HydraulicControlBoard_Start - 20210203

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Yeseong Jeong / Mbed 2 deprecated HydraulicControlBoard_Start

20210203

CAN/function_CAN.cpp@66:a8e6799dbce3, 2020-05-12 (annotated)

Committer:: Lightvalve
Date:: Tue May 12 06:23:46 2020 +0000
Revision:: 66:a8e6799dbce3
Parent:: 60:64181f1d3e60
Child:: 67:c2812cf26c38

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	66:a8e6799dbce3	23	extern DigitalOut LED;
Lightvalve	12:6f2531038ea4	24
Lightvalve	66:a8e6799dbce3	25	//extern int num_input;
Lightvalve	66:a8e6799dbce3	26	//extern int num_input_array;
Lightvalve	66:a8e6799dbce3	27	extern float input[];
Lightvalve	66:a8e6799dbce3	28	extern float x_future[];
Lightvalve	11:82d8768d7351	29
Lightvalve	11:82d8768d7351	30	/*******************************************************************************
Lightvalve	11:82d8768d7351	31	* CAN functions
Lightvalve	11:82d8768d7351	32	******************************************************************************/
Lightvalve	11:82d8768d7351	33	void CAN_ID_INIT(void) {
jobuuu	7:e9086c72bb22	34
Lightvalve	11:82d8768d7351	35	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	36	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	37	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	38	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	39
Lightvalve	11:82d8768d7351	40	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	41	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	42	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	43	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	44	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	45	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve	11:82d8768d7351	46	}
jobuuu	2:a1c0a37df760	47
Lightvalve	28:2a62d73e3dd0	48	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	49	{
jobuuu	2:a1c0a37df760	50	switch(CMD){
Lightvalve	11:82d8768d7351	51	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	52	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	53	break;
Lightvalve	11:82d8768d7351	54	}
Lightvalve	11:82d8768d7351	55	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	56	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	57	break;
Lightvalve	11:82d8768d7351	58	}
Lightvalve	11:82d8768d7351	59	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	60	BNO = (int16_t) msg.data[1];
Lightvalve	16:903b5a4433b4	61
Lightvalve	16:903b5a4433b4	62	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	63
Lightvalve	16:903b5a4433b4	64	//spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	65	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	66	break;
Lightvalve	11:82d8768d7351	67	}
Lightvalve	11:82d8768d7351	68	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	69	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	70	break;
Lightvalve	11:82d8768d7351	71	}
Lightvalve	11:82d8768d7351	72	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	73	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	74	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	75	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	76	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	16:903b5a4433b4	77	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	78	break;
Lightvalve	11:82d8768d7351	79	}
Lightvalve	11:82d8768d7351	80	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	81	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	82
Lightvalve	11:82d8768d7351	83	break;
Lightvalve	11:82d8768d7351	84	}
Lightvalve	11:82d8768d7351	85	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	86
Lightvalve	11:82d8768d7351	87	break;
Lightvalve	11:82d8768d7351	88	}
Lightvalve	11:82d8768d7351	89
Lightvalve	45:35fa6884d0c6	90	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	91	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	92	/*
Lightvalve	45:35fa6884d0c6	93	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	94	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	95	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	96	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	97	*/
Lightvalve	11:82d8768d7351	98	break;
Lightvalve	11:82d8768d7351	99	}
Lightvalve	11:82d8768d7351	100
Lightvalve	11:82d8768d7351	101	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	102	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	103
Lightvalve	11:82d8768d7351	104	break;
Lightvalve	11:82d8768d7351	105	}
Lightvalve	11:82d8768d7351	106
Lightvalve	11:82d8768d7351	107	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	108	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	109	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	110	break;
Lightvalve	11:82d8768d7351	111	}
Lightvalve	11:82d8768d7351	112
Lightvalve	11:82d8768d7351	113	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	114	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	115
Lightvalve	11:82d8768d7351	116	break;
Lightvalve	11:82d8768d7351	117	}
Lightvalve	11:82d8768d7351	118
Lightvalve	11:82d8768d7351	119	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	120	//CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve	57:f4819de54e7a	121	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	122	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	123	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	124	}
Lightvalve	11:82d8768d7351	125	break;
Lightvalve	11:82d8768d7351	126	}
Lightvalve	11:82d8768d7351	127
Lightvalve	11:82d8768d7351	128	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	129	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	130	flag_data_request[request_type] = msg.data[1];
Lightvalve	14:8e7590227d22	131	//pc.printf("can middle %d\n", request_type);
Lightvalve	11:82d8768d7351	132
Lightvalve	12:6f2531038ea4	133	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	134	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	135	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	136	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	137
Lightvalve	11:82d8768d7351	138	break;
Lightvalve	11:82d8768d7351	139	}
Lightvalve	11:82d8768d7351	140
Lightvalve	11:82d8768d7351	141	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	142	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	143
Lightvalve	11:82d8768d7351	144	break;
Lightvalve	11:82d8768d7351	145	}
Lightvalve	11:82d8768d7351	146
Lightvalve	11:82d8768d7351	147	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	148	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	149	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	150	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	151	else
Lightvalve	11:82d8768d7351	152	DIR_JOINT_ENC = -1;
Lightvalve	16:903b5a4433b4	153
Lightvalve	16:903b5a4433b4	154	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	155
Lightvalve	16:903b5a4433b4	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	16:903b5a4433b4	173
Lightvalve	16:903b5a4433b4	174	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	175
Lightvalve	16:903b5a4433b4	176	//spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	177
Lightvalve	11:82d8768d7351	178	break;
Lightvalve	11:82d8768d7351	179	}
Lightvalve	11:82d8768d7351	180
Lightvalve	11:82d8768d7351	181	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	182	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	183
Lightvalve	11:82d8768d7351	184	break;
Lightvalve	11:82d8768d7351	185	}
Lightvalve	11:82d8768d7351	186
Lightvalve	11:82d8768d7351	187	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	188	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	189	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	190	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	191	else
Lightvalve	11:82d8768d7351	192	DIR_VALVE_ENC = -1;
Lightvalve	16:903b5a4433b4	193
Lightvalve	16:903b5a4433b4	194	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	195
Lightvalve	16:903b5a4433b4	196	//spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	197
Lightvalve	11:82d8768d7351	198	break;
Lightvalve	11:82d8768d7351	199	}
Lightvalve	11:82d8768d7351	200
Lightvalve	11:82d8768d7351	201	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	202	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	203
Lightvalve	11:82d8768d7351	204	break;
Lightvalve	11:82d8768d7351	205	}
Lightvalve	11:82d8768d7351	206
Lightvalve	11:82d8768d7351	207	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	208	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	209
