HydraulicControlBoard_LIGHT_GJ - eeprom_test

Users » GiJeongKim » Code » HydraulicControlBoard_LIGHT_GJ

Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

main.cpp@58:2eade98630e2, 2020-03-09 (annotated)

Committer:: Lightvalve
Date:: Mon Mar 09 12:43:04 2020 +0000
Revision:: 58:2eade98630e2
Parent:: 57:f4819de54e7a
Child:: 59:0ad14153b58f

Integrated finish

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
Lightvalve	31:66738bfecec5	12	///191008////
Lightvalve	31:66738bfecec5	13
jobuuu	7:e9086c72bb22	14	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	15	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	16	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	17	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	18	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	19	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	20	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	21	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	22
Lightvalve	24:ef6e1092e9e6	23
jobuuu	7:e9086c72bb22	24	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	25	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	26	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	30	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	31	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	32
jobuuu	7:e9086c72bb22	33	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	34	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	35	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	36	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	37	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	38	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	39	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	43
jobuuu	7:e9086c72bb22	44	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	45	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	46	CANMessage msg;
Lightvalve	11:82d8768d7351	47	void onMsgReceived()
Lightvalve	11:82d8768d7351	48	{
Lightvalve	11:82d8768d7351	49	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
jobuuu	7:e9086c72bb22	52	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	53	State pos;
jobuuu	7:e9086c72bb22	54	State vel;
jobuuu	7:e9086c72bb22	55	State Vout;
jobuuu	7:e9086c72bb22	56	State torq;
jobuuu	7:e9086c72bb22	57	State pres_A;
jobuuu	7:e9086c72bb22	58	State pres_B;
jobuuu	7:e9086c72bb22	59	State cur;
Lightvalve	14:8e7590227d22	60	State valve_pos;
Lightvalve	14:8e7590227d22	61
Lightvalve	14:8e7590227d22	62	State INIT_Vout;
Lightvalve	14:8e7590227d22	63	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	64	State INIT_Pos;
Lightvalve	14:8e7590227d22	65	State INIT_torq;
jobuuu	5:a4319f79457b	66
Lightvalve	19:23b7c1ad8683	67	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	68	extern int CID_RX_REF_POSITION;
Lightvalve	49:e7bcfc244d40	69	extern int CID_RX_REF_VALVE_POS;
Lightvalve	45:35fa6884d0c6	70	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	71
Lightvalve	19:23b7c1ad8683	72	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	73	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	74	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	75	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	76	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	77	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	78
jobuuu	7:e9086c72bb22	79	// =============================================================================
jobuuu	7:e9086c72bb22	80	// =============================================================================
jobuuu	7:e9086c72bb22	81	// =============================================================================
jobuuu	7:e9086c72bb22	82
Lightvalve	12:6f2531038ea4	83	/*******************************************************************************
Lightvalve	12:6f2531038ea4	84	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	85	******************************************************************************/
Lightvalve	13:747daba9cf59	86	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	87	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	88	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	89	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	90	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	91	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	92	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	93	};
Lightvalve	12:6f2531038ea4	94
Lightvalve	12:6f2531038ea4	95	/*******************************************************************************
Lightvalve	12:6f2531038ea4	96	* CONTROL MODE
Lightvalve	12:6f2531038ea4	97	******************************************************************************/
Lightvalve	13:747daba9cf59	98	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	99	//control mode
Lightvalve	12:6f2531038ea4	100	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	101	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	102	MODE_JOINT_CONTROL, //2
Lightvalve	50:3c630b5eba9f	103
Lightvalve	47:fdcb8bd86fd6	104	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	12:6f2531038ea4	105	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	106	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	107
Lightvalve	12:6f2531038ea4	108	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	109	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	110	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	111
Lightvalve	12:6f2531038ea4	112	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	113	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	114
Lightvalve	14:8e7590227d22	115	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	116	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	117	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	//utility
Lightvalve	12:6f2531038ea4	120	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	121	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	122	MODE_FIND_HOME, //22
Lightvalve	57:f4819de54e7a	123	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	124	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	125	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	126	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	127
Lightvalve	12:6f2531038ea4	128	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	129	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	130	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	57:f4819de54e7a	131	MODE_SYSTEM_ID, //33
Lightvalve	12:6f2531038ea4	132	};
Lightvalve	12:6f2531038ea4	133
GiJeongKim	0:51c43836c1d7	134	int main()
GiJeongKim	0:51c43836c1d7	135	{
jobuuu	6:df07d3491e3a	136	/*********************************
jobuuu	1:e04e563be5ce	137	*** Initialization
jobuuu	6:df07d3491e3a	138	*********************************/
Lightvalve	57:f4819de54e7a	139	LED = 1;
Lightvalve	19:23b7c1ad8683	140	//pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	141
GiJeongKim	0:51c43836c1d7	142	// i2c init
Lightvalve	8:5d2eebdad025	143	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	144	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	145	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	146	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	147	make_delay();
jobuuu	2:a1c0a37df760	148
GiJeongKim	0:51c43836c1d7	149	// // spi init
Lightvalve	16:903b5a4433b4	150	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	151	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	152	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	153	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	154	make_delay();
Lightvalve	21:e5f1a43ea6f9	155
Lightvalve	16:903b5a4433b4	156	//rom
Lightvalve	19:23b7c1ad8683	157	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	158	make_delay();
Lightvalve	13:747daba9cf59	159
GiJeongKim	0:51c43836c1d7	160	// ADC init
jobuuu	5:a4319f79457b	161	Init_ADC();
Lightvalve	11:82d8768d7351	162	make_delay();
jobuuu	2:a1c0a37df760	163
GiJeongKim	0:51c43836c1d7	164	// Pwm init
GiJeongKim	0:51c43836c1d7	165	Init_PWM();
GiJeongKim	0:51c43836c1d7	166	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	167	make_delay();
Lightvalve	13:747daba9cf59	168
Lightvalve	11:82d8768d7351	169	// TMR3 init
Lightvalve	11:82d8768d7351	170	Init_TMR3();
Lightvalve	11:82d8768d7351	171	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	172	make_delay();
Lightvalve	21:e5f1a43ea6f9	173
Lightvalve	50:3c630b5eba9f	174	// TMR2 init
Lightvalve	56:6f50d9d3bfee	175	// Init_TMR2();
Lightvalve	56:6f50d9d3bfee	176	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	56:6f50d9d3bfee	177	// make_delay();
Lightvalve	21:e5f1a43ea6f9	178
GiJeongKim	0:51c43836c1d7	179	// CAN
jobuuu	2:a1c0a37df760	180	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	181	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	182	make_delay();
Lightvalve	34:bb2ca2fc2a8e	183
Lightvalve	23:59218d4a256d	184	//Timer priority
Lightvalve	23:59218d4a256d	185	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	57:f4819de54e7a	186	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	54:647072f5307a	187	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	188
Lightvalve	23:59218d4a256d	189	//can.reset();
Lightvalve	19:23b7c1ad8683	190	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	191
GiJeongKim	0:51c43836c1d7	192	// spi _ enc
GiJeongKim	0:51c43836c1d7	193	spi_enc_set_init();
Lightvalve	11:82d8768d7351	194	make_delay();
Lightvalve	13:747daba9cf59	195
Lightvalve	11:82d8768d7351	196	//DAC init
Lightvalve	58:2eade98630e2	197	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	198	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	58:2eade98630e2	199	dac_2 = 0.0f;
Lightvalve	58:2eade98630e2	200	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	201	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	58:2eade98630e2	202	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	58:2eade98630e2	203	}
