HydraulicControlBoard_Start - 20210203

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Yeseong Jeong / Mbed 2 deprecated HydraulicControlBoard_Start

20210203

CAN/function_CAN.cpp@224:985dba42f261, 2020-12-28 (annotated)

Committer:: Lightvalve
Date:: Mon Dec 28 14:27:11 2020 +0000
Revision:: 224:985dba42f261
Parent:: 209:ebc69d6ee6f1
Child:: 225:9c0becc196ba

distribution

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;
jobuuu	2:a1c0a37df760	20
Lightvalve	12:6f2531038ea4	21	// variables
Lightvalve	12:6f2531038ea4	22	uint8_t can_index = 0;
Lightvalve	67:c2812cf26c38	23
Lightvalve	66:a8e6799dbce3	24	extern DigitalOut LED;
Lightvalve	12:6f2531038ea4	25
Lightvalve	99:7bbcb3c0fb06	26	extern float u_past[];
Lightvalve	68:328e1be06f5d	27	extern float x_past[];
Lightvalve	85:a3b46118b5cd	28	extern float x_future[];
Lightvalve	68:328e1be06f5d	29	extern float f_past[];
Lightvalve	68:328e1be06f5d	30	extern float f_future[];
Lightvalve	73:f80dc3970c99	31	extern float input_NN[];
Lightvalve	68:328e1be06f5d	32
Lightvalve	11:82d8768d7351	33	/*******************************************************************************
Lightvalve	11:82d8768d7351	34	* CAN functions
Lightvalve	11:82d8768d7351	35	******************************************************************************/
Lightvalve	170:42c938a40313	36	void CAN_ID_INIT(void)
Lightvalve	170:42c938a40313	37	{
jobuuu	7:e9086c72bb22	38
Lightvalve	11:82d8768d7351	39	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	40	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	41	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	42	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	43
Lightvalve	11:82d8768d7351	44	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	45	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	46	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	47	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	48	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	49	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
Lightvalve	28:2a62d73e3dd0	52	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	53	{
Lightvalve	170:42c938a40313	54	switch(CMD) {
Lightvalve	11:82d8768d7351	55	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	56	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	57	break;
Lightvalve	11:82d8768d7351	58	}
Lightvalve	11:82d8768d7351	59	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	60	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	61	break;
Lightvalve	11:82d8768d7351	62	}
Lightvalve	11:82d8768d7351	63	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	64	BNO = (int16_t) msg.data[1];
Lightvalve	170:42c938a40313	65	spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	66	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	67	break;
Lightvalve	11:82d8768d7351	68	}
Lightvalve	11:82d8768d7351	69	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	70	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	71	break;
Lightvalve	11:82d8768d7351	72	}
Lightvalve	11:82d8768d7351	73	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	74	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	75	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	76	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	77	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	170:42c938a40313	78	spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve	170:42c938a40313	79	spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
Lightvalve	170:42c938a40313	80	spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
Lightvalve	170:42c938a40313	81	spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
Lightvalve	11:82d8768d7351	82	break;
Lightvalve	11:82d8768d7351	83	}
Lightvalve	11:82d8768d7351	84	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	85	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	86
Lightvalve	11:82d8768d7351	87	break;
Lightvalve	11:82d8768d7351	88	}
Lightvalve	11:82d8768d7351	89	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	90
Lightvalve	11:82d8768d7351	91	break;
Lightvalve	11:82d8768d7351	92	}
Lightvalve	11:82d8768d7351	93
Lightvalve	45:35fa6884d0c6	94	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	95	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	96	/*
Lightvalve	45:35fa6884d0c6	97	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	98	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	99	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	100	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	101	*/
Lightvalve	11:82d8768d7351	102	break;
Lightvalve	11:82d8768d7351	103	}
Lightvalve	11:82d8768d7351	104
Lightvalve	11:82d8768d7351	105	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	106	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	107
Lightvalve	11:82d8768d7351	108	break;
Lightvalve	11:82d8768d7351	109	}
Lightvalve	11:82d8768d7351	110
Lightvalve	11:82d8768d7351	111	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	112	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	113	spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve	11:82d8768d7351	114	break;
Lightvalve	11:82d8768d7351	115	}
Lightvalve	11:82d8768d7351	116
Lightvalve	11:82d8768d7351	117	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	118	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	119
Lightvalve	11:82d8768d7351	120	break;
Lightvalve	11:82d8768d7351	121	}
Lightvalve	11:82d8768d7351	122
Lightvalve	11:82d8768d7351	123	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	124	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	125	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	126	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	127	}
Lightvalve	11:82d8768d7351	128	break;
Lightvalve	11:82d8768d7351	129	}
Lightvalve	11:82d8768d7351	130
Lightvalve	11:82d8768d7351	131	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	132	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	133	flag_data_request[request_type] = msg.data[1];
Lightvalve	11:82d8768d7351	134
Lightvalve	12:6f2531038ea4	135	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	136	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	137	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	138	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	139
Lightvalve	11:82d8768d7351	140	break;
Lightvalve	11:82d8768d7351	141	}
Lightvalve	11:82d8768d7351	142
Lightvalve	11:82d8768d7351	143	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	144	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	145
Lightvalve	11:82d8768d7351	146	break;
Lightvalve	11:82d8768d7351	147	}
Lightvalve	11:82d8768d7351	148
Lightvalve	11:82d8768d7351	149	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	150	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	151	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	152	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	153	else
Lightvalve	11:82d8768d7351	154	DIR_JOINT_ENC = -1;
Lightvalve	170:42c938a40313	155
Lightvalve	170:42c938a40313	156	spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	157
Lightvalve	11:82d8768d7351	158	break;
Lightvalve	11:82d8768d7351	159	}
Lightvalve	11:82d8768d7351	160
Lightvalve	11:82d8768d7351	161	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	162	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	163
Lightvalve	11:82d8768d7351	164	break;
Lightvalve	11:82d8768d7351	165	}
Lightvalve	11:82d8768d7351	166
Lightvalve	11:82d8768d7351	167	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	168	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	169	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	170	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	171	else
Lightvalve	11:82d8768d7351	172	DIR_VALVE = -1;
Lightvalve	170:42c938a40313	173
Lightvalve	170:42c938a40313	174	spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	175
Lightvalve	11:82d8768d7351	176	break;
Lightvalve	11:82d8768d7351	177	}
Lightvalve	11:82d8768d7351	178
Lightvalve	11:82d8768d7351	179	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	180	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	181
Lightvalve	11:82d8768d7351	182	break;
Lightvalve	11:82d8768d7351	183	}
Lightvalve	11:82d8768d7351	184
Lightvalve	11:82d8768d7351	185	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	186	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	187	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	188	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	189	else
Lightvalve	11:82d8768d7351	190	DIR_VALVE_ENC = -1;
Lightvalve	11:82d8768d7351	191
Lightvalve	170:42c938a40313	192	spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	193
Lightvalve	11:82d8768d7351	194	break;
Lightvalve	11:82d8768d7351	195	}
Lightvalve	11:82d8768d7351	196
Lightvalve	11:82d8768d7351	197	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	198	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	199
Lightvalve	11:82d8768d7351	200	break;