Lightvalve	16:903b5a4433b4	210	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	211
Lightvalve	16:903b5a4433b4	212	//spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve	11:82d8768d7351	213
Lightvalve	11:82d8768d7351	214	break;
Lightvalve	11:82d8768d7351	215	}
Lightvalve	11:82d8768d7351	216
Lightvalve	11:82d8768d7351	217	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	218	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	219
Lightvalve	11:82d8768d7351	220	break;
Lightvalve	11:82d8768d7351	221	}
Lightvalve	11:82d8768d7351	222
Lightvalve	11:82d8768d7351	223	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	224	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	225
Lightvalve	16:903b5a4433b4	226	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	227
Lightvalve	16:903b5a4433b4	228	//spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve	11:82d8768d7351	229
Lightvalve	11:82d8768d7351	230
Lightvalve	11:82d8768d7351	231	break;
Lightvalve	11:82d8768d7351	232	}
Lightvalve	12:6f2531038ea4	233
Lightvalve	11:82d8768d7351	234	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	235	//CONTROL_MODE = 22;
Lightvalve	57:f4819de54e7a	236	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	237	break;
Lightvalve	11:82d8768d7351	238	}
Lightvalve	11:82d8768d7351	239
Lightvalve	11:82d8768d7351	240	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	241	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	242
Lightvalve	11:82d8768d7351	243	break;
Lightvalve	11:82d8768d7351	244	}
Lightvalve	11:82d8768d7351	245
Lightvalve	11:82d8768d7351	246	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	247	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	248	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	249	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	250	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	251
Lightvalve	16:903b5a4433b4	252	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	253
Lightvalve	11:82d8768d7351	254	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	255	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	256	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	257	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	258
Lightvalve	16:903b5a4433b4	259	ROM_RESET_DATA();
Lightvalve	48:889798ff9329	260
Lightvalve	11:82d8768d7351	261	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	262	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	263	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	264	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	265
Lightvalve	16:903b5a4433b4	266	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	267
Lightvalve	46:2694daea349b	268	} else if (msg.data[1] == 3) {
Lightvalve	46:2694daea349b	269	K_SPRING = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	46:2694daea349b	270	D_DAMPER = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	46:2694daea349b	271
Lightvalve	46:2694daea349b	272	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	273	}
Lightvalve	11:82d8768d7351	274
Lightvalve	11:82d8768d7351	275	break;
Lightvalve	11:82d8768d7351	276	}
Lightvalve	11:82d8768d7351	277
Lightvalve	11:82d8768d7351	278	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	279	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	280
Lightvalve	11:82d8768d7351	281	break;
Lightvalve	11:82d8768d7351	282	}
Lightvalve	11:82d8768d7351	283
Lightvalve	11:82d8768d7351	284	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	285	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	286	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	287	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	16:903b5a4433b4	288
Lightvalve	16:903b5a4433b4	289	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	290
Lightvalve	11:82d8768d7351	291	break;
Lightvalve	11:82d8768d7351	292	}
Lightvalve	11:82d8768d7351	293
Lightvalve	11:82d8768d7351	294	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	295	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	296
Lightvalve	11:82d8768d7351	297	break;
Lightvalve	11:82d8768d7351	298	}
Lightvalve	11:82d8768d7351	299
Lightvalve	11:82d8768d7351	300	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	301	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	302
Lightvalve	16:903b5a4433b4	303	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	304
Lightvalve	16:903b5a4433b4	305	//spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	306
Lightvalve	11:82d8768d7351	307	break;
Lightvalve	11:82d8768d7351	308	}
Lightvalve	11:82d8768d7351	309
Lightvalve	11:82d8768d7351	310	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	311	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	312
Lightvalve	11:82d8768d7351	313	break;
Lightvalve	11:82d8768d7351	314	}
Lightvalve	11:82d8768d7351	315
Lightvalve	11:82d8768d7351	316	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	317	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	318
Lightvalve	16:903b5a4433b4	319	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	320
Lightvalve	16:903b5a4433b4	321	//spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	322
Lightvalve	11:82d8768d7351	323	break;
Lightvalve	11:82d8768d7351	324	}
Lightvalve	11:82d8768d7351	325
Lightvalve	11:82d8768d7351	326	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	327	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	328
Lightvalve	11:82d8768d7351	329	break;
Lightvalve	11:82d8768d7351	330	}
Lightvalve	11:82d8768d7351	331
Lightvalve	11:82d8768d7351	332	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	333	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	334
Lightvalve	16:903b5a4433b4	335	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	336
Lightvalve	16:903b5a4433b4	337	//spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	338
Lightvalve	11:82d8768d7351	339	break;
Lightvalve	11:82d8768d7351	340	}
Lightvalve	11:82d8768d7351	341
Lightvalve	11:82d8768d7351	342	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	343	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	344
Lightvalve	11:82d8768d7351	345	break;
Lightvalve	11:82d8768d7351	346	}
Lightvalve	11:82d8768d7351	347
Lightvalve	11:82d8768d7351	348	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	349	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	350
Lightvalve	16:903b5a4433b4	351	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	352
Lightvalve	16:903b5a4433b4	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	16:903b5a4433b4	368	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	369
Lightvalve	16:903b5a4433b4	370	//spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	16:903b5a4433b4	371	//spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	372
Lightvalve	11:82d8768d7351	373	break;
Lightvalve	11:82d8768d7351	374	}
Lightvalve	11:82d8768d7351	375
Lightvalve	11:82d8768d7351	376	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	377	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	378
Lightvalve	11:82d8768d7351	379	break;
Lightvalve	11:82d8768d7351	380	}
Lightvalve	11:82d8768d7351	381
Lightvalve	11:82d8768d7351	382	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	383	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	384	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	385	PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve	57:f4819de54e7a	386	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	16:903b5a4433b4	387
Lightvalve	16:903b5a4433b4	388	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	389
Lightvalve	16:903b5a4433b4	390	//spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	16:903b5a4433b4	391	//spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	392	break;
Lightvalve	11:82d8768d7351	393	}
Lightvalve	11:82d8768d7351	394
Lightvalve	11:82d8768d7351	395	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	396	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	397	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	398	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	399	//dac_2 = PRES_B_VREF;
Lightvalve	12:6f2531038ea4	400
Lightvalve	11:82d8768d7351	401	break;
Lightvalve	11:82d8768d7351	402	}
Lightvalve	11:82d8768d7351	403
Lightvalve	11:82d8768d7351	404	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	405	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	406	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	407	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	408	//spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	16:903b5a4433b4	409	//spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	410