Lightvalve	11:82d8768d7351	204	make_delay();
Lightvalve	13:747daba9cf59	205
Lightvalve	19:23b7c1ad8683	206	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	207	if(i%2==0)
Lightvalve	38:118df027d851	208	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	209	else
Lightvalve	38:118df027d851	210	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	211	}
Lightvalve	58:2eade98630e2	212
jobuuu	6:df07d3491e3a	213	/************************************
jobuuu	1:e04e563be5ce	214	*** Program is operating!
jobuuu	6:df07d3491e3a	215	*************************************/
GiJeongKim	0:51c43836c1d7	216	while(1) {
Lightvalve	57:f4819de54e7a	217	if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve	17:1865016ca2e7	218	//i2c
Lightvalve	17:1865016ca2e7	219	read_field(i2c_slave_addr1);
Lightvalve	17:1865016ca2e7	220	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	57:f4819de54e7a	221	// if(LED==1) {
Lightvalve	57:f4819de54e7a	222	// LED=0;
Lightvalve	57:f4819de54e7a	223	// } else
Lightvalve	57:f4819de54e7a	224	// LED = 1;
Lightvalve	17:1865016ca2e7	225	timer_while = 0;
Lightvalve	17:1865016ca2e7	226	}
Lightvalve	17:1865016ca2e7	227	timer_while ++;
GiJeongKim	0:51c43836c1d7	228	}
jobuuu	1:e04e563be5ce	229	}
jobuuu	1:e04e563be5ce	230
Lightvalve	33:91b17819ec30	231	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	232	{
Lightvalve	14:8e7590227d22	233
Lightvalve	13:747daba9cf59	234	int i = 0;
Lightvalve	48:889798ff9329	235	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	236	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	237	if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve	14:8e7590227d22	238	if(i==0) {
Lightvalve	50:3c630b5eba9f	239	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	240	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	241	} else {
Lightvalve	57:f4819de54e7a	242	Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve	38:118df027d851	243	}
Lightvalve	14:8e7590227d22	244	} else {
Lightvalve	50:3c630b5eba9f	245	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	57:f4819de54e7a	246	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	247	} else {
Lightvalve	57:f4819de54e7a	248	Ref_Valve_Pos_FF = ((float) 10(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve	38:118df027d851	249	}
Lightvalve	13:747daba9cf59	250	}
Lightvalve	13:747daba9cf59	251	break;
Lightvalve	13:747daba9cf59	252	}
Lightvalve	13:747daba9cf59	253	}
Lightvalve	14:8e7590227d22	254	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	255	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	256	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	257	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	258	}
Lightvalve	36:a46e63505ed8	259
Lightvalve	57:f4819de54e7a	260	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	261	return Ref_Valve_Pos_FF;
Lightvalve	50:3c630b5eba9f	262
Lightvalve	13:747daba9cf59	263	}
jobuuu	6:df07d3491e3a	264
jobuuu	6:df07d3491e3a	265
Lightvalve	30:8d561f16383b	266	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	267	{
Lightvalve	13:747daba9cf59	268	int i = 0;
Lightvalve	13:747daba9cf59	269
Lightvalve	38:118df027d851	270	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	271	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	272	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	273	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	274	}
Lightvalve	38:118df027d851	275
Lightvalve	13:747daba9cf59	276	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	277	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	278	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	279	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	280	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	281	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	282
Lightvalve	13:747daba9cf59	283	VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve	14:8e7590227d22	284
Lightvalve	18:b8adf1582ea3	285	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	286	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	287	if(i==0) {
Lightvalve	48:889798ff9329	288	VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	289	} else {
Lightvalve	48:889798ff9329	290	VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	291	}
Lightvalve	13:747daba9cf59	292	break;
Lightvalve	13:747daba9cf59	293	}
Lightvalve	13:747daba9cf59	294	}
Lightvalve	50:3c630b5eba9f	295	V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	296	}
Lightvalve	13:747daba9cf59	297
Lightvalve	14:8e7590227d22	298	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	299	float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve	34:bb2ca2fc2a8e	300	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	301	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	302	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	303	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	304	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	305	}; // duty
Lightvalve	30:8d561f16383b	306	float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve	34:bb2ca2fc2a8e	307	-196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve	34:bb2ca2fc2a8e	308	-156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	309	12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve	34:bb2ca2fc2a8e	310	173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve	34:bb2ca2fc2a8e	311	214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve	34:bb2ca2fc2a8e	312	}; // mV
Lightvalve	13:747daba9cf59	313
Lightvalve	30:8d561f16383b	314	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	315	{
Lightvalve	30:8d561f16383b	316	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	317	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	318	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	319	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	320	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	321	} else {
Lightvalve	13:747daba9cf59	322	int idx = 0;
Lightvalve	13:747daba9cf59	323	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	324	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	325	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	326	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	327	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	328	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	329	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	330	break;
Lightvalve	13:747daba9cf59	331	}
Lightvalve	13:747daba9cf59	332	}
Lightvalve	13:747daba9cf59	333	}
Lightvalve	14:8e7590227d22	334
Lightvalve	13:747daba9cf59	335	return PWM_duty;
Lightvalve	13:747daba9cf59	336	}
jobuuu	6:df07d3491e3a	337
Lightvalve	57:f4819de54e7a	338
Lightvalve	57:f4819de54e7a	339
Lightvalve	57:f4819de54e7a	340
Lightvalve	57:f4819de54e7a	341
jobuuu	2:a1c0a37df760	342	/*******************************************************************************
jobuuu	2:a1c0a37df760	343	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	344	*******************************************************************************/
jobuuu	2:a1c0a37df760	345
Lightvalve	51:b46bed7fec80	346	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	347	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	348	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	349	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	350	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	351	{
Lightvalve	19:23b7c1ad8683	352	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	353
Lightvalve	21:e5f1a43ea6f9	354	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	355	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	356	********************************************************/
Lightvalve	13:747daba9cf59	357
Lightvalve	57:f4819de54e7a	358	//Encoder
Lightvalve	57:f4819de54e7a	359	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	360	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	361	}
Lightvalve	58:2eade98630e2	362
Lightvalve	58:2eade98630e2	363	ADC1->CR2 \|= 0x40000000;
Lightvalve	58:2eade98630e2	364	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	365	// Torque Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	366	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	58:2eade98630e2	367	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	58:2eade98630e2	368	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	58:2eade98630e2	369	torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	17:1865016ca2e7	370
Lightvalve	58:2eade98630e2	371	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	372	// Pressure Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	373	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	58:2eade98630e2	374	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	58:2eade98630e2	375	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	58:2eade98630e2	376	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	58:2eade98630e2	377	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	58:2eade98630e2	378	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	58:2eade98630e2	379	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	380
Lightvalve	58:2eade98630e2	381	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	58:2eade98630e2	382	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve	58:2eade98630e2	383	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	58:2eade98630e2	384	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve	58:2eade98630e2	385	}
Lightvalve	58:2eade98630e2	386	}
Lightvalve	58:2eade98630e2	387
Lightvalve	58:2eade98630e2	388	// //Pressure sensor A
Lightvalve	58:2eade98630e2	389	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	58:2eade98630e2	390	// //while((ADC1->SR & 0b10));
