Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

main.cpp@50:3c630b5eba9f, 2020-02-13 (annotated)

Committer:
Lightvalve
Date:
Thu Feb 13 05:16:15 2020 +0000
Revision:
50:3c630b5eba9f
Parent:
49:e7bcfc244d40
Child:
51:b46bed7fec80
20200213

Who changed what in which revision?

UserRevisionLine numberNew 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 30:8d561f16383b 67 float V_out=0.0f;
Lightvalve 30:8d561f16383b 68 float V_rem=0.0f; // for anti-windup
Lightvalve 30:8d561f16383b 69 float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 70
Lightvalve 30:8d561f16383b 71 float PWM_out=0.0f;
Lightvalve 12:6f2531038ea4 72
Lightvalve 17:1865016ca2e7 73 int timer_while = 0;
Lightvalve 17:1865016ca2e7 74 int while_index = 0;
Lightvalve 17:1865016ca2e7 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 78 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 79 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 80
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 87
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89 // =============================================================================
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91
Lightvalve 12:6f2531038ea4 92 /*******************************************************************************
Lightvalve 12:6f2531038ea4 93 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 94 ******************************************************************************/
Lightvalve 13:747daba9cf59 95 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 96 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 97 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 98 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 99 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 100 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 101 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 102 };
Lightvalve 12:6f2531038ea4 103
Lightvalve 12:6f2531038ea4 104 /*******************************************************************************
Lightvalve 12:6f2531038ea4 105 * CONTROL MODE
Lightvalve 12:6f2531038ea4 106 ******************************************************************************/
Lightvalve 13:747daba9cf59 107 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 108 //control mode
Lightvalve 12:6f2531038ea4 109 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 110 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 111 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 112
Lightvalve 47:fdcb8bd86fd6 113 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 114 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 122 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 123
Lightvalve 14:8e7590227d22 124 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 125 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 //utility
Lightvalve 12:6f2531038ea4 129 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 130 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 131 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 132 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 133 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 134 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 135 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 136
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 138 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 139 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 140 };
Lightvalve 12:6f2531038ea4 141
GiJeongKim 0:51c43836c1d7 142 int main()
GiJeongKim 0:51c43836c1d7 143 {
jobuuu 6:df07d3491e3a 144 /*********************************
jobuuu 1:e04e563be5ce 145 *** Initialization
jobuuu 6:df07d3491e3a 146 *********************************/
Lightvalve 19:23b7c1ad8683 147 //LED = 1;
Lightvalve 19:23b7c1ad8683 148 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 149
GiJeongKim 0:51c43836c1d7 150 // i2c init
Lightvalve 8:5d2eebdad025 151 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 152 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 153 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 154 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 155 make_delay();
jobuuu 2:a1c0a37df760 156
GiJeongKim 0:51c43836c1d7 157 // // spi init
Lightvalve 16:903b5a4433b4 158 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 159 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 160 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 161 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 162 make_delay();
Lightvalve 21:e5f1a43ea6f9 163
Lightvalve 16:903b5a4433b4 164 //rom
Lightvalve 19:23b7c1ad8683 165 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 166 make_delay();
Lightvalve 13:747daba9cf59 167
GiJeongKim 0:51c43836c1d7 168 // ADC init
jobuuu 5:a4319f79457b 169 Init_ADC();
Lightvalve 11:82d8768d7351 170 make_delay();
jobuuu 2:a1c0a37df760 171
GiJeongKim 0:51c43836c1d7 172 // Pwm init
GiJeongKim 0:51c43836c1d7 173 Init_PWM();
GiJeongKim 0:51c43836c1d7 174 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 175 make_delay();
Lightvalve 13:747daba9cf59 176
Lightvalve 11:82d8768d7351 177 // TMR3 init
Lightvalve 11:82d8768d7351 178 Init_TMR3();
Lightvalve 11:82d8768d7351 179 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 180 make_delay();
Lightvalve 21:e5f1a43ea6f9 181
Lightvalve 50:3c630b5eba9f 182 // TMR2 init
Lightvalve 23:59218d4a256d 183 Init_TMR2();
Lightvalve 23:59218d4a256d 184 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 20:806196fda269 185 make_delay();
Lightvalve 21:e5f1a43ea6f9 186
GiJeongKim 0:51c43836c1d7 187 // CAN
jobuuu 2:a1c0a37df760 188 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 189 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 190 make_delay();
Lightvalve 34:bb2ca2fc2a8e 191
Lightvalve 23:59218d4a256d 192 //Timer priority
Lightvalve 23:59218d4a256d 193 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 23:59218d4a256d 194 NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 195 NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve 34:bb2ca2fc2a8e 196
Lightvalve 23:59218d4a256d 197 //can.reset();
Lightvalve 19:23b7c1ad8683 198 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 199
GiJeongKim 0:51c43836c1d7 200 // spi _ enc
GiJeongKim 0:51c43836c1d7 201 spi_enc_set_init();
Lightvalve 11:82d8768d7351 202 make_delay();
Lightvalve 13:747daba9cf59 203
Lightvalve 11:82d8768d7351 204 //DAC init
Lightvalve 43:b084e5f5d0d5 205 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 206 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 207 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 208 dac_2 = 0.0f;
Lightvalve 11:82d8768d7351 209 make_delay();
Lightvalve 13:747daba9cf59 210
Lightvalve 19:23b7c1ad8683 211 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 212 if(i%2==0)
Lightvalve 38:118df027d851 213 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 214 else
Lightvalve 38:118df027d851 215 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 216 }
Lightvalve 13:747daba9cf59 217
jobuuu 6:df07d3491e3a 218 /************************************
jobuuu 1:e04e563be5ce 219 *** Program is operating!