Lightvalve	11:82d8768d7351	411
Lightvalve	11:82d8768d7351	412	break;
Lightvalve	11:82d8768d7351	413	}
Lightvalve	11:82d8768d7351	414
Lightvalve	11:82d8768d7351	415	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	416	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	417
Lightvalve	11:82d8768d7351	418	break;
Lightvalve	11:82d8768d7351	419	}
Lightvalve	11:82d8768d7351	420
Lightvalve	11:82d8768d7351	421	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	422	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	423	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	424	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	425	//spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	16:903b5a4433b4	426	//spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	427
Lightvalve	11:82d8768d7351	428	break;
Lightvalve	11:82d8768d7351	429	}
Lightvalve	11:82d8768d7351	430
Lightvalve	11:82d8768d7351	431	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	432	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	433	break;
Lightvalve	11:82d8768d7351	434	}
Lightvalve	11:82d8768d7351	435
Lightvalve	11:82d8768d7351	436	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	437	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	438	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	439	//spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	440
Lightvalve	11:82d8768d7351	441	break;
Lightvalve	11:82d8768d7351	442	}
Lightvalve	11:82d8768d7351	443
Lightvalve	11:82d8768d7351	444	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	445	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	446
Lightvalve	11:82d8768d7351	447	break;
Lightvalve	11:82d8768d7351	448	}
Lightvalve	11:82d8768d7351	449
Lightvalve	11:82d8768d7351	450	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	451	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	452	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	453	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	454
Lightvalve	11:82d8768d7351	455	break;
Lightvalve	11:82d8768d7351	456	}
Lightvalve	11:82d8768d7351	457
Lightvalve	11:82d8768d7351	458	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	459	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	460
Lightvalve	11:82d8768d7351	461	break;
Lightvalve	11:82d8768d7351	462	}
Lightvalve	11:82d8768d7351	463
Lightvalve	11:82d8768d7351	464	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	465	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	466	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	467	//spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve	11:82d8768d7351	468
Lightvalve	11:82d8768d7351	469	break;
Lightvalve	11:82d8768d7351	470	}
Lightvalve	11:82d8768d7351	471
Lightvalve	11:82d8768d7351	472	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	473	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	474
Lightvalve	11:82d8768d7351	475	break;
Lightvalve	11:82d8768d7351	476	}
Lightvalve	11:82d8768d7351	477
Lightvalve	11:82d8768d7351	478	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	48:889798ff9329	479	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.01f);
Lightvalve	16:903b5a4433b4	480	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	481	//spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve	11:82d8768d7351	482
Lightvalve	11:82d8768d7351	483	break;
Lightvalve	11:82d8768d7351	484	}
Lightvalve	11:82d8768d7351	485
Lightvalve	11:82d8768d7351	486	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	487	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	488
Lightvalve	11:82d8768d7351	489	break;
Lightvalve	11:82d8768d7351	490	}
Lightvalve	11:82d8768d7351	491
Lightvalve	11:82d8768d7351	492	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	493	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	494	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	16:903b5a4433b4	495	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	496	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve	16:903b5a4433b4	497	//(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve	11:82d8768d7351	498
Lightvalve	11:82d8768d7351	499	break;
Lightvalve	11:82d8768d7351	500	}
Lightvalve	11:82d8768d7351	501
Lightvalve	11:82d8768d7351	502	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	503	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	504
Lightvalve	11:82d8768d7351	505	break;
Lightvalve	11:82d8768d7351	506	}
Lightvalve	11:82d8768d7351	507
Lightvalve	11:82d8768d7351	508	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	509	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	510	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	511	//spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve	11:82d8768d7351	512
Lightvalve	11:82d8768d7351	513	break;
Lightvalve	11:82d8768d7351	514	}
Lightvalve	11:82d8768d7351	515
Lightvalve	11:82d8768d7351	516	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	517	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	518
Lightvalve	11:82d8768d7351	519	break;
Lightvalve	11:82d8768d7351	520	}
Lightvalve	11:82d8768d7351	521	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	522	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	523	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	524	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	525	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	526	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	527	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	528	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	30:8d561f16383b	529	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	30:8d561f16383b	530	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	30:8d561f16383b	531	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	30:8d561f16383b	532	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	533
Lightvalve	11:82d8768d7351	534	break;
Lightvalve	11:82d8768d7351	535	}
Lightvalve	11:82d8768d7351	536
Lightvalve	11:82d8768d7351	537	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	538	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	539
Lightvalve	11:82d8768d7351	540	break;
Lightvalve	11:82d8768d7351	541	}
Lightvalve	11:82d8768d7351	542	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	543	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	544	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	545	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	546	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	547	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	548	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	549	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	30:8d561f16383b	550	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	30:8d561f16383b	551	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	30:8d561f16383b	552	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	30:8d561f16383b	553	//(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	554
Lightvalve	11:82d8768d7351	555	break;
Lightvalve	11:82d8768d7351	556	}
Lightvalve	11:82d8768d7351	557	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	558	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	559	break;
Lightvalve	11:82d8768d7351	560	}
Lightvalve	11:82d8768d7351	561
Lightvalve	11:82d8768d7351	562	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	563	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	564
Lightvalve	11:82d8768d7351	565	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	566	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	567	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	568	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	569	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	570
Lightvalve	11:82d8768d7351	571	break;
Lightvalve	11:82d8768d7351	572	}
Lightvalve	11:82d8768d7351	573
Lightvalve	11:82d8768d7351	574	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	575	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	576
Lightvalve	11:82d8768d7351	577	break;
Lightvalve	11:82d8768d7351	578	}
Lightvalve	11:82d8768d7351	579
Lightvalve	11:82d8768d7351	580	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	581
Lightvalve	12:6f2531038ea4	582	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	583	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	584	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	585	}
