Diff: CAN/function_CAN.cpp

Revision:

27:a2254a485f23

Parent:

23:59218d4a256d

Child:

28:2a62d73e3dd0

--- a/CAN/function_CAN.cpp	Fri Sep 27 06:57:32 2019 +0000
+++ b/CAN/function_CAN.cpp	Tue Oct 01 05:18:16 2019 +0000
@@ -579,6 +579,13 @@
 
             break;
         }
+        
+        case CRX_SET_ROM: {
+            ROM_RESET_DATA();
+            //CONTROL_MODE = 33;
+            CAN_TX_TORQUE((int16_t) (33));
+            break;
+        }
 
         case CRX_JUMP_STATUS: {
             MODE_JUMP_STATUS = msg.data[1];
@@ -1245,13 +1252,19 @@
     can.write(temp_msg);
 }
 
-void CAN_TX_VALVE_POSITION(int16_t t_valve_pos) {
+void CAN_TX_VALVE_POSITION(int16_t t_valve_pos, int16_t t_ref_valve_pos, int16_t t_pwm)
+{
     CANMessage temp_msg;
 
     temp_msg.id = CID_TX_VALVE_POSITION;
     temp_msg.len = 8;
     temp_msg.data[0] = (uint8_t) t_valve_pos;
     temp_msg.data[1] = (uint8_t) (t_valve_pos >> 8);
+    temp_msg.data[2] = (uint8_t) t_ref_valve_pos;
+    temp_msg.data[3] = (uint8_t) (t_ref_valve_pos >> 8);
+    temp_msg.data[4] = (uint8_t) t_pwm;
+    temp_msg.data[5] = (uint8_t) (t_pwm >> 8);
+    
 
     can.write(temp_msg);
 }