Lightvalve	58:2eade98630e2	391	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	392	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	58:2eade98630e2	393	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	58:2eade98630e2	394	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve	58:2eade98630e2	395	//
Lightvalve	58:2eade98630e2	396	//
Lightvalve	58:2eade98630e2	397	// //Pressure sensor B
Lightvalve	58:2eade98630e2	398	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	399	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	58:2eade98630e2	400	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	58:2eade98630e2	401	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	402
Lightvalve	17:1865016ca2e7	403
Lightvalve	21:e5f1a43ea6f9	404	//Current
Lightvalve	21:e5f1a43ea6f9	405	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	406	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	407	//while((ADC3->SR & 0b10));
Lightvalve	51:b46bed7fec80	408	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	409	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	410	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	411	//cur.sen = raw_cur;
Lightvalve	58:2eade98630e2	412
Lightvalve	57:f4819de54e7a	413	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	414	}
Lightvalve	11:82d8768d7351	415	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	416	}
Lightvalve	19:23b7c1ad8683	417
Lightvalve	19:23b7c1ad8683	418
Lightvalve	18:b8adf1582ea3	419	int j =0;
Lightvalve	54:647072f5307a	420	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	421	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	422	int cnt_trans = 0;
Lightvalve	48:889798ff9329	423	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	424	int can_rest =0;
Lightvalve	48:889798ff9329	425
Lightvalve	11:82d8768d7351	426	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	427	{
Lightvalve	19:23b7c1ad8683	428	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	429
Lightvalve	57:f4819de54e7a	430	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	431	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	432	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	433	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	434	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	435	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	436	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	437	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	438	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	439	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	440	}
Lightvalve	50:3c630b5eba9f	441
Lightvalve	50:3c630b5eba9f	442	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	443	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	444	cnt_trans++;
Lightvalve	46:2694daea349b	445	torq.err_sum = 0;
Lightvalve	48:889798ff9329	446	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	447	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	448	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	449	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	450	cnt_trans++;
Lightvalve	46:2694daea349b	451	torq.err_sum = 0;
Lightvalve	48:889798ff9329	452	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	453	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	454	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	58:2eade98630e2	455	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	456	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	457	} else {
Lightvalve	58:2eade98630e2	458	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	459	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	460	}
Lightvalve	45:35fa6884d0c6	461
Lightvalve	50:3c630b5eba9f	462
Lightvalve	57:f4819de54e7a	463	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	464	int CONTROL_MODE = 0;
Lightvalve	58:2eade98630e2	465
Lightvalve	57:f4819de54e7a	466	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	467	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	468	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	469	} else {
Lightvalve	57:f4819de54e7a	470	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	471	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	472	}
Lightvalve	56:6f50d9d3bfee	473
Lightvalve	56:6f50d9d3bfee	474
Lightvalve	56:6f50d9d3bfee	475
Lightvalve	57:f4819de54e7a	476	// UTILITY MODE ------------------------------------------------------------
Lightvalve	56:6f50d9d3bfee	477
Lightvalve	57:f4819de54e7a	478	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	479	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	480	break;
Lightvalve	13:747daba9cf59	481	}
Lightvalve	14:8e7590227d22	482
Lightvalve	14:8e7590227d22	483	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	484	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	485	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	486	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	487
Lightvalve	14:8e7590227d22	488	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	489	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	490	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	491
Lightvalve	43:b084e5f5d0d5	492	TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	493
Lightvalve	30:8d561f16383b	494	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	13:747daba9cf59	495	if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve	50:3c630b5eba9f	496
Lightvalve	16:903b5a4433b4	497	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	498	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	499	}
Lightvalve	13:747daba9cf59	500	} else {
Lightvalve	58:2eade98630e2	501	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	502	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	503	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	504	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	505
Lightvalve	16:903b5a4433b4	506	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	507
Lightvalve	30:8d561f16383b	508	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	509
Lightvalve	13:747daba9cf59	510	}
Lightvalve	14:8e7590227d22	511	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	512	break;
Lightvalve	19:23b7c1ad8683	513	}
Lightvalve	14:8e7590227d22	514
Lightvalve	50:3c630b5eba9f	515	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	516	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	517	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	518	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	519	// }
Lightvalve	50:3c630b5eba9f	520	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	521	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	522	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	523	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	524	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	525	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	526	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	527	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	528	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	529	// }
Lightvalve	50:3c630b5eba9f	530	//
Lightvalve	50:3c630b5eba9f	531	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	532	// V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	50:3c630b5eba9f	533	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	534	//
Lightvalve	50:3c630b5eba9f	535	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	536	// V_out = 0;
Lightvalve	50:3c630b5eba9f	537	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	538	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	539	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	540	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	541	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	542	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	543	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	544	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	545	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	546	//
Lightvalve	50:3c630b5eba9f	547	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	548	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	549	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	550	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	551	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	552	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	553	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	554	//
Lightvalve	50:3c630b5eba9f	555	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	556	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	557	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	558	// } else {
Lightvalve	50:3c630b5eba9f	559	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	560	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	561	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	562	// }
Lightvalve	50:3c630b5eba9f	563	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	564	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	565	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	566	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	567	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	568	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	569	// }
Lightvalve	50:3c630b5eba9f	570	// } else {
Lightvalve	50:3c630b5eba9f	571	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	572	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	573	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	574	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	575	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	576	// }
Lightvalve	50:3c630b5eba9f	577	// V_out = 0;
Lightvalve	50:3c630b5eba9f	578	//
Lightvalve	50:3c630b5eba9f	579	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	580	//
