HydraulicControlBoard_Start - 20210203

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Yeseong Jeong / Mbed 2 deprecated HydraulicControlBoard_Start

20210203

CAN/function_CAN.cpp@73:f80dc3970c99, 2020-06-08 (annotated)

Committer:: Lightvalve
Date:: Mon Jun 08 11:00:23 2020 +0000
Revision:: 73:f80dc3970c99
Parent:: 72:3436ce769b1e
Child:: 85:a3b46118b5cd

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	68:328e1be06f5d	27	extern float f_past[];
Lightvalve	68:328e1be06f5d	28	extern float f_future[];
Lightvalve	73:f80dc3970c99	29	extern float input_NN[];
Lightvalve	68:328e1be06f5d	30
Lightvalve	11:82d8768d7351	31	/*******************************************************************************
Lightvalve	11:82d8768d7351	32	* CAN functions
Lightvalve	11:82d8768d7351	33	******************************************************************************/
Lightvalve	11:82d8768d7351	34	void CAN_ID_INIT(void) {
jobuuu	7:e9086c72bb22	35
Lightvalve	11:82d8768d7351	36	CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
Lightvalve	11:82d8768d7351	37	CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
Lightvalve	49:e7bcfc244d40	38	CID_RX_REF_VALVE_POS = (int) (BNO + INIT_CID_RX_REF_VALVE_POS);
Lightvalve	45:35fa6884d0c6	39	CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
Lightvalve	11:82d8768d7351	40
Lightvalve	11:82d8768d7351	41	CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
Lightvalve	11:82d8768d7351	42	CID_TX_POSITION = (int) (BNO + INIT_CID_TX_POSITION);
Lightvalve	11:82d8768d7351	43	CID_TX_TORQUE = (int) (BNO + INIT_CID_TX_TORQUE);
Lightvalve	11:82d8768d7351	44	CID_TX_PRES = (int) (BNO + INIT_CID_TX_PRES);
Lightvalve	11:82d8768d7351	45	CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
Lightvalve	11:82d8768d7351	46	CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
Lightvalve	11:82d8768d7351	47	}
jobuuu	2:a1c0a37df760	48
Lightvalve	28:2a62d73e3dd0	49	void ReadCMD(int16_t CMD)
jobuuu	2:a1c0a37df760	50	{
jobuuu	2:a1c0a37df760	51	switch(CMD){
Lightvalve	11:82d8768d7351	52	case CRX_ASK_INFO: {
Lightvalve	11:82d8768d7351	53	CAN_TX_INFO();
Lightvalve	11:82d8768d7351	54	break;
Lightvalve	11:82d8768d7351	55	}
Lightvalve	11:82d8768d7351	56	case CRX_ASK_BNO: {
Lightvalve	11:82d8768d7351	57	CAN_TX_BNO();
Lightvalve	11:82d8768d7351	58	break;
Lightvalve	11:82d8768d7351	59	}
Lightvalve	11:82d8768d7351	60	case CRX_SET_BNO: {
Lightvalve	11:82d8768d7351	61	BNO = (int16_t) msg.data[1];
Lightvalve	16:903b5a4433b4	62
Lightvalve	16:903b5a4433b4	63	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	64
Lightvalve	16:903b5a4433b4	65	//spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve	11:82d8768d7351	66	CAN_ID_INIT(); // can id init
Lightvalve	11:82d8768d7351	67	break;
Lightvalve	11:82d8768d7351	68	}
Lightvalve	11:82d8768d7351	69	case CRX_ASK_OPERATING_MODE: {
Lightvalve	11:82d8768d7351	70	CAN_TX_OPERATING_MODE();
Lightvalve	11:82d8768d7351	71	break;
Lightvalve	11:82d8768d7351	72	}
Lightvalve	11:82d8768d7351	73	case CRX_SET_OPERATING_MODE: {
Lightvalve	52:8ea76864368a	74	OPERATING_MODE = (uint8_t) msg.data[1];
Lightvalve	52:8ea76864368a	75	SENSING_MODE = (uint8_t) msg.data[2];
Lightvalve	52:8ea76864368a	76	CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
Lightvalve	52:8ea76864368a	77	FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
Lightvalve	16:903b5a4433b4	78	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	79	break;
Lightvalve	11:82d8768d7351	80	}
Lightvalve	11:82d8768d7351	81	case CRX_SET_ENC_ZERO: {
Lightvalve	11:82d8768d7351	82	ENC_SET_ZERO();
Lightvalve	11:82d8768d7351	83
Lightvalve	11:82d8768d7351	84	break;
Lightvalve	11:82d8768d7351	85	}
Lightvalve	11:82d8768d7351	86	case CRX_SET_FET_ON: {
Lightvalve	11:82d8768d7351	87
Lightvalve	11:82d8768d7351	88	break;
Lightvalve	11:82d8768d7351	89	}
Lightvalve	11:82d8768d7351	90
Lightvalve	45:35fa6884d0c6	91	case CRX_SET_POS_TORQ_TRANS: {
Lightvalve	45:35fa6884d0c6	92	MODE_POS_FT_TRANS = (int16_t) msg.data[1];
Lightvalve	45:35fa6884d0c6	93	/*
Lightvalve	45:35fa6884d0c6	94	MODE_POS_FT_TRANS == 0 : Position Control
Lightvalve	45:35fa6884d0c6	95	MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
Lightvalve	45:35fa6884d0c6	96	MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
Lightvalve	45:35fa6884d0c6	97	MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
Lightvalve	45:35fa6884d0c6	98	*/
Lightvalve	11:82d8768d7351	99	break;
Lightvalve	11:82d8768d7351	100	}
Lightvalve	11:82d8768d7351	101
Lightvalve	11:82d8768d7351	102	case CRX_ASK_CAN_FREQ: {
Lightvalve	11:82d8768d7351	103	CAN_TX_CAN_FREQ();
Lightvalve	11:82d8768d7351	104
Lightvalve	11:82d8768d7351	105	break;
Lightvalve	11:82d8768d7351	106	}
Lightvalve	11:82d8768d7351	107
Lightvalve	11:82d8768d7351	108	case CRX_SET_CAN_FREQ: {
Lightvalve	11:82d8768d7351	109	CAN_FREQ = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	110	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	111	break;
Lightvalve	11:82d8768d7351	112	}
Lightvalve	11:82d8768d7351	113
Lightvalve	11:82d8768d7351	114	case CRX_ASK_CONTROL_MODE: {
Lightvalve	11:82d8768d7351	115	CAN_TX_CONTROL_MODE();
Lightvalve	11:82d8768d7351	116
Lightvalve	11:82d8768d7351	117	break;
Lightvalve	11:82d8768d7351	118	}
Lightvalve	11:82d8768d7351	119
Lightvalve	11:82d8768d7351	120	case CRX_SET_CONTROL_MODE: {
Lightvalve	57:f4819de54e7a	121	//CONTROL_MODE = (int16_t) (msg.data[1]);
Lightvalve	57:f4819de54e7a	122	CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
Lightvalve	12:6f2531038ea4	123	if (CONTROL_MODE == 22) { //MODE_FIND_HOME
Lightvalve	11:82d8768d7351	124	FLAG_FIND_HOME = true;
Lightvalve	11:82d8768d7351	125	}
Lightvalve	11:82d8768d7351	126	break;
Lightvalve	11:82d8768d7351	127	}
Lightvalve	11:82d8768d7351	128
Lightvalve	11:82d8768d7351	129	case CRX_SET_DATA_REQUEST: {
Lightvalve	11:82d8768d7351	130	int request_type = msg.data[2];
Lightvalve	11:82d8768d7351	131	flag_data_request[request_type] = msg.data[1];
Lightvalve	14:8e7590227d22	132	//pc.printf("can middle %d\n", request_type);
Lightvalve	11:82d8768d7351	133
Lightvalve	12:6f2531038ea4	134	// if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	135	//if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
Lightvalve	12:6f2531038ea4	136	// if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
Lightvalve	15:bd0d12728506	137	//if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
Lightvalve	11:82d8768d7351	138
Lightvalve	11:82d8768d7351	139	break;
Lightvalve	11:82d8768d7351	140	}
Lightvalve	11:82d8768d7351	141
Lightvalve	11:82d8768d7351	142	case CRX_ASK_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	143	CAN_TX_JOINT_ENC_DIR();
Lightvalve	11:82d8768d7351	144
Lightvalve	11:82d8768d7351	145	break;
Lightvalve	11:82d8768d7351	146	}
Lightvalve	11:82d8768d7351	147
Lightvalve	11:82d8768d7351	148	case CRX_SET_JOINT_ENC_DIR: {
Lightvalve	11:82d8768d7351	149	DIR_JOINT_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	150	if (DIR_JOINT_ENC >= 0)
Lightvalve	11:82d8768d7351	151	DIR_JOINT_ENC = 1;
Lightvalve	11:82d8768d7351	152	else
Lightvalve	11:82d8768d7351	153	DIR_JOINT_ENC = -1;
Lightvalve	16:903b5a4433b4	154
Lightvalve	16:903b5a4433b4	155	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	156
Lightvalve	16:903b5a4433b4	157	//spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve	11:82d8768d7351	158
Lightvalve	11:82d8768d7351	159	break;
Lightvalve	11:82d8768d7351	160	}
Lightvalve	11:82d8768d7351	161
Lightvalve	11:82d8768d7351	162	case CRX_ASK_VALVE_DIR: {
Lightvalve	11:82d8768d7351	163	CAN_TX_VALVE_DIR();
Lightvalve	11:82d8768d7351	164
Lightvalve	11:82d8768d7351	165	break;
Lightvalve	11:82d8768d7351	166	}
Lightvalve	11:82d8768d7351	167
Lightvalve	11:82d8768d7351	168	case CRX_SET_VALVE_DIR: {
Lightvalve	11:82d8768d7351	169	DIR_VALVE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	170	if (DIR_VALVE >= 0)
Lightvalve	11:82d8768d7351	171	DIR_VALVE = 1;
Lightvalve	11:82d8768d7351	172	else
Lightvalve	11:82d8768d7351	173	DIR_VALVE = -1;
Lightvalve	16:903b5a4433b4	174
Lightvalve	16:903b5a4433b4	175	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	176
Lightvalve	16:903b5a4433b4	177	//spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve	11:82d8768d7351	178
Lightvalve	11:82d8768d7351	179	break;
Lightvalve	11:82d8768d7351	180	}
Lightvalve	11:82d8768d7351	181
Lightvalve	11:82d8768d7351	182	case CRX_ASK_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	183	CAN_TX_VALVE_ENC_DIR();
Lightvalve	11:82d8768d7351	184
Lightvalve	11:82d8768d7351	185	break;
Lightvalve	11:82d8768d7351	186	}
Lightvalve	11:82d8768d7351	187
Lightvalve	11:82d8768d7351	188	case CRX_SET_VALVE_ENC_DIR: {
Lightvalve	11:82d8768d7351	189	DIR_VALVE_ENC = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	190	if (DIR_VALVE_ENC >= 0)
Lightvalve	11:82d8768d7351	191	DIR_VALVE_ENC = 1;
Lightvalve	11:82d8768d7351	192	else
Lightvalve	11:82d8768d7351	193	DIR_VALVE_ENC = -1;
Lightvalve	16:903b5a4433b4	194
Lightvalve	16:903b5a4433b4	195	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	196
Lightvalve	16:903b5a4433b4	197	//spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve	11:82d8768d7351	198
Lightvalve	11:82d8768d7351	199	break;
Lightvalve	11:82d8768d7351	200	}
Lightvalve	11:82d8768d7351	201
Lightvalve	11:82d8768d7351	202	case CRX_ASK_VOLTAGE_SUPPLY: {
Lightvalve	11:82d8768d7351	203	CAN_TX_VOLTAGE_SUPPLY();
Lightvalve	11:82d8768d7351	204
Lightvalve	11:82d8768d7351	205	break;
Lightvalve	11:82d8768d7351	206	}
Lightvalve	11:82d8768d7351	207
Lightvalve	11:82d8768d7351	208	case CRX_SET_VOLTAGE_SUPPLY: {
Lightvalve	30:8d561f16383b	209	SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	210
Lightvalve	16:903b5a4433b4	211	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	212
Lightvalve	16:903b5a4433b4	213	//spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve	11:82d8768d7351	214
Lightvalve	11:82d8768d7351	215	break;
