function_CAN.cpp

00001 #include "function_CAN.h"
00002 #include "setting.h"
00003 #include "function_utilities.h"
00004 #include "SPI_EEP_ENC.h"
00005 #include "stm32f4xx_flash.h"
00006 #include "FlashWriter.h"
00007 
00008 // CAN ID Setting Variables
00009 int CID_RX_CMD = 100;
00010 int CID_RX_REF_POSITION = 200;
00011 int CID_RX_REF_OPENLOOP = 300;
00012 int CID_RX_REF_PWM = 400;
00013 
00014 int CID_TX_INFO = 1100;
00015 int CID_TX_POS_VEL_TORQ = 1200;
00016 int CID_TX_PWM = 1300;
00017 int CID_TX_SOMETHING = 1400;
00018 
00019 int CID_TX_CURRENT = 1400;
00020 int CID_TX_VOUT = 1500;
00021 int CID_TX_VALVE_POSITION = 1600;
00022 
00023 // variables
00024 uint8_t can_index = 0;
00025 
00026 extern DigitalOut LED;
00027 
00028 extern float u_past[];
00029 extern float x_past[];
00030 extern float x_future[];
00031 extern float f_past[];
00032 extern float f_future[];
00033 extern float input_NN[];
00034 
00035 /*******************************************************************************
00036  * State Class functions
00037  ******************************************************************************/
00038 void State::UpdateSen(float sen_new, float Freq_update, float f_cut) {
00039     if(f_cut<=0.0f) f_cut=0.001f;
00040     
00041     this->sen_diff = (sen_new-this->sen)*Freq_update;
00042     float alpha_update = 1.0f / (1.0f + Freq_update / (2.0f * 3.14f * f_cut)); // f_cutoff : 100Hz
00043     this->sen = (1.0f - alpha_update) * this->sen + alpha_update * sen_new;
00044 }
00045 
00046 void State::UpdateRef(float ref_new) {
00047     this->ref = ref_new;
00048 }
00049 
00050 void State::Reset() {
00051     this->sen = 0.0f;
00052     this->sen_diff = 0.0f;
00053     this->ref = 0.0f;
00054     this->err = 0.0f;
00055     this->err_int = 0.0f;
00056     this->err_old = 0.0f;
00057     this->err_diff = 0.0f;
00058 }
00059 
00060 /*******************************************************************************
00061  * CAN functions
00062  ******************************************************************************/
00063 void CAN_ID_INIT(void)
00064 {
00065 
00066     CID_RX_CMD = (int) (BNO + INIT_CID_RX_CMD);
00067     CID_RX_REF_POSITION = (int) (BNO + INIT_CID_RX_REF_POSITION);
00068     CID_RX_REF_OPENLOOP = (int) (BNO + INIT_CID_RX_REF_OPENLOOP);
00069     CID_RX_REF_PWM = (int) (BNO + INIT_CID_RX_REF_PWM);
00070 
00071     CID_TX_INFO = (int) (BNO + INIT_CID_TX_INFO);
00072     CID_TX_POS_VEL_TORQ = (int) (BNO + INIT_CID_TX_POS_VEL_TORQ);
00073     CID_TX_PWM = (int) (BNO + INIT_CID_TX_PWM);
00074     CID_TX_CURRENT = (int) (BNO + INIT_CID_TX_CURRENT);
00075     CID_TX_VOUT = (int) (BNO + INIT_CID_TX_VOUT);
00076     CID_TX_VALVE_POSITION = (int) (BNO + INIT_CID_TX_VALVE_POSITION);
00077     CID_TX_SOMETHING = (int) (BNO + INIT_CID_TX_SOMETHING);
00078 }
00079 
00080 void ReadCMD(int16_t CMD)
00081 {
00082     switch(CMD) {
00083         case CRX_ASK_INFO: {
00084             CAN_TX_INFO();
00085             break;
00086         }
00087         case CRX_ASK_BNO: {
00088             CAN_TX_BNO();
00089             break;
00090         }
00091         case CRX_SET_BNO: {
00092             BNO = (int16_t) msg.data[1];
00093             spi_eeprom_write(RID_BNO, (int16_t) BNO);
00094             CAN_ID_INIT(); // can id init
00095             break;
00096         }
00097         case CRX_ASK_OPERATING_MODE: {
00098             CAN_TX_OPERATING_MODE();
00099             break;
00100         }
00101         case CRX_SET_OPERATING_MODE: {
00102             OPERATING_MODE = (uint8_t) msg.data[1];
00103             SENSING_MODE = (uint8_t) msg.data[2];
00104             CURRENT_CONTROL_MODE = (uint8_t) msg.data[3];
00105             FLAG_VALVE_DEADZONE = (uint8_t) msg.data[4];
00106             spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
00107             spi_eeprom_write(RID_SENSING_MODE, (int16_t) SENSING_MODE);
00108             spi_eeprom_write(RID_CURRENT_CONTROL_MODE, (int16_t) CURRENT_CONTROL_MODE);
00109             spi_eeprom_write(RID_FLAG_VALVE_DEADZONE, (int16_t) FLAG_VALVE_DEADZONE);
00110             break;
00111         }
00112         case CRX_SET_ENC_ZERO: {
00113             ENC_SET_ZERO();
00114 
00115             break;
00116         }
00117         case CRX_SET_FET_ON: {
00118 
00119             break;
00120         }
00121 
00122         case CRX_SET_POS_TORQ_TRANS: {
00123             MODE_POS_FT_TRANS = (int16_t) msg.data[1];
00124             /*
00125             MODE_POS_FT_TRANS == 0 : Position Control
00126             MODE_POS_FT_TRANS == 1 : Trasition(Position->Torque)
00127             MODE_POS_FT_TRANS == 2 : Torque Control (Convert to 2 automatically 3sec after transition)
00128             MODE_POS_FT_TRANS == 3 : Transition(Toque->Position)
00129             */
00130             break;
00131         }
00132 
00133         case CRX_ASK_CAN_FREQ: {
00134             CAN_TX_CAN_FREQ();
00135 
00136             break;
00137         }
00138 
00139         case CRX_SET_CAN_FREQ: {
00140             CAN_FREQ = (int16_t) (msg.data[1] | msg.data[2] << 8);
00141             spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
00142             break;
00143         }
00144 
00145         case CRX_ASK_CONTROL_MODE: {
00146             CAN_TX_CONTROL_MODE();
00147 
00148             break;
00149         }
00150 
00151         case CRX_SET_CONTROL_MODE: {
00152             CONTROL_UTILITY_MODE = (int16_t) (msg.data[1]);
00153             if (CONTROL_MODE == 22) {    //MODE_FIND_HOME
00154                 FLAG_FIND_HOME = true;
00155                 FINDHOME_STAGE = FINDHOME_INIT;
00156             }
00157             break;
00158         }
00159 
00160         case CRX_SET_DATA_REQUEST: {
00161             int request_type = msg.data[2];
00162             flag_data_request[request_type] = msg.data[1];
00163 
00164 //            if (flag_data_request[1] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
00165             //if (flag_data_request[1] == HIGH) dac_1 = PRES_A_VREF/3.3;
00166 //            if (flag_data_request[2] == HIGH) SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); // set DAC
00167             //if (flag_data_request[2] == HIGH) dac_2 = PRES_B_VREF/3.3;
00168 
00169             
00170             break;
00171         }
00172 
00173         case CRX_ASK_JOINT_ENC_DIR: {
00174             CAN_TX_JOINT_ENC_DIR();
00175 
00176             break;
00177         }
00178 
00179         case CRX_SET_JOINT_ENC_DIR: {
00180             DIR_JOINT_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