Lightvalve	11:82d8768d7351	201	}
Lightvalve	11:82d8768d7351	202
Lightvalve	11:82d8768d7351	203	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	204	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	205
Lightvalve	170:42c938a40313	206
Lightvalve	170:42c938a40313	207	spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve	11:82d8768d7351	208
Lightvalve	11:82d8768d7351	209	break;
Lightvalve	11:82d8768d7351	210	}
Lightvalve	11:82d8768d7351	211
Lightvalve	11:82d8768d7351	212	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	213	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	214
Lightvalve	11:82d8768d7351	215	break;
Lightvalve	11:82d8768d7351	216	}
Lightvalve	11:82d8768d7351	217
Lightvalve	11:82d8768d7351	218	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	219	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	220
Lightvalve	170:42c938a40313	221	spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve	11:82d8768d7351	222
Lightvalve	11:82d8768d7351	223
Lightvalve	11:82d8768d7351	224	break;
Lightvalve	11:82d8768d7351	225	}
Lightvalve	12:6f2531038ea4	226
Lightvalve	11:82d8768d7351	227	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	228	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	229	break;
Lightvalve	11:82d8768d7351	230	}
Lightvalve	11:82d8768d7351	231
Lightvalve	11:82d8768d7351	232	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	233	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	234
Lightvalve	11:82d8768d7351	235	break;
Lightvalve	11:82d8768d7351	236	}
Lightvalve	11:82d8768d7351	237
Lightvalve	11:82d8768d7351	238	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	239	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	240	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	241	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	242	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	243
Lightvalve	170:42c938a40313	244	spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	245	spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	170:42c938a40313	246	spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	11:82d8768d7351	247
Lightvalve	11:82d8768d7351	248	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	249	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	250	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	251	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	252
Lightvalve	170:42c938a40313	253	spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	254	spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	255	spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	170:42c938a40313	256
Lightvalve	11:82d8768d7351	257	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	258	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	259	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	260	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	261
Lightvalve	170:42c938a40313	262	spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	263	spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	264	spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	170:42c938a40313	265
Lightvalve	46:2694daea349b	266	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	267	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	268	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	170:42c938a40313	269
Lightvalve	170:42c938a40313	270	// spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
Lightvalve	170:42c938a40313	271	// spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
Lightvalve	170:42c938a40313	272
Lightvalve	72:3436ce769b1e	273	} else if (msg.data[1] == 4) {
Lightvalve	72:3436ce769b1e	274	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	72:3436ce769b1e	275	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	72:3436ce769b1e	276	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	170:42c938a40313	277
Lightvalve	11:82d8768d7351	278	}
Lightvalve	11:82d8768d7351	279
Lightvalve	11:82d8768d7351	280	break;
Lightvalve	11:82d8768d7351	281	}
Lightvalve	11:82d8768d7351	282
Lightvalve	11:82d8768d7351	283	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	284	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	285
Lightvalve	11:82d8768d7351	286	break;
Lightvalve	11:82d8768d7351	287	}
Lightvalve	11:82d8768d7351	288
Lightvalve	11:82d8768d7351	289	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	290	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	291	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	292	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	170:42c938a40313	293
Lightvalve	170:42c938a40313	294	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	295	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	170:42c938a40313	296	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	11:82d8768d7351	297
Lightvalve	11:82d8768d7351	298	break;
Lightvalve	11:82d8768d7351	299	}
Lightvalve	11:82d8768d7351	300
Lightvalve	11:82d8768d7351	301	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	302	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	303
Lightvalve	11:82d8768d7351	304	break;
Lightvalve	11:82d8768d7351	305	}
Lightvalve	11:82d8768d7351	306
Lightvalve	11:82d8768d7351	307	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	308	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	309
Lightvalve	170:42c938a40313	310
Lightvalve	170:42c938a40313	311	spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	312
Lightvalve	11:82d8768d7351	313	break;
Lightvalve	11:82d8768d7351	314	}
Lightvalve	11:82d8768d7351	315
Lightvalve	11:82d8768d7351	316	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	317	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	318
Lightvalve	11:82d8768d7351	319	break;
Lightvalve	11:82d8768d7351	320	}
Lightvalve	11:82d8768d7351	321
Lightvalve	11:82d8768d7351	322	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	323	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	324
Lightvalve	170:42c938a40313	325
Lightvalve	170:42c938a40313	326	spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	327
Lightvalve	11:82d8768d7351	328	break;
Lightvalve	11:82d8768d7351	329	}
Lightvalve	11:82d8768d7351	330
Lightvalve	11:82d8768d7351	331	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	332	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	333
Lightvalve	11:82d8768d7351	334	break;
Lightvalve	11:82d8768d7351	335	}
Lightvalve	11:82d8768d7351	336
Lightvalve	11:82d8768d7351	337	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	338	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	339
Lightvalve	170:42c938a40313	340	spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	341
Lightvalve	11:82d8768d7351	342	break;
Lightvalve	11:82d8768d7351	343	}
Lightvalve	11:82d8768d7351	344
Lightvalve	11:82d8768d7351	345	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	346	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	347
Lightvalve	11:82d8768d7351	348	break;
Lightvalve	11:82d8768d7351	349	}
Lightvalve	11:82d8768d7351	350
Lightvalve	11:82d8768d7351	351	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	352	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	353	spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	354
Lightvalve	11:82d8768d7351	355	break;
Lightvalve	11:82d8768d7351	356	}
Lightvalve	11:82d8768d7351	357
Lightvalve	11:82d8768d7351	358	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	359	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	360
Lightvalve	11:82d8768d7351	361	break;
Lightvalve	11:82d8768d7351	362	}
Lightvalve	11:82d8768d7351	363
Lightvalve	11:82d8768d7351	364	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	365	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	366	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	367
Lightvalve	170:42c938a40313	368	spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	170:42c938a40313	369	spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	370
Lightvalve	11:82d8768d7351	371	break;
Lightvalve	11:82d8768d7351	372	}
Lightvalve	11:82d8768d7351	373
Lightvalve	11:82d8768d7351	374	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	375	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	376
Lightvalve	11:82d8768d7351	377	break;
Lightvalve	11:82d8768d7351	378	}
Lightvalve	11:82d8768d7351	379
Lightvalve	11:82d8768d7351	380	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	381	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	382	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	69:3995ffeaa786	383	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	384	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	170:42c938a40313	385
Lightvalve	170:42c938a40313	386	spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	170:42c938a40313	387	spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	388	break;
Lightvalve	11:82d8768d7351	389	}
Lightvalve	11:82d8768d7351	390