jobuuu 6:df07d3491e3a 220 *************************************/
GiJeongKim 0:51c43836c1d7 221 while(1) {
Lightvalve 21:e5f1a43ea6f9 222 if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 223 //i2c
Lightvalve 17:1865016ca2e7 224 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 225 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 19:23b7c1ad8683 226 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 227 // LED=0;
Lightvalve 19:23b7c1ad8683 228 // } else
Lightvalve 19:23b7c1ad8683 229 // LED = 1;
Lightvalve 17:1865016ca2e7 230 timer_while = 0;
Lightvalve 17:1865016ca2e7 231 }
Lightvalve 17:1865016ca2e7 232 timer_while ++;
GiJeongKim 0:51c43836c1d7 233 }
jobuuu 1:e04e563be5ce 234 }
jobuuu 1:e04e563be5ce 235
Lightvalve 33:91b17819ec30 236 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 237 {
Lightvalve 14:8e7590227d22 238
Lightvalve 13:747daba9cf59 239 int i = 0;
Lightvalve 48:889798ff9329 240 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 241 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 242 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 243 if(i==0) {
Lightvalve 50:3c630b5eba9f 244 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 38:118df027d851 245 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 50:3c630b5eba9f 246 } else {
Lightvalve 38:118df027d851 247 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 38:118df027d851 248 }
Lightvalve 14:8e7590227d22 249 } else {
Lightvalve 50:3c630b5eba9f 250 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 50:3c630b5eba9f 251 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 50:3c630b5eba9f 252 } else {
Lightvalve 38:118df027d851 253 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])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 254 }
Lightvalve 13:747daba9cf59 255 }
Lightvalve 13:747daba9cf59 256 break;
Lightvalve 13:747daba9cf59 257 }
Lightvalve 13:747daba9cf59 258 }
Lightvalve 14:8e7590227d22 259 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 260 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 261 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 262 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 263 }
Lightvalve 36:a46e63505ed8 264
Lightvalve 45:35fa6884d0c6 265 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER);
Lightvalve 13:747daba9cf59 266 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 267
Lightvalve 13:747daba9cf59 268 }
jobuuu 6:df07d3491e3a 269
jobuuu 6:df07d3491e3a 270
Lightvalve 30:8d561f16383b 271 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 272 {
Lightvalve 13:747daba9cf59 273 int i = 0;
Lightvalve 13:747daba9cf59 274
Lightvalve 38:118df027d851 275 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 276 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 277 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 278 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 279 }
Lightvalve 38:118df027d851 280
Lightvalve 13:747daba9cf59 281 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 282 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 283 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 284 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 285 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 286 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 287
Lightvalve 13:747daba9cf59 288 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 289
Lightvalve 18:b8adf1582ea3 290 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 291 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 292 if(i==0) {
Lightvalve 48:889798ff9329 293 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 294 } else {
Lightvalve 48:889798ff9329 295 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 296 }
Lightvalve 13:747daba9cf59 297 break;
Lightvalve 13:747daba9cf59 298 }
Lightvalve 13:747daba9cf59 299 }
Lightvalve 50:3c630b5eba9f 300 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 301 }
Lightvalve 13:747daba9cf59 302
Lightvalve 14:8e7590227d22 303 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 304 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 305 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 306 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 307 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 308 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 309 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 310 }; // duty
Lightvalve 30:8d561f16383b 311 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 312 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 313 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 314 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 315 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 316 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 317 }; // mV
Lightvalve 13:747daba9cf59 318
Lightvalve 30:8d561f16383b 319 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 320 {
Lightvalve 30:8d561f16383b 321 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 322 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 323 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 324 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 325 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 326 } else {
Lightvalve 13:747daba9cf59 327 int idx = 0;