Lightvalve	11:82d8768d7351	216	}
Lightvalve	11:82d8768d7351	217
Lightvalve	11:82d8768d7351	218	case CRX_ASK_VOLTAGE_VALVE: {
Lightvalve	11:82d8768d7351	219	CAN_TX_VOLTAGE_VALVE();
Lightvalve	11:82d8768d7351	220
Lightvalve	11:82d8768d7351	221	break;
Lightvalve	11:82d8768d7351	222	}
Lightvalve	11:82d8768d7351	223
Lightvalve	11:82d8768d7351	224	case CRX_SET_VOLTAGE_VALVE: {
Lightvalve	30:8d561f16383b	225	VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	226
Lightvalve	16:903b5a4433b4	227	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	228
Lightvalve	16:903b5a4433b4	229	//spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve	11:82d8768d7351	230
Lightvalve	11:82d8768d7351	231
Lightvalve	11:82d8768d7351	232	break;
Lightvalve	11:82d8768d7351	233	}
Lightvalve	12:6f2531038ea4	234
Lightvalve	11:82d8768d7351	235	case CRX_SET_HOMEPOS: {
Lightvalve	57:f4819de54e7a	236	//CONTROL_MODE = 22;
Lightvalve	57:f4819de54e7a	237	CONTROL_UTILITY_MODE = 22;
Lightvalve	11:82d8768d7351	238	break;
Lightvalve	11:82d8768d7351	239	}
Lightvalve	11:82d8768d7351	240
Lightvalve	11:82d8768d7351	241	case CRX_ASK_PID_GAIN: {
Lightvalve	11:82d8768d7351	242	CAN_TX_PID_GAIN(msg.data[1]);
Lightvalve	11:82d8768d7351	243
Lightvalve	11:82d8768d7351	244	break;
Lightvalve	11:82d8768d7351	245	}
Lightvalve	11:82d8768d7351	246
Lightvalve	11:82d8768d7351	247	case CRX_SET_PID_GAIN: {
Lightvalve	11:82d8768d7351	248	if (msg.data[1] == 0) {
Lightvalve	11:82d8768d7351	249	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	250	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	251	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	252
Lightvalve	16:903b5a4433b4	253	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	254
Lightvalve	11:82d8768d7351	255	} else if (msg.data[1] == 1) {
Lightvalve	11:82d8768d7351	256	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	257	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	258	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	259
Lightvalve	16:903b5a4433b4	260	ROM_RESET_DATA();
Lightvalve	48:889798ff9329	261
Lightvalve	11:82d8768d7351	262	} else if (msg.data[1] == 2) {
Lightvalve	11:82d8768d7351	263	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	11:82d8768d7351	264	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	11:82d8768d7351	265	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	16:903b5a4433b4	266
Lightvalve	16:903b5a4433b4	267	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	268
Lightvalve	46:2694daea349b	269	} else if (msg.data[1] == 3) {
Lightvalve	67:c2812cf26c38	270	K_SPRING = (float) (((float) ((int16_t) (msg.data[2] \| msg.data[3] << 8))) * 0.1f);
Lightvalve	67:c2812cf26c38	271	D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] \| msg.data[5] << 8))) * 0.01f);
Lightvalve	46:2694daea349b	272
Lightvalve	67:c2812cf26c38	273	// ROM_RESET_DATA(); //For Real-time changing
Lightvalve	72:3436ce769b1e	274	} else if (msg.data[1] == 4) {
Lightvalve	72:3436ce769b1e	275	P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	72:3436ce769b1e	276	I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	72:3436ce769b1e	277	D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	72:3436ce769b1e	278
Lightvalve	72:3436ce769b1e	279	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	280	}
Lightvalve	11:82d8768d7351	281
Lightvalve	11:82d8768d7351	282	break;
Lightvalve	11:82d8768d7351	283	}
Lightvalve	11:82d8768d7351	284
Lightvalve	11:82d8768d7351	285	case CRX_ASK_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	286	CAN_TX_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	287
Lightvalve	11:82d8768d7351	288	break;
Lightvalve	11:82d8768d7351	289	}
Lightvalve	11:82d8768d7351	290
Lightvalve	11:82d8768d7351	291	case CRX_SET_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	292	VALVE_CENTER = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	293	VALVE_DEADZONE_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	294	VALVE_DEADZONE_MINUS = (int16_t) (msg.data[5] \| msg.data[6] << 8);
Lightvalve	16:903b5a4433b4	295
Lightvalve	16:903b5a4433b4	296	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	297
Lightvalve	11:82d8768d7351	298	break;
Lightvalve	11:82d8768d7351	299	}
Lightvalve	11:82d8768d7351	300
Lightvalve	11:82d8768d7351	301	case CRX_ASK_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	302	CAN_TX_VELOCITY_COMP_GAIN();
Lightvalve	11:82d8768d7351	303
Lightvalve	11:82d8768d7351	304	break;
Lightvalve	11:82d8768d7351	305	}
Lightvalve	11:82d8768d7351	306
Lightvalve	11:82d8768d7351	307	case CRX_SET_VELOCITY_COMP_GAIN: {
Lightvalve	11:82d8768d7351	308	VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	309
Lightvalve	16:903b5a4433b4	310	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	311
Lightvalve	16:903b5a4433b4	312	//spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve	11:82d8768d7351	313
Lightvalve	11:82d8768d7351	314	break;
Lightvalve	11:82d8768d7351	315	}
Lightvalve	11:82d8768d7351	316
Lightvalve	11:82d8768d7351	317	case CRX_ASK_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	318	CAN_TX_COMPLIANCE_GAIN();
Lightvalve	11:82d8768d7351	319
Lightvalve	11:82d8768d7351	320	break;
Lightvalve	11:82d8768d7351	321	}
Lightvalve	11:82d8768d7351	322
Lightvalve	11:82d8768d7351	323	case CRX_SET_COMPLIANCE_GAIN: {
Lightvalve	11:82d8768d7351	324	COMPLIANCE_GAIN = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	325
Lightvalve	16:903b5a4433b4	326	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	327
Lightvalve	16:903b5a4433b4	328	//spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve	11:82d8768d7351	329
Lightvalve	11:82d8768d7351	330	break;
Lightvalve	11:82d8768d7351	331	}
Lightvalve	11:82d8768d7351	332
Lightvalve	11:82d8768d7351	333	case CRX_ASK_VALVE_FF: {
Lightvalve	11:82d8768d7351	334	CAN_TX_VALVE_FF();
Lightvalve	11:82d8768d7351	335
Lightvalve	11:82d8768d7351	336	break;
Lightvalve	11:82d8768d7351	337	}
Lightvalve	11:82d8768d7351	338
Lightvalve	11:82d8768d7351	339	case CRX_SET_VALVE_FF: {
Lightvalve	11:82d8768d7351	340	VALVE_FF = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	341
Lightvalve	16:903b5a4433b4	342	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	343
Lightvalve	16:903b5a4433b4	344	//spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve	11:82d8768d7351	345
Lightvalve	11:82d8768d7351	346	break;
Lightvalve	11:82d8768d7351	347	}
Lightvalve	11:82d8768d7351	348
Lightvalve	11:82d8768d7351	349	case CRX_ASK_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	350	CAN_TX_BULK_MODULUS();
Lightvalve	11:82d8768d7351	351
Lightvalve	11:82d8768d7351	352	break;
Lightvalve	11:82d8768d7351	353	}
Lightvalve	11:82d8768d7351	354
Lightvalve	11:82d8768d7351	355	case CRX_SET_BULK_MODULUS: {
Lightvalve	11:82d8768d7351	356	BULK_MODULUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	357
Lightvalve	16:903b5a4433b4	358	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	359
Lightvalve	16:903b5a4433b4	360	//spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve	11:82d8768d7351	361
Lightvalve	11:82d8768d7351	362	break;
Lightvalve	11:82d8768d7351	363	}
Lightvalve	11:82d8768d7351	364
Lightvalve	11:82d8768d7351	365	case CRX_ASK_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	366	CAN_TX_CHAMBER_VOLUME();
Lightvalve	11:82d8768d7351	367
Lightvalve	11:82d8768d7351	368	break;
Lightvalve	11:82d8768d7351	369	}
Lightvalve	11:82d8768d7351	370
Lightvalve	11:82d8768d7351	371	case CRX_SET_CHAMBER_VOLUME: {
Lightvalve	11:82d8768d7351	372	CHAMBER_VOLUME_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	373	CHAMBER_VOLUME_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	11:82d8768d7351	374
Lightvalve	16:903b5a4433b4	375	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	376
Lightvalve	16:903b5a4433b4	377	//spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve	16:903b5a4433b4	378	//spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve	11:82d8768d7351	379
Lightvalve	11:82d8768d7351	380	break;
Lightvalve	11:82d8768d7351	381	}
Lightvalve	11:82d8768d7351	382
Lightvalve	11:82d8768d7351	383	case CRX_ASK_PISTON_AREA: {
Lightvalve	11:82d8768d7351	384	CAN_TX_PISTON_AREA();
Lightvalve	11:82d8768d7351	385
Lightvalve	11:82d8768d7351	386	break;
Lightvalve	11:82d8768d7351	387	}
Lightvalve	11:82d8768d7351	388
Lightvalve	11:82d8768d7351	389	case CRX_SET_PISTON_AREA: {
Lightvalve	11:82d8768d7351	390	PISTON_AREA_A = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	391	PISTON_AREA_B = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	69:3995ffeaa786	392	PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
Lightvalve	57:f4819de54e7a	393	alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
Lightvalve	16:903b5a4433b4	394
Lightvalve	16:903b5a4433b4	395	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	396
Lightvalve	16:903b5a4433b4	397	//spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve	16:903b5a4433b4	398	//spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve	11:82d8768d7351	399	break;
Lightvalve	11:82d8768d7351	400	}
Lightvalve	11:82d8768d7351	401
Lightvalve	11:82d8768d7351	402	case CRX_ASK_PRES: {
Lightvalve	11:82d8768d7351	403	CAN_TX_PRES_A_AND_B();
Lightvalve	12:6f2531038ea4	404	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	16:903b5a4433b4	405	//dac_1 = PRES_A_VREF;
Lightvalve	16:903b5a4433b4	406	//dac_2 = PRES_B_VREF;
Lightvalve	12:6f2531038ea4	407
Lightvalve	11:82d8768d7351	408	break;
Lightvalve	11:82d8768d7351	409	}
Lightvalve	11:82d8768d7351	410
Lightvalve	11:82d8768d7351	411	case CRX_SET_PRES: {
Lightvalve	11:82d8768d7351	412	PRES_SUPPLY = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	413	PRES_RETURN = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	414	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	415	//spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve	16:903b5a4433b4	416	//spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve	11:82d8768d7351	417
