HydraulicControlBoard_Start - 20210203

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Yeseong Jeong / Mbed 2 deprecated HydraulicControlBoard_Start

20210203

CAN/function_CAN.cpp@91:ec77a57f947f, 2020-07-28 (annotated)

Committer:: Lightvalve
Date:: Tue Jul 28 13:08:53 2020 +0000
Revision:: 91:ec77a57f947f
Parent:: 87:471334725012
Child:: 94:44ae3b5a3bff

200728-3

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	68:328e1be06f5d	26	extern float x_past[];
Lightvalve	85:a3b46118b5cd	27	extern float x_future[];
Lightvalve	68:328e1be06f5d	28	extern float f_past[];
Lightvalve	68:328e1be06f5d	29	extern float f_future[];
Lightvalve	73:f80dc3970c99	30	extern float input_NN[];
Lightvalve	68:328e1be06f5d	31
Lightvalve	11:82d8768d7351	32	/*******************************************************************************
Lightvalve	11:82d8768d7351	33	* CAN functions
Lightvalve	11:82d8768d7351	34	******************************************************************************/
Lightvalve	11:82d8768d7351	35	void CAN_ID_INIT(void) {
jobuuu	7:e9086c72bb22	36
Lightvalve	11:82d8768d7351	37	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	38	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	39	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	40	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	41
Lightvalve	11:82d8768d7351	42	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	43	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	44	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	45	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	46	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	47	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve	11:82d8768d7351	48	}
jobuuu	2:a1c0a37df760	49
Lightvalve	28:2a62d73e3dd0	50	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	51	{
jobuuu	2:a1c0a37df760	52	switch(CMD){
Lightvalve	11:82d8768d7351	53	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	54	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	55	break;
Lightvalve	11:82d8768d7351	56	}
Lightvalve	11:82d8768d7351	57	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	58	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	59	break;
Lightvalve	11:82d8768d7351	60	}
Lightvalve	11:82d8768d7351	61	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	62	BNO = (int16_t) msg.data[1];
Lightvalve	16:903b5a4433b4	63
Lightvalve	16:903b5a4433b4	64	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	65
Lightvalve	16:903b5a4433b4	66	//spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	67	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	68	break;
Lightvalve	11:82d8768d7351	69	}
Lightvalve	11:82d8768d7351	70	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	71	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	72	break;
Lightvalve	11:82d8768d7351	73	}
Lightvalve	11:82d8768d7351	74	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	75	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	76	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	77	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	78	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	16:903b5a4433b4	79	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	80	break;
Lightvalve	11:82d8768d7351	81	}
Lightvalve	11:82d8768d7351	82	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	83	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	84
Lightvalve	11:82d8768d7351	85	break;
Lightvalve	11:82d8768d7351	86	}
Lightvalve	11:82d8768d7351	87	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	88
Lightvalve	11:82d8768d7351	89	break;
Lightvalve	11:82d8768d7351	90	}
Lightvalve	11:82d8768d7351	91
Lightvalve	45:35fa6884d0c6	92	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	93	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	94	/*
Lightvalve	45:35fa6884d0c6	95	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	96	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	97	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	98	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	99	*/
Lightvalve	11:82d8768d7351	100	break;
Lightvalve	11:82d8768d7351	101	}
Lightvalve	11:82d8768d7351	102
Lightvalve	11:82d8768d7351	103	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	104	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	105
Lightvalve	11:82d8768d7351	106	break;
Lightvalve	11:82d8768d7351	107	}
Lightvalve	11:82d8768d7351	108
Lightvalve	11:82d8768d7351	109	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	110	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	111	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	112	break;
Lightvalve	11:82d8768d7351	113	}
Lightvalve	11:82d8768d7351	114
Lightvalve	11:82d8768d7351	115	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	116	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	117
Lightvalve	11:82d8768d7351	118	break;
Lightvalve	11:82d8768d7351	119	}
Lightvalve	11:82d8768d7351	120
Lightvalve	11:82d8768d7351	121	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	122	//CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve	57:f4819de54e7a	123	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	124	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	125	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	126	}
Lightvalve	11:82d8768d7351	127	break;
Lightvalve	11:82d8768d7351	128	}
Lightvalve	11:82d8768d7351	129
Lightvalve	11:82d8768d7351	130	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	131	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	132	flag_data_request[request_type] = msg.data[1];
Lightvalve	14:8e7590227d22	133	//pc.printf("can middle %d\n", request_type);
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	16:903b5a4433b4	155
Lightvalve	16:903b5a4433b4	156	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	157
Lightvalve	16:903b5a4433b4	158	//spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	159
Lightvalve	11:82d8768d7351	160	break;
Lightvalve	11:82d8768d7351	161	}
Lightvalve	11:82d8768d7351	162
Lightvalve	11:82d8768d7351	163	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	164	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	165
Lightvalve	11:82d8768d7351	166	break;
Lightvalve	11:82d8768d7351	167	}
Lightvalve	11:82d8768d7351	168
Lightvalve	11:82d8768d7351	169	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	170	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	171	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	172	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	173	else
Lightvalve	11:82d8768d7351	174	DIR_VALVE = -1;
Lightvalve	16:903b5a4433b4	175
Lightvalve	16:903b5a4433b4	176	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	177
Lightvalve	16:903b5a4433b4	178	//spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	179
Lightvalve	11:82d8768d7351	180	break;
Lightvalve	11:82d8768d7351	181	}
Lightvalve	11:82d8768d7351	182
Lightvalve	11:82d8768d7351	183	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	184	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	185
Lightvalve	11:82d8768d7351	186	break;
Lightvalve	11:82d8768d7351	187	}
Lightvalve	11:82d8768d7351	188
Lightvalve	11:82d8768d7351	189	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	190	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	191	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	192	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	193	else
Lightvalve	11:82d8768d7351	194	DIR_VALVE_ENC = -1;
Lightvalve	16:903b5a4433b4	195
Lightvalve	16:903b5a4433b4	196	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	197
Lightvalve	16:903b5a4433b4	198	//spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	199
Lightvalve	11:82d8768d7351	200	break;
Lightvalve	11:82d8768d7351	201	}
Lightvalve	11:82d8768d7351	202
Lightvalve	11:82d8768d7351	203	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	204	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	205
Lightvalve	11:82d8768d7351	206	break;
Lightvalve	11:82d8768d7351	207	}
Lightvalve	11:82d8768d7351	208
Lightvalve	11:82d8768d7351	209	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	210	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	211
Lightvalve	16:903b5a4433b4	212	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	213
Lightvalve	16:903b5a4433b4	214	//spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve	11:82d8768d7351	215
Lightvalve	11:82d8768d7351	216	break;
Lightvalve	11:82d8768d7351	217	}
Lightvalve	11:82d8768d7351	218
Lightvalve	11:82d8768d7351	219	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	220	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	221
Lightvalve	11:82d8768d7351	222	break;
Lightvalve	11:82d8768d7351	223	}
Lightvalve	11:82d8768d7351	224
