Diff: CAN/function_CAN.cpp

Revision:

30:8d561f16383b

Parent:

28:2a62d73e3dd0

Child:

32:4b8c0fedaf2c

diff -r 69f3f5445d6d -r 8d561f16383b CAN/function_CAN.cpp
--- a/CAN/function_CAN.cpp	Wed Oct 02 04:41:59 2019 +0000
+++ b/CAN/function_CAN.cpp	Fri Oct 04 11:58:18 2019 +0000
@@ -203,7 +203,7 @@
         }
 
         case CRX_SET_VOLTAGE_SUPPLY: {
-            SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
+            SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
             
             ROM_RESET_DATA();
             
@@ -219,7 +219,7 @@
         }
 
         case CRX_SET_VOLTAGE_VALVE: {
-            VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0;
+            VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
             
             ROM_RESET_DATA();
             
@@ -499,8 +499,8 @@
         }
 
         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;
+            PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
+            PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
             ROM_RESET_DATA();
             //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
             //(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
@@ -515,7 +515,7 @@
         }
 
         case CRX_SET_FRICTION: {
-            FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.;
+            FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
             ROM_RESET_DATA();
             //spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
 
@@ -528,17 +528,17 @@
             break;
         }
         case CRX_SET_VALVE_GAIN_PLUS: {
-            VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0;
-            VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0;
-            VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0;
-            VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0;
-            VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0;
+            VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
+            VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
+            VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
+            VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
+            VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
             ROM_RESET_DATA();
-            //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.));
+            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
+            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
+            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
+            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
+            //spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
 
             break;
         }
@@ -549,17 +549,17 @@
             break;
         }
         case CRX_SET_VALVE_GAIN_MINUS: {
-            VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0;
-            VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0;
-            VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0;
-            VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0;
-            VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0;
+            VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
+            VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
+            VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
+            VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
+            VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
             ROM_RESET_DATA();
-            //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.));
-            //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.));
+            //spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
+            //spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
+            //spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
+            //spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
+            //(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
 
             break;
         }
@@ -572,10 +572,10 @@
             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;
+            REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
+            if (REF_PERIOD <= 0.0f) 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.;
+            REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
 
             break;
         }
@@ -815,9 +815,9 @@
 
     int16_t sendPgain=0, sendIgain=0, sendDgain=0;
     if (t_type == 0) {
-//        sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
-//        sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
-//        sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
+        sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
+        sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
+        sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
     } else if (t_type == 1) {
         sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
         sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
@@ -1021,10 +1021,10 @@
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 5;
     temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
-    temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.);
-    temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.) >> 8);
-    temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.);
-    temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.) >> 8);
+    temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
+    temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
+    temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
+    temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
 
     can.write(temp_msg);
 }
@@ -1032,7 +1032,7 @@
 void CAN_TX_FRICTION(void) {
     CANMessage temp_msg;
     int16_t send_friction;
-    send_friction = (int16_t) (FRICTION * 10.);
+    send_friction = (int16_t) (FRICTION * 10.0f);
     
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 3;
@@ -1049,11 +1049,11 @@
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 6;
     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
-    temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.);
-    temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.);
-    temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.);
-    temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.);
-    temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.);
+    temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
+    temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
+    temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
+    temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
+    temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
 
     can.write(temp_msg);
 }
@@ -1080,11 +1080,11 @@
     temp_msg.id = CID_TX_INFO;
     temp_msg.len = 6;
     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
-    temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.);
-    temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.);
-    temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.);
-    temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.);
-    temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.);
+    temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
+    temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
+    temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
+    temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
+    temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
 
     can.write(temp_msg);
 }
@@ -1096,10 +1096,10 @@
     temp_msg.len = 6;
     temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
     temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
-    temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.);
-    temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.) >> 8);
-    temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.);
-    temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.) >> 8);
+    temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
+    temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
+    temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
+    temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
 
     can.write(temp_msg);
 }