Lightvalve	11:82d8768d7351	418
Lightvalve	11:82d8768d7351	419	break;
Lightvalve	11:82d8768d7351	420	}
Lightvalve	11:82d8768d7351	421
Lightvalve	11:82d8768d7351	422	case CRX_ASK_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	423	CAN_TX_ENC_LIMIT();
Lightvalve	11:82d8768d7351	424
Lightvalve	11:82d8768d7351	425	break;
Lightvalve	11:82d8768d7351	426	}
Lightvalve	11:82d8768d7351	427
Lightvalve	11:82d8768d7351	428	case CRX_SET_ENC_LIMIT: {
Lightvalve	11:82d8768d7351	429	ENC_LIMIT_MINUS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	11:82d8768d7351	430	ENC_LIMIT_PLUS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	431	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	432	//spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve	16:903b5a4433b4	433	//spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve	11:82d8768d7351	434
Lightvalve	11:82d8768d7351	435	break;
Lightvalve	11:82d8768d7351	436	}
Lightvalve	11:82d8768d7351	437
Lightvalve	11:82d8768d7351	438	case CRX_ASK_STROKE: {
Lightvalve	11:82d8768d7351	439	CAN_TX_STROKE();
Lightvalve	11:82d8768d7351	440	break;
Lightvalve	11:82d8768d7351	441	}
Lightvalve	11:82d8768d7351	442
Lightvalve	11:82d8768d7351	443	case CRX_SET_STROKE: {
Lightvalve	11:82d8768d7351	444	STROKE = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	445	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	446	//spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve	11:82d8768d7351	447
Lightvalve	11:82d8768d7351	448	break;
Lightvalve	11:82d8768d7351	449	}
Lightvalve	11:82d8768d7351	450
Lightvalve	11:82d8768d7351	451	case CRX_ASK_VALVE_LIMIT: {
Lightvalve	11:82d8768d7351	452	CAN_TX_VALVE_LIMIT();
Lightvalve	11:82d8768d7351	453
Lightvalve	11:82d8768d7351	454	break;
Lightvalve	11:82d8768d7351	455	}
Lightvalve	11:82d8768d7351	456
Lightvalve	11:82d8768d7351	457	case CRX_SET_VALVE_LIMIT: {
Lightvalve	57:f4819de54e7a	458	VALVE_MIN_POS = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	57:f4819de54e7a	459	VALVE_MAX_POS = (int16_t) (msg.data[3] \| msg.data[4] << 8);
Lightvalve	16:903b5a4433b4	460	ROM_RESET_DATA();
Lightvalve	11:82d8768d7351	461
Lightvalve	11:82d8768d7351	462	break;
Lightvalve	11:82d8768d7351	463	}
Lightvalve	11:82d8768d7351	464
Lightvalve	11:82d8768d7351	465	case CRX_ASK_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	466	CAN_TX_ENC_PULSE_PER_POSITION();
Lightvalve	11:82d8768d7351	467
Lightvalve	11:82d8768d7351	468	break;
Lightvalve	11:82d8768d7351	469	}
Lightvalve	11:82d8768d7351	470
Lightvalve	11:82d8768d7351	471	case CRX_SET_ENC_PULSE_PER_POSITION: {
Lightvalve	11:82d8768d7351	472	ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	473	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	474	//spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve	11:82d8768d7351	475
Lightvalve	11:82d8768d7351	476	break;
Lightvalve	11:82d8768d7351	477	}
Lightvalve	11:82d8768d7351	478
Lightvalve	11:82d8768d7351	479	case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	11:82d8768d7351	480	CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
Lightvalve	11:82d8768d7351	481
Lightvalve	11:82d8768d7351	482	break;
Lightvalve	11:82d8768d7351	483	}
Lightvalve	11:82d8768d7351	484
Lightvalve	11:82d8768d7351	485	case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
Lightvalve	48:889798ff9329	486	TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] \| msg.data[2] << 8) * 0.01f);
Lightvalve	16:903b5a4433b4	487	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	488	//spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve	11:82d8768d7351	489
Lightvalve	11:82d8768d7351	490	break;
Lightvalve	11:82d8768d7351	491	}
Lightvalve	11:82d8768d7351	492
Lightvalve	11:82d8768d7351	493	case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	11:82d8768d7351	494	CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
Lightvalve	11:82d8768d7351	495
Lightvalve	11:82d8768d7351	496	break;
Lightvalve	11:82d8768d7351	497	}
Lightvalve	11:82d8768d7351	498
Lightvalve	11:82d8768d7351	499	case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
Lightvalve	30:8d561f16383b	500	PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) * 0.01f;
Lightvalve	30:8d561f16383b	501	PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) * 0.01f;
Lightvalve	16:903b5a4433b4	502	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	503	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve	16:903b5a4433b4	504	//(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve	11:82d8768d7351	505
Lightvalve	11:82d8768d7351	506	break;
Lightvalve	11:82d8768d7351	507	}
Lightvalve	11:82d8768d7351	508
Lightvalve	11:82d8768d7351	509	case CRX_ASK_FRICTION: {
Lightvalve	11:82d8768d7351	510	CAN_TX_FRICTION();
Lightvalve	11:82d8768d7351	511
Lightvalve	11:82d8768d7351	512	break;
Lightvalve	11:82d8768d7351	513	}
Lightvalve	11:82d8768d7351	514
Lightvalve	11:82d8768d7351	515	case CRX_SET_FRICTION: {
Lightvalve	30:8d561f16383b	516	FRICTION = (double) ((int16_t) (msg.data[1] \| msg.data[2] << 8)) / 10.0f;
Lightvalve	16:903b5a4433b4	517	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	518	//spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve	11:82d8768d7351	519
Lightvalve	11:82d8768d7351	520	break;
Lightvalve	11:82d8768d7351	521	}
Lightvalve	11:82d8768d7351	522
Lightvalve	11:82d8768d7351	523	case CRX_ASK_VALVE_GAIN_PLUS: {
Lightvalve	11:82d8768d7351	524	CAN_TX_VALVE_GAIN_PLUS();
Lightvalve	11:82d8768d7351	525
Lightvalve	11:82d8768d7351	526	break;
Lightvalve	11:82d8768d7351	527	}
Lightvalve	11:82d8768d7351	528	case CRX_SET_VALVE_GAIN_PLUS: {
Lightvalve	30:8d561f16383b	529	VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	530	VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	531	VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	532	VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	533	VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	534	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	535	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve	30:8d561f16383b	536	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve	30:8d561f16383b	537	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve	30:8d561f16383b	538	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve	30:8d561f16383b	539	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve	11:82d8768d7351	540
Lightvalve	11:82d8768d7351	541	break;
Lightvalve	11:82d8768d7351	542	}
Lightvalve	11:82d8768d7351	543
Lightvalve	11:82d8768d7351	544	case CRX_ASK_VALVE_GAIN_MINUS: {
Lightvalve	11:82d8768d7351	545	CAN_TX_VALVE_GAIN_MINUS();
Lightvalve	11:82d8768d7351	546
Lightvalve	11:82d8768d7351	547	break;
Lightvalve	11:82d8768d7351	548	}
Lightvalve	11:82d8768d7351	549	case CRX_SET_VALVE_GAIN_MINUS: {
Lightvalve	30:8d561f16383b	550	VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
Lightvalve	30:8d561f16383b	551	VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
Lightvalve	30:8d561f16383b	552	VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
Lightvalve	30:8d561f16383b	553	VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
Lightvalve	30:8d561f16383b	554	VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
Lightvalve	16:903b5a4433b4	555	ROM_RESET_DATA();
Lightvalve	30:8d561f16383b	556	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve	30:8d561f16383b	557	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve	30:8d561f16383b	558	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve	30:8d561f16383b	559	//spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve	30:8d561f16383b	560	//(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve	11:82d8768d7351	561
Lightvalve	11:82d8768d7351	562	break;
Lightvalve	11:82d8768d7351	563	}
Lightvalve	11:82d8768d7351	564	case CRX_ASK_DDV_VALVE_DEADZONE: {
Lightvalve	11:82d8768d7351	565	CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	11:82d8768d7351	566	break;
Lightvalve	11:82d8768d7351	567	}
Lightvalve	11:82d8768d7351	568
Lightvalve	11:82d8768d7351	569	case CRX_LOW_REF: {
Lightvalve	11:82d8768d7351	570	REFERENCE_MODE = msg.data[1];
Lightvalve	11:82d8768d7351	571
Lightvalve	11:82d8768d7351	572	REF_NUM = msg.data[2];
Lightvalve	30:8d561f16383b	573	REF_PERIOD = (double) ((int16_t) (msg.data[3] \| msg.data[4] << 8)) / 100.0f;
Lightvalve	30:8d561f16383b	574	if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
Lightvalve	11:82d8768d7351	575	else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
Lightvalve	30:8d561f16383b	576	REF_MAG = (double) ((int16_t) (msg.data[5] \| msg.data[6] << 8)) / 100.0f;
Lightvalve	11:82d8768d7351	577
Lightvalve	11:82d8768d7351	578	break;
Lightvalve	11:82d8768d7351	579	}
Lightvalve	11:82d8768d7351	580
Lightvalve	11:82d8768d7351	581	case CRX_JUMP_STATUS: {
Lightvalve	11:82d8768d7351	582	MODE_JUMP_STATUS = msg.data[1];
Lightvalve	11:82d8768d7351	583
Lightvalve	11:82d8768d7351	584	break;
Lightvalve	11:82d8768d7351	585	}
Lightvalve	11:82d8768d7351	586
Lightvalve	11:82d8768d7351	587	case CRX_SET_ERR_CLEAR: {
Lightvalve	11:82d8768d7351	588
Lightvalve	12:6f2531038ea4	589	for (int i = 0; i < num_err; i++) {
Lightvalve	11:82d8768d7351	590	flag_err[i] = FALSE;
Lightvalve	11:82d8768d7351	591	flag_err_old[i] = FALSE;
Lightvalve	11:82d8768d7351	592	}
Lightvalve	11:82d8768d7351	593
Lightvalve	11:82d8768d7351	594	flag_err_rt = FALSE;
Lightvalve	11:82d8768d7351	595
Lightvalve	11:82d8768d7351	596
Lightvalve	11:82d8768d7351	597	break;
Lightvalve	11:82d8768d7351	598	}
Lightvalve	11:82d8768d7351	599
Lightvalve	11:82d8768d7351	600	case CRX_ASK_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	601	CAN_TX_HOMEPOS_OFFSET();
Lightvalve	11:82d8768d7351	602	break;
Lightvalve	11:82d8768d7351	603	}
Lightvalve	11:82d8768d7351	604	case CRX_SET_HOMEPOS_OFFSET: {