Lightvalve	11:82d8768d7351	225	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	226	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	227
Lightvalve	16:903b5a4433b4	228	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	229
Lightvalve	16:903b5a4433b4	230	//spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve	11:82d8768d7351	231
Lightvalve	11:82d8768d7351	232
Lightvalve	11:82d8768d7351	233	break;
Lightvalve	11:82d8768d7351	234	}
Lightvalve	12:6f2531038ea4	235
Lightvalve	11:82d8768d7351	236	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	237	//CONTROL_MODE = 22;
Lightvalve	57:f4819de54e7a	238	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	239	break;
Lightvalve	11:82d8768d7351	240	}
Lightvalve	11:82d8768d7351	241
Lightvalve	11:82d8768d7351	242	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	243	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	244
Lightvalve	11:82d8768d7351	245	break;
Lightvalve	11:82d8768d7351	246	}
Lightvalve	11:82d8768d7351	247
Lightvalve	11:82d8768d7351	248	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	249	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	250	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	251	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	252	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	253
Lightvalve	16:903b5a4433b4	254	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	255
Lightvalve	11:82d8768d7351	256	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	257	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	258	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	259	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	260
Lightvalve	16:903b5a4433b4	261	ROM_RESET_DATA();
Lightvalve	48:889798ff9329	262
Lightvalve	11:82d8768d7351	263	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	264	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	265	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	266	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	267
Lightvalve	16:903b5a4433b4	268	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	269
Lightvalve	46:2694daea349b	270	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	271	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	272	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	46:2694daea349b	273
Lightvalve	67:c2812cf26c38	274	// ROM_RESET_DATA(); //For Real-time changing
Lightvalve	72:3436ce769b1e	275	} else if (msg.data[1] == 4) {
Lightvalve	72:3436ce769b1e	276	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	72:3436ce769b1e	277	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	72:3436ce769b1e	278	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	72:3436ce769b1e	279
Lightvalve	72:3436ce769b1e	280	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	281	}
Lightvalve	11:82d8768d7351	282
Lightvalve	11:82d8768d7351	283	break;
Lightvalve	11:82d8768d7351	284	}
Lightvalve	11:82d8768d7351	285
Lightvalve	11:82d8768d7351	286	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	287	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	288
Lightvalve	11:82d8768d7351	289	break;
Lightvalve	11:82d8768d7351	290	}
Lightvalve	11:82d8768d7351	291
Lightvalve	11:82d8768d7351	292	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	293	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	294	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	295	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	16:903b5a4433b4	296
Lightvalve	16:903b5a4433b4	297	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	298
Lightvalve	11:82d8768d7351	299	break;
Lightvalve	11:82d8768d7351	300	}
Lightvalve	11:82d8768d7351	301
Lightvalve	11:82d8768d7351	302	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	303	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	304
Lightvalve	11:82d8768d7351	305	break;
Lightvalve	11:82d8768d7351	306	}
Lightvalve	11:82d8768d7351	307
Lightvalve	11:82d8768d7351	308	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	309	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	310
Lightvalve	16:903b5a4433b4	311	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	312
Lightvalve	16:903b5a4433b4	313	//spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	314
Lightvalve	11:82d8768d7351	315	break;
Lightvalve	11:82d8768d7351	316	}
Lightvalve	11:82d8768d7351	317
Lightvalve	11:82d8768d7351	318	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	319	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	320
Lightvalve	11:82d8768d7351	321	break;
Lightvalve	11:82d8768d7351	322	}
Lightvalve	11:82d8768d7351	323
Lightvalve	11:82d8768d7351	324	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	325	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	326
Lightvalve	16:903b5a4433b4	327	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	328
Lightvalve	16:903b5a4433b4	329	//spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	330
Lightvalve	11:82d8768d7351	331	break;
Lightvalve	11:82d8768d7351	332	}
Lightvalve	11:82d8768d7351	333
Lightvalve	11:82d8768d7351	334	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	335	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	336
Lightvalve	11:82d8768d7351	337	break;
Lightvalve	11:82d8768d7351	338	}
Lightvalve	11:82d8768d7351	339
Lightvalve	11:82d8768d7351	340	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	341	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	342
Lightvalve	16:903b5a4433b4	343	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	344
Lightvalve	16:903b5a4433b4	345	//spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	346
Lightvalve	11:82d8768d7351	347	break;
Lightvalve	11:82d8768d7351	348	}
Lightvalve	11:82d8768d7351	349
Lightvalve	11:82d8768d7351	350	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	351	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	352
Lightvalve	11:82d8768d7351	353	break;
Lightvalve	11:82d8768d7351	354	}
Lightvalve	11:82d8768d7351	355
Lightvalve	11:82d8768d7351	356	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	357	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	358
Lightvalve	16:903b5a4433b4	359	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	360
Lightvalve	16:903b5a4433b4	361	//spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	362
Lightvalve	11:82d8768d7351	363	break;
Lightvalve	11:82d8768d7351	364	}
Lightvalve	11:82d8768d7351	365
Lightvalve	11:82d8768d7351	366	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	367	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	368
Lightvalve	11:82d8768d7351	369	break;
Lightvalve	11:82d8768d7351	370	}
Lightvalve	11:82d8768d7351	371
Lightvalve	11:82d8768d7351	372	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	373	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	374	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	375
Lightvalve	16:903b5a4433b4	376	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	377
Lightvalve	16:903b5a4433b4	378	//spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	16:903b5a4433b4	379	//spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	380
Lightvalve	11:82d8768d7351	381	break;
Lightvalve	11:82d8768d7351	382	}
Lightvalve	11:82d8768d7351	383
Lightvalve	11:82d8768d7351	384	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	385	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	386
Lightvalve	11:82d8768d7351	387	break;
Lightvalve	11:82d8768d7351	388	}
Lightvalve	11:82d8768d7351	389
Lightvalve	11:82d8768d7351	390	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	391	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	392	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	69:3995ffeaa786	393	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	394	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	16:903b5a4433b4	395
Lightvalve	16:903b5a4433b4	396	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	397
Lightvalve	16:903b5a4433b4	398	//spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	16:903b5a4433b4	399	//spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	400	break;
Lightvalve	11:82d8768d7351	401	}
Lightvalve	11:82d8768d7351	402
Lightvalve	11:82d8768d7351	403	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	404	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	405	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	406	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	407	//dac_2 = PRES_B_VREF;
Lightvalve	12:6f2531038ea4	408
Lightvalve	11:82d8768d7351	409	break;
Lightvalve	11:82d8768d7351	410	}
Lightvalve	11:82d8768d7351	411
Lightvalve	11:82d8768d7351	412	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	413	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	414	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	415	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	416	//spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	16:903b5a4433b4	417	//spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	418