Lightvalve	11:82d8768d7351	586
Lightvalve	11:82d8768d7351	587	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	588
Lightvalve	11:82d8768d7351	589
Lightvalve	11:82d8768d7351	590	break;
Lightvalve	11:82d8768d7351	591	}
Lightvalve	11:82d8768d7351	592
Lightvalve	11:82d8768d7351	593	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	594	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	595	break;
Lightvalve	11:82d8768d7351	596	}
Lightvalve	11:82d8768d7351	597	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	598	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	599	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	600	//spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	601	break;
Lightvalve	11:82d8768d7351	602	}
Lightvalve	11:82d8768d7351	603
Lightvalve	11:82d8768d7351	604	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	605	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	606	break;
Lightvalve	11:82d8768d7351	607	}
Lightvalve	11:82d8768d7351	608	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	609	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	610	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	611	//spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	612	break;
Lightvalve	11:82d8768d7351	613	}
Lightvalve	11:82d8768d7351	614
Lightvalve	11:82d8768d7351	615	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	616	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	617	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	618	break;
Lightvalve	11:82d8768d7351	619	}
Lightvalve	11:82d8768d7351	620	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	621	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	622	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	623	break;
Lightvalve	11:82d8768d7351	624	}
Lightvalve	11:82d8768d7351	625	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	626	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	627	break;
Lightvalve	11:82d8768d7351	628	}
Lightvalve	28:2a62d73e3dd0	629
Lightvalve	28:2a62d73e3dd0	630	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	631	ROM_RESET_DATA();
Lightvalve	28:2a62d73e3dd0	632	break;
Lightvalve	28:2a62d73e3dd0	633	}
Lightvalve	32:4b8c0fedaf2c	634	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	635	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	636	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	33:91b17819ec30	637	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	638	break;
Lightvalve	33:91b17819ec30	639	}
Lightvalve	33:91b17819ec30	640	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	641	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	642	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	33:91b17819ec30	643	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	644	break;
Lightvalve	33:91b17819ec30	645	}
Lightvalve	33:91b17819ec30	646	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	647	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	648	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	32:4b8c0fedaf2c	649	ROM_RESET_DATA();
Lightvalve	32:4b8c0fedaf2c	650	break;
Lightvalve	32:4b8c0fedaf2c	651	}
Lightvalve	36:a46e63505ed8	652	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	653	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	654	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	655	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	656	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	657
Lightvalve	36:a46e63505ed8	658	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	659
Lightvalve	36:a46e63505ed8	660	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	661	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	662	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	663
Lightvalve	36:a46e63505ed8	664
Lightvalve	36:a46e63505ed8	665	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	666	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	667	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	668	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	669
Lightvalve	36:a46e63505ed8	670	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	671
Lightvalve	36:a46e63505ed8	672	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	673	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	674	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	675	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	676	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	677	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	678	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	679
Lightvalve	36:a46e63505ed8	680	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	681
Lightvalve	36:a46e63505ed8	682	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	683	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	684	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	685	}
Lightvalve	36:a46e63505ed8	686	break;
Lightvalve	36:a46e63505ed8	687	}
Lightvalve	38:118df027d851	688	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	57:f4819de54e7a	689	//CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	38:118df027d851	690	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	691	break;
Lightvalve	38:118df027d851	692	}
Lightvalve	54:647072f5307a	693	case CRX_DELAY_TEST:{
Lightvalve	54:647072f5307a	694	flag_delay_test = 1;
Lightvalve	54:647072f5307a	695	break;
Lightvalve	54:647072f5307a	696	}
Lightvalve	66:a8e6799dbce3	697	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	66:a8e6799dbce3	698	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	66:a8e6799dbce3	699	CONTROL_UTILITY_MODE = 1;
Lightvalve	66:a8e6799dbce3	700	break;
Lightvalve	66:a8e6799dbce3	701	}
Lightvalve	38:118df027d851	702
jobuuu	2:a1c0a37df760	703	default:
jobuuu	2:a1c0a37df760	704	break;
jobuuu	2:a1c0a37df760	705	}
jobuuu	2:a1c0a37df760	706	}
jobuuu	2:a1c0a37df760	707
jobuuu	2:a1c0a37df760	708	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	709	{
Lightvalve	23:59218d4a256d	710
jobuuu	2:a1c0a37df760	711	can.read(msg);
jobuuu	2:a1c0a37df760	712	unsigned int address = msg.id;
jobuuu	7:e9086c72bb22	713	if(address==CID_RX_CMD){
jobuuu	2:a1c0a37df760	714	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	715	ReadCMD(CMD);
Lightvalve	57:f4819de54e7a	716
jobuuu	7:e9086c72bb22	717	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	57:f4819de54e7a	718
Lightvalve	43:b084e5f5d0d5	719	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	720	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	721	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	41:abbd4e2af68b	722
Lightvalve	57:f4819de54e7a	723	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	724	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	725	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	57:f4819de54e7a	726	}
Lightvalve	57:f4819de54e7a	727	else { //Linear Actuator
Lightvalve	57:f4819de54e7a	728	pos.ref = (double)temp_pos * 4.0f;
Lightvalve	57:f4819de54e7a	729	vel.ref = (double)temp_vel * 100.0f;
Lightvalve	57:f4819de54e7a	730	}
Lightvalve	57:f4819de54e7a	731
Lightvalve	43:b084e5f5d0d5	732	torq.ref = (double)temp_torq * 0.1f;
Lightvalve	57:f4819de54e7a	733
Lightvalve	66:a8e6799dbce3	734	x_future[0] = pos.sen/(float)(ENC_PULSE_PER_POSITION); //mm
Lightvalve	66:a8e6799dbce3	735	for(int i=1;i<num_input_array-1;i++){
Lightvalve	66:a8e6799dbce3	736	x_future[i] = x_future[i+1];
Lightvalve	66:a8e6799dbce3	737	}
Lightvalve	66:a8e6799dbce3	738	x_future[num_input_array-1] = pos.ref/(float)(ENC_PULSE_PER_POSITION); //mm
Lightvalve	66:a8e6799dbce3	739
Lightvalve	66:a8e6799dbce3	740	for(int i=0;i<num_input;i++){
Lightvalve	66:a8e6799dbce3	741	input[i] = (x_future[2i+2] - x_future[0])0.2f+0.5f;
Lightvalve	66:a8e6799dbce3	742	}
Lightvalve	66:a8e6799dbce3	743
Lightvalve	66:a8e6799dbce3	744
Lightvalve	49:e7bcfc244d40	745	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	746	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	57:f4819de54e7a	747
Lightvalve	57:f4819de54e7a	748	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	749	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	750	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	751	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	752	} else { //SW Valve
Lightvalve	57:f4819de54e7a	753	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	754	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	755	} else {