Lightvalve	11:82d8768d7351	605	HOMEPOS_OFFSET = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	606	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	607	//spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	608	break;
Lightvalve	11:82d8768d7351	609	}
Lightvalve	11:82d8768d7351	610
Lightvalve	11:82d8768d7351	611	case CRX_ASK_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	612	CAN_TX_HOMPOS_VALVE_OPENING();
Lightvalve	11:82d8768d7351	613	break;
Lightvalve	11:82d8768d7351	614	}
Lightvalve	11:82d8768d7351	615	case CRX_SET_HOMEPOS_VALVE_OPENING: {
Lightvalve	11:82d8768d7351	616	HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] \| msg.data[2] << 8);
Lightvalve	16:903b5a4433b4	617	ROM_RESET_DATA();
Lightvalve	16:903b5a4433b4	618	//spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	619	break;
Lightvalve	11:82d8768d7351	620	}
Lightvalve	11:82d8768d7351	621
Lightvalve	11:82d8768d7351	622	case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
Lightvalve	11:82d8768d7351	623	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	624	CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
Lightvalve	11:82d8768d7351	625	break;
Lightvalve	11:82d8768d7351	626	}
Lightvalve	11:82d8768d7351	627	case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
Lightvalve	11:82d8768d7351	628	can_index = (int16_t) msg.data[1];
Lightvalve	11:82d8768d7351	629	CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
Lightvalve	11:82d8768d7351	630	break;
Lightvalve	11:82d8768d7351	631	}
Lightvalve	11:82d8768d7351	632	case CRX_ASK_VALVE_POS_NUM: {
Lightvalve	11:82d8768d7351	633	CAN_TX_VALVE_POS_NUM();
Lightvalve	11:82d8768d7351	634	break;
Lightvalve	11:82d8768d7351	635	}
Lightvalve	28:2a62d73e3dd0	636
Lightvalve	28:2a62d73e3dd0	637	case CRX_SET_ROM: {
Lightvalve	28:2a62d73e3dd0	638	ROM_RESET_DATA();
Lightvalve	28:2a62d73e3dd0	639	break;
Lightvalve	28:2a62d73e3dd0	640	}
Lightvalve	32:4b8c0fedaf2c	641	case CRX_SET_VALVE_CENTER_OFFSET: {
Lightvalve	57:f4819de54e7a	642	VALVE_CENTER_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	57:f4819de54e7a	643	VALVE_CENTER = VALVE_CENTER + VALVE_CENTER_OFFSET;
Lightvalve	33:91b17819ec30	644	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	645	break;
Lightvalve	33:91b17819ec30	646	}
Lightvalve	33:91b17819ec30	647	case CRX_SET_VALVE_DZ_MINUS_OFFSET: {
Lightvalve	33:91b17819ec30	648	VALVE_DZ_MINUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	649	VALVE_DEADZONE_MINUS = VALVE_DEADZONE_MINUS + VALVE_DZ_MINUS_OFFSET;
Lightvalve	33:91b17819ec30	650	ROM_RESET_DATA();
Lightvalve	33:91b17819ec30	651	break;
Lightvalve	33:91b17819ec30	652	}
Lightvalve	33:91b17819ec30	653	case CRX_SET_VALVE_DZ_PLUS_OFFSET: {
Lightvalve	33:91b17819ec30	654	VALVE_DZ_PLUS_OFFSET = ((float) ((int16_t) (msg.data[1] \| msg.data[2] << 8))) * 0.1f;
Lightvalve	33:91b17819ec30	655	VALVE_DEADZONE_PLUS = VALVE_DEADZONE_PLUS + VALVE_DZ_PLUS_OFFSET;
Lightvalve	32:4b8c0fedaf2c	656	ROM_RESET_DATA();
Lightvalve	32:4b8c0fedaf2c	657	break;
Lightvalve	32:4b8c0fedaf2c	658	}
Lightvalve	36:a46e63505ed8	659	case CRX_SET_PID_GAIN_OPP: {
Lightvalve	36:a46e63505ed8	660	if (msg.data[1] == 0) {
Lightvalve	36:a46e63505ed8	661	P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	662	I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	663	D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	664
Lightvalve	36:a46e63505ed8	665	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	666
Lightvalve	36:a46e63505ed8	667	//spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	668	//spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	669	//spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve	36:a46e63505ed8	670
Lightvalve	36:a46e63505ed8	671
Lightvalve	36:a46e63505ed8	672	} else if (msg.data[1] == 1) {
Lightvalve	36:a46e63505ed8	673	P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	674	I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	675	D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	676
Lightvalve	36:a46e63505ed8	677	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	678
Lightvalve	36:a46e63505ed8	679	//spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	680	//spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	681	//spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve	36:a46e63505ed8	682	} else if (msg.data[1] == 2) {
Lightvalve	36:a46e63505ed8	683	P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	36:a46e63505ed8	684	I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	36:a46e63505ed8	685	D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] \| msg.data[7] << 8);
Lightvalve	36:a46e63505ed8	686
Lightvalve	36:a46e63505ed8	687	ROM_RESET_DATA();
Lightvalve	36:a46e63505ed8	688
Lightvalve	36:a46e63505ed8	689	//spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	690	//spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	691	//spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve	36:a46e63505ed8	692	}
Lightvalve	36:a46e63505ed8	693	break;
Lightvalve	36:a46e63505ed8	694	}
Lightvalve	38:118df027d851	695	case CRX_ASK_VALVE_MAX_MIN_POS: {
Lightvalve	57:f4819de54e7a	696	//CAN_TX_DDV_VALVE_DEADZONE();
Lightvalve	38:118df027d851	697	CAN_TX_DDV_VALVE_MAX_MIN_POS();
Lightvalve	38:118df027d851	698	break;
Lightvalve	38:118df027d851	699	}
Lightvalve	54:647072f5307a	700	case CRX_DELAY_TEST:{
Lightvalve	54:647072f5307a	701	flag_delay_test = 1;
Lightvalve	54:647072f5307a	702	break;
Lightvalve	54:647072f5307a	703	}
Lightvalve	68:328e1be06f5d	704	case CRX_SET_NN_CONTROL_FLAG: {
Lightvalve	68:328e1be06f5d	705	NN_Control_Flag = (int16_t) msg.data[1];
Lightvalve	68:328e1be06f5d	706	CONTROL_UTILITY_MODE = 1;
Lightvalve	68:328e1be06f5d	707	break;
Lightvalve	68:328e1be06f5d	708	}
Lightvalve	38:118df027d851	709
jobuuu	2:a1c0a37df760	710	default:
jobuuu	2:a1c0a37df760	711	break;
jobuuu	2:a1c0a37df760	712	}
jobuuu	2:a1c0a37df760	713	}
jobuuu	2:a1c0a37df760	714
jobuuu	2:a1c0a37df760	715	void CAN_RX_HANDLER()
jobuuu	2:a1c0a37df760	716	{
Lightvalve	23:59218d4a256d	717
jobuuu	2:a1c0a37df760	718	can.read(msg);
jobuuu	2:a1c0a37df760	719	unsigned int address = msg.id;
jobuuu	7:e9086c72bb22	720	if(address==CID_RX_CMD){
jobuuu	2:a1c0a37df760	721	unsigned int CMD = msg.data[0];
jobuuu	2:a1c0a37df760	722	ReadCMD(CMD);
Lightvalve	57:f4819de54e7a	723
jobuuu	7:e9086c72bb22	724	} else if(address==CID_RX_REF_POSITION) {
Lightvalve	57:f4819de54e7a	725
Lightvalve	43:b084e5f5d0d5	726	int16_t temp_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	43:b084e5f5d0d5	727	int16_t temp_vel = (int16_t) (msg.data[2] \| msg.data[3] << 8);
Lightvalve	57:f4819de54e7a	728	int16_t temp_torq = (int16_t) (msg.data[4] \| msg.data[5] << 8);
Lightvalve	41:abbd4e2af68b	729
Lightvalve	57:f4819de54e7a	730	if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
Lightvalve	57:f4819de54e7a	731	pos.ref = (double)temp_pos * 1.0f;
Lightvalve	57:f4819de54e7a	732	vel.ref = (double)temp_vel * 10.0f;
Lightvalve	57:f4819de54e7a	733	}
Lightvalve	57:f4819de54e7a	734	else { //Linear Actuator
Lightvalve	67:c2812cf26c38	735	pos.ref = (double)temp_pos * 10.0f;
Lightvalve	67:c2812cf26c38	736	vel.ref = (double)temp_vel * 256.0f;
Lightvalve	57:f4819de54e7a	737	}
Lightvalve	57:f4819de54e7a	738
Lightvalve	68:328e1be06f5d	739	torq.ref = (double)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE; //N
Lightvalve	68:328e1be06f5d	740
Lightvalve	68:328e1be06f5d	741
Lightvalve	68:328e1be06f5d	742	///////////////Make Data///////////////////
Lightvalve	68:328e1be06f5d	743	for(int i=0; i<num_array_x_past-1;i++){
Lightvalve	68:328e1be06f5d	744	x_past[i] = x_past[i+1];
Lightvalve	68:328e1be06f5d	745	}
Lightvalve	68:328e1be06f5d	746	x_past[num_array_x_past-1] = pos.sen / ENC_PULSE_PER_POSITION; //mm
Lightvalve	68:328e1be06f5d	747
Lightvalve	68:328e1be06f5d	748	for(int i=0; i<num_array_f_past-1;i++){
Lightvalve	68:328e1be06f5d	749	f_past[i] = f_past[i+1];
Lightvalve	68:328e1be06f5d	750	}
Lightvalve	68:328e1be06f5d	751	f_past[num_array_f_past-1] = torq.sen; //N
Lightvalve	68:328e1be06f5d	752
Lightvalve	68:328e1be06f5d	753	f_future[0] = torq.sen; //N
Lightvalve	68:328e1be06f5d	754	for(int i=1;i<num_array_f_future-1;i++){
Lightvalve	68:328e1be06f5d	755	f_future[i] = f_future[i+1];
Lightvalve	68:328e1be06f5d	756	}
Lightvalve	68:328e1be06f5d	757	f_future[num_array_f_future-1] = torq.ref; //N
Lightvalve	68:328e1be06f5d	758
Lightvalve	68:328e1be06f5d	759	int ind = 0;
Lightvalve	68:328e1be06f5d	760	for(int i=0;i<numpast_x;i++){
Lightvalve	73:f80dc3970c99	761	input_NN[ind] = x_past[2*i] / 60.0f;
Lightvalve	68:328e1be06f5d	762	ind = ind + 1;
Lightvalve	68:328e1be06f5d	763	}
Lightvalve	73:f80dc3970c99	764	input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	68:328e1be06f5d	765	ind = ind + 1;
Lightvalve	68:328e1be06f5d	766	for(int i=0;i<numpast_f;i++){
Lightvalve	73:f80dc3970c99	767	input_NN[ind] = f_past[2*i] / 10000.0f + 0.5f;
Lightvalve	68:328e1be06f5d	768	ind = ind + 1;
Lightvalve	68:328e1be06f5d	769	}
Lightvalve	73:f80dc3970c99	770	input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	68:328e1be06f5d	771	ind = ind + 1;
Lightvalve	68:328e1be06f5d	772	for(int i=0;i<numfuture_f;i++){
Lightvalve	73:f80dc3970c99	773	input_NN[ind] = (f_future[2*i+2] - f_future[0])/10000.0f+0.5f;
Lightvalve	68:328e1be06f5d	774	ind = ind + 1;
Lightvalve	68:328e1be06f5d	775	}
Lightvalve	66:a8e6799dbce3	776
Lightvalve	49:e7bcfc244d40	777	} else if(address==CID_RX_REF_VALVE_POS) {
Lightvalve	47:fdcb8bd86fd6	778	int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	57:f4819de54e7a	779
Lightvalve	57:f4819de54e7a	780	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	781	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	782	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	783	valve_pos.ref = (double) temp_ref_valve_pos;
Lightvalve	57:f4819de54e7a	784	} else { //SW Valve
Lightvalve	57:f4819de54e7a	785	if(temp_ref_valve_pos >= 0) {