Lightvalve	11:82d8768d7351	419
Lightvalve	11:82d8768d7351	420	break;
Lightvalve	11:82d8768d7351	421	}
Lightvalve	11:82d8768d7351	422
Lightvalve	11:82d8768d7351	423	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	424	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	425
Lightvalve	11:82d8768d7351	426	break;
Lightvalve	11:82d8768d7351	427	}
Lightvalve	11:82d8768d7351	428
Lightvalve	11:82d8768d7351	429	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	430	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	431	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	432	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	433	//spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	16:903b5a4433b4	434	//spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	435
Lightvalve	11:82d8768d7351	436	break;
Lightvalve	11:82d8768d7351	437	}
Lightvalve	11:82d8768d7351	438
Lightvalve	11:82d8768d7351	439	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	440	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	441	break;
Lightvalve	11:82d8768d7351	442	}
Lightvalve	11:82d8768d7351	443
Lightvalve	11:82d8768d7351	444	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	445	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	446	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	447	//spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	448
Lightvalve	11:82d8768d7351	449	break;
Lightvalve	11:82d8768d7351	450	}
Lightvalve	11:82d8768d7351	451
Lightvalve	11:82d8768d7351	452	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	453	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	454
Lightvalve	11:82d8768d7351	455	break;
Lightvalve	11:82d8768d7351	456	}
Lightvalve	11:82d8768d7351	457
Lightvalve	11:82d8768d7351	458	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	459	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	460	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	461	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	462
Lightvalve	11:82d8768d7351	463	break;
Lightvalve	11:82d8768d7351	464	}
Lightvalve	11:82d8768d7351	465
Lightvalve	11:82d8768d7351	466	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	467	CAN_TX_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_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	473	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	474	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	475	//spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve	11:82d8768d7351	476
Lightvalve	11:82d8768d7351	477	break;
Lightvalve	11:82d8768d7351	478	}
Lightvalve	11:82d8768d7351	479
Lightvalve	11:82d8768d7351	480	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	481	CAN_TX_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_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	48:889798ff9329	487	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.01f);
Lightvalve	16:903b5a4433b4	488	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	489	//spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve	11:82d8768d7351	490
Lightvalve	11:82d8768d7351	491	break;
Lightvalve	11:82d8768d7351	492	}
Lightvalve	11:82d8768d7351	493
Lightvalve	11:82d8768d7351	494	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	495	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	496
Lightvalve	11:82d8768d7351	497	break;
Lightvalve	11:82d8768d7351	498	}
Lightvalve	11:82d8768d7351	499
Lightvalve	11:82d8768d7351	500	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	501	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	502	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	16:903b5a4433b4	503	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	504	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve	16:903b5a4433b4	505	//(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve	11:82d8768d7351	506
Lightvalve	11:82d8768d7351	507	break;
Lightvalve	11:82d8768d7351	508	}
Lightvalve	11:82d8768d7351	509
Lightvalve	11:82d8768d7351	510	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	511	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	512
Lightvalve	11:82d8768d7351	513	break;
Lightvalve	11:82d8768d7351	514	}
Lightvalve	11:82d8768d7351	515
Lightvalve	11:82d8768d7351	516	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	517	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	518	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	519	//spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve	11:82d8768d7351	520
Lightvalve	11:82d8768d7351	521	break;
Lightvalve	11:82d8768d7351	522	}
Lightvalve	11:82d8768d7351	523
Lightvalve	11:82d8768d7351	524	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	525	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	526
Lightvalve	11:82d8768d7351	527	break;
Lightvalve	11:82d8768d7351	528	}
Lightvalve	11:82d8768d7351	529	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	530	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	531	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	532	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	533	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	534	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	535	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	536	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	30:8d561f16383b	537	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	30:8d561f16383b	538	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	30:8d561f16383b	539	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	30:8d561f16383b	540	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	541
Lightvalve	11:82d8768d7351	542	break;
Lightvalve	11:82d8768d7351	543	}
Lightvalve	11:82d8768d7351	544
Lightvalve	11:82d8768d7351	545	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	546	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	547
Lightvalve	11:82d8768d7351	548	break;
Lightvalve	11:82d8768d7351	549	}
Lightvalve	11:82d8768d7351	550	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	551	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	552	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	553	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	554	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	555	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	556	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	557	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	30:8d561f16383b	558	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	30:8d561f16383b	559	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	30:8d561f16383b	560	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	30:8d561f16383b	561	//(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	562
Lightvalve	11:82d8768d7351	563	break;
Lightvalve	11:82d8768d7351	564	}
Lightvalve	11:82d8768d7351	565	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	566	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	567	break;
Lightvalve	11:82d8768d7351	568	}
Lightvalve	11:82d8768d7351	569
Lightvalve	11:82d8768d7351	570	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	571	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	572
Lightvalve	11:82d8768d7351	573	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	574	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	575	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	576	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	577	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	578
Lightvalve	11:82d8768d7351	579	break;
Lightvalve	11:82d8768d7351	580	}
Lightvalve	11:82d8768d7351	581
Lightvalve	11:82d8768d7351	582	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	583	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	584
Lightvalve	11:82d8768d7351	585	break;
Lightvalve	11:82d8768d7351	586	}
Lightvalve	11:82d8768d7351	587
Lightvalve	11:82d8768d7351	588	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	589
Lightvalve	12:6f2531038ea4	590	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	591	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	592	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	593	}
Lightvalve	11:82d8768d7351	594
Lightvalve	11:82d8768d7351	595	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	596
Lightvalve	11:82d8768d7351	597
Lightvalve	11:82d8768d7351	598	break;
Lightvalve	11:82d8768d7351	599	}
Lightvalve	11:82d8768d7351	600
Lightvalve	11:82d8768d7351	601	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	602	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	603	break;
Lightvalve	11:82d8768d7351	604	}