Lightvalve	11:82d8768d7351	391	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	392	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	393	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	394	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	395	//dac_2 = PRES_B_VREF;
Lightvalve	170:42c938a40313	396
Lightvalve	11:82d8768d7351	397	break;
Lightvalve	11:82d8768d7351	398	}
Lightvalve	11:82d8768d7351	399
Lightvalve	11:82d8768d7351	400	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	401	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	402	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	403	spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	170:42c938a40313	404	spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	405
Lightvalve	11:82d8768d7351	406
Lightvalve	11:82d8768d7351	407	break;
Lightvalve	11:82d8768d7351	408	}
Lightvalve	11:82d8768d7351	409
Lightvalve	11:82d8768d7351	410	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	411	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	412
Lightvalve	11:82d8768d7351	413	break;
Lightvalve	11:82d8768d7351	414	}
Lightvalve	11:82d8768d7351	415
Lightvalve	11:82d8768d7351	416	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	417	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	418	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	419	spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	170:42c938a40313	420	spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	421
Lightvalve	11:82d8768d7351	422	break;
Lightvalve	11:82d8768d7351	423	}
Lightvalve	11:82d8768d7351	424
Lightvalve	11:82d8768d7351	425	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	426	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	427	break;
Lightvalve	11:82d8768d7351	428	}
Lightvalve	11:82d8768d7351	429
Lightvalve	11:82d8768d7351	430	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	431	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	432	spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	433
Lightvalve	11:82d8768d7351	434	break;
Lightvalve	11:82d8768d7351	435	}
Lightvalve	11:82d8768d7351	436
Lightvalve	11:82d8768d7351	437	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	438	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	439
Lightvalve	11:82d8768d7351	440	break;
Lightvalve	11:82d8768d7351	441	}
Lightvalve	11:82d8768d7351	442
Lightvalve	11:82d8768d7351	443	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	444	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	445	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	170:42c938a40313	446
Lightvalve	170:42c938a40313	447	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve	170:42c938a40313	448	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve	11:82d8768d7351	449
Lightvalve	11:82d8768d7351	450	break;
Lightvalve	11:82d8768d7351	451	}
Lightvalve	11:82d8768d7351	452
Lightvalve	11:82d8768d7351	453	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	454	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	455
Lightvalve	11:82d8768d7351	456	break;
Lightvalve	11:82d8768d7351	457	}
Lightvalve	11:82d8768d7351	458
Lightvalve	11:82d8768d7351	459	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	460	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	180:02be1711ee0b	461	spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
Lightvalve	11:82d8768d7351	462
Lightvalve	11:82d8768d7351	463	break;
Lightvalve	11:82d8768d7351	464	}
Lightvalve	11:82d8768d7351	465
Lightvalve	11:82d8768d7351	466	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	467	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	468
Lightvalve	11:82d8768d7351	469	break;
Lightvalve	11:82d8768d7351	470	}
Lightvalve	11:82d8768d7351	471
Lightvalve	11:82d8768d7351	472	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	139:15621998925b	473	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.0001f);
Lightvalve	170:42c938a40313	474	spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
Lightvalve	11:82d8768d7351	475
Lightvalve	11:82d8768d7351	476	break;
Lightvalve	11:82d8768d7351	477	}
Lightvalve	11:82d8768d7351	478
Lightvalve	11:82d8768d7351	479	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	480	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	481
Lightvalve	11:82d8768d7351	482	break;
Lightvalve	11:82d8768d7351	483	}
Lightvalve	11:82d8768d7351	484
Lightvalve	11:82d8768d7351	485	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	486	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	487	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	170:42c938a40313	488	spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	170:42c938a40313	489	spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	11:82d8768d7351	490
Lightvalve	11:82d8768d7351	491	break;
Lightvalve	11:82d8768d7351	492	}
Lightvalve	11:82d8768d7351	493
Lightvalve	11:82d8768d7351	494	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	495	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	496
Lightvalve	11:82d8768d7351	497	break;
Lightvalve	11:82d8768d7351	498	}
Lightvalve	11:82d8768d7351	499
Lightvalve	11:82d8768d7351	500	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	501	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	170:42c938a40313	502	spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
Lightvalve	11:82d8768d7351	503
Lightvalve	11:82d8768d7351	504	break;
Lightvalve	11:82d8768d7351	505	}
Lightvalve	11:82d8768d7351	506
Lightvalve	11:82d8768d7351	507	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	508	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	509
Lightvalve	11:82d8768d7351	510	break;
Lightvalve	11:82d8768d7351	511	}
Lightvalve	11:82d8768d7351	512	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	513	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	514	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	515	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	516	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	517	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	518	spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	170:42c938a40313	519	spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	170:42c938a40313	520	spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	170:42c938a40313	521	spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	170:42c938a40313	522	spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	523
Lightvalve	11:82d8768d7351	524	break;
Lightvalve	11:82d8768d7351	525	}
Lightvalve	11:82d8768d7351	526
Lightvalve	11:82d8768d7351	527	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	528	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	529
Lightvalve	11:82d8768d7351	530	break;
Lightvalve	11:82d8768d7351	531	}
Lightvalve	11:82d8768d7351	532	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	533	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	534	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	535	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	536	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	537	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	170:42c938a40313	538	spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	170:42c938a40313	539	spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	170:42c938a40313	540	spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	170:42c938a40313	541	spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	170:42c938a40313	542	spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	543
Lightvalve	11:82d8768d7351	544	break;
Lightvalve	11:82d8768d7351	545	}
Lightvalve	11:82d8768d7351	546	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	547	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	548	break;
Lightvalve	11:82d8768d7351	549	}
Lightvalve	11:82d8768d7351	550
Lightvalve	11:82d8768d7351	551	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	552	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	553
Lightvalve	11:82d8768d7351	554	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	555	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	556	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	557	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	558	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	559
Lightvalve	11:82d8768d7351	560	break;
Lightvalve	11:82d8768d7351	561	}
Lightvalve	11:82d8768d7351	562
Lightvalve	11:82d8768d7351	563	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	564	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	565
Lightvalve	11:82d8768d7351	566	break;
Lightvalve	11:82d8768d7351	567	}
Lightvalve	11:82d8768d7351	568
Lightvalve	11:82d8768d7351	569	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	570
Lightvalve	12:6f2531038ea4	571	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	572	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	573	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	574	}
Lightvalve	11:82d8768d7351	575
Lightvalve	11:82d8768d7351	576	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	577
Lightvalve	11:82d8768d7351	578