Lightvalve	57:f4819de54e7a	756	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	757	}
Lightvalve	47:fdcb8bd86fd6	758	}
Lightvalve	49:e7bcfc244d40	759	} else if(address==CID_RX_REF_PWM){
Lightvalve	49:e7bcfc244d40	760	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	761	Vout.ref = (double) temp_ref_pwm;
Lightvalve	45:35fa6884d0c6	762	}
jobuuu	2:a1c0a37df760	763	}
jobuuu	2:a1c0a37df760	764
jobuuu	2:a1c0a37df760	765	/******************************************************************************
jobuuu	2:a1c0a37df760	766	Information Transmission Functions
jobuuu	2:a1c0a37df760	767	*******************************************************************************/
Lightvalve	11:82d8768d7351	768
Lightvalve	11:82d8768d7351	769	void CAN_TX_INFO(void) {
Lightvalve	12:6f2531038ea4	770	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	771
jobuuu	2:a1c0a37df760	772	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	773	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	774	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	775	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	776	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	777	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	778	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	779	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	780	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	781
jobuuu	2:a1c0a37df760	782	can.write(temp_msg);
jobuuu	2:a1c0a37df760	783	}
jobuuu	2:a1c0a37df760	784
Lightvalve	11:82d8768d7351	785	void CAN_TX_BNO(void) {
Lightvalve	12:6f2531038ea4	786	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	787
jobuuu	2:a1c0a37df760	788	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	789	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	790	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	791	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	792
jobuuu	2:a1c0a37df760	793	can.write(temp_msg);
jobuuu	2:a1c0a37df760	794	}
jobuuu	2:a1c0a37df760	795
Lightvalve	11:82d8768d7351	796	void CAN_TX_OPERATING_MODE(void) {
jobuuu	2:a1c0a37df760	797	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	798
jobuuu	2:a1c0a37df760	799	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	800	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	801	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	802	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	803	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	804	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	805	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	806
jobuuu	2:a1c0a37df760	807	can.write(temp_msg);
jobuuu	2:a1c0a37df760	808	}
jobuuu	2:a1c0a37df760	809
Lightvalve	11:82d8768d7351	810	void CAN_TX_CAN_FREQ(void) {
jobuuu	2:a1c0a37df760	811	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	812
jobuuu	2:a1c0a37df760	813	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	814	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	815	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	816	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	817	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	818
jobuuu	2:a1c0a37df760	819	can.write(temp_msg);
jobuuu	2:a1c0a37df760	820	}
Lightvalve	11:82d8768d7351	821
Lightvalve	11:82d8768d7351	822	void CAN_TX_CONTROL_MODE(void) {
jobuuu	2:a1c0a37df760	823	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	824
jobuuu	2:a1c0a37df760	825	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	826	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	827	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	828	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	829
jobuuu	2:a1c0a37df760	830	can.write(temp_msg);
jobuuu	2:a1c0a37df760	831	}
Lightvalve	11:82d8768d7351	832
Lightvalve	11:82d8768d7351	833	void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	834	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	835
jobuuu	2:a1c0a37df760	836	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	837	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	838	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	839	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	840	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	841
jobuuu	2:a1c0a37df760	842	can.write(temp_msg);
jobuuu	2:a1c0a37df760	843	}
jobuuu	2:a1c0a37df760	844
Lightvalve	11:82d8768d7351	845	void CAN_TX_VALVE_DIR(void) {
jobuuu	2:a1c0a37df760	846	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	847
jobuuu	2:a1c0a37df760	848	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	849	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	850	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	851	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	852	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	853
jobuuu	2:a1c0a37df760	854	can.write(temp_msg);
jobuuu	2:a1c0a37df760	855	}
jobuuu	2:a1c0a37df760	856
Lightvalve	11:82d8768d7351	857	void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	858	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	859
jobuuu	2:a1c0a37df760	860	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	861	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	862	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	863	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	864	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	865
jobuuu	2:a1c0a37df760	866	can.write(temp_msg);
jobuuu	2:a1c0a37df760	867	}
jobuuu	2:a1c0a37df760	868
Lightvalve	11:82d8768d7351	869	void CAN_TX_VOLTAGE_SUPPLY(void) {
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	11:82d8768d7351	883	void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve	49:e7bcfc244d40	884	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	885
jobuuu	2:a1c0a37df760	886	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	887
jobuuu	2:a1c0a37df760	888	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	889	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	890	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	891	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	892	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	893
jobuuu	2:a1c0a37df760	894	can.write(temp_msg);
jobuuu	2:a1c0a37df760	895	}
Lightvalve	11:82d8768d7351	896
jobuuu	2:a1c0a37df760	897
Lightvalve	11:82d8768d7351	898	void CAN_TX_PID_GAIN(int t_type) {
jobuuu	2:a1c0a37df760	899	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	900	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	901	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	902
Lightvalve	12:6f2531038ea4	903	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	904	if (t_type == 0) {
Lightvalve	30:8d561f16383b	905	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	906	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	907	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	908	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	909	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	910	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	911	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	912	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	913	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	914	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	915	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	916	} else if (t_type == 3) {
Lightvalve	46:2694daea349b	917	sendPgain = (int16_t) (K_SPRING);
Lightvalve	46:2694daea349b	918	sendIgain = (int16_t) (D_DAMPER);
jobuuu	2:a1c0a37df760	919	}
jobuuu	2:a1c0a37df760	920
jobuuu	2:a1c0a37df760	921	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	922
jobuuu	2:a1c0a37df760	923	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	924	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	925	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	926	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	927	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	928	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	929	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	930	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	931	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	932	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	933
jobuuu	2:a1c0a37df760	934	can.write(temp_msg);
jobuuu	2:a1c0a37df760	935	}
jobuuu	2:a1c0a37df760	936
Lightvalve	11:82d8768d7351	937
Lightvalve	11:82d8768d7351	938	void CAN_TX_VALVE_DEADZONE(void) {
jobuuu	2:a1c0a37df760	939	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	940