Lightvalve 13:747daba9cf59 328 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 329 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 330 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 331 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 332 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 333 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 334 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 335 break;
Lightvalve 13:747daba9cf59 336 }
Lightvalve 13:747daba9cf59 337 }
Lightvalve 13:747daba9cf59 338 }
Lightvalve 14:8e7590227d22 339
Lightvalve 13:747daba9cf59 340 return PWM_duty;
Lightvalve 13:747daba9cf59 341 }
jobuuu 6:df07d3491e3a 342
jobuuu 2:a1c0a37df760 343 /*******************************************************************************
jobuuu 2:a1c0a37df760 344 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 345 *******************************************************************************/
jobuuu 2:a1c0a37df760 346
Lightvalve 19:23b7c1ad8683 347 //unsigned long CNT_TMR4 = 0;
Lightvalve 30:8d561f16383b 348 float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve 30:8d561f16383b 349 float DT_TMR4 = (float)DT_10k;
jobuuu 1:e04e563be5ce 350 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 351 {
Lightvalve 23:59218d4a256d 352
Lightvalve 19:23b7c1ad8683 353 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 354
Lightvalve 21:e5f1a43ea6f9 355 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 356 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 357 ********************************************************/
Lightvalve 13:747daba9cf59 358
Lightvalve 19:23b7c1ad8683 359
Lightvalve 21:e5f1a43ea6f9 360 //Using LoadCell
Lightvalve 15:bd0d12728506 361 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 362 // //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 363 // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 364 // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve 30:8d561f16383b 365 // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 366
Lightvalve 19:23b7c1ad8683 367
Lightvalve 17:1865016ca2e7 368
Lightvalve 21:e5f1a43ea6f9 369 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 370 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 371 //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 372 float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 373 // float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 38:118df027d851 374 float pres_A_new = ((float)ADC1->DR);
Lightvalve 30:8d561f16383b 375 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 43:b084e5f5d0d5 376 torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 50:3c630b5eba9f 377
Lightvalve 19:23b7c1ad8683 378
Lightvalve 21:e5f1a43ea6f9 379 //Pressure sensor 1B
Lightvalve 38:118df027d851 380 //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 381 //float pres_B_new = ((float)ADC2->DR);
Lightvalve 38:118df027d851 382 //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 38:118df027d851 383 //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 384
Lightvalve 17:1865016ca2e7 385
Lightvalve 17:1865016ca2e7 386
Lightvalve 21:e5f1a43ea6f9 387 //Current
Lightvalve 21:e5f1a43ea6f9 388 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 389 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 390 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 391 //while((ADC3->SR & 0b10));
Lightvalve 50:3c630b5eba9f 392 float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*200.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 393 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 394 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 395 //cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 396
Lightvalve 21:e5f1a43ea6f9 397 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 398 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 399 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 400 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 401 }
Lightvalve 11:82d8768d7351 402 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 403 }
Lightvalve 19:23b7c1ad8683 404
Lightvalve 19:23b7c1ad8683 405
Lightvalve 18:b8adf1582ea3 406 int j =0;
Lightvalve 19:23b7c1ad8683 407 //unsigned long CNT_TMR3 = 0;
Lightvalve 30:8d561f16383b 408 //float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 30:8d561f16383b 409 float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve 48:889798ff9329 410 float DT_TMR3 = (float)DT_5k;
Lightvalve 48:889798ff9329 411 //float DT_TMR3 = (float)DT_1k;
Lightvalve 45:35fa6884d0c6 412 int cnt_trans = 0;
Lightvalve 48:889798ff9329 413 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 414
Lightvalve 11:82d8768d7351 415 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 416 {
Lightvalve 19:23b7c1ad8683 417 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 418 ENC_UPDATE();
Lightvalve 50:3c630b5eba9f 419
Lightvalve 50:3c630b5eba9f 420 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 421 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 422 cnt_trans++;
Lightvalve 46:2694daea349b 423 torq.err_sum = 0;
Lightvalve 48:889798ff9329 424 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 425 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 426 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 427 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 428 cnt_trans++;
Lightvalve 46:2694daea349b 429 torq.err_sum = 0;
Lightvalve 48:889798ff9329 430 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 431 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 432 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 45:35fa6884d0c6 433 alpha_trans = 1.0;