Lightvalve	11:82d8768d7351	579	break;
Lightvalve	11:82d8768d7351	580	}
Lightvalve	11:82d8768d7351	581
Lightvalve	11:82d8768d7351	582	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	583	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	584	break;
Lightvalve	11:82d8768d7351	585	}
Lightvalve	11:82d8768d7351	586	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	587	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	588	spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	589	break;
Lightvalve	11:82d8768d7351	590	}
Lightvalve	11:82d8768d7351	591
Lightvalve	11:82d8768d7351	592	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	593	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	594	break;
Lightvalve	11:82d8768d7351	595	}
Lightvalve	11:82d8768d7351	596	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	597	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	170:42c938a40313	598	spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	599	break;
Lightvalve	11:82d8768d7351	600	}
Lightvalve	11:82d8768d7351	601
Lightvalve	11:82d8768d7351	602	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	603	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	604	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	605	break;
Lightvalve	11:82d8768d7351	606	}
Lightvalve	11:82d8768d7351	607	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	608	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	609	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	610	break;
Lightvalve	11:82d8768d7351	611	}
Lightvalve	11:82d8768d7351	612	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	613	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	614	break;
Lightvalve	11:82d8768d7351	615	}
Lightvalve	170:42c938a40313	616
Lightvalve	28:2a62d73e3dd0	617	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	618	break;
Lightvalve	28:2a62d73e3dd0	619	}
Lightvalve	32:4b8c0fedaf2c	620	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	621	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	622	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	170:42c938a40313	623	spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve	170:42c938a40313	624
Lightvalve	33:91b17819ec30	625	break;
Lightvalve	33:91b17819ec30	626	}
Lightvalve	33:91b17819ec30	627	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	628	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	629	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	170:42c938a40313	630	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS*10.0f));
Lightvalve	170:42c938a40313	631
Lightvalve	33:91b17819ec30	632	break;
Lightvalve	33:91b17819ec30	633	}
Lightvalve	33:91b17819ec30	634	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	635	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	636	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	170:42c938a40313	637	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS*10.0f));
Lightvalve	32:4b8c0fedaf2c	638	break;
Lightvalve	32:4b8c0fedaf2c	639	}
Lightvalve	36:a46e63505ed8	640	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	641	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	642	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	643	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	644	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	645	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	646	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	647	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	648	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	649	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	650	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	651	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	652	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	653	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	654	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	655	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	656	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	657	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	658	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	659	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	660	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	661	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	662	}
Lightvalve	36:a46e63505ed8	663	break;
Lightvalve	36:a46e63505ed8	664	}
Lightvalve	38:118df027d851	665	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	38:118df027d851	666	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	667	break;
Lightvalve	38:118df027d851	668	}
Lightvalve	170:42c938a40313	669	case CRX_DELAY_TEST: {
Lightvalve	54:647072f5307a	670	flag_delay_test = 1;
Lightvalve	54:647072f5307a	671	break;
Lightvalve	54:647072f5307a	672	}
Lightvalve	68:328e1be06f5d	673	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	68:328e1be06f5d	674	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	68:328e1be06f5d	675	CONTROL_UTILITY_MODE = 1;
Lightvalve	68:328e1be06f5d	676	break;
Lightvalve	68:328e1be06f5d	677	}
Lightvalve	169:645207e160ca	678	case CRX_SET_FREQ_TEST: {
Lightvalve	169:645207e160ca	679	cnt_freq_test = 0;
Lightvalve	169:645207e160ca	680	CONTROL_UTILITY_MODE = 34;
Lightvalve	169:645207e160ca	681	break;
Lightvalve	169:645207e160ca	682	}
Lightvalve	170:42c938a40313	683
Lightvalve	169:645207e160ca	684	case CRX_ASK_BUFFER: {
Lightvalve	169:645207e160ca	685	cnt_buffer = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	169:645207e160ca	686	CAN_TX_BUFFER(cnt_buffer);
Lightvalve	169:645207e160ca	687	break;
Lightvalve	169:645207e160ca	688	}
Lightvalve	170:42c938a40313	689
Lightvalve	169:645207e160ca	690	case CRX_SET_STEP_TEST: {
Lightvalve	169:645207e160ca	691	cnt_step_test = 0;
Lightvalve	169:645207e160ca	692	CONTROL_UTILITY_MODE = 37;
Lightvalve	169:645207e160ca	693	break;
Lightvalve	169:645207e160ca	694	}
Lightvalve	38:118df027d851	695
Lightvalve	192:637092202815	696	case CRX_SET_CHANGE_EVERY_REFERNCE: {
Lightvalve	192:637092202815	697	flag_every_reference = 1;
Lightvalve	192:637092202815	698	break;
Lightvalve	192:637092202815	699	}
Lightvalve	192:637092202815	700
Lightvalve	170:42c938a40313	701	default:
Lightvalve	170:42c938a40313	702	break;
jobuuu	2:a1c0a37df760	703	}
jobuuu	2:a1c0a37df760	704	}
jobuuu	2:a1c0a37df760	705
jobuuu	2:a1c0a37df760	706	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	707	{
Lightvalve	170:42c938a40313	708
jobuuu	2:a1c0a37df760	709	can.read(msg);
jobuuu	2:a1c0a37df760	710	unsigned int address = msg.id;
Lightvalve	170:42c938a40313	711	if(address==CID_RX_CMD) {
jobuuu	2:a1c0a37df760	712	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	713	ReadCMD(CMD);
Lightvalve	170:42c938a40313	714
jobuuu	7:e9086c72bb22	715	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	170:42c938a40313	716
Lightvalve	43:b084e5f5d0d5	717	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	718	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	719	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	170:42c938a40313	720
Lightvalve	57:f4819de54e7a	721	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	722	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	723	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	170:42c938a40313	724	} else { //Linear Actuator
Lightvalve	67:c2812cf26c38	725	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	67:c2812cf26c38	726	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	57:f4819de54e7a	727	}
Lightvalve	170:42c938a40313	728
Lightvalve	68:328e1be06f5d	729	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	133:22ab22818e01	730	torq.ref_diff = torq.ref - torq.ref_old;
Lightvalve	224:985dba42f261	731	torq_dot.sen = torq.sen-torq_sen_past;
Lightvalve	133:22ab22818e01	732	torq.ref_old = torq.ref;
Lightvalve	224:985dba42f261	733	torq_sen_past = torq.sen;
Lightvalve	68:328e1be06f5d	734
Lightvalve	101:50159049a518	735
Lightvalve	49:e7bcfc244d40	736	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	737	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	170:42c938a40313	738
Lightvalve	57:f4819de54e7a	739	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	740	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	741	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	742	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	743	} else { //SW Valve
Lightvalve	57:f4819de54e7a	744	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	745	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	746	} else {
Lightvalve	57:f4819de54e7a	747	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	748	}
Lightvalve	47:fdcb8bd86fd6	749	}
Lightvalve	170:42c938a40313	750	} else if(address==CID_RX_REF_PWM) {
Lightvalve	49:e7bcfc244d40	751	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	752	Vout.ref = (double) temp_ref_pwm;
Lightvalve	170:42c938a40313	753	}
jobuuu	2:a1c0a37df760	754	}
jobuuu	2:a1c0a37df760	755
jobuuu	2:a1c0a37df760	756	/******************************************************************************
