make_can_msg.cpp

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#include "make_can_msg.h"
 
void make_can_msg::readPIDParameters(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_READ_PID_PARAMETERS;
}
 
void make_can_msg::writePIDParametersToRAM(unsigned char* _can_message, 
    unsigned char _k_p_position, 
    unsigned char _k_i_position, 
    unsigned char _k_p_speed, 
    unsigned char _k_i_speed,
    unsigned char _k_p_torque,
    unsigned char _k_i_torque)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_WRITE_PID_PARAMETERS_TO_RAM;
    _can_message[2] = _k_p_position;
    _can_message[3] = _k_i_position;
    _can_message[4] = _k_p_speed;
    _can_message[5] = _k_i_speed;
    _can_message[6] = _k_p_torque;
    _can_message[7] = _k_i_torque;
}
 
void make_can_msg::writePIDParametersToROM(unsigned char* _can_message, 
    unsigned char _k_p_position, 
    unsigned char _k_i_position, 
    unsigned char _k_p_speed, 
    unsigned char _k_i_speed,
    unsigned char _k_p_torque,
    unsigned char _k_i_torque)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_WRITE_PID_PARAMETERS_TO_ROM;
    _can_message[2] = _k_p_position;
    _can_message[3] = _k_i_position;
    _can_message[4] = _k_p_speed;
    _can_message[5] = _k_i_speed;
    _can_message[6] = _k_p_torque;
    _can_message[7] = _k_i_torque;
}
 
void make_can_msg::readAcceleration(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_READ_ACCELERATION;
}
 
void make_can_msg::writeAccelerationToRAM(unsigned char* _can_message, int32_t _acceleration)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_WRITE_ACCELERATION_TO_RAM;
    _can_message[4] = *(uint8_t *)(&_acceleration);
    _can_message[5] = *((uint8_t *)(&_acceleration) + 1);
    _can_message[6] = *((uint8_t *)(&_acceleration) + 2);
    _can_message[7] = *((uint8_t *)(&_acceleration) + 3);
}
 
void make_can_msg::readEncoderPosition(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_READ_ENCODER_POSITION;
}
 
void make_can_msg::writeEncoderPositionOffset(unsigned char* _can_message, uint16_t _encoder_offset)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_WRITE_ENCODER_POSITION_OFFSET;
    _can_message[6] = *(uint8_t *)(&_encoder_offset);
    _can_message[7] = *((uint8_t *)(&_encoder_offset) + 1);
}
 
void make_can_msg::writeCurrentPositionToROM(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_WRITE_CURRENT_POSITION_TO_ROM;
}
 
void make_can_msg::readMultiTurnAngle(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_READ_MULTI_TURN_ANGLE;
}
 
void make_can_msg::readCircleTurnAngle(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_READ_SINGLE_CIRCLE_COMMAND;
}
 
void make_can_msg::motorOff(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_MOTOR_OFF;
}
 
void make_can_msg::motorStop(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_MOTOR_STOP;
}
void make_can_msg::motorRunning(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_MOTOR_RUNNING;
}
 
void make_can_msg::readMotorStatus1AndErrorFlag(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_READ_MOTOR_STATUS_1_AND_ERROR_FLAG;
}
 
void make_can_msg::clearMotorErrorFlag(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_CLEAR_MOTOR_ERROR_FLAG;
}
 
void make_can_msg::readMotorStatus2(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_READ_MOTOR_STATUS_2;
}
 
void make_can_msg::readMotorStatus3(unsigned char* _can_message)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_READ_MOTOR_STATUS_3;
}
 
void make_can_msg::torqueCurrentControl(unsigned char* _can_message, int16_t _torque_current)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_TORQUE_CLOSED_LOOP;
    _can_message[4] = *(uint8_t *)(&_torque_current);
    _can_message[5] = *((uint8_t *)(&_torque_current) + 1);
}
 
void make_can_msg::speedControl(unsigned char* _can_message, int32_t _speed)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_SPEED_CLOSED_LOOP;
    _can_message[4] = *(uint8_t *)(&_speed);
    _can_message[5] = *((uint8_t *)(&_speed) + 1);
    _can_message[6] = *((uint8_t *)(&_speed) + 2);
    _can_message[7] = *((uint8_t *)(&_speed) + 3);
}
 
void make_can_msg::positionControl1(unsigned char* _can_message, int32_t _multiturn_angle)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_POSITION_CLOSED_LOOP_1;
    _can_message[4] = *(uint8_t *)(&_multiturn_angle);
    _can_message[5] = *((uint8_t *)(&_multiturn_angle) + 1);
    _can_message[6] = *((uint8_t *)(&_multiturn_angle) + 2);
    _can_message[7] = *((uint8_t *)(&_multiturn_angle) + 3);
}
 
void make_can_msg::positionControl2(unsigned char* _can_message, int32_t _multiturn_angle, uint16_t _max_speed)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_POSITION_CLOSED_LOOP_2;
    _can_message[2] = *(uint8_t *)(&_max_speed);
    _can_message[3] = *((uint8_t *)(&_max_speed) + 1);
    _can_message[4] = *(uint8_t *)(&_multiturn_angle);
    _can_message[5] = *((uint8_t *)(&_multiturn_angle) + 1); 
    _can_message[6] = *((uint8_t *)(&_multiturn_angle) + 2); 
    _can_message[7] = *((uint8_t *)(&_multiturn_angle) + 3);   
}
 
void make_can_msg::positionControl3(unsigned char* _can_message, uint16_t _singleturn_angle, uint8_t _spin_direction)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_POSITION_CLOSED_LOOP_3;
    _can_message[1] = _spin_direction;
    _can_message[4] = *(uint8_t *)(&_singleturn_angle);
    _can_message[5] = *((uint8_t *)(&_singleturn_angle) + 1);
}
 
void make_can_msg::positionControl4(unsigned char* _can_message, uint16_t _single_turn_angle, uint8_t _spin_direction, uint16_t _max_speed)
{
    emptyCanMessage(_can_message);
    _can_message[0] = MOTOR_COMMAND_POSITION_CLOSED_LOOP_4;
    _can_message[1] = _spin_direction;
    _can_message[2] = *(uint8_t *)(&_max_speed);
    _can_message[3] = *((uint8_t *)(&_max_speed) + 1);
    _can_message[4] = *(uint8_t *)(&_single_turn_angle);
    _can_message[5] = *((uint8_t *)(&_single_turn_angle) + 1);
}