00181             if (DIR_JOINT_ENC >= 0)
00182                 DIR_JOINT_ENC = 1;
00183             else
00184                 DIR_JOINT_ENC = -1;
00185 
00186             spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
00187 
00188             break;
00189         }
00190 
00191         case CRX_ASK_VALVE_DIR: {
00192             CAN_TX_VALVE_DIR();
00193 
00194             break;
00195         }
00196 
00197         case CRX_SET_VALVE_DIR: {
00198             DIR_VALVE = (int16_t) (msg.data[1] | msg.data[2] << 8);
00199             if (DIR_VALVE >= 0)
00200                 DIR_VALVE = 1;
00201             else
00202                 DIR_VALVE = -1;
00203 
00204             spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
00205 
00206             break;
00207         }
00208 
00209         case CRX_ASK_VALVE_ENC_DIR: {
00210             CAN_TX_VALVE_ENC_DIR();
00211 
00212             break;
00213         }
00214 
00215         case CRX_SET_VALVE_ENC_DIR: {
00216             DIR_VALVE_ENC = (int16_t) (msg.data[1] | msg.data[2] << 8);
00217             if (DIR_VALVE_ENC >= 0)
00218                 DIR_VALVE_ENC = 1;
00219             else
00220                 DIR_VALVE_ENC = -1;
00221 
00222             spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
00223 
00224             break;
00225         }
00226 
00227         case CRX_ASK_VOLTAGE_SUPPLY: {
00228             CAN_TX_VOLTAGE_SUPPLY();
00229 
00230             break;
00231         }
00232 
00233         case CRX_SET_VOLTAGE_SUPPLY: {
00234             SUPPLY_VOLTAGE = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
00235 
00236 
00237             spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.0f));
00238 
00239             break;
00240         }
00241 
00242         case CRX_ASK_VOLTAGE_VALVE: {
00243             CAN_TX_VOLTAGE_VALVE();
00244 
00245             break;
00246         }
00247 
00248         case CRX_SET_VOLTAGE_VALVE: {
00249             VALVE_VOLTAGE_LIMIT = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
00250 
00251             spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f));
00252 
00253 
00254             break;
00255         }
00256 
00257         case CRX_SET_HOMEPOS: {
00258             CONTROL_UTILITY_MODE = 22;
00259             break;
00260         }
00261         
00262         case CRX_ASK_VARIABLE_SUPPLY:
00263         {
00264             CAN_TX_VARIABLE_SUPPLY_ONOFF();
00265             break;
00266         }                
00267         
00268         case CRX_SET_VARIABLE_SUPPLY:
00269         {
00270             SUPPLY_PRESSURE_UPDATE = msg.data[1];
00271             break;
00272         }
00273 
00274         case CRX_ASK_PID_GAIN: {
00275             CAN_TX_PID_GAIN(msg.data[1]);
00276 
00277             break;
00278         }
00279 
00280         case CRX_SET_PID_GAIN: {
00281             if (msg.data[1] == 0) {
00282                 P_GAIN_VALVE_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
00283                 I_GAIN_VALVE_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
00284                 D_GAIN_VALVE_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
00285 
00286                 spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
00287                 spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
00288                 spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
00289 
00290             } else if (msg.data[1] == 1) {
00291                 P_GAIN_JOINT_POSITION = (int16_t) (msg.data[2] | msg.data[3] << 8);
00292                 I_GAIN_JOINT_POSITION = (int16_t) (msg.data[4] | msg.data[5] << 8);
00293                 D_GAIN_JOINT_POSITION = (int16_t) (msg.data[6] | msg.data[7] << 8);
00294 
00295                 spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
00296                 spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
00297                 spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
00298 
00299             } else if (msg.data[1] == 2) {
00300                 P_GAIN_JOINT_TORQUE = (int16_t) (msg.data[2] | msg.data[3] << 8);
00301                 I_GAIN_JOINT_TORQUE = (int16_t) (msg.data[4] | msg.data[5] << 8);
00302                 D_GAIN_JOINT_TORQUE = (int16_t) (msg.data[6] | msg.data[7] << 8);
00303 
00304                 spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
00305                 spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
00306                 spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
00307 
00308             } else if (msg.data[1] == 3) {
00309                 K_SPRING = (float) (((float) ((int16_t) (msg.data[2] | msg.data[3] << 8))) * 0.1f);
00310                 D_DAMPER = (float) (((float) ((int16_t) (msg.data[4] | msg.data[5] << 8))) * 0.01f);
00311 
00312 //                spi_eeprom_write(RID_K_SPRING, (int16_t) K_SPRING);
00313 //                spi_eeprom_write(RID_D_DAMPER, (int16_t) D_DAMPER);
00314 
00315             } else if (msg.data[1] == 4) {
00316                 P_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[2] | msg.data[3] << 8);
00317                 I_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[4] | msg.data[5] << 8);
00318                 D_GAIN_JOINT_TORQUE_FF = (int16_t) (msg.data[6] | msg.data[7] << 8);
00319 
00320             }
00321 
00322             break;
00323         }
00324 
00325         case CRX_ASK_VALVE_DEADZONE: {
00326             CAN_TX_VALVE_DEADZONE();
00327 
00328             break;
00329         }
00330 
00331         case CRX_SET_VALVE_DEADZONE: {
00332             VALVE_CENTER = (int16_t) (msg.data[1] | msg.data[2] << 8);
00333             VALVE_DEADZONE_PLUS = (int16_t)(msg.data[3] | msg.data[4] << 8);
00334             VALVE_DEADZONE_MINUS = (int16_t)(msg.data[5] | msg.data[6] << 8);
00335 
00336             spi_eeprom_write(RID_VALVE_CNETER, VALVE_CENTER);
00337             spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
00338             spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
00339 
00340             break;
00341         }
00342 
00343         case CRX_ASK_VELOCITY_COMP_GAIN: {
00344             CAN_TX_VELOCITY_COMP_GAIN();
00345 
00346             break;
00347         }
00348 
00349         case CRX_SET_VELOCITY_COMP_GAIN: {
00350             VELOCITY_COMP_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
00351 
00352 
00353             spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
00354 
00355             break;