jobuuu	2:a1c0a37df760	757	Information Transmission Functions
jobuuu	2:a1c0a37df760	758	*******************************************************************************/
Lightvalve	11:82d8768d7351	759
Lightvalve	170:42c938a40313	760	void CAN_TX_INFO(void)
Lightvalve	170:42c938a40313	761	{
Lightvalve	12:6f2531038ea4	762	CANMessage temp_msg;
Lightvalve	170:42c938a40313	763
jobuuu	2:a1c0a37df760	764	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	765	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	766	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	767	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	768	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	769	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	770	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	771	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	772	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	773
jobuuu	2:a1c0a37df760	774	can.write(temp_msg);
jobuuu	2:a1c0a37df760	775	}
jobuuu	2:a1c0a37df760	776
Lightvalve	170:42c938a40313	777	void CAN_TX_BNO(void)
Lightvalve	170:42c938a40313	778	{
Lightvalve	12:6f2531038ea4	779	CANMessage temp_msg;
Lightvalve	170:42c938a40313	780
jobuuu	2:a1c0a37df760	781	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	782	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	783	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	784	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	785
jobuuu	2:a1c0a37df760	786	can.write(temp_msg);
jobuuu	2:a1c0a37df760	787	}
jobuuu	2:a1c0a37df760	788
Lightvalve	170:42c938a40313	789	void CAN_TX_OPERATING_MODE(void)
Lightvalve	170:42c938a40313	790	{
jobuuu	2:a1c0a37df760	791	CANMessage temp_msg;
Lightvalve	170:42c938a40313	792
jobuuu	2:a1c0a37df760	793	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	794	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	795	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	796	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	797	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	798	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	799	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	800
jobuuu	2:a1c0a37df760	801	can.write(temp_msg);
jobuuu	2:a1c0a37df760	802	}
jobuuu	2:a1c0a37df760	803
Lightvalve	170:42c938a40313	804	void CAN_TX_CAN_FREQ(void)
Lightvalve	170:42c938a40313	805	{
jobuuu	2:a1c0a37df760	806	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	807
jobuuu	2:a1c0a37df760	808	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	809	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	810	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	811	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	812	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	813
jobuuu	2:a1c0a37df760	814	can.write(temp_msg);
jobuuu	2:a1c0a37df760	815	}
Lightvalve	11:82d8768d7351	816
Lightvalve	170:42c938a40313	817	void CAN_TX_CONTROL_MODE(void)
Lightvalve	170:42c938a40313	818	{
jobuuu	2:a1c0a37df760	819	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	820
jobuuu	2:a1c0a37df760	821	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	822	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	823	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	824	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	825
jobuuu	2:a1c0a37df760	826	can.write(temp_msg);
jobuuu	2:a1c0a37df760	827	}
Lightvalve	11:82d8768d7351	828
Lightvalve	170:42c938a40313	829	void CAN_TX_JOINT_ENC_DIR(void)
Lightvalve	170:42c938a40313	830	{
jobuuu	2:a1c0a37df760	831	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	832
jobuuu	2:a1c0a37df760	833	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	834	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	835	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	836	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	837	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	838
jobuuu	2:a1c0a37df760	839	can.write(temp_msg);
jobuuu	2:a1c0a37df760	840	}
jobuuu	2:a1c0a37df760	841
Lightvalve	170:42c938a40313	842	void CAN_TX_VALVE_DIR(void)
Lightvalve	170:42c938a40313	843	{
jobuuu	2:a1c0a37df760	844	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	845
jobuuu	2:a1c0a37df760	846	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	847	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	848	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	849	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	850	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	851
jobuuu	2:a1c0a37df760	852	can.write(temp_msg);
jobuuu	2:a1c0a37df760	853	}
jobuuu	2:a1c0a37df760	854
Lightvalve	170:42c938a40313	855	void CAN_TX_VALVE_ENC_DIR(void)
Lightvalve	170:42c938a40313	856	{
jobuuu	2:a1c0a37df760	857	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	858
jobuuu	2:a1c0a37df760	859	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	860	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	861	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	862	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	863	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	864
jobuuu	2:a1c0a37df760	865	can.write(temp_msg);
jobuuu	2:a1c0a37df760	866	}
jobuuu	2:a1c0a37df760	867
Lightvalve	170:42c938a40313	868	void CAN_TX_VOLTAGE_SUPPLY(void)
Lightvalve	170:42c938a40313	869	{
Lightvalve	49:e7bcfc244d40	870	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	871
jobuuu	2:a1c0a37df760	872	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	873
jobuuu	2:a1c0a37df760	874	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	875	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	876	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	877	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	878	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	879
jobuuu	2:a1c0a37df760	880	can.write(temp_msg);
jobuuu	2:a1c0a37df760	881	}
jobuuu	2:a1c0a37df760	882
Lightvalve	170:42c938a40313	883	void CAN_TX_VOLTAGE_VALVE(void)
Lightvalve	170:42c938a40313	884	{
Lightvalve	49:e7bcfc244d40	885	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	886
jobuuu	2:a1c0a37df760	887	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	888
jobuuu	2:a1c0a37df760	889	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	890	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	891	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	892	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	893	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	894
jobuuu	2:a1c0a37df760	895	can.write(temp_msg);
jobuuu	2:a1c0a37df760	896	}
Lightvalve	11:82d8768d7351	897
jobuuu	2:a1c0a37df760	898
Lightvalve	170:42c938a40313	899	void CAN_TX_PID_GAIN(int t_type)
Lightvalve	170:42c938a40313	900	{
jobuuu	2:a1c0a37df760	901	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	902	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	903	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	904
Lightvalve	12:6f2531038ea4	905	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	906	if (t_type == 0) {
Lightvalve	30:8d561f16383b	907	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	908	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	909	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	910	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	911	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	912	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	913	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	914	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	915	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	916	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	917	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	918	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	919	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	920	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	921	}
jobuuu	2:a1c0a37df760	922
jobuuu	2:a1c0a37df760	923	CANMessage temp_msg;
Lightvalve	170:42c938a40313	924
jobuuu	2:a1c0a37df760	925	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	926	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	927	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	928	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	929	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	930	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	931	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	932	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	933	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	934	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	935
jobuuu	2:a1c0a37df760	936	can.write(temp_msg);
jobuuu	2:a1c0a37df760	937	}
jobuuu	2:a1c0a37df760	938
Lightvalve	11:82d8768d7351	939
Lightvalve	170:42c938a40313	940	void CAN_TX_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	941	{
jobuuu	2:a1c0a37df760	942	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	943