Lightvalve	50:3c630b5eba9f	581	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	582	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	583	//
Lightvalve	50:3c630b5eba9f	584	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	585	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	586	// }
Lightvalve	50:3c630b5eba9f	587	// }
Lightvalve	50:3c630b5eba9f	588	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	589	// break;
Lightvalve	50:3c630b5eba9f	590	// }
Lightvalve	14:8e7590227d22	591
Lightvalve	14:8e7590227d22	592	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	593	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	594	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	595	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	596	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	29:69f3f5445d6d	597	pos.ref_home_pos = pos.sen;
Lightvalve	30:8d561f16383b	598	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	599	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	600	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	29:69f3f5445d6d	601	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	29:69f3f5445d6d	602	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	603	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	604	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	605	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	606	}
Lightvalve	29:69f3f5445d6d	607	cnt_findhome++;
Lightvalve	14:8e7590227d22	608
Lightvalve	29:69f3f5445d6d	609	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	610	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	611	} else {
Lightvalve	29:69f3f5445d6d	612	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	613	}
Lightvalve	19:23b7c1ad8683	614
Lightvalve	57:f4819de54e7a	615	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	616	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	30:8d561f16383b	617	if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve	30:8d561f16383b	618	else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve	29:69f3f5445d6d	619	pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	30:8d561f16383b	620	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	50:3c630b5eba9f	621	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	57:f4819de54e7a	622	valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	29:69f3f5445d6d	623	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	624
Lightvalve	30:8d561f16383b	625	//float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	626	//I_REF = 0.04fwn_Pos((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve	29:69f3f5445d6d	627	//// L velocity >> mA convert
Lightvalve	30:8d561f16383b	628	//if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve	30:8d561f16383b	629	//if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve	29:69f3f5445d6d	630	//FLAG_CURRNET_CONTROL = true;
Lightvalve	29:69f3f5445d6d	631	} else {
Lightvalve	29:69f3f5445d6d	632	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	29:69f3f5445d6d	633	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	634	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	635	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	636	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	637	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	638	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	639	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	640	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	641	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	29:69f3f5445d6d	642	}
Lightvalve	29:69f3f5445d6d	643	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	644	int T_move = 2*TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	645	pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)0.5f(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve	30:8d561f16383b	646	vel.ref_home_pos = 0.0f;
Lightvalve	19:23b7c1ad8683	647
Lightvalve	29:69f3f5445d6d	648	// input for position control
Lightvalve	40:3f2c0619c8c4	649	pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve	30:8d561f16383b	650	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	50:3c630b5eba9f	651	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	57:f4819de54e7a	652	valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	29:69f3f5445d6d	653	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	654
Lightvalve	29:69f3f5445d6d	655	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	656	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	657	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	658	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	659	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	660	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	661	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	662	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	663	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	664	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	665	}
Lightvalve	13:747daba9cf59	666	}
Lightvalve	19:23b7c1ad8683	667
Lightvalve	13:747daba9cf59	668	break;
Lightvalve	13:747daba9cf59	669	}
Lightvalve	14:8e7590227d22	670
Lightvalve	50:3c630b5eba9f	671	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	672	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	673	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	674	// else {
Lightvalve	50:3c630b5eba9f	675	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	676	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	677	// }
Lightvalve	50:3c630b5eba9f	678	// }
Lightvalve	50:3c630b5eba9f	679	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	680	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	681	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	682	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	683	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	684	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	685	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	686	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	687	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	688	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	689	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	690	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	691	// }
Lightvalve	50:3c630b5eba9f	692	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	693	// }
Lightvalve	50:3c630b5eba9f	694	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	695	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	696	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	697	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	698	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	699	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	700	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	701	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	702	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	703	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	50:3c630b5eba9f	704	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	705	// }
Lightvalve	50:3c630b5eba9f	706	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	707	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	708	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	709	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	710	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	711	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	712	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	50:3c630b5eba9f	713	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	50:3c630b5eba9f	714	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	715	// }
Lightvalve	50:3c630b5eba9f	716	// }
Lightvalve	50:3c630b5eba9f	717	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	718	//
Lightvalve	50:3c630b5eba9f	719	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	720	//
Lightvalve	50:3c630b5eba9f	721	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	722	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	723	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	724	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	725	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	726	// }
Lightvalve	50:3c630b5eba9f	727	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	728	// V_out = 0;
Lightvalve	50:3c630b5eba9f	729	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	730	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	731	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	732	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	733	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	734	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	735	// }
Lightvalve	50:3c630b5eba9f	736	//
Lightvalve	50:3c630b5eba9f	737	// }
Lightvalve	50:3c630b5eba9f	738	// break;
Lightvalve	50:3c630b5eba9f	739	// }
Lightvalve	50:3c630b5eba9f	740	//
Lightvalve	50:3c630b5eba9f	741	// }
Lightvalve	14:8e7590227d22	742	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	743	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	744	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	745	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	746	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	747
Lightvalve	14:8e7590227d22	748	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	749	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	750	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	751	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	752	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	753
Lightvalve	38:118df027d851	754	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	755	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	756	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	757