00356         }
00357 
00358         case CRX_ASK_COMPLIANCE_GAIN: {
00359             CAN_TX_COMPLIANCE_GAIN();
00360 
00361             break;
00362         }
00363 
00364         case CRX_SET_COMPLIANCE_GAIN: {
00365             COMPLIANCE_GAIN = (int16_t) (msg.data[1] | msg.data[2] << 8);
00366 
00367 
00368             spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
00369 
00370             break;
00371         }
00372 
00373         case CRX_ASK_VALVE_FF: {
00374             CAN_TX_VALVE_FF();
00375 
00376             break;
00377         }
00378 
00379         case CRX_SET_VALVE_FF: {
00380             VALVE_FF = (int16_t) (msg.data[1] | msg.data[2] << 8);
00381 
00382             spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
00383 
00384             break;
00385         }
00386 
00387         case CRX_ASK_BULK_MODULUS: {
00388             CAN_TX_BULK_MODULUS();
00389 
00390             break;
00391         }
00392 
00393         case CRX_SET_BULK_MODULUS: {
00394             BULK_MODULUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
00395             spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
00396 
00397             break;
00398         }
00399 
00400         case CRX_ASK_CHAMBER_VOLUME: {
00401             CAN_TX_CHAMBER_VOLUME();
00402 
00403             break;
00404         }
00405 
00406         case CRX_SET_CHAMBER_VOLUME: {
00407             CHAMBER_VOLUME_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
00408             CHAMBER_VOLUME_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
00409 
00410             spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
00411             spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
00412 
00413             break;
00414         }
00415 
00416         case CRX_ASK_PISTON_AREA: {
00417             CAN_TX_PISTON_AREA();
00418 
00419             break;
00420         }
00421 
00422         case CRX_SET_PISTON_AREA: {
00423             PISTON_AREA_A = (int16_t) (msg.data[1] | msg.data[2] << 8);
00424             PISTON_AREA_B = (int16_t) (msg.data[3] | msg.data[4] << 8);
00425             PISTON_AREA_alpha = (double)PISTON_AREA_A/(double)PISTON_AREA_B;
00426             alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha;
00427 
00428             spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
00429             spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
00430             break;
00431         }
00432 
00433         case CRX_ASK_SUP_PRES: {
00434             CAN_TX_SUP_PRES();
00435             break;
00436         }
00437 
00438         case CRX_SET_SUP_PRES: {
00439             int16_t temp = (int16_t) (msg.data[1] | msg.data[2] << 8);
00440             spi_eeprom_write(RID_PRES_SUPPLY, temp);
00441             PRES_SUPPLY_NOM = (float)temp;
00442             PRES_SUPPLY = PRES_SUPPLY_NOM;
00443             break;
00444         }
00445 
00446         case CRX_ASK_ENC_LIMIT: {
00447             CAN_TX_ENC_LIMIT();
00448 
00449             break;
00450         }
00451 
00452         case CRX_SET_ENC_LIMIT: {
00453             ENC_LIMIT_MINUS = (int16_t) (msg.data[1] | msg.data[2] << 8);
00454             ENC_LIMIT_PLUS = (int16_t) (msg.data[3] | msg.data[4] << 8);
00455             spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
00456             spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
00457 
00458             break;
00459         }
00460 
00461         case CRX_ASK_STROKE: {
00462             CAN_TX_STROKE();
00463             break;
00464         }
00465 
00466         case CRX_SET_STROKE: {
00467             STROKE = (int16_t) (msg.data[1] | msg.data[2] << 8);
00468             spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
00469 
00470             break;
00471         }
00472 
00473         case CRX_ASK_VALVE_LIMIT: {
00474             CAN_TX_VALVE_LIMIT();
00475 
00476             break;
00477         }
00478 
00479         case CRX_SET_VALVE_LIMIT: {
00480             VALVE_MIN_POS = (int16_t) (msg.data[1] | msg.data[2] << 8);
00481             VALVE_MAX_POS = (int16_t) (msg.data[3] | msg.data[4] << 8);
00482 
00483             spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
00484             spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
00485 
00486             break;
00487         }
00488 
00489         case CRX_ASK_ENC_PULSE_PER_POSITION: {
00490             CAN_TX_ENC_PULSE_PER_POSITION();
00491 
00492             break;
00493         }
00494 
00495         case CRX_SET_ENC_PULSE_PER_POSITION: {
00496             ENC_PULSE_PER_POSITION = (int16_t) (msg.data[1] | msg.data[2] << 8);
00497             spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) (ENC_PULSE_PER_POSITION));
00498 
00499             break;
00500         }
00501 
00502         case CRX_ASK_TORQUE_SENSOR_PULSE_PER_TORQUE: {
00503             CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE();
00504 
00505             break;
00506         }
00507 
00508         case CRX_SET_TORQUE_SENSOR_PULSE_PER_TORQUE: {
00509             TORQUE_SENSOR_PULSE_PER_TORQUE = (float) ((int16_t) (msg.data[1] | msg.data[2] << 8) * 0.0001f);
00510             spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) (TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
00511 
00512             break;
00513         }
00514 
00515         case CRX_ASK_PRES_SENSOR_PULSE_PER_PRES: {
00516             CAN_TX_PRES_SENSOR_PULSE_PER_PRES();
00517 
00518             break;
00519         }
00520 
00521         case CRX_SET_PRES_SENSOR_PULSE_PER_PRES: {
00522             PRES_SENSOR_A_PULSE_PER_BAR = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) * 0.01f;
00523             PRES_SENSOR_B_PULSE_PER_BAR = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) * 0.01f;
00524             spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
00525             spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
00526 
00527             break;
00528         }
00529 
00530         case CRX_ASK_FRICTION: {
00531             CAN_TX_FRICTION();
00532 
00533             break;
00534         }
00535 
00536         case CRX_SET_FRICTION: {
00537             FRICTION = (double) ((int16_t) (msg.data[1] | msg.data[2] << 8)) / 10.0f;
00538             spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.0f));
00539 
00540             break;
00541         }
00542 
00543         case CRX_ASK_VALVE_GAIN_PLUS: {
00544             CAN_TX_VALVE_GAIN_PLUS();
00545 
00546             break;