jobuuu	2:a1c0a37df760	944	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	945	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	946	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	947	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	948	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	949	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	950	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	951	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	952	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	953
jobuuu	2:a1c0a37df760	954	can.write(temp_msg);
jobuuu	2:a1c0a37df760	955	}
jobuuu	2:a1c0a37df760	956
Lightvalve	170:42c938a40313	957	void CAN_TX_VELOCITY_COMP_GAIN(void)
Lightvalve	170:42c938a40313	958	{
Lightvalve	11:82d8768d7351	959	CANMessage temp_msg;
Lightvalve	170:42c938a40313	960
Lightvalve	11:82d8768d7351	961	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	962	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	963	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	964	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	965	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	966
Lightvalve	11:82d8768d7351	967	can.write(temp_msg);
Lightvalve	11:82d8768d7351	968	}
Lightvalve	11:82d8768d7351	969
Lightvalve	170:42c938a40313	970	void CAN_TX_COMPLIANCE_GAIN(void)
Lightvalve	170:42c938a40313	971	{
Lightvalve	11:82d8768d7351	972	CANMessage temp_msg;
Lightvalve	170:42c938a40313	973
Lightvalve	11:82d8768d7351	974	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	975	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	976	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	977	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	978	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	979
Lightvalve	11:82d8768d7351	980	can.write(temp_msg);
Lightvalve	11:82d8768d7351	981	}
Lightvalve	11:82d8768d7351	982
Lightvalve	170:42c938a40313	983	void CAN_TX_VALVE_FF(void)
Lightvalve	170:42c938a40313	984	{
Lightvalve	11:82d8768d7351	985	CANMessage temp_msg;
Lightvalve	170:42c938a40313	986
Lightvalve	11:82d8768d7351	987	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	988	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	989	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	990	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	991	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	992
Lightvalve	11:82d8768d7351	993	can.write(temp_msg);
Lightvalve	11:82d8768d7351	994	}
Lightvalve	11:82d8768d7351	995
Lightvalve	170:42c938a40313	996	void CAN_TX_BULK_MODULUS(void)
Lightvalve	170:42c938a40313	997	{
Lightvalve	11:82d8768d7351	998	CANMessage temp_msg;
Lightvalve	170:42c938a40313	999
Lightvalve	11:82d8768d7351	1000	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1001	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1002	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1003	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1004	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	1005
Lightvalve	11:82d8768d7351	1006	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1007	}
Lightvalve	11:82d8768d7351	1008
Lightvalve	170:42c938a40313	1009	void CAN_TX_CHAMBER_VOLUME(void)
Lightvalve	170:42c938a40313	1010	{
Lightvalve	11:82d8768d7351	1011	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1012
Lightvalve	11:82d8768d7351	1013	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1014	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1015	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1016	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1017	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1018	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1019	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1020
Lightvalve	11:82d8768d7351	1021	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1022	}
Lightvalve	11:82d8768d7351	1023
Lightvalve	170:42c938a40313	1024	void CAN_TX_PISTON_AREA(void)
Lightvalve	170:42c938a40313	1025	{
jobuuu	2:a1c0a37df760	1026	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1027
Lightvalve	11:82d8768d7351	1028	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1029	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1030	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1031	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1032	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1033	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1034	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1035
Lightvalve	11:82d8768d7351	1036	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1037	}
Lightvalve	11:82d8768d7351	1038
Lightvalve	170:42c938a40313	1039	void CAN_TX_PRES_A_AND_B(void)
Lightvalve	170:42c938a40313	1040	{
Lightvalve	11:82d8768d7351	1041	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1042
Lightvalve	11:82d8768d7351	1043	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1044	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1045	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1046	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1047	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1048	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1049	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1050
Lightvalve	11:82d8768d7351	1051	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1052	}
Lightvalve	11:82d8768d7351	1053
Lightvalve	170:42c938a40313	1054	void CAN_TX_ENC_LIMIT(void)
Lightvalve	170:42c938a40313	1055	{
Lightvalve	11:82d8768d7351	1056	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1057
Lightvalve	11:82d8768d7351	1058	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1059	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1060	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1061	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1062	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1063	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1064	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1065
Lightvalve	11:82d8768d7351	1066	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1067	}
Lightvalve	11:82d8768d7351	1068
Lightvalve	170:42c938a40313	1069	void CAN_TX_STROKE(void)
Lightvalve	170:42c938a40313	1070	{
Lightvalve	11:82d8768d7351	1071	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1072
Lightvalve	11:82d8768d7351	1073	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1074	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1075	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1076	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1077	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1078
Lightvalve	11:82d8768d7351	1079	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1080	}
Lightvalve	11:82d8768d7351	1081
Lightvalve	170:42c938a40313	1082	void CAN_TX_VALVE_LIMIT(void)
Lightvalve	170:42c938a40313	1083	{
Lightvalve	11:82d8768d7351	1084	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1085
Lightvalve	11:82d8768d7351	1086	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1087	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1088	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1089	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1090	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1091	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1092	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1093
Lightvalve	11:82d8768d7351	1094	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1095	}
Lightvalve	11:82d8768d7351	1096
Lightvalve	170:42c938a40313	1097	void CAN_TX_ENC_PULSE_PER_POSITION(void)
Lightvalve	170:42c938a40313	1098	{
Lightvalve	11:82d8768d7351	1099	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1100
jobuuu	2:a1c0a37df760	1101	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1102	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1103	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1104	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1105	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1106	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1107
jobuuu	2:a1c0a37df760	1108	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1109	}
jobuuu	2:a1c0a37df760	1110
Lightvalve	170:42c938a40313	1111	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
Lightvalve	170:42c938a40313	1112	{
jobuuu	2:a1c0a37df760	1113	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1114
jobuuu	2:a1c0a37df760	1115	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1116	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1117	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	139:15621998925b	1118	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
Lightvalve	48:889798ff9329	1119	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1120	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1121
jobuuu	2:a1c0a37df760	1122	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1123	}
jobuuu	2:a1c0a37df760	1124
Lightvalve	170:42c938a40313	1125	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