Lightvalve	11:82d8768d7351	605	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	606	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	607	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	608	//spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	609	break;
Lightvalve	11:82d8768d7351	610	}
Lightvalve	11:82d8768d7351	611
Lightvalve	11:82d8768d7351	612	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	613	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	614	break;
Lightvalve	11:82d8768d7351	615	}
Lightvalve	11:82d8768d7351	616	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	617	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	618	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	619	//spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	620	break;
Lightvalve	11:82d8768d7351	621	}
Lightvalve	11:82d8768d7351	622
Lightvalve	11:82d8768d7351	623	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	624	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	625	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	626	break;
Lightvalve	11:82d8768d7351	627	}
Lightvalve	11:82d8768d7351	628	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	629	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	630	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	631	break;
Lightvalve	11:82d8768d7351	632	}
Lightvalve	11:82d8768d7351	633	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	634	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	635	break;
Lightvalve	11:82d8768d7351	636	}
Lightvalve	28:2a62d73e3dd0	637
Lightvalve	28:2a62d73e3dd0	638	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	639	ROM_RESET_DATA();
Lightvalve	28:2a62d73e3dd0	640	break;
Lightvalve	28:2a62d73e3dd0	641	}
Lightvalve	32:4b8c0fedaf2c	642	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	643	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	644	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	33:91b17819ec30	645	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	646	break;
Lightvalve	33:91b17819ec30	647	}
Lightvalve	33:91b17819ec30	648	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	649	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	650	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	33:91b17819ec30	651	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	652	break;
Lightvalve	33:91b17819ec30	653	}
Lightvalve	33:91b17819ec30	654	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	655	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	656	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	32:4b8c0fedaf2c	657	ROM_RESET_DATA();
Lightvalve	32:4b8c0fedaf2c	658	break;
Lightvalve	32:4b8c0fedaf2c	659	}
Lightvalve	36:a46e63505ed8	660	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	661	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	662	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	663	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	664	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	665
Lightvalve	36:a46e63505ed8	666	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	667
Lightvalve	36:a46e63505ed8	668	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	669	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	670	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	671
Lightvalve	36:a46e63505ed8	672
Lightvalve	36:a46e63505ed8	673	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	674	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	675	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	676	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	677
Lightvalve	36:a46e63505ed8	678	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	679
Lightvalve	36:a46e63505ed8	680	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	681	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	682	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	683	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	684	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	685	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	686	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	687
Lightvalve	36:a46e63505ed8	688	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	689
Lightvalve	36:a46e63505ed8	690	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	691	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	692	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	693	}
Lightvalve	36:a46e63505ed8	694	break;
Lightvalve	36:a46e63505ed8	695	}
Lightvalve	38:118df027d851	696	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	57:f4819de54e7a	697	//CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	38:118df027d851	698	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	699	break;
Lightvalve	38:118df027d851	700	}
Lightvalve	54:647072f5307a	701	case CRX_DELAY_TEST:{
Lightvalve	54:647072f5307a	702	flag_delay_test = 1;
Lightvalve	54:647072f5307a	703	break;
Lightvalve	54:647072f5307a	704	}
Lightvalve	68:328e1be06f5d	705	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	68:328e1be06f5d	706	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	68:328e1be06f5d	707	CONTROL_UTILITY_MODE = 1;
Lightvalve	68:328e1be06f5d	708	break;
Lightvalve	68:328e1be06f5d	709	}
Lightvalve	38:118df027d851	710
jobuuu	2:a1c0a37df760	711	default:
jobuuu	2:a1c0a37df760	712	break;
jobuuu	2:a1c0a37df760	713	}
jobuuu	2:a1c0a37df760	714	}
jobuuu	2:a1c0a37df760	715
jobuuu	2:a1c0a37df760	716	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	717	{
Lightvalve	23:59218d4a256d	718
jobuuu	2:a1c0a37df760	719	can.read(msg);
jobuuu	2:a1c0a37df760	720	unsigned int address = msg.id;
jobuuu	7:e9086c72bb22	721	if(address==CID_RX_CMD){
jobuuu	2:a1c0a37df760	722	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	723	ReadCMD(CMD);
Lightvalve	57:f4819de54e7a	724
jobuuu	7:e9086c72bb22	725	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	57:f4819de54e7a	726
Lightvalve	43:b084e5f5d0d5	727	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	728	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	729	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	41:abbd4e2af68b	730
Lightvalve	57:f4819de54e7a	731	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	732	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	733	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	57:f4819de54e7a	734	}
Lightvalve	57:f4819de54e7a	735	else { //Linear Actuator
Lightvalve	67:c2812cf26c38	736	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	67:c2812cf26c38	737	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	57:f4819de54e7a	738	}
Lightvalve	57:f4819de54e7a	739
Lightvalve	68:328e1be06f5d	740	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	68:328e1be06f5d	741
Lightvalve	68:328e1be06f5d	742
Lightvalve	68:328e1be06f5d	743	///////////////Make Data///////////////////
Lightvalve	68:328e1be06f5d	744	for(int i=0; i<num_array_x_past-1;i++){
Lightvalve	68:328e1be06f5d	745	x_past[i] = x_past[i+1];
Lightvalve	68:328e1be06f5d	746	}
Lightvalve	68:328e1be06f5d	747	x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	68:328e1be06f5d	748
Lightvalve	86:b8ed7abddeb2	749	// for(int i=0;i<num_array_x_future-1;i++){
Lightvalve	86:b8ed7abddeb2	750	// x_future[i] = x_future[i+1];
Lightvalve	86:b8ed7abddeb2	751	// }
Lightvalve	86:b8ed7abddeb2	752	// x_future[num_array_x_future-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	85:a3b46118b5cd	753
Lightvalve	68:328e1be06f5d	754	for(int i=0; i<num_array_f_past-1;i++){
Lightvalve	68:328e1be06f5d	755	f_past[i] = f_past[i+1];
Lightvalve	68:328e1be06f5d	756	}
Lightvalve	87:471334725012	757	//f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve	87:471334725012	758	f_past[num_array_f_past-1] = torq.ref; //N //For add PI control
Lightvalve	68:328e1be06f5d	759
Lightvalve	68:328e1be06f5d	760	f_future[0] = torq.sen; //N
Lightvalve	68:328e1be06f5d	761	for(int i=1;i<num_array_f_future-1;i++){
Lightvalve	68:328e1be06f5d	762	f_future[i] = f_future[i+1];
Lightvalve	68:328e1be06f5d	763	}
Lightvalve	68:328e1be06f5d	764	f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve	68:328e1be06f5d	765
Lightvalve	68:328e1be06f5d	766	int ind = 0;
Lightvalve	68:328e1be06f5d	767	for(int i=0;i<numpast_x;i++){
Lightvalve	73:f80dc3970c99	768	input_NN[ind] = x_past[2*i] / 60.0f;
Lightvalve	68:328e1be06f5d	769	ind = ind + 1;
Lightvalve	68:328e1be06f5d	770	}
Lightvalve	73:f80dc3970c99	771	input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	68:328e1be06f5d	772	ind = ind + 1;
Lightvalve	86:b8ed7abddeb2	773	// for(int i=0;i<numfuture_x;i++){
Lightvalve	86:b8ed7abddeb2	774	// input_NN[ind] = x_future[2*i+2] / 60.0f;
Lightvalve	86:b8ed7abddeb2	775	// ind = ind + 1;
Lightvalve	86:b8ed7abddeb2	776	// }
Lightvalve	85:a3b46118b5cd	777
Lightvalve	68:328e1be06f5d	778	for(int i=0;i<numpast_f;i++){
Lightvalve	73:f80dc3970c99	779	input_NN[ind] = f_past[2*i] / 10000.0f + 0.5f;
Lightvalve	68:328e1be06f5d	780	ind = ind + 1;