Lightvalve	30:8d561f16383b	758	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	759	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	760	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	761	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	762
Lightvalve	30:8d561f16383b	763	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	764	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	765	}
Lightvalve	13:747daba9cf59	766	} else {
Lightvalve	57:f4819de54e7a	767	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	768	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	769	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	770	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	771	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	772	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	773
Lightvalve	16:903b5a4433b4	774	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	775
Lightvalve	30:8d561f16383b	776	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	777	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	778	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	779	}
Lightvalve	14:8e7590227d22	780	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	781	break;
Lightvalve	13:747daba9cf59	782	}
Lightvalve	14:8e7590227d22	783
Lightvalve	50:3c630b5eba9f	784	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	785	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	786	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	787	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	788	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	789	// }
Lightvalve	50:3c630b5eba9f	790	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	791	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	792	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	793	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	794	// }
Lightvalve	50:3c630b5eba9f	795	// } else {
Lightvalve	50:3c630b5eba9f	796	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	797	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	798	// V_out = 0;
Lightvalve	50:3c630b5eba9f	799	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	800	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	801	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	802	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	803	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	804	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	805	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	806	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	807	//
Lightvalve	50:3c630b5eba9f	808	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	809	//
Lightvalve	50:3c630b5eba9f	810	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	811	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	812	// }
Lightvalve	50:3c630b5eba9f	813	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	814	// break;
Lightvalve	50:3c630b5eba9f	815	// }
Lightvalve	19:23b7c1ad8683	816
Lightvalve	50:3c630b5eba9f	817	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	818	// if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve	50:3c630b5eba9f	819	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	820	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	821	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	822	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	823	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	824	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	825	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	826	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	827	// }
Lightvalve	50:3c630b5eba9f	828	// break;
Lightvalve	50:3c630b5eba9f	829	// }
Lightvalve	14:8e7590227d22	830
Lightvalve	14:8e7590227d22	831	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	13:747daba9cf59	832	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	833
Lightvalve	14:8e7590227d22	834	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	30:8d561f16383b	835	V_out = 3000.0f * sin(23.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	836	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	30:8d561f16383b	837	V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	838	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	839	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	840	data_num = 0;
Lightvalve	14:8e7590227d22	841	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	842	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	843	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	844	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	845	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	846	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	847	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	848	}
Lightvalve	14:8e7590227d22	849
Lightvalve	17:1865016ca2e7	850	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	851	int i;
Lightvalve	13:747daba9cf59	852	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	853	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	854	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	855	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	856	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	857	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	858	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	859	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	860	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	861	}
Lightvalve	13:747daba9cf59	862	}
Lightvalve	27:a2254a485f23	863	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	864	ID_index = 0;
Lightvalve	57:f4819de54e7a	865	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	866	}
Lightvalve	14:8e7590227d22	867
Lightvalve	14:8e7590227d22	868
Lightvalve	13:747daba9cf59	869	break;
Lightvalve	13:747daba9cf59	870	}
Lightvalve	14:8e7590227d22	871
Lightvalve	14:8e7590227d22	872	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	14:8e7590227d22	873
Lightvalve	13:747daba9cf59	874	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	875	if(first_check == 0) {
Lightvalve	30:8d561f16383b	876	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	877	V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	878	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	879	V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	880	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	881	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	882	V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	883	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	884	V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	885	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	886	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	887	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	888	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	889	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	890	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	891	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	892	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	893	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	894	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	895	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	896	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	897	data_num = 0;
Lightvalve	14:8e7590227d22	898
Lightvalve	30:8d561f16383b	899	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	900	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	901	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	902
Lightvalve	30:8d561f16383b	903	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	904	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	905	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	906	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	907	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	908	else
Lightvalve	13:747daba9cf59	909	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	910	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	911	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	912	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	913	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	914
Lightvalve	14:8e7590227d22	915	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	916	DZ_case = 1;
Lightvalve	14:8e7590227d22	917	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	13:747daba9cf59	918	DZ_case = -1;
Lightvalve	14:8e7590227d22	919	} else {
Lightvalve	13:747daba9cf59	920	DZ_case = 0;
Lightvalve	13:747daba9cf59	921	}
Lightvalve	14:8e7590227d22	922
Lightvalve	49:e7bcfc244d40	923	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	924
Lightvalve	14:8e7590227d22	925	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	926	first_check = 1;
Lightvalve	13:747daba9cf59	927	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	928	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	929	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	930	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	931	DZ_index = 1;
Lightvalve	14:8e7590227d22	932
Lightvalve	13:747daba9cf59	933	}
Lightvalve	19:23b7c1ad8683	934	} else {
Lightvalve	14:8e7590227d22	935	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	936	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	937	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	938	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	939	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	940	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	941	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	942	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	943	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	944	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	945	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	946	}