Lightvalve	57:f4819de54e7a	786	valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	787	} else {
Lightvalve	57:f4819de54e7a	788	valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
Lightvalve	57:f4819de54e7a	789	}
Lightvalve	47:fdcb8bd86fd6	790	}
Lightvalve	49:e7bcfc244d40	791	} else if(address==CID_RX_REF_PWM){
Lightvalve	49:e7bcfc244d40	792	int temp_ref_pwm = (int16_t) (msg.data[0] \| msg.data[1] << 8);
Lightvalve	49:e7bcfc244d40	793	Vout.ref = (double) temp_ref_pwm;
Lightvalve	45:35fa6884d0c6	794	}
jobuuu	2:a1c0a37df760	795	}
jobuuu	2:a1c0a37df760	796
jobuuu	2:a1c0a37df760	797	/******************************************************************************
jobuuu	2:a1c0a37df760	798	Information Transmission Functions
jobuuu	2:a1c0a37df760	799	*******************************************************************************/
Lightvalve	11:82d8768d7351	800
Lightvalve	11:82d8768d7351	801	void CAN_TX_INFO(void) {
Lightvalve	12:6f2531038ea4	802	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	803
jobuuu	2:a1c0a37df760	804	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	805	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	806	temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
Lightvalve	12:6f2531038ea4	807	temp_msg.data[1] = (uint8_t) BNO;
Lightvalve	12:6f2531038ea4	808	temp_msg.data[2] = (uint8_t) CAN_FREQ;
Lightvalve	12:6f2531038ea4	809	temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
Lightvalve	12:6f2531038ea4	810	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	811	temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
Lightvalve	12:6f2531038ea4	812	temp_msg.data[6] = (uint8_t) OPERATING_MODE;
jobuuu	2:a1c0a37df760	813
jobuuu	2:a1c0a37df760	814	can.write(temp_msg);
jobuuu	2:a1c0a37df760	815	}
jobuuu	2:a1c0a37df760	816
Lightvalve	11:82d8768d7351	817	void CAN_TX_BNO(void) {
Lightvalve	12:6f2531038ea4	818	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	819
jobuuu	2:a1c0a37df760	820	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	821	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	822	temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
Lightvalve	12:6f2531038ea4	823	temp_msg.data[1] = (uint8_t) BNO;
jobuuu	2:a1c0a37df760	824
jobuuu	2:a1c0a37df760	825	can.write(temp_msg);
jobuuu	2:a1c0a37df760	826	}
jobuuu	2:a1c0a37df760	827
Lightvalve	11:82d8768d7351	828	void CAN_TX_OPERATING_MODE(void) {
jobuuu	2:a1c0a37df760	829	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	830
jobuuu	2:a1c0a37df760	831	temp_msg.id = CID_TX_INFO;
Lightvalve	52:8ea76864368a	832	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	833	temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
Lightvalve	12:6f2531038ea4	834	temp_msg.data[1] = (uint8_t) OPERATING_MODE;
Lightvalve	52:8ea76864368a	835	temp_msg.data[2] = (uint8_t) SENSING_MODE;
Lightvalve	52:8ea76864368a	836	temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
Lightvalve	52:8ea76864368a	837	temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
jobuuu	2:a1c0a37df760	838
jobuuu	2:a1c0a37df760	839	can.write(temp_msg);
jobuuu	2:a1c0a37df760	840	}
jobuuu	2:a1c0a37df760	841
Lightvalve	11:82d8768d7351	842	void CAN_TX_CAN_FREQ(void) {
jobuuu	2:a1c0a37df760	843	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	844
jobuuu	2:a1c0a37df760	845	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	846	temp_msg.len = 3;
jobuuu	2:a1c0a37df760	847	temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
jobuuu	2:a1c0a37df760	848	temp_msg.data[1] = (uint8_t) CAN_FREQ;
jobuuu	2:a1c0a37df760	849	temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
jobuuu	2:a1c0a37df760	850
jobuuu	2:a1c0a37df760	851	can.write(temp_msg);
jobuuu	2:a1c0a37df760	852	}
Lightvalve	11:82d8768d7351	853
Lightvalve	11:82d8768d7351	854	void CAN_TX_CONTROL_MODE(void) {
jobuuu	2:a1c0a37df760	855	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	856
jobuuu	2:a1c0a37df760	857	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	858	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	859	temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
Lightvalve	57:f4819de54e7a	860	temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
jobuuu	2:a1c0a37df760	861
jobuuu	2:a1c0a37df760	862	can.write(temp_msg);
jobuuu	2:a1c0a37df760	863	}
Lightvalve	11:82d8768d7351	864
Lightvalve	11:82d8768d7351	865	void CAN_TX_JOINT_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	866	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	867
jobuuu	2:a1c0a37df760	868	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	869	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	870	temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
Lightvalve	12:6f2531038ea4	871	temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
Lightvalve	12:6f2531038ea4	872	temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
jobuuu	2:a1c0a37df760	873
jobuuu	2:a1c0a37df760	874	can.write(temp_msg);
jobuuu	2:a1c0a37df760	875	}
jobuuu	2:a1c0a37df760	876
Lightvalve	11:82d8768d7351	877	void CAN_TX_VALVE_DIR(void) {
jobuuu	2:a1c0a37df760	878	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	879
jobuuu	2:a1c0a37df760	880	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	881	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	882	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
Lightvalve	12:6f2531038ea4	883	temp_msg.data[1] = (uint8_t) DIR_VALVE;
Lightvalve	12:6f2531038ea4	884	temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
jobuuu	2:a1c0a37df760	885
jobuuu	2:a1c0a37df760	886	can.write(temp_msg);
jobuuu	2:a1c0a37df760	887	}
jobuuu	2:a1c0a37df760	888
Lightvalve	11:82d8768d7351	889	void CAN_TX_VALVE_ENC_DIR(void) {
jobuuu	2:a1c0a37df760	890	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	891
jobuuu	2:a1c0a37df760	892	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	893	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	894	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
Lightvalve	12:6f2531038ea4	895	temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
Lightvalve	12:6f2531038ea4	896	temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
jobuuu	2:a1c0a37df760	897
jobuuu	2:a1c0a37df760	898	can.write(temp_msg);
jobuuu	2:a1c0a37df760	899	}
jobuuu	2:a1c0a37df760	900
Lightvalve	11:82d8768d7351	901	void CAN_TX_VOLTAGE_SUPPLY(void) {
Lightvalve	49:e7bcfc244d40	902	int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
jobuuu	2:a1c0a37df760	903
jobuuu	2:a1c0a37df760	904	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	905
jobuuu	2:a1c0a37df760	906	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	907	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	908	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
Lightvalve	12:6f2531038ea4	909	temp_msg.data[1] = (uint8_t) (send_voltage_supply);
Lightvalve	12:6f2531038ea4	910	temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
jobuuu	2:a1c0a37df760	911
jobuuu	2:a1c0a37df760	912	can.write(temp_msg);
jobuuu	2:a1c0a37df760	913	}
jobuuu	2:a1c0a37df760	914
Lightvalve	11:82d8768d7351	915	void CAN_TX_VOLTAGE_VALVE(void) {
Lightvalve	49:e7bcfc244d40	916	int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
jobuuu	2:a1c0a37df760	917
jobuuu	2:a1c0a37df760	918	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	919
jobuuu	2:a1c0a37df760	920	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	921	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	922	temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
Lightvalve	12:6f2531038ea4	923	temp_msg.data[1] = (uint8_t) send_voltage_valve;
Lightvalve	12:6f2531038ea4	924	temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
jobuuu	2:a1c0a37df760	925
jobuuu	2:a1c0a37df760	926	can.write(temp_msg);
jobuuu	2:a1c0a37df760	927	}
Lightvalve	11:82d8768d7351	928
jobuuu	2:a1c0a37df760	929
Lightvalve	11:82d8768d7351	930	void CAN_TX_PID_GAIN(int t_type) {
jobuuu	2:a1c0a37df760	931	// t_type = 0 : valve position control gain
jobuuu	2:a1c0a37df760	932	// t_type = 1 : joint position control gain
jobuuu	2:a1c0a37df760	933	// t_type = 2 : joint torque control gain
jobuuu	2:a1c0a37df760	934
Lightvalve	12:6f2531038ea4	935	int16_t sendPgain=0, sendIgain=0, sendDgain=0;
jobuuu	2:a1c0a37df760	936	if (t_type == 0) {
Lightvalve	30:8d561f16383b	937	sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	938	sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
Lightvalve	30:8d561f16383b	939	sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
jobuuu	2:a1c0a37df760	940	} else if (t_type == 1) {
Lightvalve	12:6f2531038ea4	941	sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	942	sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
Lightvalve	12:6f2531038ea4	943	sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
jobuuu	2:a1c0a37df760	944	} else if (t_type == 2) {
Lightvalve	12:6f2531038ea4	945	sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	946	sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
Lightvalve	12:6f2531038ea4	947	sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
Lightvalve	46:2694daea349b	948	} else if (t_type == 3) {
Lightvalve	67:c2812cf26c38	949	sendPgain = (int16_t) (K_SPRING * 10.0f);
Lightvalve	67:c2812cf26c38	950	sendIgain = (int16_t) (D_DAMPER * 100.0f);
jobuuu	2:a1c0a37df760	951	}
jobuuu	2:a1c0a37df760	952
jobuuu	2:a1c0a37df760	953	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	954
jobuuu	2:a1c0a37df760	955	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	956	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	957	temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
Lightvalve	12:6f2531038ea4	958	temp_msg.data[1] = (uint8_t) t_type;
Lightvalve	12:6f2531038ea4	959	temp_msg.data[2] = (uint8_t) sendPgain;
Lightvalve	12:6f2531038ea4	960	temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
Lightvalve	12:6f2531038ea4	961	temp_msg.data[4] = (uint8_t) sendIgain;