Lightvalve	68:328e1be06f5d	781	}
Lightvalve	73:f80dc3970c99	782	input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	68:328e1be06f5d	783	ind = ind + 1;
Lightvalve	68:328e1be06f5d	784	for(int i=0;i<numfuture_f;i++){
Lightvalve	91:ec77a57f947f	785	//input_NN[ind] = (f_future[2*i+2] - f_future[0])/10000.0f+0.5f;
Lightvalve	91:ec77a57f947f	786	input_NN[ind] = (f_future[2*i+2])/10000.0f+0.5f;
Lightvalve	68:328e1be06f5d	787	ind = ind + 1;
Lightvalve	68:328e1be06f5d	788	}
Lightvalve	66:a8e6799dbce3	789
Lightvalve	49:e7bcfc244d40	790	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	791	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	57:f4819de54e7a	792
Lightvalve	57:f4819de54e7a	793	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	794	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	795	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	796	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	797	} else { //SW Valve
Lightvalve	57:f4819de54e7a	798	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	799	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	800	} else {
Lightvalve	57:f4819de54e7a	801	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	802	}
Lightvalve	47:fdcb8bd86fd6	803	}
Lightvalve	49:e7bcfc244d40	804	} else if(address==CID_RX_REF_PWM){
Lightvalve	49:e7bcfc244d40	805	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	806	Vout.ref = (double) temp_ref_pwm;
Lightvalve	45:35fa6884d0c6	807	}
jobuuu	2:a1c0a37df760	808	}
jobuuu	2:a1c0a37df760	809
jobuuu	2:a1c0a37df760	810	/******************************************************************************
jobuuu	2:a1c0a37df760	811	Information Transmission Functions
jobuuu	2:a1c0a37df760	812	*******************************************************************************/
Lightvalve	11:82d8768d7351	813
Lightvalve	11:82d8768d7351	814	void CAN_TX_INFO(void) {
Lightvalve	12:6f2531038ea4	815	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	816
jobuuu	2:a1c0a37df760	817	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	818	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	819	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	820	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	821	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	822	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	823	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	824	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	825	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	826
jobuuu	2:a1c0a37df760	827	can.write(temp_msg);
jobuuu	2:a1c0a37df760	828	}
jobuuu	2:a1c0a37df760	829
Lightvalve	11:82d8768d7351	830	void CAN_TX_BNO(void) {
Lightvalve	12:6f2531038ea4	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 = 2;
Lightvalve	12:6f2531038ea4	835	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	836	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	837
jobuuu	2:a1c0a37df760	838	can.write(temp_msg);
jobuuu	2:a1c0a37df760	839	}
jobuuu	2:a1c0a37df760	840
Lightvalve	11:82d8768d7351	841	void CAN_TX_OPERATING_MODE(void) {
jobuuu	2:a1c0a37df760	842	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	843
jobuuu	2:a1c0a37df760	844	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	845	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	846	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	847	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	848	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	849	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	850	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	851
jobuuu	2:a1c0a37df760	852	can.write(temp_msg);
jobuuu	2:a1c0a37df760	853	}
jobuuu	2:a1c0a37df760	854
Lightvalve	11:82d8768d7351	855	void CAN_TX_CAN_FREQ(void) {
jobuuu	2:a1c0a37df760	856	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	857
jobuuu	2:a1c0a37df760	858	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	859	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	860	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	861	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	862	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	863
jobuuu	2:a1c0a37df760	864	can.write(temp_msg);
jobuuu	2:a1c0a37df760	865	}
Lightvalve	11:82d8768d7351	866
Lightvalve	11:82d8768d7351	867	void CAN_TX_CONTROL_MODE(void) {
jobuuu	2:a1c0a37df760	868	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	869
jobuuu	2:a1c0a37df760	870	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	871	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	872	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	873	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	874
jobuuu	2:a1c0a37df760	875	can.write(temp_msg);
jobuuu	2:a1c0a37df760	876	}
Lightvalve	11:82d8768d7351	877
Lightvalve	11:82d8768d7351	878	void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	879	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	880
jobuuu	2:a1c0a37df760	881	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	882	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	883	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	884	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	885	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	886
jobuuu	2:a1c0a37df760	887	can.write(temp_msg);
jobuuu	2:a1c0a37df760	888	}
jobuuu	2:a1c0a37df760	889
Lightvalve	11:82d8768d7351	890	void CAN_TX_VALVE_DIR(void) {
jobuuu	2:a1c0a37df760	891	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	892
jobuuu	2:a1c0a37df760	893	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	894	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	895	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	896	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	897	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	898
jobuuu	2:a1c0a37df760	899	can.write(temp_msg);
jobuuu	2:a1c0a37df760	900	}
jobuuu	2:a1c0a37df760	901
Lightvalve	11:82d8768d7351	902	void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	903	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	904
jobuuu	2:a1c0a37df760	905	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	906	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	907	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	908	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	909	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	910
jobuuu	2:a1c0a37df760	911	can.write(temp_msg);
jobuuu	2:a1c0a37df760	912	}
jobuuu	2:a1c0a37df760	913
Lightvalve	11:82d8768d7351	914	void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve	49:e7bcfc244d40	915	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	916
jobuuu	2:a1c0a37df760	917	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	918
jobuuu	2:a1c0a37df760	919	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	920	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	921	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	922	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	923	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	924
jobuuu	2:a1c0a37df760	925	can.write(temp_msg);
jobuuu	2:a1c0a37df760	926	}
jobuuu	2:a1c0a37df760	927
Lightvalve	11:82d8768d7351	928	void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve	49:e7bcfc244d40	929	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	930
jobuuu	2:a1c0a37df760	931	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	932
jobuuu	2:a1c0a37df760	933	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	934	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	935	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	936	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	937	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	938
jobuuu	2:a1c0a37df760	939	can.write(temp_msg);
jobuuu	2:a1c0a37df760	940	}
Lightvalve	11:82d8768d7351	941
jobuuu	2:a1c0a37df760	942
Lightvalve	11:82d8768d7351	943	void CAN_TX_PID_GAIN(int t_type) {
jobuuu	2:a1c0a37df760	944	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	945	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	946	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	947
Lightvalve	12:6f2531038ea4	948	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	949	if (t_type == 0) {
Lightvalve	30:8d561f16383b	950	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	951	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	952	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	953	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	954	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	955	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	956	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	957	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	958	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	959	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	960	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	961	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	962	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	963	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	964	}