00547         }
00548         case CRX_SET_VALVE_GAIN_PLUS: {
00549             VALVE_GAIN_LPM_PER_V[0] = (double) msg.data[1] / 50.0f;
00550             VALVE_GAIN_LPM_PER_V[2] = (double) msg.data[2] / 50.0f;
00551             VALVE_GAIN_LPM_PER_V[4] = (double) msg.data[3] / 50.0f;
00552             VALVE_GAIN_LPM_PER_V[6] = (double) msg.data[4] / 50.0f;
00553             VALVE_GAIN_LPM_PER_V[8] = (double) msg.data[5] / 50.0f;
00554             spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
00555             spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
00556             spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
00557             spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
00558             spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
00559 
00560             break;
00561         }
00562 
00563         case CRX_ASK_VALVE_GAIN_MINUS: {
00564             CAN_TX_VALVE_GAIN_MINUS();
00565 
00566             break;
00567         }
00568         case CRX_SET_VALVE_GAIN_MINUS: {
00569             VALVE_GAIN_LPM_PER_V[1] = (double) msg.data[1] / 50.0f;
00570             VALVE_GAIN_LPM_PER_V[3] = (double) msg.data[2] / 50.0f;
00571             VALVE_GAIN_LPM_PER_V[5] = (double) msg.data[3] / 50.0f;
00572             VALVE_GAIN_LPM_PER_V[7] = (double) msg.data[4] / 50.0f;
00573             VALVE_GAIN_LPM_PER_V[9] = (double) msg.data[5] / 50.0f;
00574             spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
00575             spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
00576             spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
00577             spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
00578             spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
00579 
00580             break;
00581         }
00582 
00583         case CRX_LOW_REF: {
00584             REFERENCE_MODE = msg.data[1];
00585 
00586             REF_NUM = msg.data[2];
00587             REF_PERIOD = (double) ((int16_t) (msg.data[3] | msg.data[4] << 8)) / 100.0f;
00588             if (REF_PERIOD <= 0.0f) REF_MOVE_TIME_5k = TMR_FREQ_5k / CAN_FREQ;
00589             else REF_MOVE_TIME_5k = (int) (REF_PERIOD * (double) TMR_FREQ_5k);
00590             REF_MAG = (double) ((int16_t) (msg.data[5] | msg.data[6] << 8)) / 100.0f;
00591 
00592             break;
00593         }
00594 
00595         case CRX_JUMP_STATUS: {
00596             MODE_JUMP_STATUS = msg.data[1];
00597 
00598             break;
00599         }
00600 
00601         case CRX_SET_ERR_CLEAR: {
00602 
00603             for (int i = 0; i < num_err; i++) {
00604                 flag_err[i] = FALSE;
00605                 flag_err_old[i] = FALSE;
00606             }
00607 
00608             flag_err_rt = FALSE;
00609 
00610 
00611             break;
00612         }
00613 
00614         case CRX_ASK_HOMEPOS_OFFSET: {
00615             CAN_TX_HOMEPOS_OFFSET();
00616             break;
00617         }
00618         case CRX_SET_HOMEPOS_OFFSET: {
00619             HOMEPOS_OFFSET = (int16_t)(msg.data[1] | msg.data[2] << 8);
00620             spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
00621             break;
00622         }
00623 
00624         case CRX_ASK_HOMEPOS_VALVE_OPENING: {
00625             CAN_TX_HOMPOS_VALVE_OPENING();
00626             break;
00627         }
00628         case CRX_SET_HOMEPOS_VALVE_OPENING: {
00629             HOMEPOS_VALVE_OPENING = (int16_t) (msg.data[1] | msg.data[2] << 8);
00630             spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
00631             break;
00632         }
00633 
00634         case CRX_ASK_VALVE_PWM_VS_VALVE_POS: {
00635             can_index = (int16_t) msg.data[1];
00636             CAN_TX_VALVE_PWM_VS_VALVE_POS(can_index);
00637             break;
00638         }
00639         case CRX_ASK_VALVE_POS_VS_FLOWRATE: {
00640             can_index = (int16_t) msg.data[1];
00641             CAN_TX_VALVE_POS_VS_FLOWRATE(can_index);
00642             break;
00643         }
00644         case CRX_ASK_VALVE_POS_NUM: {
00645             CAN_TX_VALVE_POS_NUM();
00646             break;
00647         }
00648 
00649         case CRX_SET_ROM: {
00650             break;
00651         }
00652 
00653         default:
00654             break;
00655     }
00656 }
00657 
00658 void CAN_RX_HANDLER()
00659 {
00660 
00661     can.read(msg);
00662     unsigned int address = msg.id;
00663     if(address==CID_RX_CMD) {
00664         unsigned int CMD = msg.data[0];
00665         ReadCMD(CMD);
00666 
00667     } else if(address==CID_RX_REF_POSITION) {
00668 
00669         int16_t temp_pos = (int16_t) (msg.data[0] | msg.data[1] << 8); 
00670         int16_t temp_vel = (int16_t) (msg.data[2] | msg.data[3] << 8);
00671         int16_t temp_torq = (int16_t) (msg.data[4] | msg.data[5] << 8);
00672 
00673         if((OPERATING_MODE&0b001)==0) { // Rotary Actuator
00674             REF_POSITION = (float)temp_pos * 1.0f / ENC_PULSE_PER_POSITION; // pulse >> deg 
00675             REF_VELOCITY = (float)temp_vel * 10.0f / ENC_PULSE_PER_POSITION; // pulse/s >> deg/s 
00676             REF_TORQUE = (float)temp_torq * 0.01f / TORQUE_SENSOR_PULSE_PER_TORQUE;  // pulse >> Nm
00677         } else { //Linear Actuator
00678             REF_POSITION = (float)temp_pos * 4.0f / ENC_PULSE_PER_POSITION; // pulse >> mm
00679             REF_VELOCITY = (float)temp_vel * 100.0f / ENC_PULSE_PER_POSITION; // pulse/s >> mm/s 
00680             REF_FORCE = (float)temp_torq * 0.1f / TORQUE_SENSOR_PULSE_PER_TORQUE;  // pulse >> N
00681         }
00682 
00683         if(SUPPLY_PRESSURE_UPDATE == 1) {
00684             int16_t temp_REF_Ps = (int16_t) (msg.data[6] | msg.data[7] << 8);
00685             PRES_SUPPLY = ((float)temp_REF_Ps) / 100.0; 
00686             if(PRES_SUPPLY<35.0f) PRES_SUPPLY = 35.0f;
00687             else if(PRES_SUPPLY>210.0f) PRES_SUPPLY = 210.0f;
00688         } else {
00689             PRES_SUPPLY = PRES_SUPPLY_NOM;
00690         }
00691 
00692         if(CAN_FREQ == -1) {
00693 
00694             // Position, Velocity, and Torque (ID:1200)
00695             if (flag_data_request[0] == HIGH) {
00696                 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
00697                     CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.1f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
00698                 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
00699                     CAN_TX_POSITION_FT((int16_t) (pos.sen*ENC_PULSE_PER_POSITION*0.25f), (int16_t) (vel.sen*ENC_PULSE_PER_POSITION*0.01f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