Lightvalve	12:6f2531038ea4	962	temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
Lightvalve	12:6f2531038ea4	963	temp_msg.data[6] = (uint8_t) sendDgain;
Lightvalve	12:6f2531038ea4	964	temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
jobuuu	2:a1c0a37df760	965
jobuuu	2:a1c0a37df760	966	can.write(temp_msg);
jobuuu	2:a1c0a37df760	967	}
jobuuu	2:a1c0a37df760	968
Lightvalve	11:82d8768d7351	969
Lightvalve	11:82d8768d7351	970	void CAN_TX_VALVE_DEADZONE(void) {
jobuuu	2:a1c0a37df760	971	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	972
jobuuu	2:a1c0a37df760	973	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	974	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	975	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
Lightvalve	57:f4819de54e7a	976	temp_msg.data[1] = (uint8_t) VALVE_CENTER;
Lightvalve	57:f4819de54e7a	977	temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
Lightvalve	12:6f2531038ea4	978	temp_msg.data[3] = (uint8_t) (int) (VALVE_DEADZONE_PLUS);
Lightvalve	12:6f2531038ea4	979	temp_msg.data[4] = (uint8_t) ((int) (VALVE_DEADZONE_PLUS) >> 8);
Lightvalve	12:6f2531038ea4	980	temp_msg.data[5] = (uint8_t) (int) (VALVE_DEADZONE_MINUS);
Lightvalve	12:6f2531038ea4	981	temp_msg.data[6] = (uint8_t) ((int) (VALVE_DEADZONE_MINUS) >> 8);
jobuuu	2:a1c0a37df760	982
jobuuu	2:a1c0a37df760	983	can.write(temp_msg);
jobuuu	2:a1c0a37df760	984	}
jobuuu	2:a1c0a37df760	985
Lightvalve	11:82d8768d7351	986	void CAN_TX_VELOCITY_COMP_GAIN(void) {
Lightvalve	11:82d8768d7351	987	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	988
Lightvalve	11:82d8768d7351	989	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	990	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	991	temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	992	temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
Lightvalve	12:6f2531038ea4	993	temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
Lightvalve	11:82d8768d7351	994
Lightvalve	11:82d8768d7351	995	can.write(temp_msg);
Lightvalve	11:82d8768d7351	996	}
Lightvalve	11:82d8768d7351	997
Lightvalve	11:82d8768d7351	998	void CAN_TX_COMPLIANCE_GAIN(void) {
Lightvalve	11:82d8768d7351	999	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1000
Lightvalve	11:82d8768d7351	1001	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1002	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1003	temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1004	temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
Lightvalve	12:6f2531038ea4	1005	temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
Lightvalve	11:82d8768d7351	1006
Lightvalve	11:82d8768d7351	1007	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1008	}
Lightvalve	11:82d8768d7351	1009
Lightvalve	11:82d8768d7351	1010	void CAN_TX_VALVE_FF(void) {
Lightvalve	11:82d8768d7351	1011	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1012
Lightvalve	11:82d8768d7351	1013	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1014	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1015	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
Lightvalve	12:6f2531038ea4	1016	temp_msg.data[1] = (uint8_t) VALVE_FF;
Lightvalve	12:6f2531038ea4	1017	temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
Lightvalve	11:82d8768d7351	1018
Lightvalve	11:82d8768d7351	1019	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1020	}
Lightvalve	11:82d8768d7351	1021
Lightvalve	11:82d8768d7351	1022	void CAN_TX_BULK_MODULUS(void) {
Lightvalve	11:82d8768d7351	1023	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1024
Lightvalve	11:82d8768d7351	1025	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1026	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1027	temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1028	temp_msg.data[1] = (uint8_t) BULK_MODULUS;
Lightvalve	12:6f2531038ea4	1029	temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
Lightvalve	11:82d8768d7351	1030
Lightvalve	11:82d8768d7351	1031	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1032	}
Lightvalve	11:82d8768d7351	1033
Lightvalve	11:82d8768d7351	1034	void CAN_TX_CHAMBER_VOLUME(void) {
Lightvalve	11:82d8768d7351	1035	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1036
Lightvalve	11:82d8768d7351	1037	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1038	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1039	temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
Lightvalve	12:6f2531038ea4	1040	temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
Lightvalve	12:6f2531038ea4	1041	temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
Lightvalve	12:6f2531038ea4	1042	temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
Lightvalve	12:6f2531038ea4	1043	temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
Lightvalve	11:82d8768d7351	1044
Lightvalve	11:82d8768d7351	1045	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1046	}
Lightvalve	11:82d8768d7351	1047
Lightvalve	11:82d8768d7351	1048	void CAN_TX_PISTON_AREA(void) {
jobuuu	2:a1c0a37df760	1049	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1050
Lightvalve	11:82d8768d7351	1051	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1052	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1053	temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
Lightvalve	12:6f2531038ea4	1054	temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
Lightvalve	12:6f2531038ea4	1055	temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
Lightvalve	12:6f2531038ea4	1056	temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
Lightvalve	12:6f2531038ea4	1057	temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
jobuuu	2:a1c0a37df760	1058
Lightvalve	11:82d8768d7351	1059	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1060	}
Lightvalve	11:82d8768d7351	1061
Lightvalve	11:82d8768d7351	1062	void CAN_TX_PRES_A_AND_B(void) {
Lightvalve	11:82d8768d7351	1063	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1064
Lightvalve	11:82d8768d7351	1065	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1066	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1067	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES;
Lightvalve	12:6f2531038ea4	1068	temp_msg.data[1] = (uint8_t) PRES_SUPPLY;
Lightvalve	12:6f2531038ea4	1069	temp_msg.data[2] = (uint8_t) (PRES_SUPPLY >> 8);
Lightvalve	12:6f2531038ea4	1070	temp_msg.data[3] = (uint8_t) PRES_RETURN;
Lightvalve	12:6f2531038ea4	1071	temp_msg.data[4] = (uint8_t) (PRES_RETURN >> 8);
Lightvalve	11:82d8768d7351	1072
Lightvalve	11:82d8768d7351	1073	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1074	}
Lightvalve	11:82d8768d7351	1075
Lightvalve	11:82d8768d7351	1076	void CAN_TX_ENC_LIMIT(void) {
Lightvalve	11:82d8768d7351	1077	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1078
Lightvalve	11:82d8768d7351	1079	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1080	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1081	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
Lightvalve	12:6f2531038ea4	1082	temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
Lightvalve	12:6f2531038ea4	1083	temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
Lightvalve	12:6f2531038ea4	1084	temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
Lightvalve	12:6f2531038ea4	1085	temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
Lightvalve	11:82d8768d7351	1086
Lightvalve	11:82d8768d7351	1087	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1088	}
Lightvalve	11:82d8768d7351	1089
Lightvalve	11:82d8768d7351	1090	void CAN_TX_STROKE(void) {
Lightvalve	11:82d8768d7351	1091	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1092
Lightvalve	11:82d8768d7351	1093	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1094	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1095	temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
Lightvalve	12:6f2531038ea4	1096	temp_msg.data[1] = (uint8_t) STROKE;
Lightvalve	12:6f2531038ea4	1097	temp_msg.data[2] = (uint8_t) (STROKE >> 8);
Lightvalve	11:82d8768d7351	1098
Lightvalve	11:82d8768d7351	1099	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1100	}
Lightvalve	11:82d8768d7351	1101
Lightvalve	11:82d8768d7351	1102	void CAN_TX_VALVE_LIMIT(void) {
Lightvalve	11:82d8768d7351	1103	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1104
Lightvalve	11:82d8768d7351	1105	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1106	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1107	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
Lightvalve	57:f4819de54e7a	1108	temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1109	temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
Lightvalve	57:f4819de54e7a	1110	temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1111	temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
Lightvalve	11:82d8768d7351	1112
Lightvalve	11:82d8768d7351	1113	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1114	}
Lightvalve	11:82d8768d7351	1115
Lightvalve	11:82d8768d7351	1116	void CAN_TX_ENC_PULSE_PER_POSITION(void) {
Lightvalve	11:82d8768d7351	1117	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1118
jobuuu	2:a1c0a37df760	1119	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1120	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1121	temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
Lightvalve	54:647072f5307a	1122	int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
Lightvalve	48:889798ff9329	1123	temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
Lightvalve	48:889798ff9329	1124	temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
jobuuu	2:a1c0a37df760	1125
jobuuu	2:a1c0a37df760	1126	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1127	}
jobuuu	2:a1c0a37df760	1128
Lightvalve	11:82d8768d7351	1129	void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void) {