jobuuu	2:a1c0a37df760	965
jobuuu	2:a1c0a37df760	966	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	967
jobuuu	2:a1c0a37df760	968	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	969	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	970	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	971	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	972	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	973	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	974	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	975	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	976	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	977	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	978
jobuuu	2:a1c0a37df760	979	can.write(temp_msg);
jobuuu	2:a1c0a37df760	980	}
jobuuu	2:a1c0a37df760	981
Lightvalve	11:82d8768d7351	982
Lightvalve	11:82d8768d7351	983	void CAN_TX_VALVE_DEADZONE(void) {
jobuuu	2:a1c0a37df760	984	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	985
jobuuu	2:a1c0a37df760	986	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	987	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	988	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	989	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	990	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	991	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	992	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	993	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	994	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	995
jobuuu	2:a1c0a37df760	996	can.write(temp_msg);
jobuuu	2:a1c0a37df760	997	}
jobuuu	2:a1c0a37df760	998
Lightvalve	11:82d8768d7351	999	void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve	11:82d8768d7351	1000	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1001
Lightvalve	11:82d8768d7351	1002	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1003	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1004	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1005	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	1006	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	1007
Lightvalve	11:82d8768d7351	1008	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1009	}
Lightvalve	11:82d8768d7351	1010
Lightvalve	11:82d8768d7351	1011	void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve	11:82d8768d7351	1012	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1013
Lightvalve	11:82d8768d7351	1014	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1015	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1016	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1017	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1018	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	1019
Lightvalve	11:82d8768d7351	1020	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1021	}
Lightvalve	11:82d8768d7351	1022
Lightvalve	11:82d8768d7351	1023	void CAN_TX_VALVE_FF(void) {
Lightvalve	11:82d8768d7351	1024	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1025
Lightvalve	11:82d8768d7351	1026	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1027	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1028	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	1029	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	1030	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	1031
Lightvalve	11:82d8768d7351	1032	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1033	}
Lightvalve	11:82d8768d7351	1034
Lightvalve	11:82d8768d7351	1035	void CAN_TX_BULK_MODULUS(void) {
Lightvalve	11:82d8768d7351	1036	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1037
Lightvalve	11:82d8768d7351	1038	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1039	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1040	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1041	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1042	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	1043
Lightvalve	11:82d8768d7351	1044	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1045	}
Lightvalve	11:82d8768d7351	1046
Lightvalve	11:82d8768d7351	1047	void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve	11:82d8768d7351	1048	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1049
Lightvalve	11:82d8768d7351	1050	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1051	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1052	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1053	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1054	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1055	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1056	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1057
Lightvalve	11:82d8768d7351	1058	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1059	}
Lightvalve	11:82d8768d7351	1060
Lightvalve	11:82d8768d7351	1061	void CAN_TX_PISTON_AREA(void) {
jobuuu	2:a1c0a37df760	1062	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1063
Lightvalve	11:82d8768d7351	1064	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1065	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1066	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1067	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1068	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1069	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1070	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1071
Lightvalve	11:82d8768d7351	1072	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1073	}
Lightvalve	11:82d8768d7351	1074
Lightvalve	11:82d8768d7351	1075	void CAN_TX_PRES_A_AND_B(void) {
Lightvalve	11:82d8768d7351	1076	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1077
Lightvalve	11:82d8768d7351	1078	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1079	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1080	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1081	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1082	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1083	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1084	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1085
Lightvalve	11:82d8768d7351	1086	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1087	}
Lightvalve	11:82d8768d7351	1088
Lightvalve	11:82d8768d7351	1089	void CAN_TX_ENC_LIMIT(void) {
Lightvalve	11:82d8768d7351	1090	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1091
Lightvalve	11:82d8768d7351	1092	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1093	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1094	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1095	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1096	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1097	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1098	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1099
Lightvalve	11:82d8768d7351	1100	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1101	}
Lightvalve	11:82d8768d7351	1102
Lightvalve	11:82d8768d7351	1103	void CAN_TX_STROKE(void) {
Lightvalve	11:82d8768d7351	1104	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1105
Lightvalve	11:82d8768d7351	1106	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1107	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1108	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1109	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1110	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1111
Lightvalve	11:82d8768d7351	1112	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1113	}
Lightvalve	11:82d8768d7351	1114
Lightvalve	11:82d8768d7351	1115	void CAN_TX_VALVE_LIMIT(void) {
Lightvalve	11:82d8768d7351	1116	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1117
Lightvalve	11:82d8768d7351	1118	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1119	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1120	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1121	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1122	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1123	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1124	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1125
Lightvalve	11:82d8768d7351	1126	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1127	}
Lightvalve	11:82d8768d7351	1128
Lightvalve	11:82d8768d7351	1129	void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve	11:82d8768d7351	1130	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1131