Lightvalve	170:42c938a40313	1126	{
jobuuu	2:a1c0a37df760	1127	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1128
jobuuu	2:a1c0a37df760	1129	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1130	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1131	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1132	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1133	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1134	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1135	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1136
jobuuu	2:a1c0a37df760	1137	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1138	}
jobuuu	2:a1c0a37df760	1139
Lightvalve	170:42c938a40313	1140	void CAN_TX_FRICTION(void)
Lightvalve	170:42c938a40313	1141	{
Lightvalve	11:82d8768d7351	1142	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1143	int16_t send_friction;
Lightvalve	30:8d561f16383b	1144	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	170:42c938a40313	1145
Lightvalve	11:82d8768d7351	1146	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1147	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1148	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1149	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1150	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1151
Lightvalve	11:82d8768d7351	1152	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1153	}
Lightvalve	11:82d8768d7351	1154
Lightvalve	170:42c938a40313	1155	void CAN_TX_VALVE_GAIN_PLUS(void)
Lightvalve	170:42c938a40313	1156	{
Lightvalve	11:82d8768d7351	1157	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1158
Lightvalve	11:82d8768d7351	1159	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1160	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1161	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1162	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1163	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1164	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1165	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1166	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1167
Lightvalve	11:82d8768d7351	1168	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1169	}
Lightvalve	11:82d8768d7351	1170
Lightvalve	170:42c938a40313	1171	void CAN_TX_DDV_VALVE_DEADZONE(void)
Lightvalve	170:42c938a40313	1172	{
Lightvalve	11:82d8768d7351	1173	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1174	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1175	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1176	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1177
Lightvalve	57:f4819de54e7a	1178	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1179	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1180	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	170:42c938a40313	1181
Lightvalve	11:82d8768d7351	1182	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1183	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1184	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1185	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1186	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1187	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1188	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1189	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1190	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1191
Lightvalve	11:82d8768d7351	1192	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1193	}
Lightvalve	11:82d8768d7351	1194
Lightvalve	170:42c938a40313	1195	void CAN_TX_VALVE_GAIN_MINUS(void)
Lightvalve	170:42c938a40313	1196	{
Lightvalve	11:82d8768d7351	1197	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1198
Lightvalve	11:82d8768d7351	1199	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1200	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1201	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1202	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1203	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1204	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1205	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1206	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1207
Lightvalve	11:82d8768d7351	1208	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1209	}
Lightvalve	11:82d8768d7351	1210
Lightvalve	170:42c938a40313	1211	void CAN_TX_REFENCE_MODE(void)
Lightvalve	170:42c938a40313	1212	{
Lightvalve	11:82d8768d7351	1213	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1214
Lightvalve	11:82d8768d7351	1215	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1216	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1217	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1218	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1219	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1220	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1221	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1222	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1223
Lightvalve	11:82d8768d7351	1224	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1225	}
Lightvalve	11:82d8768d7351	1226
Lightvalve	170:42c938a40313	1227	void CAN_TX_HOMEPOS_OFFSET(void)
Lightvalve	170:42c938a40313	1228	{
Lightvalve	11:82d8768d7351	1229	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1230	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1231	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	170:42c938a40313	1232
jobuuu	2:a1c0a37df760	1233	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1234	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1235	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1236	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1237	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1238
jobuuu	2:a1c0a37df760	1239	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1240	}
Lightvalve	11:82d8768d7351	1241
Lightvalve	170:42c938a40313	1242	void CAN_TX_HOMPOS_VALVE_OPENING(void)
Lightvalve	170:42c938a40313	1243	{
Lightvalve	11:82d8768d7351	1244	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1245	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1246	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	170:42c938a40313	1247
Lightvalve	11:82d8768d7351	1248	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1249	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1250	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1251	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1252	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1253
Lightvalve	11:82d8768d7351	1254	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1255	}
Lightvalve	11:82d8768d7351	1256
Lightvalve	170:42c938a40313	1257	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
Lightvalve	170:42c938a40313	1258	{
Lightvalve	11:82d8768d7351	1259	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1260	int16_t valve_pos_vs_pwm;
Lightvalve	170:42c938a40313	1261
Lightvalve	57:f4819de54e7a	1262	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1263	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	1264	} else {
Lightvalve	57:f4819de54e7a	1265	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	1266	}
Lightvalve	170:42c938a40313	1267
Lightvalve	12:6f2531038ea4	1268	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1269	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	170:42c938a40313	1270
Lightvalve	11:82d8768d7351	1271	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1272	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1273	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1274	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1275	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1276	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1277	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1278
Lightvalve	11:82d8768d7351	1279	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1280	}
Lightvalve	11:82d8768d7351	1281
Lightvalve	170:42c938a40313	1282	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
Lightvalve	170:42c938a40313	1283	{
Lightvalve	11:82d8768d7351	1284	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1285	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1286	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1287
Lightvalve	57:f4819de54e7a	1288	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1289	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1290	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1291	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	1292	} else {
Lightvalve	57:f4819de54e7a	1293	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	1294	}
Lightvalve	170:42c938a40313	1295