Lightvalve	14:8e7590227d22	947	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	948	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	949	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	950	else
Lightvalve	13:747daba9cf59	951	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	952	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	953	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	954	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	955
Lightvalve	14:8e7590227d22	956	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	957	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	958	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	959	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	960	} else {
Lightvalve	13:747daba9cf59	961	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	962	}
Lightvalve	14:8e7590227d22	963
Lightvalve	14:8e7590227d22	964	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	965
Lightvalve	13:747daba9cf59	966	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	967	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	968	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	969	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	970	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	971	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	972	DZ_index = 1;
Lightvalve	13:747daba9cf59	973	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	974	}
Lightvalve	13:747daba9cf59	975	}
Lightvalve	14:8e7590227d22	976	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	977	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	978	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	979	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	980	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	981	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	982	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	983	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	984	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	985	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	986	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	987	}
Lightvalve	14:8e7590227d22	988	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	989	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	990	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	991	else
Lightvalve	13:747daba9cf59	992	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	993	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	994	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	995	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	996
Lightvalve	14:8e7590227d22	997	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	998	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	999	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1000	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1001	} else {
Lightvalve	13:747daba9cf59	1002	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1003	}
Lightvalve	14:8e7590227d22	1004
Lightvalve	14:8e7590227d22	1005	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1006
Lightvalve	14:8e7590227d22	1007
Lightvalve	13:747daba9cf59	1008	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1009	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1010	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1011	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1012	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1013	first_check = 0;
Lightvalve	33:91b17819ec30	1014	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1015	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1016
Lightvalve	16:903b5a4433b4	1017	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1018
Lightvalve	13:747daba9cf59	1019	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1020	DZ_index = 1;
Lightvalve	13:747daba9cf59	1021	}
Lightvalve	13:747daba9cf59	1022	}
Lightvalve	14:8e7590227d22	1023	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1024	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1025	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1026	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1027	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1028	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1029	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1030	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1031	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1032	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1033	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1034	}
Lightvalve	14:8e7590227d22	1035	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1036	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1037	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1038	else
Lightvalve	13:747daba9cf59	1039	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1040	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1041	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1042	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1043
Lightvalve	14:8e7590227d22	1044	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1045	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1046	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1047	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1048	} else {
Lightvalve	13:747daba9cf59	1049	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1050	}
Lightvalve	14:8e7590227d22	1051
Lightvalve	14:8e7590227d22	1052	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1053	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1054	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1055	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1056	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1057	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1058	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1059	DZ_index = 1;
Lightvalve	13:747daba9cf59	1060	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1061	}
Lightvalve	13:747daba9cf59	1062	}
Lightvalve	14:8e7590227d22	1063	} else {
Lightvalve	30:8d561f16383b	1064	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1065	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1066	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1067	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1068	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1069	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1070	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1071	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1072	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1073	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1074	}
Lightvalve	14:8e7590227d22	1075	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1076	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1077	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1078	else
Lightvalve	13:747daba9cf59	1079	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1080	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1081	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1082	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1083	if(VEL_POINT >= 0)
Lightvalve	13:747daba9cf59	1084	DZ_DIRECTION = -1;
Lightvalve	13:747daba9cf59	1085	else
Lightvalve	13:747daba9cf59	1086	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1087	if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	13:747daba9cf59	1088	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1089
Lightvalve	14:8e7590227d22	1090	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1091
Lightvalve	14:8e7590227d22	1092
Lightvalve	13:747daba9cf59	1093	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1094	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1095	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1096	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1097	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1098	first_check = 0;
Lightvalve	33:91b17819ec30	1099	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1100	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	34:bb2ca2fc2a8e	1101
Lightvalve	57:f4819de54e7a	1102	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1103	DZ_index = 1;
Lightvalve	13:747daba9cf59	1104	}
Lightvalve	13:747daba9cf59	1105	}
Lightvalve	13:747daba9cf59	1106	}
Lightvalve	14:8e7590227d22	1107	}
Lightvalve	13:747daba9cf59	1108	break;
Lightvalve	13:747daba9cf59	1109	}
Lightvalve	14:8e7590227d22	1110
Lightvalve	14:8e7590227d22	1111	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	13:747daba9cf59	1112	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1113	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1114	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1115	V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1116	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1117	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1118	V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1119	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1120	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1121	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1122	V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1123	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1124	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	49:e7bcfc244d40	1125	V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1126	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1127	first_check = 1;
Lightvalve	13:747daba9cf59	1128	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1129	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1130	ID_index = 0;
