![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
2011
Diff: CAN/function_CAN.cpp
- Revision:
- 73:f80dc3970c99
- Parent:
- 72:3436ce769b1e
- Child:
- 85:a3b46118b5cd
diff -r 3436ce769b1e -r f80dc3970c99 CAN/function_CAN.cpp --- a/CAN/function_CAN.cpp Tue May 19 01:36:27 2020 +0000 +++ b/CAN/function_CAN.cpp Mon Jun 08 11:00:23 2020 +0000 @@ -26,7 +26,7 @@ extern float x_past[]; extern float f_past[]; extern float f_future[]; -extern float input[]; +extern float input_NN[]; /******************************************************************************* * CAN functions @@ -758,19 +758,19 @@ int ind = 0; for(int i=0;i<numpast_x;i++){ - input[ind] = x_past[2*i] / 60.0f; + input_NN[ind] = x_past[2*i] / 60.0f; ind = ind + 1; } - input[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; + input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; ind = ind + 1; for(int i=0;i<numpast_f;i++){ - input[ind] = f_past[2*i] / 10000.0f + 0.5f; + input_NN[ind] = f_past[2*i] / 10000.0f + 0.5f; ind = ind + 1; } - input[ind] = torq.sen / 10000.0f + 0.5f; + input_NN[ind] = torq.sen / 10000.0f + 0.5f; ind = ind + 1; for(int i=0;i<numfuture_f;i++){ - input[ind] = (f_future[2*i+2] - f_future[0])/10000.0f+0.5f; + input_NN[ind] = (f_future[2*i+2] - f_future[0])/10000.0f+0.5f; ind = ind + 1; } @@ -1439,18 +1439,20 @@ can.write(temp_msg); } -void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm) +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) { CANMessage temp_msg; temp_msg.id = CID_TX_VALVE_POSITION; - temp_msg.len = 6; - temp_msg.data[0] = (uint8_t) t_valve_pos; - temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8); - temp_msg.data[2] = (uint8_t) t_ref_valve_pos; - temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8); - temp_msg.data[4] = (uint8_t) t_pwm; - temp_msg.data[5] = (uint8_t) (t_pwm >> 8); + temp_msg.len = 8; + temp_msg.data[0] = (uint8_t) t_valve_pos_1; + temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8); + temp_msg.data[2] = (uint8_t) t_valve_pos_2; + temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8); + temp_msg.data[4] = (uint8_t) t_ref_valve_pos; + temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8); + temp_msg.data[6] = (uint8_t) t_pwm; + temp_msg.data[7] = (uint8_t) (t_pwm >> 8); can.write(temp_msg);