msg.data[0] = (unsigned char) CTX_VALVE_POS_NUM;
+ temp_msg.data[1] = (unsigned char) valve_pos_num;
+ temp_msg.data[2] = (unsigned char) (valve_pos_num >> 8);
+
+ can.write(temp_msg);
+}
+
/******************************************************************************
Sensor & State Transmission Functions
*******************************************************************************/
-inline void CAN_TX_POSITION(long t_pos, long t_vel) {
+void CAN_TX_POSITION(long t_pos, long t_vel) {
CANMessage temp_msg;
temp_msg.id = CID_TX_POSITION;
@@ -327,7 +1143,7 @@
can.write(temp_msg);
}
-inline void CAN_TX_TORQUE(int16_t t_torque) {
+void CAN_TX_TORQUE(int16_t t_torque) {
CANMessage temp_msg;
temp_msg.id = CID_TX_TORQUE;
@@ -338,7 +1154,7 @@
can.write(temp_msg);
}
-inline void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
+void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
CANMessage temp_msg;
temp_msg.id = CID_TX_PRES;
@@ -351,7 +1167,7 @@
can.write(temp_msg);
}
-inline void CAN_TX_PWM(int16_t t_pwm) {
+void CAN_TX_PWM(int16_t t_pwm) {
CANMessage temp_msg;
temp_msg.id = CID_TX_POSITION;
@@ -362,7 +1178,7 @@
can.write(temp_msg);
}
-inline void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) {
+void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) {
CANMessage temp_msg;
temp_msg.id = CID_TX_VALVE_POSITION;