Lightvalve	11:82d8768d7351	1296	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1297	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1298	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1299	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1300	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1301	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1302	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1303	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1304	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1305
Lightvalve	11:82d8768d7351	1306	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1307	}
Lightvalve	11:82d8768d7351	1308
Lightvalve	170:42c938a40313	1309	void CAN_TX_VALVE_POS_NUM(void)
Lightvalve	170:42c938a40313	1310	{
Lightvalve	11:82d8768d7351	1311	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1312	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1313	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	170:42c938a40313	1314
Lightvalve	11:82d8768d7351	1315	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1316	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1317	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1318	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1319	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1320
Lightvalve	11:82d8768d7351	1321	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1322	}
Lightvalve	11:82d8768d7351	1323
Lightvalve	170:42c938a40313	1324	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
Lightvalve	170:42c938a40313	1325	{
Lightvalve	38:118df027d851	1326	CANMessage temp_msg;
Lightvalve	170:42c938a40313	1327
Lightvalve	48:889798ff9329	1328	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1329	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1330	float temp_ddv_center = 0.0f;
Lightvalve	170:42c938a40313	1331
Lightvalve	57:f4819de54e7a	1332	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1333	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1334	temp_ddv_center = VALVE_CENTER;
Lightvalve	170:42c938a40313	1335
Lightvalve	38:118df027d851	1336	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1337	temp_msg.len = 7;
Lightvalve	38:118df027d851	1338	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1339	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1340	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1341	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1342	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1343	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1344	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1345
Lightvalve	38:118df027d851	1346	can.write(temp_msg);
Lightvalve	38:118df027d851	1347	}
Lightvalve	38:118df027d851	1348
Lightvalve	169:645207e160ca	1349
Lightvalve	170:42c938a40313	1350	void CAN_TX_BUFFER(int16_t t_cnt_buffer)
Lightvalve	170:42c938a40313	1351	{
Lightvalve	169:645207e160ca	1352	CANMessage temp_msg;
Lightvalve	169:645207e160ca	1353	int16_t send_pos_array, send_ref_array;
Lightvalve	169:645207e160ca	1354	send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
Lightvalve	169:645207e160ca	1355	send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
Lightvalve	170:42c938a40313	1356
Lightvalve	169:645207e160ca	1357	temp_msg.id = CID_TX_INFO;
Lightvalve	169:645207e160ca	1358	temp_msg.len = 5;
Lightvalve	169:645207e160ca	1359	temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
Lightvalve	169:645207e160ca	1360	temp_msg.data[1] = (uint8_t) send_pos_array;
Lightvalve	169:645207e160ca	1361	temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
Lightvalve	169:645207e160ca	1362	temp_msg.data[3] = (uint8_t) (send_ref_array);
Lightvalve	169:645207e160ca	1363	temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
Lightvalve	169:645207e160ca	1364
Lightvalve	169:645207e160ca	1365	can.write(temp_msg);
Lightvalve	169:645207e160ca	1366	}
Lightvalve	169:645207e160ca	1367
Lightvalve	169:645207e160ca	1368
jobuuu	2:a1c0a37df760	1369	/******************************************************************************
jobuuu	2:a1c0a37df760	1370	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1371	*******************************************************************************/
jobuuu	2:a1c0a37df760	1372
Lightvalve	170:42c938a40313	1373	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
Lightvalve	170:42c938a40313	1374	{
Lightvalve	52:8ea76864368a	1375	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1376
Lightvalve	52:8ea76864368a	1377	temp_msg.id = CID_TX_POSITION;
Lightvalve	52:8ea76864368a	1378	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1379	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1380	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1381	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1382	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1383	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1384	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1385
Lightvalve	52:8ea76864368a	1386	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1387	}
Lightvalve	52:8ea76864368a	1388
Lightvalve	170:42c938a40313	1389	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
Lightvalve	170:42c938a40313	1390	{
Lightvalve	170:42c938a40313	1391
jobuuu	2:a1c0a37df760	1392	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1393
jobuuu	2:a1c0a37df760	1394	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1395	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1396	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1397	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1398	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1399	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1400	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1401	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1402	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1403	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1404
jobuuu	2:a1c0a37df760	1405	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1406	}
jobuuu	2:a1c0a37df760	1407
Lightvalve	67:c2812cf26c38	1408
Lightvalve	170:42c938a40313	1409	void CAN_TX_TORQUE(int16_t t_valve_pos)
Lightvalve	170:42c938a40313	1410	{
jobuuu	2:a1c0a37df760	1411	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1412
jobuuu	2:a1c0a37df760	1413	temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1414	temp_msg.len = 2;
Lightvalve	48:889798ff9329	1415	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1416	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1417
jobuuu	2:a1c0a37df760	1418	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1419	}
jobuuu	2:a1c0a37df760	1420
Lightvalve	170:42c938a40313	1421	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b)
Lightvalve	170:42c938a40313	1422	{
jobuuu	2:a1c0a37df760	1423	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1424
jobuuu	2:a1c0a37df760	1425	temp_msg.id = CID_TX_PRES;
Lightvalve	57:f4819de54e7a	1426	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1427	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1428	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1429	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1430	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1431
jobuuu	2:a1c0a37df760	1432	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1433	}
jobuuu	2:a1c0a37df760	1434
Lightvalve	170:42c938a40313	1435	void CAN_TX_PWM(int16_t t_pwm)
Lightvalve	170:42c938a40313	1436	{
jobuuu	2:a1c0a37df760	1437	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1438
Lightvalve	57:f4819de54e7a	1439	temp_msg.id = CID_TX_VOUT;
Lightvalve	57:f4819de54e7a	1440	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1441	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1442	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1443
jobuuu	2:a1c0a37df760	1444	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1445	}
jobuuu	2:a1c0a37df760	1446
Lightvalve	73:f80dc3970c99	1447	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	1448	{
jobuuu	2:a1c0a37df760	1449	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1450
jobuuu	2:a1c0a37df760	1451	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	73:f80dc3970c99	1452	temp_msg.len = 8;
Lightvalve	73:f80dc3970c99	1453	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	73:f80dc3970c99	1454	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	73:f80dc3970c99	1455	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	73:f80dc3970c99	1456	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	73:f80dc3970c99	1457	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	73:f80dc3970c99	1458	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	73:f80dc3970c99	1459	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	73:f80dc3970c99	1460	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	170:42c938a40313	1461
jobuuu	2:a1c0a37df760	1462
jobuuu	2:a1c0a37df760	1463	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1464	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	04 Feb 2021
Imports:	1
Forks:	0
Commits:	226
Dependents:	0
Dependencies:	2
Followers:	1

CAN/function_CAN.cpp@224:985dba42f261, 2020-12-28 (annotated)

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