jobuuu	2:a1c0a37df760	941	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	942	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	943	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	944	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	945	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	946	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	947	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	948	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	949	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	950
jobuuu	2:a1c0a37df760	951	can.write(temp_msg);
jobuuu	2:a1c0a37df760	952	}
jobuuu	2:a1c0a37df760	953
Lightvalve	11:82d8768d7351	954	void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve	11:82d8768d7351	955	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	956
Lightvalve	11:82d8768d7351	957	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	958	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	959	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	960	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	961	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	962
Lightvalve	11:82d8768d7351	963	can.write(temp_msg);
Lightvalve	11:82d8768d7351	964	}
Lightvalve	11:82d8768d7351	965
Lightvalve	11:82d8768d7351	966	void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve	11:82d8768d7351	967	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	968
Lightvalve	11:82d8768d7351	969	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	970	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	971	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	972	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	973	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	974
Lightvalve	11:82d8768d7351	975	can.write(temp_msg);
Lightvalve	11:82d8768d7351	976	}
Lightvalve	11:82d8768d7351	977
Lightvalve	11:82d8768d7351	978	void CAN_TX_VALVE_FF(void) {
Lightvalve	11:82d8768d7351	979	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	980
Lightvalve	11:82d8768d7351	981	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	982	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	983	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	984	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	985	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	986
Lightvalve	11:82d8768d7351	987	can.write(temp_msg);
Lightvalve	11:82d8768d7351	988	}
Lightvalve	11:82d8768d7351	989
Lightvalve	11:82d8768d7351	990	void CAN_TX_BULK_MODULUS(void) {
Lightvalve	11:82d8768d7351	991	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	992
Lightvalve	11:82d8768d7351	993	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	994	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	995	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	996	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	997	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	998
Lightvalve	11:82d8768d7351	999	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1000	}
Lightvalve	11:82d8768d7351	1001
Lightvalve	11:82d8768d7351	1002	void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve	11:82d8768d7351	1003	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1004
Lightvalve	11:82d8768d7351	1005	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1006	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1007	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1008	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1009	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1010	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1011	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1012
Lightvalve	11:82d8768d7351	1013	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1014	}
Lightvalve	11:82d8768d7351	1015
Lightvalve	11:82d8768d7351	1016	void CAN_TX_PISTON_AREA(void) {
jobuuu	2:a1c0a37df760	1017	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1018
Lightvalve	11:82d8768d7351	1019	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1020	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1021	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1022	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1023	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1024	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1025	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1026
Lightvalve	11:82d8768d7351	1027	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1028	}
Lightvalve	11:82d8768d7351	1029
Lightvalve	11:82d8768d7351	1030	void CAN_TX_PRES_A_AND_B(void) {
Lightvalve	11:82d8768d7351	1031	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1032
Lightvalve	11:82d8768d7351	1033	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1034	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1035	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1036	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1037	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1038	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1039	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1040
Lightvalve	11:82d8768d7351	1041	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1042	}
Lightvalve	11:82d8768d7351	1043
Lightvalve	11:82d8768d7351	1044	void CAN_TX_ENC_LIMIT(void) {
Lightvalve	11:82d8768d7351	1045	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1046
Lightvalve	11:82d8768d7351	1047	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1048	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1049	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1050	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1051	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1052	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1053	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1054
Lightvalve	11:82d8768d7351	1055	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1056	}
Lightvalve	11:82d8768d7351	1057
Lightvalve	11:82d8768d7351	1058	void CAN_TX_STROKE(void) {
Lightvalve	11:82d8768d7351	1059	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1060
Lightvalve	11:82d8768d7351	1061	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1062	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1063	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1064	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1065	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1066
Lightvalve	11:82d8768d7351	1067	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1068	}
Lightvalve	11:82d8768d7351	1069
Lightvalve	11:82d8768d7351	1070	void CAN_TX_VALVE_LIMIT(void) {
Lightvalve	11:82d8768d7351	1071	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1072
Lightvalve	11:82d8768d7351	1073	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1074	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1075	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1076	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1077	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1078	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1079	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1080
Lightvalve	11:82d8768d7351	1081	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1082	}
Lightvalve	11:82d8768d7351	1083
Lightvalve	11:82d8768d7351	1084	void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve	11:82d8768d7351	1085	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1086
jobuuu	2:a1c0a37df760	1087	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1088	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1089	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1090	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1091	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1092	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1093
jobuuu	2:a1c0a37df760	1094	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1095	}
jobuuu	2:a1c0a37df760	1096
Lightvalve	11:82d8768d7351	1097	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu	2:a1c0a37df760	1098	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1099
jobuuu	2:a1c0a37df760	1100	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1101	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1102	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	48:889798ff9329	1103	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve	48:889798ff9329	1104	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1105	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1106