Lightvalve	13:747daba9cf59	1131	max_check = 0;
Lightvalve	13:747daba9cf59	1132	min_check = 0;
Lightvalve	13:747daba9cf59	1133	}
Lightvalve	14:8e7590227d22	1134	} else {
Lightvalve	30:8d561f16383b	1135	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1136	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1137	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1138	data_num = 0;
Lightvalve	57:f4819de54e7a	1139	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1140
Lightvalve	14:8e7590227d22	1141	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1142	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1143	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1144	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1145	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1146	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1147	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1148	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1149	one_period_end = 1;
Lightvalve	13:747daba9cf59	1150	}
Lightvalve	30:8d561f16383b	1151	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1152	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1153	one_period_end = 1;
Lightvalve	13:747daba9cf59	1154	}
Lightvalve	14:8e7590227d22	1155
Lightvalve	14:8e7590227d22	1156	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1157	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1158	max_check = 1;
Lightvalve	14:8e7590227d22	1159	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1160	min_check = 1;
Lightvalve	13:747daba9cf59	1161	}
Lightvalve	13:747daba9cf59	1162	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1163
Lightvalve	19:23b7c1ad8683	1164	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1165	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1166	one_period_end = 0;
Lightvalve	13:747daba9cf59	1167	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1168	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1169	}
Lightvalve	14:8e7590227d22	1170
Lightvalve	14:8e7590227d22	1171	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1172
Lightvalve	13:747daba9cf59	1173	VALVE_POS_NUM = ID_index;
Lightvalve	27:a2254a485f23	1174	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1175	ID_index = 0;
Lightvalve	13:747daba9cf59	1176	first_check = 0;
Lightvalve	13:747daba9cf59	1177	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1178	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1179	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1180	}
Lightvalve	13:747daba9cf59	1181	}
Lightvalve	13:747daba9cf59	1182	break;
Lightvalve	13:747daba9cf59	1183	}
Lightvalve	58:2eade98630e2	1184
Lightvalve	57:f4819de54e7a	1185	case MODE_SYSTEM_ID: {
Lightvalve	57:f4819de54e7a	1186	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	57:f4819de54e7a	1187	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1188	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1189	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1190	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1191	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1192	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1193	}
Lightvalve	57:f4819de54e7a	1194	break;
Lightvalve	57:f4819de54e7a	1195	}
Lightvalve	58:2eade98630e2	1196
Lightvalve	58:2eade98630e2	1197
Lightvalve	57:f4819de54e7a	1198
Lightvalve	57:f4819de54e7a	1199	default:
Lightvalve	57:f4819de54e7a	1200	break;
Lightvalve	57:f4819de54e7a	1201	}
Lightvalve	57:f4819de54e7a	1202
Lightvalve	57:f4819de54e7a	1203	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1204
Lightvalve	57:f4819de54e7a	1205	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1206	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1207	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1208	break;
Lightvalve	57:f4819de54e7a	1209	}
Lightvalve	57:f4819de54e7a	1210
Lightvalve	57:f4819de54e7a	1211	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	57:f4819de54e7a	1212	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	1213	I_REF = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1214	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	1215	V_out = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1216	} else { //SW Valve
Lightvalve	57:f4819de54e7a	1217	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	57:f4819de54e7a	1218	}
Lightvalve	58:2eade98630e2	1219
Lightvalve	57:f4819de54e7a	1220	break;
Lightvalve	57:f4819de54e7a	1221	}
Lightvalve	57:f4819de54e7a	1222
Lightvalve	57:f4819de54e7a	1223	case MODE_JOINT_CONTROL: {
Lightvalve	57:f4819de54e7a	1224	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1225	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	57:f4819de54e7a	1226	vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1227	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	57:f4819de54e7a	1228	torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1229
Lightvalve	57:f4819de54e7a	1230	// torque feedback
Lightvalve	58:2eade98630e2	1231	torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1232	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1233
Lightvalve	57:f4819de54e7a	1234	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1235
Lightvalve	57:f4819de54e7a	1236	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1237	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1238	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1239
Lightvalve	57:f4819de54e7a	1240	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1241	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1242	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1243
Lightvalve	57:f4819de54e7a	1244	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1245	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1246	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1247	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1248	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1249	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1250	}
Lightvalve	57:f4819de54e7a	1251	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1252	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1253
Lightvalve	57:f4819de54e7a	1254	// velocity compensation for torque control
Lightvalve	57:f4819de54e7a	1255	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1256	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1257	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve	57:f4819de54e7a	1258	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1259	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1260	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1261	I_REF_FORCE_FB = 0.001f * 0.01f((double) P_GAIN_JOINT_TORQUE torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve	57:f4819de54e7a	1262	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1263	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1264	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1265	}
Lightvalve	57:f4819de54e7a	1266	if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1267	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1268	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1269	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1270	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1271
Lightvalve	57:f4819de54e7a	1272	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	57:f4819de54e7a	1273
Lightvalve	57:f4819de54e7a	1274	} else {
Lightvalve	57:f4819de54e7a	1275	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	57:f4819de54e7a	1276
Lightvalve	57:f4819de54e7a	1277	VALVE_POS_RAW_FORCE_FB = alpha_trans(((float) P_GAIN_JOINT_TORQUE torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve	57:f4819de54e7a	1278	+ DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	57:f4819de54e7a	1279
Lightvalve	57:f4819de54e7a	1280	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	57:f4819de54e7a	1281	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1282	} else {
Lightvalve	57:f4819de54e7a	1283	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1284	}
Lightvalve	57:f4819de54e7a	1285
Lightvalve	57:f4819de54e7a	1286	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	57:f4819de54e7a	1287	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1288	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1289	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1290	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1291	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1292	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1293	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1294	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1295	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1296	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1297	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1298	}
Lightvalve	57:f4819de54e7a	1299	}
Lightvalve	57:f4819de54e7a	1300	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	57:f4819de54e7a	1301
Lightvalve	57:f4819de54e7a	1302	}
Lightvalve	58:2eade98630e2	1303
Lightvalve	57:f4819de54e7a	1304	break;
Lightvalve	57:f4819de54e7a	1305	}
Lightvalve	58:2eade98630e2	1306
Lightvalve	57:f4819de54e7a	1307	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1308	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1309	break;
Lightvalve	57:f4819de54e7a	1310	}
Lightvalve	14:8e7590227d22	1311
Lightvalve	12:6f2531038ea4	1312	default:
Lightvalve	12:6f2531038ea4	1313	break;
Lightvalve	12:6f2531038ea4	1314	}
Lightvalve	14:8e7590227d22	1315
Lightvalve	57:f4819de54e7a	1316
Lightvalve	57:f4819de54e7a	1317	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1318