jobuuu	2:a1c0a37df760	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_TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	48:889798ff9329	1135	int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f);
Lightvalve	48:889798ff9329	1136	temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
Lightvalve	48:889798ff9329	1137	temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 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_PRES_SENSOR_PULSE_PER_PRES(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 = 5;
Lightvalve	12:6f2531038ea4	1147	temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	1148	temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1149	temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1150	temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
Lightvalve	30:8d561f16383b	1151	temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
jobuuu	2:a1c0a37df760	1152
jobuuu	2:a1c0a37df760	1153	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1154	}
jobuuu	2:a1c0a37df760	1155
Lightvalve	11:82d8768d7351	1156	void CAN_TX_FRICTION(void) {
Lightvalve	11:82d8768d7351	1157	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1158	int16_t send_friction;
Lightvalve	30:8d561f16383b	1159	send_friction = (int16_t) (FRICTION * 10.0f);
Lightvalve	11:82d8768d7351	1160
Lightvalve	11:82d8768d7351	1161	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1162	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1163	temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
Lightvalve	12:6f2531038ea4	1164	temp_msg.data[1] = (uint8_t) send_friction;
Lightvalve	12:6f2531038ea4	1165	temp_msg.data[2] = (uint8_t) (send_friction >> 8);
Lightvalve	11:82d8768d7351	1166
Lightvalve	11:82d8768d7351	1167	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1168	}
Lightvalve	11:82d8768d7351	1169
Lightvalve	11:82d8768d7351	1170	void CAN_TX_VALVE_GAIN_PLUS(void) {
Lightvalve	11:82d8768d7351	1171	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1172
Lightvalve	11:82d8768d7351	1173	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1174	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1175	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
Lightvalve	30:8d561f16383b	1176	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
Lightvalve	30:8d561f16383b	1177	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
Lightvalve	30:8d561f16383b	1178	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
Lightvalve	30:8d561f16383b	1179	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
Lightvalve	30:8d561f16383b	1180	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
Lightvalve	11:82d8768d7351	1181
Lightvalve	11:82d8768d7351	1182	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1183	}
Lightvalve	11:82d8768d7351	1184
Lightvalve	11:82d8768d7351	1185	void CAN_TX_DDV_VALVE_DEADZONE(void) {
Lightvalve	11:82d8768d7351	1186	CANMessage temp_msg;
Lightvalve	48:889798ff9329	1187	float temp_valve_deadzone_minus = 0.0f;
Lightvalve	48:889798ff9329	1188	float temp_valve_deadzone_plus = 0.0f;
Lightvalve	48:889798ff9329	1189	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1190
Lightvalve	57:f4819de54e7a	1191	//temp_valve_deadzone_plus = 10000.0f*((double)VALVE_DEADZONE_PLUS-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1192	//temp_valve_deadzone_minus = -10000.0f*((double)VALVE_DEADZONE_MINUS-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1193	temp_valve_deadzone_plus = (double)VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1194	temp_valve_deadzone_minus = (double)VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1195	temp_ddv_center = (double)VALVE_CENTER;
Lightvalve	11:82d8768d7351	1196
Lightvalve	11:82d8768d7351	1197	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1198	temp_msg.len = 7;
Lightvalve	12:6f2531038ea4	1199	temp_msg.data[0] = (uint8_t) CTX_SEND_DDV_VALVE_DEADZONE;
Lightvalve	48:889798ff9329	1200	temp_msg.data[1] = (uint8_t) temp_valve_deadzone_minus;
Lightvalve	48:889798ff9329	1201	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_deadzone_minus) >> 8);
Lightvalve	48:889798ff9329	1202	temp_msg.data[3] = (uint8_t) (temp_valve_deadzone_plus);
Lightvalve	48:889798ff9329	1203	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_deadzone_plus) >> 8);
Lightvalve	48:889798ff9329	1204	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1205	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	11:82d8768d7351	1206
Lightvalve	11:82d8768d7351	1207	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1208	}
Lightvalve	11:82d8768d7351	1209
Lightvalve	11:82d8768d7351	1210	void CAN_TX_VALVE_GAIN_MINUS(void) {
Lightvalve	11:82d8768d7351	1211	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1212
Lightvalve	11:82d8768d7351	1213	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1214	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1215	temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
Lightvalve	30:8d561f16383b	1216	temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
Lightvalve	30:8d561f16383b	1217	temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
Lightvalve	30:8d561f16383b	1218	temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
Lightvalve	30:8d561f16383b	1219	temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
Lightvalve	30:8d561f16383b	1220	temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
Lightvalve	11:82d8768d7351	1221
Lightvalve	11:82d8768d7351	1222	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1223	}
Lightvalve	11:82d8768d7351	1224
Lightvalve	11:82d8768d7351	1225	void CAN_TX_REFENCE_MODE(void) {
Lightvalve	11:82d8768d7351	1226	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1227
Lightvalve	11:82d8768d7351	1228	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1229	temp_msg.len = 6;
Lightvalve	12:6f2531038ea4	1230	temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
Lightvalve	12:6f2531038ea4	1231	temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
Lightvalve	30:8d561f16383b	1232	temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
Lightvalve	30:8d561f16383b	1233	temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
Lightvalve	30:8d561f16383b	1234	temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
Lightvalve	30:8d561f16383b	1235	temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
Lightvalve	11:82d8768d7351	1236
Lightvalve	11:82d8768d7351	1237	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1238	}
Lightvalve	11:82d8768d7351	1239
Lightvalve	11:82d8768d7351	1240	void CAN_TX_HOMEPOS_OFFSET(void) {
Lightvalve	11:82d8768d7351	1241	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1242	int16_t send_homepos_offset;
Lightvalve	12:6f2531038ea4	1243	send_homepos_offset = (int16_t) (HOMEPOS_OFFSET);
Lightvalve	11:82d8768d7351	1244
jobuuu	2:a1c0a37df760	1245	temp_msg.id = CID_TX_INFO;
jobuuu	2:a1c0a37df760	1246	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1247	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
Lightvalve	12:6f2531038ea4	1248	temp_msg.data[1] = (uint8_t) send_homepos_offset;
Lightvalve	12:6f2531038ea4	1249	temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
jobuuu	2:a1c0a37df760	1250
jobuuu	2:a1c0a37df760	1251	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1252	}
Lightvalve	11:82d8768d7351	1253
Lightvalve	11:82d8768d7351	1254	void CAN_TX_HOMPOS_VALVE_OPENING(void) {
Lightvalve	11:82d8768d7351	1255	CANMessage temp_msg;
Lightvalve	12:6f2531038ea4	1256	int16_t send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1257	send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
Lightvalve	11:82d8768d7351	1258
Lightvalve	11:82d8768d7351	1259	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1260	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1261	temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
Lightvalve	12:6f2531038ea4	1262	temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
Lightvalve	12:6f2531038ea4	1263	temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
Lightvalve	11:82d8768d7351	1264
Lightvalve	11:82d8768d7351	1265	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1266	}
Lightvalve	11:82d8768d7351	1267
Lightvalve	12:6f2531038ea4	1268	void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex) {
Lightvalve	11:82d8768d7351	1269	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1270	int16_t valve_pos_vs_pwm;
Lightvalve	49:e7bcfc244d40	1271	// valve_pos_vs_pwm = (int16_t) (VALVE_POS_VS_PWM[canindex]);
Lightvalve	49:e7bcfc244d40	1272
Lightvalve	57:f4819de54e7a	1273	if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1274	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	1275	} else {
Lightvalve	57:f4819de54e7a	1276	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	1277	}
Lightvalve	11:82d8768d7351	1278
Lightvalve	12:6f2531038ea4	1279	int16_t PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1280	PWM_VALVE_ID = ID_index_array[canindex] * 1000;
Lightvalve	11:82d8768d7351	1281
Lightvalve	11:82d8768d7351	1282	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1283	temp_msg.len = 5;
Lightvalve	12:6f2531038ea4	1284	temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
Lightvalve	12:6f2531038ea4	1285	temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
Lightvalve	12:6f2531038ea4	1286	temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
Lightvalve	12:6f2531038ea4	1287	temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
Lightvalve	12:6f2531038ea4	1288	temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
Lightvalve	11:82d8768d7351	1289
Lightvalve	11:82d8768d7351	1290	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1291	}
Lightvalve	11:82d8768d7351	1292
Lightvalve	12:6f2531038ea4	1293	void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex) {