jobuuu	2:a1c0a37df760	1107	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1108	}
jobuuu	2:a1c0a37df760	1109
Lightvalve	11:82d8768d7351	1110	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu	2:a1c0a37df760	1111	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1112
jobuuu	2:a1c0a37df760	1113	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1114	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1115	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1116	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1117	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1118	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1119	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1120
jobuuu	2:a1c0a37df760	1121	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1122	}
jobuuu	2:a1c0a37df760	1123
Lightvalve	11:82d8768d7351	1124	void CAN_TX_FRICTION(void) {
Lightvalve	11:82d8768d7351	1125	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1126	int16_t send_friction;
Lightvalve	30:8d561f16383b	1127	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	11:82d8768d7351	1128
Lightvalve	11:82d8768d7351	1129	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1130	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1131	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1132	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1133	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1134
Lightvalve	11:82d8768d7351	1135	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1136	}
Lightvalve	11:82d8768d7351	1137
Lightvalve	11:82d8768d7351	1138	void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve	11:82d8768d7351	1139	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1140
Lightvalve	11:82d8768d7351	1141	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1142	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1143	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1144	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1145	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1146	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1147	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1148	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1149
Lightvalve	11:82d8768d7351	1150	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1151	}
Lightvalve	11:82d8768d7351	1152
Lightvalve	11:82d8768d7351	1153	void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve	11:82d8768d7351	1154	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1155	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1156	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1157	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1158
Lightvalve	57:f4819de54e7a	1159	//temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1160	//temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1161	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1162	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1163	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	11:82d8768d7351	1164
Lightvalve	11:82d8768d7351	1165	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1166	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1167	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1168	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1169	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1170	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1171	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1172	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1173	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1174
Lightvalve	11:82d8768d7351	1175	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1176	}
Lightvalve	11:82d8768d7351	1177
Lightvalve	11:82d8768d7351	1178	void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve	11:82d8768d7351	1179	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1180
Lightvalve	11:82d8768d7351	1181	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1182	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1183	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1184	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1185	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1186	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1187	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1188	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1189
Lightvalve	11:82d8768d7351	1190	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1191	}
Lightvalve	11:82d8768d7351	1192
Lightvalve	11:82d8768d7351	1193	void CAN_TX_REFENCE_MODE(void) {
Lightvalve	11:82d8768d7351	1194	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1195
Lightvalve	11:82d8768d7351	1196	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1197	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1198	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1199	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1200	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1201	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1202	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1203	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1204
Lightvalve	11:82d8768d7351	1205	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1206	}
Lightvalve	11:82d8768d7351	1207
Lightvalve	11:82d8768d7351	1208	void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve	11:82d8768d7351	1209	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1210	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1211	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	1212
jobuuu	2:a1c0a37df760	1213	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1214	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1215	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1216	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1217	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1218
jobuuu	2:a1c0a37df760	1219	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1220	}
Lightvalve	11:82d8768d7351	1221
Lightvalve	11:82d8768d7351	1222	void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve	11:82d8768d7351	1223	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1224	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1225	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	1226
Lightvalve	11:82d8768d7351	1227	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1228	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1229	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1230	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1231	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1232
Lightvalve	11:82d8768d7351	1233	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1234	}
Lightvalve	11:82d8768d7351	1235
Lightvalve	12:6f2531038ea4	1236	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve	11:82d8768d7351	1237	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1238	int16_t valve_pos_vs_pwm;
Lightvalve	49:e7bcfc244d40	1239	// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve	49:e7bcfc244d40	1240
Lightvalve	57:f4819de54e7a	1241	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1242	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	1243	} else {
Lightvalve	57:f4819de54e7a	1244	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	1245	}
Lightvalve	11:82d8768d7351	1246
Lightvalve	12:6f2531038ea4	1247	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1248	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	11:82d8768d7351	1249
Lightvalve	11:82d8768d7351	1250	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1251	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1252	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1253	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1254	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1255	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1256	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1257
Lightvalve	11:82d8768d7351	1258	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1259	}
Lightvalve	11:82d8768d7351	1260
Lightvalve	12:6f2531038ea4	1261	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve	11:82d8768d7351	1262	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1263	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1264	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1265