jobuuu	2:a1c0a37df760	1132	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1133	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1134	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1135	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1136	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1137	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1138
jobuuu	2:a1c0a37df760	1139	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1140	}
jobuuu	2:a1c0a37df760	1141
Lightvalve	11:82d8768d7351	1142	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu	2:a1c0a37df760	1143	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1144
jobuuu	2:a1c0a37df760	1145	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1146	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1147	temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	48:889798ff9329	1148	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve	48:889798ff9329	1149	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1150	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
jobuuu	2:a1c0a37df760	1151
jobuuu	2:a1c0a37df760	1152	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1153	}
jobuuu	2:a1c0a37df760	1154
Lightvalve	11:82d8768d7351	1155	void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void) {
jobuuu	2:a1c0a37df760	1156	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1157
jobuuu	2:a1c0a37df760	1158	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1159	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1160	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1161	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1162	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1163	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1164	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1165
jobuuu	2:a1c0a37df760	1166	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1167	}
jobuuu	2:a1c0a37df760	1168
Lightvalve	11:82d8768d7351	1169	void CAN_TX_FRICTION(void) {
Lightvalve	11:82d8768d7351	1170	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1171	int16_t send_friction;
Lightvalve	30:8d561f16383b	1172	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	11:82d8768d7351	1173
Lightvalve	11:82d8768d7351	1174	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1175	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1176	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1177	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1178	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1179
Lightvalve	11:82d8768d7351	1180	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1181	}
Lightvalve	11:82d8768d7351	1182
Lightvalve	11:82d8768d7351	1183	void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve	11:82d8768d7351	1184	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1185
Lightvalve	11:82d8768d7351	1186	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1187	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1188	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1189	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1190	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1191	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1192	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1193	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1194
Lightvalve	11:82d8768d7351	1195	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1196	}
Lightvalve	11:82d8768d7351	1197
Lightvalve	11:82d8768d7351	1198	void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve	11:82d8768d7351	1199	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1200	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1201	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1202	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1203
Lightvalve	57:f4819de54e7a	1204	//temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1205	//temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1206	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1207	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1208	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	11:82d8768d7351	1209
Lightvalve	11:82d8768d7351	1210	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1211	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1212	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1213	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1214	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1215	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1216	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1217	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1218	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1219
Lightvalve	11:82d8768d7351	1220	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1221	}
Lightvalve	11:82d8768d7351	1222
Lightvalve	11:82d8768d7351	1223	void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve	11:82d8768d7351	1224	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1225
Lightvalve	11:82d8768d7351	1226	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1227	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1228	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1229	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1230	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1231	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1232	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1233	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1234
Lightvalve	11:82d8768d7351	1235	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1236	}
Lightvalve	11:82d8768d7351	1237
Lightvalve	11:82d8768d7351	1238	void CAN_TX_REFENCE_MODE(void) {
Lightvalve	11:82d8768d7351	1239	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1240
Lightvalve	11:82d8768d7351	1241	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1242	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1243	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1244	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1245	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1246	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1247	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1248	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1249
Lightvalve	11:82d8768d7351	1250	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1251	}
Lightvalve	11:82d8768d7351	1252
Lightvalve	11:82d8768d7351	1253	void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve	11:82d8768d7351	1254	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1255	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1256	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	1257
jobuuu	2:a1c0a37df760	1258	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1259	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1260	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1261	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1262	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1263
jobuuu	2:a1c0a37df760	1264	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1265	}
Lightvalve	11:82d8768d7351	1266
Lightvalve	11:82d8768d7351	1267	void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve	11:82d8768d7351	1268	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1269	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1270	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	1271
Lightvalve	11:82d8768d7351	1272	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1273	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1274	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1275	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1276	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1277
Lightvalve	11:82d8768d7351	1278	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1279	}
Lightvalve	11:82d8768d7351	1280
Lightvalve	12:6f2531038ea4	1281	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve	11:82d8768d7351	1282	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1283	int16_t valve_pos_vs_pwm;
Lightvalve	49:e7bcfc244d40	1284	// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve	49:e7bcfc244d40	1285
Lightvalve	57:f4819de54e7a	1286	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1287	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	1288	} else {
Lightvalve	57:f4819de54e7a	1289	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	1290	}
Lightvalve	11:82d8768d7351	1291
Lightvalve	12:6f2531038ea4	1292	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1293	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	11:82d8768d7351	1294
Lightvalve	11:82d8768d7351	1295	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1296	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1297	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1298	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1299	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1300	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1301	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1302