00700                 }
00701             }
00702 
00703             // Valve Position (ID:1300)
00704             if (flag_data_request[1] == HIGH) {
00705                 CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse)); 
00706             }
00707 
00708             // Others : Pressure A, B, Supply Pressure, etc. (for Debugging)  (ID:1400)
00709             if (flag_data_request[2] == HIGH) {
00710                 CAN_TX_SOMETHING((int16_t)(pres_A.sen*100.0f), (int16_t)(pres_B.sen*100.0f), (int16_t) (0), (int16_t) (0)); 
00711             }
00712         }
00713 
00714     } else if(address==CID_RX_REF_OPENLOOP) {
00715         int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
00716 
00717         if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
00718             valve_pos.ref = (double) temp_ref_valve_pos; // Unit : pulse (0~10000)
00719         } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
00720             valve_pos.ref = (double) temp_ref_valve_pos; // Unit : pulse (0~30000)
00721         } else { //SW Valve
00722             if(temp_ref_valve_pos >= 0) {
00723                 valve_pos.ref = (double)VALVE_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f;
00724             } else {
00725                 valve_pos.ref = (double)VALVE_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f;
00726             }
00727         }
00728     } else if(address==CID_RX_REF_PWM) {
00729         int temp_ref_pwm = (int16_t) (msg.data[0] | msg.data[1] << 8);
00730         Vout.ref = (double) temp_ref_pwm;
00731     }
00732 
00733 
00734 }
00735 
00736 /******************************************************************************
00737  Information Transmission Functions
00738 *******************************************************************************/
00739 
00740 void CAN_TX_INFO(void)
00741 {
00742     CANMessage temp_msg;
00743 
00744     temp_msg.id = CID_TX_INFO;
00745     temp_msg.len = 7;
00746     temp_msg.data[0] = (uint8_t) CTX_SEND_INFO;
00747     temp_msg.data[1] = (uint8_t) BNO;
00748     temp_msg.data[2] = (uint8_t) CAN_FREQ;
00749     temp_msg.data[3] = (uint8_t) (CAN_FREQ >> 8);
00750     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]);
00751     temp_msg.data[5] = (uint8_t) CONTROL_UTILITY_MODE;
00752     temp_msg.data[6] = (uint8_t) OPERATING_MODE;
00753 
00754     can.write(temp_msg);
00755 }
00756 
00757 void CAN_TX_BNO(void)
00758 {
00759     CANMessage temp_msg;
00760 
00761     temp_msg.id = CID_TX_INFO;
00762     //temp_msg.len = 2;
00763     temp_msg.len = 2;
00764     temp_msg.data[0] = (uint8_t) CTX_SEND_BNO;
00765     temp_msg.data[1] = (uint8_t) BNO;
00766 
00767     can.write(temp_msg);
00768 }
00769 
00770 void CAN_TX_OPERATING_MODE(void)
00771 {
00772     CANMessage temp_msg;
00773 
00774     temp_msg.id = CID_TX_INFO;
00775     temp_msg.len = 5;
00776     temp_msg.data[0] = (uint8_t) CTX_SEND_OPERATING_MODE;
00777     temp_msg.data[1] = (uint8_t) OPERATING_MODE;
00778     temp_msg.data[2] = (uint8_t) SENSING_MODE;
00779     temp_msg.data[3] = (uint8_t) CURRENT_CONTROL_MODE;
00780     temp_msg.data[4] = (uint8_t) FLAG_VALVE_DEADZONE;
00781 
00782     can.write(temp_msg);
00783 }
00784 
00785 void CAN_TX_CAN_FREQ(void)
00786 {
00787     CANMessage temp_msg;
00788 
00789     temp_msg.id = CID_TX_INFO;
00790     temp_msg.len = 3;
00791     temp_msg.data[0] = (uint8_t) CTX_SEND_CAN_FREQ;
00792     temp_msg.data[1] = (uint8_t) CAN_FREQ;
00793     temp_msg.data[2] = (uint8_t) (CAN_FREQ >> 8);
00794 
00795     can.write(temp_msg);
00796 }
00797 
00798 void CAN_TX_CONTROL_MODE(void)
00799 {
00800     CANMessage temp_msg;
00801 
00802     temp_msg.id = CID_TX_INFO;
00803     temp_msg.len = 2;
00804     temp_msg.data[0] = (uint8_t) CTX_SEND_CONTROL_MODE;
00805     temp_msg.data[1] = (uint8_t) CONTROL_UTILITY_MODE;
00806 
00807     can.write(temp_msg);
00808 }
00809 
00810 void CAN_TX_JOINT_ENC_DIR(void)
00811 {
00812     CANMessage temp_msg;
00813 
00814     temp_msg.id = CID_TX_INFO;
00815     temp_msg.len = 3;
00816     temp_msg.data[0] = (uint8_t) CTX_SEND_JOINT_ENC_DIR;
00817     temp_msg.data[1] = (uint8_t) DIR_JOINT_ENC;
00818     temp_msg.data[2] = (uint8_t) (DIR_JOINT_ENC >> 8);
00819 
00820     can.write(temp_msg);
00821 }
00822 
00823 void CAN_TX_VALVE_DIR(void)
00824 {
00825     CANMessage temp_msg;
00826 
00827     temp_msg.id = CID_TX_INFO;
00828     temp_msg.len = 3;
00829     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DIR;
00830     temp_msg.data[1] = (uint8_t) DIR_VALVE;
00831     temp_msg.data[2] = (uint8_t) (DIR_VALVE >> 8);
00832 
00833     can.write(temp_msg);
00834 }
00835 
00836 void CAN_TX_VALVE_ENC_DIR(void)
00837 {
00838     CANMessage temp_msg;
00839 
00840     temp_msg.id = CID_TX_INFO;
00841     temp_msg.len = 3;
00842     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_ENC_DIR;
00843     temp_msg.data[1] = (uint8_t) DIR_VALVE_ENC;
00844     temp_msg.data[2] = (uint8_t) (DIR_VALVE_ENC >> 8);
00845 
00846     can.write(temp_msg);
00847 }
00848 
00849 void CAN_TX_VOLTAGE_SUPPLY(void)
00850 {
00851     int16_t send_voltage_supply = (int16_t) (SUPPLY_VOLTAGE * 10.0f);
00852 
00853     CANMessage temp_msg;
00854 
00855     temp_msg.id = CID_TX_INFO;
00856     temp_msg.len = 3;
00857     temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_SUPPLY;
00858     temp_msg.data[1] = (uint8_t) (send_voltage_supply);
00859     temp_msg.data[2] = (uint8_t) (send_voltage_supply >> 8);
00860 
00861     can.write(temp_msg);
00862 }
00863 
00864 void CAN_TX_VOLTAGE_VALVE(void)
00865 {
00866     int16_t send_voltage_valve = (int16_t) (VALVE_VOLTAGE_LIMIT * 10.0f);
00867 
00868     CANMessage temp_msg;
00869 
00870     temp_msg.id = CID_TX_INFO;
00871     temp_msg.len = 3;
00872     temp_msg.data[0] = (uint8_t) CTX_SEND_VOLTAGE_VALVE;
00873     temp_msg.data[1] = (uint8_t) send_voltage_valve;
00874     temp_msg.data[2] = (uint8_t) (send_voltage_valve >> 8);
00875 
00876     can.write(temp_msg);
00877 }
00878 
00879 void CAN_TX_VARIABLE_SUPPLY_ONOFF(void)
00880 {
00881     CANMessage temp_msg;
00882     temp_msg.id = CID_TX_INFO;
00883     temp_msg.len = 2;
00884     temp_msg.data[0] = (uint8_t) CTX_SEND_VARIABLE_SUPPLY;
00885     temp_msg.data[1] = (uint8_t) SUPPLY_PRESSURE_UPDATE;
00886 
00887     can.write(temp_msg);
00888 }
00889 
00890 void CAN_TX_PID_GAIN(int t_type)
00891 {
00892     // t_type = 0 : valve position control gain