Lightvalve	57:f4819de54e7a	1266	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1267	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1268	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1269	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	1270	} else {
Lightvalve	57:f4819de54e7a	1271	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	1272	}
Lightvalve	11:82d8768d7351	1273
Lightvalve	11:82d8768d7351	1274	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1275	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1276	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1277	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1278	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1279	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1280	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1281	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1282	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1283
Lightvalve	11:82d8768d7351	1284	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1285	}
Lightvalve	11:82d8768d7351	1286
Lightvalve	11:82d8768d7351	1287	void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve	11:82d8768d7351	1288	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1289	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1290	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	11:82d8768d7351	1291
Lightvalve	11:82d8768d7351	1292	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1293	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1294	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1295	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1296	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1297
Lightvalve	11:82d8768d7351	1298	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1299	}
Lightvalve	11:82d8768d7351	1300
Lightvalve	38:118df027d851	1301	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve	38:118df027d851	1302	CANMessage temp_msg;
Lightvalve	38:118df027d851	1303
Lightvalve	48:889798ff9329	1304	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1305	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1306	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1307
Lightvalve	57:f4819de54e7a	1308	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1309	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1310	temp_ddv_center = VALVE_CENTER;
Lightvalve	48:889798ff9329	1311
Lightvalve	38:118df027d851	1312	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1313	temp_msg.len = 7;
Lightvalve	38:118df027d851	1314	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1315	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1316	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1317	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1318	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1319	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1320	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1321
Lightvalve	38:118df027d851	1322	can.write(temp_msg);
Lightvalve	38:118df027d851	1323	}
Lightvalve	38:118df027d851	1324
jobuuu	2:a1c0a37df760	1325	/******************************************************************************
jobuuu	2:a1c0a37df760	1326	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1327	*******************************************************************************/
jobuuu	2:a1c0a37df760	1328
Lightvalve	52:8ea76864368a	1329	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
Lightvalve	52:8ea76864368a	1330	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1331
Lightvalve	52:8ea76864368a	1332	temp_msg.id = CID_TX_POSITION;
Lightvalve	52:8ea76864368a	1333	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1334	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1335	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1336	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1337	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1338	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1339	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1340
Lightvalve	52:8ea76864368a	1341	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1342	}
Lightvalve	52:8ea76864368a	1343
Lightvalve	52:8ea76864368a	1344	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) {
Lightvalve	52:8ea76864368a	1345
jobuuu	2:a1c0a37df760	1346	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1347
jobuuu	2:a1c0a37df760	1348	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1349	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1350	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1351	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1352	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1353	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1354	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1355	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1356	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1357	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1358
jobuuu	2:a1c0a37df760	1359	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1360	}
jobuuu	2:a1c0a37df760	1361
Lightvalve	60:64181f1d3e60	1362	void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
jobuuu	2:a1c0a37df760	1363	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1364
jobuuu	2:a1c0a37df760	1365	temp_msg.id = CID_TX_TORQUE;
Lightvalve	60:64181f1d3e60	1366	temp_msg.len = 4;
Lightvalve	48:889798ff9329	1367	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1368	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	60:64181f1d3e60	1369	temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve	60:64181f1d3e60	1370	temp_msg.data[3] = (uint8_t) (t_vout >> 8);
jobuuu	2:a1c0a37df760	1371
jobuuu	2:a1c0a37df760	1372	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1373	}
jobuuu	2:a1c0a37df760	1374
Lightvalve	11:82d8768d7351	1375	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu	2:a1c0a37df760	1376	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1377
jobuuu	2:a1c0a37df760	1378	temp_msg.id = CID_TX_PRES;
Lightvalve	57:f4819de54e7a	1379	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1380	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1381	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1382	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1383	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1384
jobuuu	2:a1c0a37df760	1385	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1386	}
jobuuu	2:a1c0a37df760	1387
Lightvalve	11:82d8768d7351	1388	void CAN_TX_PWM(int16_t t_pwm) {
jobuuu	2:a1c0a37df760	1389	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1390
Lightvalve	57:f4819de54e7a	1391	temp_msg.id = CID_TX_VOUT;
Lightvalve	57:f4819de54e7a	1392	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1393	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1394	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1395
jobuuu	2:a1c0a37df760	1396	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1397	}
jobuuu	2:a1c0a37df760	1398
Lightvalve	27:a2254a485f23	1399	void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
Lightvalve	27:a2254a485f23	1400	{
jobuuu	2:a1c0a37df760	1401	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1402
jobuuu	2:a1c0a37df760	1403	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	48:889798ff9329	1404	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1405	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	12:6f2531038ea4	1406	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	27:a2254a485f23	1407	temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
Lightvalve	27:a2254a485f23	1408	temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	27:a2254a485f23	1409	temp_msg.data[4] = (uint8_t) t_pwm;
Lightvalve	27:a2254a485f23	1410	temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
Lightvalve	27:a2254a485f23	1411
jobuuu	2:a1c0a37df760	1412
jobuuu	2:a1c0a37df760	1413	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1414	}
Lightvalve	23:59218d4a256d	1415
Lightvalve	23:59218d4a256d	1416
Lightvalve	32:4b8c0fedaf2c	1417
Lightvalve	38:118df027d851	1418
Lightvalve	48:889798ff9329	1419
Lightvalve	49:e7bcfc244d40	1420
Lightvalve	52:8ea76864368a	1421
Lightvalve	54:647072f5307a	1422
Lightvalve	57:f4819de54e7a	1423
Lightvalve	57:f4819de54e7a	1424

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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@66:a8e6799dbce3, 2020-05-12 (annotated)

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