Lightvalve	11:82d8768d7351	1303	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1304	}
Lightvalve	11:82d8768d7351	1305
Lightvalve	12:6f2531038ea4	1306	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve	11:82d8768d7351	1307	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1308	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1309	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1310
Lightvalve	57:f4819de54e7a	1311	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1312	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1313	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1314	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	1315	} else {
Lightvalve	57:f4819de54e7a	1316	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	1317	}
Lightvalve	11:82d8768d7351	1318
Lightvalve	11:82d8768d7351	1319	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1320	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1321	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1322	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1323	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1324	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1325	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1326	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1327	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1328
Lightvalve	11:82d8768d7351	1329	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1330	}
Lightvalve	11:82d8768d7351	1331
Lightvalve	11:82d8768d7351	1332	void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve	11:82d8768d7351	1333	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1334	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1335	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	11:82d8768d7351	1336
Lightvalve	11:82d8768d7351	1337	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1338	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1339	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1340	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1341	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1342
Lightvalve	11:82d8768d7351	1343	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1344	}
Lightvalve	11:82d8768d7351	1345
Lightvalve	38:118df027d851	1346	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve	38:118df027d851	1347	CANMessage temp_msg;
Lightvalve	38:118df027d851	1348
Lightvalve	48:889798ff9329	1349	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1350	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1351	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1352
Lightvalve	57:f4819de54e7a	1353	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1354	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1355	temp_ddv_center = VALVE_CENTER;
Lightvalve	48:889798ff9329	1356
Lightvalve	38:118df027d851	1357	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1358	temp_msg.len = 7;
Lightvalve	38:118df027d851	1359	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1360	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1361	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1362	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1363	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1364	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1365	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1366
Lightvalve	38:118df027d851	1367	can.write(temp_msg);
Lightvalve	38:118df027d851	1368	}
Lightvalve	38:118df027d851	1369
jobuuu	2:a1c0a37df760	1370	/******************************************************************************
jobuuu	2:a1c0a37df760	1371	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1372	*******************************************************************************/
jobuuu	2:a1c0a37df760	1373
Lightvalve	52:8ea76864368a	1374	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
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	52:8ea76864368a	1389	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) {
Lightvalve	52:8ea76864368a	1390
jobuuu	2:a1c0a37df760	1391	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1392
jobuuu	2:a1c0a37df760	1393	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1394	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1395	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1396	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1397	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1398	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1399	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1400	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1401	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1402	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1403
jobuuu	2:a1c0a37df760	1404	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1405	}
jobuuu	2:a1c0a37df760	1406
Lightvalve	67:c2812cf26c38	1407	//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve	67:c2812cf26c38	1408	// CANMessage temp_msg;
Lightvalve	67:c2812cf26c38	1409	//
Lightvalve	67:c2812cf26c38	1410	// temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1411	// temp_msg.len = 4;
Lightvalve	67:c2812cf26c38	1412	// temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	67:c2812cf26c38	1413	// temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	67:c2812cf26c38	1414	// temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve	67:c2812cf26c38	1415	// temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve	67:c2812cf26c38	1416	//
Lightvalve	67:c2812cf26c38	1417	// can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1418	//}
Lightvalve	67:c2812cf26c38	1419
Lightvalve	67:c2812cf26c38	1420	void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu	2:a1c0a37df760	1421	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1422
jobuuu	2:a1c0a37df760	1423	temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1424	temp_msg.len = 2;
Lightvalve	48:889798ff9329	1425	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1426	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1427
jobuuu	2:a1c0a37df760	1428	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1429	}
jobuuu	2:a1c0a37df760	1430
Lightvalve	11:82d8768d7351	1431	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu	2:a1c0a37df760	1432	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1433
jobuuu	2:a1c0a37df760	1434	temp_msg.id = CID_TX_PRES;
Lightvalve	57:f4819de54e7a	1435	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1436	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1437	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1438	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1439	temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
jobuuu	2:a1c0a37df760	1440
jobuuu	2:a1c0a37df760	1441	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1442	}
jobuuu	2:a1c0a37df760	1443
Lightvalve	11:82d8768d7351	1444	void CAN_TX_PWM(int16_t t_pwm) {
jobuuu	2:a1c0a37df760	1445	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1446
Lightvalve	57:f4819de54e7a	1447	temp_msg.id = CID_TX_VOUT;
Lightvalve	57:f4819de54e7a	1448	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1449	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1450	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1451
jobuuu	2:a1c0a37df760	1452	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1453	}
jobuuu	2:a1c0a37df760	1454
Lightvalve	73:f80dc3970c99	1455	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	1456	{
jobuuu	2:a1c0a37df760	1457	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1458
jobuuu	2:a1c0a37df760	1459	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	73:f80dc3970c99	1460	temp_msg.len = 8;
Lightvalve	73:f80dc3970c99	1461	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	73:f80dc3970c99	1462	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	73:f80dc3970c99	1463	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	73:f80dc3970c99	1464	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	73:f80dc3970c99	1465	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	73:f80dc3970c99	1466	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	73:f80dc3970c99	1467	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	73:f80dc3970c99	1468	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	27:a2254a485f23	1469
jobuuu	2:a1c0a37df760	1470
jobuuu	2:a1c0a37df760	1471	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1472	}

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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@91:ec77a57f947f, 2020-07-28 (annotated)

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