00893     // t_type = 1 : joint position control gain
00894     // t_type = 2 : joint torque control gain
00895 
00896     int16_t sendPgain=0, sendIgain=0, sendDgain=0;
00897     if (t_type == 0) {
00898         sendPgain = (int16_t) (P_GAIN_VALVE_POSITION);
00899         sendIgain = (int16_t) (I_GAIN_VALVE_POSITION);
00900         sendDgain = (int16_t) (D_GAIN_VALVE_POSITION);
00901     } else if (t_type == 1) {
00902         sendPgain = (int16_t) (P_GAIN_JOINT_POSITION);
00903         sendIgain = (int16_t) (I_GAIN_JOINT_POSITION);
00904         sendDgain = (int16_t) (D_GAIN_JOINT_POSITION);
00905     } else if (t_type == 2) {
00906         sendPgain = (int16_t) (P_GAIN_JOINT_TORQUE);
00907         sendIgain = (int16_t) (I_GAIN_JOINT_TORQUE);
00908         sendDgain = (int16_t) (D_GAIN_JOINT_TORQUE);
00909     } else if (t_type == 3) {
00910         sendPgain = (int16_t) (K_SPRING * 10.0f);
00911         sendIgain = (int16_t) (D_DAMPER * 100.0f);
00912     }
00913 
00914     CANMessage temp_msg;
00915 
00916     temp_msg.id = CID_TX_INFO;
00917     temp_msg.len = 8;
00918     temp_msg.data[0] = (uint8_t) CTX_SEND_PID_GAIN;
00919     temp_msg.data[1] = (uint8_t) t_type;
00920     temp_msg.data[2] = (uint8_t) sendPgain;
00921     temp_msg.data[3] = (uint8_t) (sendPgain >> 8);
00922     temp_msg.data[4] = (uint8_t) sendIgain;
00923     temp_msg.data[5] = (uint8_t) (sendIgain >> 8);
00924     temp_msg.data[6] = (uint8_t) sendDgain;
00925     temp_msg.data[7] = (uint8_t) (sendDgain >> 8);
00926 
00927     can.write(temp_msg);
00928 }
00929 
00930 
00931 void CAN_TX_VALVE_DEADZONE(void)
00932 {
00933     CANMessage temp_msg;
00934 
00935     temp_msg.id = CID_TX_INFO;
00936     temp_msg.len = 7;
00937     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_DEADZONE;
00938     temp_msg.data[1] = (uint8_t) VALVE_CENTER;
00939     temp_msg.data[2] = (uint8_t) (VALVE_CENTER >> 8);
00940     temp_msg.data[3] = (uint8_t) VALVE_DEADZONE_PLUS;
00941     temp_msg.data[4] = (uint8_t) (VALVE_DEADZONE_PLUS >> 8);
00942     temp_msg.data[5] = (uint8_t) VALVE_DEADZONE_MINUS;
00943     temp_msg.data[6] = (uint8_t) (VALVE_DEADZONE_MINUS >> 8);
00944 
00945     can.write(temp_msg);
00946 }
00947 
00948 void CAN_TX_VELOCITY_COMP_GAIN(void)
00949 {
00950     CANMessage temp_msg;
00951 
00952     temp_msg.id = CID_TX_INFO;
00953     temp_msg.len = 3;
00954     temp_msg.data[0] = (uint8_t) CTX_SEND_VELOCITY_COMP_GAIN;
00955     temp_msg.data[1] = (uint8_t) VELOCITY_COMP_GAIN;
00956     temp_msg.data[2] = (uint8_t) (VELOCITY_COMP_GAIN >> 8);
00957 
00958     can.write(temp_msg);
00959 }
00960 
00961 void CAN_TX_COMPLIANCE_GAIN(void)
00962 {
00963     CANMessage temp_msg;
00964 
00965     temp_msg.id = CID_TX_INFO;
00966     temp_msg.len = 3;
00967     temp_msg.data[0] = (uint8_t) CTX_SEND_COMPLIANCE_GAIN;
00968     temp_msg.data[1] = (uint8_t) COMPLIANCE_GAIN;
00969     temp_msg.data[2] = (uint8_t) (COMPLIANCE_GAIN >> 8);
00970 
00971     can.write(temp_msg);
00972 }
00973 
00974 void CAN_TX_VALVE_FF(void)
00975 {
00976     CANMessage temp_msg;
00977 
00978     temp_msg.id = CID_TX_INFO;
00979     temp_msg.len = 3;
00980     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_FF;
00981     temp_msg.data[1] = (uint8_t) VALVE_FF;
00982     temp_msg.data[2] = (uint8_t) (VALVE_FF >> 8);
00983 
00984     can.write(temp_msg);
00985 }
00986 
00987 void CAN_TX_BULK_MODULUS(void)
00988 {
00989     CANMessage temp_msg;
00990 
00991     temp_msg.id = CID_TX_INFO;
00992     temp_msg.len = 3;
00993     temp_msg.data[0] = (uint8_t) CTX_SEND_BULK_MODULUS;
00994     temp_msg.data[1] = (uint8_t) BULK_MODULUS;
00995     temp_msg.data[2] = (uint8_t) (BULK_MODULUS >> 8);
00996 
00997     can.write(temp_msg);
00998 }
00999 
01000 void CAN_TX_CHAMBER_VOLUME(void)
01001 {
01002     CANMessage temp_msg;
01003 
01004     temp_msg.id = CID_TX_INFO;
01005     temp_msg.len = 5;
01006     temp_msg.data[0] = (uint8_t) CTX_SEND_CHAMBER_VOLUME;
01007     temp_msg.data[1] = (uint8_t) CHAMBER_VOLUME_A;
01008     temp_msg.data[2] = (uint8_t) (CHAMBER_VOLUME_A >> 8);
01009     temp_msg.data[3] = (uint8_t) CHAMBER_VOLUME_B;
01010     temp_msg.data[4] = (uint8_t) (CHAMBER_VOLUME_B >> 8);
01011 
01012     can.write(temp_msg);
01013 }
01014 
01015 void CAN_TX_PISTON_AREA(void)
01016 {
01017     CANMessage temp_msg;
01018 
01019     temp_msg.id = CID_TX_INFO;
01020     temp_msg.len = 5;
01021     temp_msg.data[0] = (uint8_t) CTX_SEND_PISTON_AREA;
01022     temp_msg.data[1] = (uint8_t) PISTON_AREA_A;
01023     temp_msg.data[2] = (uint8_t) (PISTON_AREA_A >> 8);
01024     temp_msg.data[3] = (uint8_t) PISTON_AREA_B;
01025     temp_msg.data[4] = (uint8_t) (PISTON_AREA_B >> 8);
01026 
01027     can.write(temp_msg);
01028 }
01029 
01030 void CAN_TX_SUP_PRES(void)
01031 {
01032     CANMessage temp_msg;
01033 
01034     int16_t temp_PRES_SUPPLY = (int16_t) (PRES_SUPPLY);
01035     temp_msg.id = CID_TX_INFO;
01036     temp_msg.len = 5;
01037     temp_msg.data[0] = (uint8_t) CTX_SEND_SUP_PRES;
01038     temp_msg.data[1] = (uint8_t) temp_PRES_SUPPLY;
01039     temp_msg.data[2] = (uint8_t) (temp_PRES_SUPPLY >> 8);
01040     temp_msg.data[3] = 0;
01041     temp_msg.data[4] = 0;
01042 
01043     can.write(temp_msg);
01044 }
01045 
01046 void CAN_TX_ENC_LIMIT(void)
01047 {
01048     CANMessage temp_msg;
01049 
01050     temp_msg.id = CID_TX_INFO;
01051     temp_msg.len = 5;
01052     temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_LIMIT;
01053     temp_msg.data[1] = (uint8_t) ENC_LIMIT_MINUS;
01054     temp_msg.data[2] = (uint8_t) (ENC_LIMIT_MINUS >> 8);
01055     temp_msg.data[3] = (uint8_t) ENC_LIMIT_PLUS;
01056     temp_msg.data[4] = (uint8_t) (ENC_LIMIT_PLUS >> 8);
01057 
01058     can.write(temp_msg);
01059 }
01060 
01061 void CAN_TX_STROKE(void)
01062 {
01063     CANMessage temp_msg;
01064 
01065     temp_msg.id = CID_TX_INFO;
01066     temp_msg.len = 3;
01067     temp_msg.data[0] = (uint8_t) CTX_SEND_STROKE;
01068     temp_msg.data[1] = (uint8_t) STROKE;
01069     temp_msg.data[2] = (uint8_t) (STROKE >> 8);
01070 
01071     can.write(temp_msg);
01072 }
01073 
01074 void CAN_TX_VALVE_LIMIT(void)
01075 {
01076     CANMessage temp_msg;
01077 
01078     temp_msg.id = CID_TX_INFO;
01079     temp_msg.len = 5;
01080     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_LIMIT;
01081     temp_msg.data[1] = (uint8_t) VALVE_MIN_POS;
01082     temp_msg.data[2] = (uint8_t) (VALVE_MIN_POS >> 8);
01083     temp_msg.data[3] = (uint8_t) VALVE_MAX_POS;
01084     temp_msg.data[4] = (uint8_t) (VALVE_MAX_POS >> 8);