Lightvalve	57:f4819de54e7a	1319	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1320	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1321	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1322	if (CURRENT_CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1323	double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1324	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1325
Lightvalve	57:f4819de54e7a	1326	I_ERR = I_REF_fil - cur.sen;
Lightvalve	57:f4819de54e7a	1327	I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
Lightvalve	57:f4819de54e7a	1328
Lightvalve	57:f4819de54e7a	1329
Lightvalve	57:f4819de54e7a	1330	// Moog Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1331	double R_model = 539.0f; // ohm
Lightvalve	57:f4819de54e7a	1332	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1333	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1334	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1335	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1336
Lightvalve	57:f4819de54e7a	1337	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1338	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1339	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1340	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1341	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1342	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1343	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1344	}
Lightvalve	57:f4819de54e7a	1345
Lightvalve	57:f4819de54e7a	1346	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1347
Lightvalve	57:f4819de54e7a	1348	VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
Lightvalve	57:f4819de54e7a	1349	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	57:f4819de54e7a	1350	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1351	I_REF_fil_old = I_REF_fil;
Lightvalve	57:f4819de54e7a	1352	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
Lightvalve	57:f4819de54e7a	1353	double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1354
Lightvalve	57:f4819de54e7a	1355	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1356	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1357	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1358	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1359	VALVE_PWM_RAW = V_MAX;
Lightvalve	57:f4819de54e7a	1360	I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve	57:f4819de54e7a	1361	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1362	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1363	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1364	VALVE_PWM_RAW = -V_MAX;
Lightvalve	57:f4819de54e7a	1365	I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve	57:f4819de54e7a	1366	}
Lightvalve	57:f4819de54e7a	1367	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1368	} else {
Lightvalve	57:f4819de54e7a	1369	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1370	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1371	}
Lightvalve	57:f4819de54e7a	1372
Lightvalve	57:f4819de54e7a	1373	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1374	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1375	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1376	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1377	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1378	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1379	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1380
Lightvalve	57:f4819de54e7a	1381	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1382
Lightvalve	57:f4819de54e7a	1383	} else {
Lightvalve	57:f4819de54e7a	1384	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1385	}
Lightvalve	57:f4819de54e7a	1386
Lightvalve	57:f4819de54e7a	1387	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1388	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	57:f4819de54e7a	1389	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	57:f4819de54e7a	1390
Lightvalve	57:f4819de54e7a	1391	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	57:f4819de54e7a	1392	if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
Lightvalve	57:f4819de54e7a	1393	else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
Lightvalve	57:f4819de54e7a	1394	else V_out = CUR_PWM_lin;
Lightvalve	57:f4819de54e7a	1395	}
Lightvalve	58:2eade98630e2	1396
Lightvalve	58:2eade98630e2	1397
Lightvalve	14:8e7590227d22	1398
jobuuu	7:e9086c72bb22	1399	/*******************************************************
jobuuu	7:e9086c72bb22	1400	*** PWM
jobuuu	7:e9086c72bb22	1401	********************************************************/
Lightvalve	49:e7bcfc244d40	1402	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1403	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1404	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1405	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1406	}
Lightvalve	49:e7bcfc244d40	1407	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1408
Lightvalve	19:23b7c1ad8683	1409	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1410	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1411	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1412
Lightvalve	30:8d561f16383b	1413	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1414	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1415	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1416	} else {
jobuuu	2:a1c0a37df760	1417	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1418	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1419	}
Lightvalve	13:747daba9cf59	1420
jobuuu	1:e04e563be5ce	1421	//pwm
Lightvalve	30:8d561f16383b	1422	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1423	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1424
Lightvalve	20:806196fda269	1425
Lightvalve	57:f4819de54e7a	1426	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1427
Lightvalve	54:647072f5307a	1428	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1429	if (flag_data_request[0] == HIGH) {
Lightvalve	57:f4819de54e7a	1430	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1431	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	1432	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
Lightvalve	54:647072f5307a	1433	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	1434	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
Lightvalve	54:647072f5307a	1435	}
Lightvalve	57:f4819de54e7a	1436	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1437	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	1438	CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen*10.0f));
Lightvalve	54:647072f5307a	1439	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	1440	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
Lightvalve	54:647072f5307a	1441	}
Lightvalve	52:8ea76864368a	1442	}
Lightvalve	52:8ea76864368a	1443	}
Lightvalve	56:6f50d9d3bfee	1444	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1445	//valve position
Lightvalve	54:647072f5307a	1446	double t_value = 0;
Lightvalve	57:f4819de54e7a	1447	// if(value>=(float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1448	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1449	// } else {
Lightvalve	57:f4819de54e7a	1450	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1451	// }
Lightvalve	58:2eade98630e2	1452	if(OPERATING_MODE==5) {
Lightvalve	57:f4819de54e7a	1453	t_value = (double) value;
Lightvalve	58:2eade98630e2	1454	} else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	57:f4819de54e7a	1455	t_value = cur.sen;
Lightvalve	58:2eade98630e2	1456	} else {
Lightvalve	57:f4819de54e7a	1457	t_value = V_out;
Lightvalve	54:647072f5307a	1458	}
Lightvalve	57:f4819de54e7a	1459	CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve	54:647072f5307a	1460	}
Lightvalve	58:2eade98630e2	1461
Lightvalve	58:2eade98630e2	1462
Lightvalve	56:6f50d9d3bfee	1463	if (flag_data_request[2] == HIGH) {
Lightvalve	56:6f50d9d3bfee	1464	//pressure A and B
Lightvalve	57:f4819de54e7a	1465	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve	55:b25725257569	1466	}
Lightvalve	58:2eade98630e2	1467
Lightvalve	57:f4819de54e7a	1468	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1469	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1470	;
Lightvalve	57:f4819de54e7a	1471	}
Lightvalve	58:2eade98630e2	1472
Lightvalve	56:6f50d9d3bfee	1473	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1474	//PWM
Lightvalve	57:f4819de54e7a	1475	CAN_TX_PWM((int16_t) cur.sen); //1500
Lightvalve	54:647072f5307a	1476	}
Lightvalve	57:f4819de54e7a	1477	//for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1478	// ;
Lightvalve	57:f4819de54e7a	1479	// }
Lightvalve	56:6f50d9d3bfee	1480	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1481	//valve position
Lightvalve	57:f4819de54e7a	1482	CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve	54:647072f5307a	1483	}
Lightvalve	20:806196fda269	1484
Lightvalve	54:647072f5307a	1485	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1486	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1487	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1488	// }
Lightvalve	54:647072f5307a	1489	//if (flag_delay_test == 1){
Lightvalve	58:2eade98630e2	1490	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1491	//}
Lightvalve	52:8ea76864368a	1492
Lightvalve	54:647072f5307a	1493	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1494	}
Lightvalve	54:647072f5307a	1495	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1496
Lightvalve	20:806196fda269	1497	}
Lightvalve	52:8ea76864368a	1498	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1499
Lightvalve	58:2eade98630e2	1500	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	20 Jul 2020
Imports:	1
Forks:	0
Commits:	69
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@58:2eade98630e2, 2020-03-09 (annotated)

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