Lightvalve	11:82d8768d7351	1294	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1295	int32_t valve_pos_vs_flowrate;
Lightvalve	11:82d8768d7351	1296	valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
Lightvalve	11:82d8768d7351	1297
Lightvalve	57:f4819de54e7a	1298	int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
Lightvalve	49:e7bcfc244d40	1299	int16_t temp_valve_pos = 0;
Lightvalve	57:f4819de54e7a	1300	if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1301	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	1302	} else {
Lightvalve	57:f4819de54e7a	1303	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	1304	}
Lightvalve	11:82d8768d7351	1305
Lightvalve	11:82d8768d7351	1306	temp_msg.id = CID_TX_INFO;
Lightvalve	49:e7bcfc244d40	1307	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1308	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
Lightvalve	49:e7bcfc244d40	1309	temp_msg.data[1] = (uint8_t) temp_valve_pos;
Lightvalve	49:e7bcfc244d40	1310	temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
Lightvalve	49:e7bcfc244d40	1311	temp_msg.data[5] = (uint8_t) valve_pos_vs_flowrate;
Lightvalve	49:e7bcfc244d40	1312	temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 8);
Lightvalve	49:e7bcfc244d40	1313	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 16);
Lightvalve	49:e7bcfc244d40	1314	temp_msg.data[7] = (uint8_t) (valve_pos_vs_flowrate >> 24);
Lightvalve	11:82d8768d7351	1315
Lightvalve	11:82d8768d7351	1316	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1317	}
Lightvalve	11:82d8768d7351	1318
Lightvalve	11:82d8768d7351	1319	void CAN_TX_VALVE_POS_NUM(void) {
Lightvalve	11:82d8768d7351	1320	CANMessage temp_msg;
Lightvalve	11:82d8768d7351	1321	int32_t valve_pos_num;
Lightvalve	11:82d8768d7351	1322	valve_pos_num = (int16_t) VALVE_POS_NUM;
Lightvalve	11:82d8768d7351	1323
Lightvalve	11:82d8768d7351	1324	temp_msg.id = CID_TX_INFO;
Lightvalve	11:82d8768d7351	1325	temp_msg.len = 3;
Lightvalve	12:6f2531038ea4	1326	temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
Lightvalve	12:6f2531038ea4	1327	temp_msg.data[1] = (uint8_t) valve_pos_num;
Lightvalve	12:6f2531038ea4	1328	temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
Lightvalve	11:82d8768d7351	1329
Lightvalve	11:82d8768d7351	1330	can.write(temp_msg);
Lightvalve	11:82d8768d7351	1331	}
Lightvalve	11:82d8768d7351	1332
Lightvalve	38:118df027d851	1333	void CAN_TX_DDV_VALVE_MAX_MIN_POS(void) {
Lightvalve	38:118df027d851	1334	CANMessage temp_msg;
Lightvalve	38:118df027d851	1335
Lightvalve	48:889798ff9329	1336	float temp_valve_max_pos = 0.0f;
Lightvalve	48:889798ff9329	1337	float temp_valve_min_pos = 0.0f;
Lightvalve	48:889798ff9329	1338	float temp_ddv_center = 0.0f;
Lightvalve	48:889798ff9329	1339
Lightvalve	57:f4819de54e7a	1340	temp_valve_max_pos = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1341	temp_valve_min_pos = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1342	temp_ddv_center = VALVE_CENTER;
Lightvalve	48:889798ff9329	1343
Lightvalve	38:118df027d851	1344	temp_msg.id = CID_TX_INFO;
Lightvalve	38:118df027d851	1345	temp_msg.len = 7;
Lightvalve	38:118df027d851	1346	temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
Lightvalve	48:889798ff9329	1347	temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
Lightvalve	48:889798ff9329	1348	temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
Lightvalve	48:889798ff9329	1349	temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
Lightvalve	48:889798ff9329	1350	temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
Lightvalve	48:889798ff9329	1351	temp_msg.data[5] = (uint8_t) (temp_ddv_center);
Lightvalve	48:889798ff9329	1352	temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
Lightvalve	38:118df027d851	1353
Lightvalve	38:118df027d851	1354	can.write(temp_msg);
Lightvalve	38:118df027d851	1355	}
Lightvalve	38:118df027d851	1356
jobuuu	2:a1c0a37df760	1357	/******************************************************************************
jobuuu	2:a1c0a37df760	1358	Sensor & State Transmission Functions
jobuuu	2:a1c0a37df760	1359	*******************************************************************************/
jobuuu	2:a1c0a37df760	1360
Lightvalve	52:8ea76864368a	1361	void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq) {
Lightvalve	52:8ea76864368a	1362	CANMessage temp_msg;
Lightvalve	52:8ea76864368a	1363
Lightvalve	52:8ea76864368a	1364	temp_msg.id = CID_TX_POSITION;
Lightvalve	52:8ea76864368a	1365	temp_msg.len = 6;
Lightvalve	52:8ea76864368a	1366	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	52:8ea76864368a	1367	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	52:8ea76864368a	1368	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	52:8ea76864368a	1369	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1370	temp_msg.data[4] = (uint8_t) t_torq;
Lightvalve	52:8ea76864368a	1371	temp_msg.data[5] = (uint8_t) (t_torq >> 8);
Lightvalve	52:8ea76864368a	1372
Lightvalve	52:8ea76864368a	1373	can.write(temp_msg);
Lightvalve	52:8ea76864368a	1374	}
Lightvalve	52:8ea76864368a	1375
Lightvalve	52:8ea76864368a	1376	void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb) {
Lightvalve	52:8ea76864368a	1377
jobuuu	2:a1c0a37df760	1378	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1379
jobuuu	2:a1c0a37df760	1380	temp_msg.id = CID_TX_POSITION;
jobuuu	2:a1c0a37df760	1381	temp_msg.len = 8;
Lightvalve	12:6f2531038ea4	1382	temp_msg.data[0] = (uint8_t) t_pos;
Lightvalve	12:6f2531038ea4	1383	temp_msg.data[1] = (uint8_t) (t_pos >> 8);
Lightvalve	41:abbd4e2af68b	1384	temp_msg.data[2] = (uint8_t) t_vel;
Lightvalve	41:abbd4e2af68b	1385	temp_msg.data[3] = (uint8_t) (t_vel >> 8);
Lightvalve	52:8ea76864368a	1386	temp_msg.data[4] = (uint8_t) t_pa;
Lightvalve	52:8ea76864368a	1387	temp_msg.data[5] = (uint8_t) (t_pa >> 8);
Lightvalve	52:8ea76864368a	1388	temp_msg.data[6] = (uint8_t) t_pb;
Lightvalve	52:8ea76864368a	1389	temp_msg.data[7] = (uint8_t) (t_pb >> 8);
jobuuu	2:a1c0a37df760	1390
jobuuu	2:a1c0a37df760	1391	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1392	}
jobuuu	2:a1c0a37df760	1393
Lightvalve	67:c2812cf26c38	1394	//void CAN_TX_TORQUE(int16_t t_valve_pos, int16_t t_vout) {
Lightvalve	67:c2812cf26c38	1395	// CANMessage temp_msg;
Lightvalve	67:c2812cf26c38	1396	//
Lightvalve	67:c2812cf26c38	1397	// temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1398	// temp_msg.len = 4;
Lightvalve	67:c2812cf26c38	1399	// temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	67:c2812cf26c38	1400	// temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
Lightvalve	67:c2812cf26c38	1401	// temp_msg.data[2] = (uint8_t) t_vout;
Lightvalve	67:c2812cf26c38	1402	// temp_msg.data[3] = (uint8_t) (t_vout >> 8);
Lightvalve	67:c2812cf26c38	1403	//
Lightvalve	67:c2812cf26c38	1404	// can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1405	//}
Lightvalve	67:c2812cf26c38	1406
Lightvalve	67:c2812cf26c38	1407	void CAN_TX_TORQUE(int16_t t_valve_pos) {
jobuuu	2:a1c0a37df760	1408	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1409
jobuuu	2:a1c0a37df760	1410	temp_msg.id = CID_TX_TORQUE;
Lightvalve	67:c2812cf26c38	1411	temp_msg.len = 2;
Lightvalve	48:889798ff9329	1412	temp_msg.data[0] = (uint8_t) t_valve_pos;
Lightvalve	48:889798ff9329	1413	temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
jobuuu	2:a1c0a37df760	1414
jobuuu	2:a1c0a37df760	1415	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1416	}
jobuuu	2:a1c0a37df760	1417
Lightvalve	11:82d8768d7351	1418	void CAN_TX_PRES(int16_t t_pres_a, int16_t t_pres_b) {
jobuuu	2:a1c0a37df760	1419	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1420
jobuuu	2:a1c0a37df760	1421	temp_msg.id = CID_TX_PRES;
Lightvalve	57:f4819de54e7a	1422	temp_msg.len = 4;
Lightvalve	12:6f2531038ea4	1423	temp_msg.data[0] = (uint8_t) t_pres_a;
Lightvalve	12:6f2531038ea4	1424	temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
Lightvalve	12:6f2531038ea4	1425	temp_msg.data[2] = (uint8_t) t_pres_b;
Lightvalve	12:6f2531038ea4	1426	temp_msg.data[3] = (uint8_t) (t_pres_b >> 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_PWM(int16_t t_pwm) {
jobuuu	2:a1c0a37df760	1432	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1433
Lightvalve	57:f4819de54e7a	1434	temp_msg.id = CID_TX_VOUT;
Lightvalve	57:f4819de54e7a	1435	temp_msg.len = 2;
Lightvalve	12:6f2531038ea4	1436	temp_msg.data[0] = (uint8_t) t_pwm;
Lightvalve	12:6f2531038ea4	1437	temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
jobuuu	2:a1c0a37df760	1438
jobuuu	2:a1c0a37df760	1439	can.write(temp_msg);
jobuuu	2:a1c0a37df760	1440	}
jobuuu	2:a1c0a37df760	1441
Lightvalve	73:f80dc3970c99	1442	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	1443	{
jobuuu	2:a1c0a37df760	1444	CANMessage temp_msg;
jobuuu	2:a1c0a37df760	1445
jobuuu	2:a1c0a37df760	1446	temp_msg.id = CID_TX_VALVE_POSITION;
Lightvalve	73:f80dc3970c99	1447	temp_msg.len = 8;
Lightvalve	73:f80dc3970c99	1448	temp_msg.data[0] = (uint8_t) t_valve_pos_1;
Lightvalve	73:f80dc3970c99	1449	temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
Lightvalve	73:f80dc3970c99	1450	temp_msg.data[2] = (uint8_t) t_valve_pos_2;
Lightvalve	73:f80dc3970c99	1451	temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
Lightvalve	73:f80dc3970c99	1452	temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
Lightvalve	73:f80dc3970c99	1453	temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
Lightvalve	73:f80dc3970c99	1454	temp_msg.data[6] = (uint8_t) t_pwm;
Lightvalve	73:f80dc3970c99	1455	temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
Lightvalve	27:a2254a485f23	1456
jobuuu	2:a1c0a37df760	1457
jobuuu	2:a1c0a37df760	1458	can.write(temp_msg);
Lightvalve	67:c2812cf26c38	1459	}

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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@73:f80dc3970c99, 2020-06-08 (annotated)

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