01085 
01086     can.write(temp_msg);
01087 }
01088 
01089 void CAN_TX_ENC_PULSE_PER_POSITION(void)
01090 {
01091     CANMessage temp_msg;
01092 
01093     temp_msg.id = CID_TX_INFO;
01094     temp_msg.len = 3;
01095     temp_msg.data[0] = (uint8_t) CTX_SEND_ENC_PULSE_PER_POSITION;
01096     int temp_enc_pulse_per_position = (int) (ENC_PULSE_PER_POSITION);
01097     temp_msg.data[1] = (uint8_t) temp_enc_pulse_per_position;
01098     temp_msg.data[2] = (uint8_t) (temp_enc_pulse_per_position >> 8);
01099 
01100     can.write(temp_msg);
01101 }
01102 
01103 void CAN_TX_TORQUE_SENSOR_PULSE_PER_TORQUE(void)
01104 {
01105     CANMessage temp_msg;
01106 
01107     temp_msg.id = CID_TX_INFO;
01108     temp_msg.len = 3;
01109     temp_msg.data[0] = (uint8_t) CTX_SEND_TORQUE_SENSOR_PULSE_PER_TORQUE;
01110     int temp_torque_sensor_pulse_per_torque = (int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f);
01111     temp_msg.data[1] = (uint8_t) temp_torque_sensor_pulse_per_torque;
01112     temp_msg.data[2] = (uint8_t) (temp_torque_sensor_pulse_per_torque >> 8);
01113 
01114     can.write(temp_msg);
01115 }
01116 
01117 void CAN_TX_PRES_SENSOR_PULSE_PER_PRES(void)
01118 {
01119     CANMessage temp_msg;
01120 
01121     temp_msg.id = CID_TX_INFO;
01122     temp_msg.len = 5;
01123     temp_msg.data[0] = (uint8_t) CTX_SEND_PRES_SENSOR_PULSE_PER_BAR;
01124     temp_msg.data[1] = (uint8_t) (int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f);
01125     temp_msg.data[2] = (uint8_t) ((int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f) >> 8);
01126     temp_msg.data[3] = (uint8_t) (int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f);
01127     temp_msg.data[4] = (uint8_t) ((int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f) >> 8);
01128 
01129     can.write(temp_msg);
01130 }
01131 
01132 void CAN_TX_FRICTION(void)
01133 {
01134     CANMessage temp_msg;
01135     int16_t send_friction;
01136     send_friction = (int16_t) (FRICTION * 10.0f);
01137 
01138     temp_msg.id = CID_TX_INFO;
01139     temp_msg.len = 3;
01140     temp_msg.data[0] = (uint8_t) CTX_SEND_FRICTION;
01141     temp_msg.data[1] = (uint8_t) send_friction;
01142     temp_msg.data[2] = (uint8_t) (send_friction >> 8);
01143 
01144     can.write(temp_msg);
01145 }
01146 
01147 void CAN_TX_VALVE_GAIN_PLUS(void)
01148 {
01149     CANMessage temp_msg;
01150 
01151     temp_msg.id = CID_TX_INFO;
01152     temp_msg.len = 6;
01153     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_PLUS;
01154     temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[0] * 50.0f);
01155     temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[2] * 50.0f);
01156     temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[4] * 50.0f);
01157     temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[6] * 50.0f);
01158     temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[8] * 50.0f);
01159 
01160     can.write(temp_msg);
01161 }
01162 
01163 
01164 void CAN_TX_VALVE_GAIN_MINUS(void)
01165 {
01166     CANMessage temp_msg;
01167 
01168     temp_msg.id = CID_TX_INFO;
01169     temp_msg.len = 6;
01170     temp_msg.data[0] = (uint8_t) CTX_SEND_VALVE_GAIN_MINUS;
01171     temp_msg.data[1] = (uint8_t) (VALVE_GAIN_LPM_PER_V[1] * 50.0f);
01172     temp_msg.data[2] = (uint8_t) (VALVE_GAIN_LPM_PER_V[3] * 50.0f);
01173     temp_msg.data[3] = (uint8_t) (VALVE_GAIN_LPM_PER_V[5] * 50.0f);
01174     temp_msg.data[4] = (uint8_t) (VALVE_GAIN_LPM_PER_V[7] * 50.0f);
01175     temp_msg.data[5] = (uint8_t) (VALVE_GAIN_LPM_PER_V[9] * 50.0f);
01176 
01177     can.write(temp_msg);
01178 }
01179 
01180 void CAN_TX_REFENCE_MODE(void)
01181 {
01182     CANMessage temp_msg;
01183 
01184     temp_msg.id = CID_TX_INFO;
01185     temp_msg.len = 6;
01186     temp_msg.data[0] = (uint8_t) CTX_SEND_REFENCE_MODE;
01187     temp_msg.data[1] = (uint8_t) REFERENCE_MODE;
01188     temp_msg.data[2] = (uint8_t) (int) (REFERENCE_FREQ * 100.0f);
01189     temp_msg.data[3] = (uint8_t) ((int) (REFERENCE_FREQ * 100.0f) >> 8);
01190     temp_msg.data[4] = (uint8_t) (int) (REFERENCE_MAG * 100.0f);
01191     temp_msg.data[5] = (uint8_t) ((int) (REFERENCE_MAG * 100.0f) >> 8);
01192 
01193     can.write(temp_msg);
01194 }
01195 
01196 void CAN_TX_HOMEPOS_OFFSET(void)
01197 {
01198     CANMessage temp_msg;
01199     int16_t send_homepos_offset;
01200     send_homepos_offset = (int16_t)HOMEPOS_OFFSET;
01201 
01202     temp_msg.id = CID_TX_INFO;
01203     temp_msg.len = 3;
01204     temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_OFFSET;
01205     temp_msg.data[1] = (uint8_t) send_homepos_offset;
01206     temp_msg.data[2] = (uint8_t) (send_homepos_offset >> 8);
01207 
01208     can.write(temp_msg);
01209 }
01210 
01211 void CAN_TX_HOMPOS_VALVE_OPENING(void)
01212 {
01213     CANMessage temp_msg;
01214     int16_t send_homepos_valve_opening;
01215     send_homepos_valve_opening = (int16_t) (HOMEPOS_VALVE_OPENING);
01216 
01217     temp_msg.id = CID_TX_INFO;
01218     temp_msg.len = 3;
01219     temp_msg.data[0] = (uint8_t) CTX_SEND_HOMEPOS_VALVE_OPENING;
01220     temp_msg.data[1] = (uint8_t) send_homepos_valve_opening;
01221     temp_msg.data[2] = (uint8_t) (send_homepos_valve_opening >> 8);
01222 
01223     can.write(temp_msg);
01224 }
01225 
01226 void CAN_TX_VALVE_PWM_VS_VALVE_POS(int8_t canindex)
01227 {
01228     CANMessage temp_msg;
01229     int16_t valve_pos_vs_pwm;
01230 
01231     if(VALVE_POS_VS_PWM[canindex]>= (float) VALVE_CENTER) {
01232         valve_pos_vs_pwm = 10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
01233     } else {
01234         valve_pos_vs_pwm = -10000.0f*((double)VALVE_POS_VS_PWM[canindex]-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
01235     }
01236 
01237     int16_t PWM_VALVE_ID;
01238     PWM_VALVE_ID = ID_index_array[canindex] * 1000;
01239 
01240     temp_msg.id = CID_TX_INFO;
01241     temp_msg.len = 5;
01242     temp_msg.data[0] = (uint8_t) CTX_VALVE_PWM_VS_VALVE_POS;
01243     temp_msg.data[1] = (uint8_t) PWM_VALVE_ID;
01244     temp_msg.data[2] = (uint8_t) (PWM_VALVE_ID >> 8);
01245     temp_msg.data[3] = (uint8_t) valve_pos_vs_pwm;
01246     temp_msg.data[4] = (uint8_t) (valve_pos_vs_pwm >> 8);
01247 
01248     can.write(temp_msg);
01249 }
01250 
01251 void CAN_TX_VALVE_POS_VS_FLOWRATE(int8_t canindex)
01252 {
01253     CANMessage temp_msg;
01254     int32_t valve_pos_vs_flowrate;
01255     valve_pos_vs_flowrate = (int32_t) (JOINT_VEL[canindex]);
01256 
01257     int16_t VALVE_POS_VALVE_ID = ID_index_array[canindex] * 10 + VALVE_CENTER;
01258     int16_t temp_valve_pos = 0;
01259     if(VALVE_POS_VALVE_ID>=VALVE_CENTER) {
01260         temp_valve_pos = (int16_t) (10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER));
01261     } else {
01262         temp_valve_pos = (int16_t) (-10000.0f*((double)VALVE_POS_VALVE_ID-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER));
01263     }
01264 
01265     temp_msg.id = CID_TX_INFO;
01266     temp_msg.len = 7;
01267     temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_VS_FLOWRATE;
01268     temp_msg.data[1] = (uint8_t) temp_valve_pos;
01269     temp_msg.data[2] = (uint8_t) (temp_valve_pos >> 8);
01270     temp_msg.data[3] = (uint8_t) valve_pos_vs_flowrate;
01271     temp_msg.data[4] = (uint8_t) (valve_pos_vs_flowrate >> 8);
01272     temp_msg.data[5] = (uint8_t) (valve_pos_vs_flowrate >> 16);
01273     temp_msg.data[6] = (uint8_t) (valve_pos_vs_flowrate >> 24);
01274 
01275     can.write(temp_msg);
01276 }
01277 
01278 void CAN_TX_VALVE_POS_NUM(void)
01279 {
01280     CANMessage temp_msg;
01281     int32_t valve_pos_num;
01282     valve_pos_num = (int16_t) VALVE_POS_NUM;
01283 
01284     temp_msg.id = CID_TX_INFO;
01285     temp_msg.len = 3;
01286     temp_msg.data[0] = (uint8_t) CTX_VALVE_POS_NUM;
01287     temp_msg.data[1] = (uint8_t) valve_pos_num;
01288     temp_msg.data[2] = (uint8_t) (valve_pos_num >> 8);
01289 
01290     can.write(temp_msg);
01291 }
01292 
01293 void CAN_TX_DDV_VALVE_MAX_MIN_POS(void)
01294 {
01295     CANMessage temp_msg;
01296 
01297     float temp_valve_max_pos = 0.0f;
01298     float temp_valve_min_pos = 0.0f;
01299     float temp_ddv_center = 0.0f;
01300 
01301     temp_valve_max_pos = VALVE_MAX_POS;
01302     temp_valve_min_pos = VALVE_MIN_POS;
01303     temp_ddv_center = VALVE_CENTER;
01304 
01305     temp_msg.id = CID_TX_INFO;
01306     temp_msg.len = 7;
01307     temp_msg.data[0] = (uint8_t) CTX_VALVE_MAX_MIN_POS;
01308     temp_msg.data[1] = (uint8_t) temp_valve_max_pos;
01309     temp_msg.data[2] = (uint8_t) ((int) (temp_valve_max_pos) >> 8);
01310     temp_msg.data[3] = (uint8_t) (temp_valve_min_pos);
01311     temp_msg.data[4] = (uint8_t) ((int) (temp_valve_min_pos) >> 8);
01312     temp_msg.data[5] = (uint8_t) (temp_ddv_center);
01313     temp_msg.data[6] = (uint8_t) ((int) (temp_ddv_center) >> 8);
01314 
01315     can.write(temp_msg);
01316 }
01317 
01318 
01319 void CAN_TX_BUFFER(int16_t t_cnt_buffer)
01320 {
01321     CANMessage temp_msg;
01322     int16_t send_pos_array, send_ref_array;
01323     send_pos_array = (int16_t) (pos_array[t_cnt_buffer]);
01324     send_ref_array = (int16_t) (ref_array[t_cnt_buffer]);
01325 
01326     temp_msg.id = CID_TX_INFO;
01327     temp_msg.len = 5;
01328     temp_msg.data[0] = (uint8_t) CTX_SEND_BUFFER;
01329     temp_msg.data[1] = (uint8_t) send_pos_array;
01330     temp_msg.data[2] = (uint8_t) (send_pos_array >> 8);
01331     temp_msg.data[3] = (uint8_t) (send_ref_array);
01332     temp_msg.data[4] = (uint8_t) ((send_ref_array) >> 8);
01333 
01334     can.write(temp_msg);
01335 }
01336 
01337 
01338 /******************************************************************************
01339  Sensor & State Transmission Functions
01340 *******************************************************************************/
01341 
01342 void CAN_TX_POSITION_FT(int16_t t_pos, int16_t t_vel, int16_t t_torq)
01343 {
01344     CANMessage temp_msg;
01345 
01346     temp_msg.id = CID_TX_POS_VEL_TORQ;
01347     temp_msg.len = 6;
01348     temp_msg.data[0] = (uint8_t) t_pos;
01349     temp_msg.data[1] = (uint8_t) (t_pos >> 8);
01350     temp_msg.data[2] = (uint8_t) t_vel;
01351     temp_msg.data[3] = (uint8_t) (t_vel >> 8);
01352     temp_msg.data[4] = (uint8_t) t_torq;
01353     temp_msg.data[5] = (uint8_t) (t_torq >> 8);
01354 
01355     can.write(temp_msg);
01356 }
01357 
01358 void CAN_TX_POSITION_PRESSURE(int16_t t_pos, int16_t t_vel, int16_t t_pa, int16_t t_pb)
01359 {
01360 
01361     CANMessage temp_msg;
01362 
01363     temp_msg.id = CID_TX_POS_VEL_TORQ;
01364     temp_msg.len = 8;
01365     temp_msg.data[0] = (uint8_t) t_pos;
01366     temp_msg.data[1] = (uint8_t) (t_pos >> 8);
01367     temp_msg.data[2] = (uint8_t) t_vel;
01368     temp_msg.data[3] = (uint8_t) (t_vel >> 8);
01369     temp_msg.data[4] = (uint8_t) t_pa;
01370     temp_msg.data[5] = (uint8_t) (t_pa >> 8);
01371     temp_msg.data[6] = (uint8_t) t_pb;
01372     temp_msg.data[7] = (uint8_t) (t_pb >> 8);
01373 
01374     can.write(temp_msg);
01375 }
01376 
01377 void CAN_TX_CURRENT(int16_t t_pres_a, int16_t t_pres_b)
01378 {
01379     CANMessage temp_msg;
01380 
01381     temp_msg.id = CID_TX_CURRENT;
01382     temp_msg.len = 4;
01383     temp_msg.data[0] = (uint8_t) t_pres_a;
01384     temp_msg.data[1] = (uint8_t) (t_pres_a >> 8);
01385     temp_msg.data[2] = (uint8_t) t_pres_b;
01386     temp_msg.data[3] = (uint8_t) (t_pres_b >> 8);
01387 
01388     can.write(temp_msg);
01389 }
01390 
01391 void CAN_TX_PWM(int16_t t_pwm)
01392 {
01393     CANMessage temp_msg;
01394 
01395     temp_msg.id = CID_TX_PWM;
01396     temp_msg.len = 2;
01397     temp_msg.data[0] = (uint8_t) t_pwm;
01398     temp_msg.data[1] = (uint8_t) (t_pwm >> 8);
01399 
01400     can.write(temp_msg);
01401 }
01402 
01403 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)
01404 {
01405     CANMessage temp_msg;
01406 
01407     temp_msg.id = CID_TX_VALVE_POSITION;
01408     temp_msg.len = 8;
01409     temp_msg.data[0] = (uint8_t) t_valve_pos_1;
01410     temp_msg.data[1] = (uint8_t) (t_valve_pos_1 >> 8);
01411     temp_msg.data[2] = (uint8_t) t_valve_pos_2;
01412     temp_msg.data[3] = (uint8_t) (t_valve_pos_2 >> 8);
01413     temp_msg.data[4] = (uint8_t) t_ref_valve_pos;
01414     temp_msg.data[5] = (uint8_t) (t_ref_valve_pos >> 8);
01415     temp_msg.data[6] = (uint8_t) t_pwm;
01416     temp_msg.data[7] = (uint8_t) (t_pwm >> 8);
01417 
01418 
01419     can.write(temp_msg);
01420 }
01421 
01422 void CAN_TX_SOMETHING(int16_t t_a, int16_t t_b, int16_t t_c, int16_t t_d)
01423 {
01424     CANMessage temp_msg;
01425 
01426     temp_msg.id = CID_TX_SOMETHING;
01427     temp_msg.len = 8;
01428     temp_msg.data[0] = (uint8_t) t_a;
01429     temp_msg.data[1] = (uint8_t) (t_a >> 8);
01430     temp_msg.data[2] = (uint8_t) t_b;
01431     temp_msg.data[3] = (uint8_t) (t_b >> 8);
01432     temp_msg.data[4] = (uint8_t) t_c;
01433     temp_msg.data[5] = (uint8_t) (t_c >> 8);
01434     temp_msg.data[6] = (uint8_t) t_d;
01435     temp_msg.data[7] = (uint8_t) (t_d >> 8);
01436 
01437 
01438     can.write(temp_msg);
01439 }