Lightvalve 45:35fa6884d0c6 434 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 435 } else {
Lightvalve 45:35fa6884d0c6 436 alpha_trans = 0.0;
Lightvalve 45:35fa6884d0c6 437 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 438 }
Lightvalve 45:35fa6884d0c6 439
Lightvalve 50:3c630b5eba9f 440
Lightvalve 13:747daba9cf59 441
Lightvalve 19:23b7c1ad8683 442 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 443
Lightvalve 14:8e7590227d22 444 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 445 case MODE_NO_ACT: {
Lightvalve 30:8d561f16383b 446 V_out = 0.0f;
Lightvalve 13:747daba9cf59 447 break;
Lightvalve 13:747daba9cf59 448 }
Lightvalve 14:8e7590227d22 449
Lightvalve 14:8e7590227d22 450 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 451 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 452 break;
Lightvalve 14:8e7590227d22 453 }
Lightvalve 14:8e7590227d22 454
Lightvalve 45:35fa6884d0c6 455 case MODE_JOINT_CONTROL: {
Lightvalve 50:3c630b5eba9f 456
Lightvalve 45:35fa6884d0c6 457 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 458
Lightvalve 45:35fa6884d0c6 459 pos.err = pos.ref - pos.sen; //[pulse]
Lightvalve 45:35fa6884d0c6 460 vel.err = vel.ref - vel.sen; //[pulse/s]
Lightvalve 48:889798ff9329 461 double torq_ref = 0.0f;
Lightvalve 48:889798ff9329 462 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 50:3c630b5eba9f 463
Lightvalve 45:35fa6884d0c6 464 // torque feedback
Lightvalve 48:889798ff9329 465 torq.err = torq_ref - torq.sen; //[pulse]
Lightvalve 45:35fa6884d0c6 466 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
Lightvalve 45:35fa6884d0c6 467 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 45:35fa6884d0c6 468 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 469
Lightvalve 14:8e7590227d22 470
Lightvalve 48:889798ff9329 471 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f
Lightvalve 50:3c630b5eba9f 472 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 14:8e7590227d22 473
Lightvalve 45:35fa6884d0c6 474 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 45:35fa6884d0c6 475 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 50:3c630b5eba9f 476 } else {
Lightvalve 45:35fa6884d0c6 477 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 45:35fa6884d0c6 478 }
Lightvalve 45:35fa6884d0c6 479 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 480
Lightvalve 13:747daba9cf59 481 break;
Lightvalve 13:747daba9cf59 482 }
Lightvalve 50:3c630b5eba9f 483
Lightvalve 47:fdcb8bd86fd6 484 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 47:fdcb8bd86fd6 485 V_out = (float) Vout.ref;
Lightvalve 47:fdcb8bd86fd6 486 break;
Lightvalve 47:fdcb8bd86fd6 487 }
Lightvalve 14:8e7590227d22 488
Lightvalve 14:8e7590227d22 489 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 490 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 30:8d561f16383b 491 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 30:8d561f16383b 492 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 493 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 494 // feedback input for position control
Lightvalve 30:8d561f16383b 495 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 496 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 497 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 498 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 499 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 500 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 501 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum/(float) ENC_PULSE_PER_POSITION + (float) D_GAIN_JOINT_POSITION * pos.err_diff/(float) ENC_PULSE_PER_POSITION;
Lightvalve 14:8e7590227d22 502
Lightvalve 14:8e7590227d22 503
Lightvalve 13:747daba9cf59 504 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 505 // feedforward input for position control
Lightvalve 30:8d561f16383b 506 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 507 // float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 508 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 509 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 510 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 511
Lightvalve 38:118df027d851 512 //torque feedback
Lightvalve 38:118df027d851 513 torq.err = - torq.ref + torq.sen;
Lightvalve 38:118df027d851 514 torq.err_diff = torq.err - torq.err_old;
Lightvalve 38:118df027d851 515 torq.err_old = torq.err;
Lightvalve 38:118df027d851 516 torq.err_sum += torq.err;
Lightvalve 38:118df027d851 517 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 38:118df027d851 518 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 38:118df027d851 519 VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 38:118df027d851 520 VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve 14:8e7590227d22 521
Lightvalve 48:889798ff9329 522 // valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 48:889798ff9329 523 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref);
Lightvalve 34:bb2ca2fc2a8e 524
Lightvalve 45:35fa6884d0c6 525 if (valve_pos.ref >= 0) {
Lightvalve 45:35fa6884d0c6 526 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS;
Lightvalve 45:35fa6884d0c6 527 } else if(valve_pos.ref < 0) {
Lightvalve 45:35fa6884d0c6 528 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS;
Lightvalve 32:4b8c0fedaf2c 529 }
Lightvalve 14:8e7590227d22 530 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 531
Lightvalve 34:bb2ca2fc2a8e 532
Lightvalve 13:747daba9cf59 533 break;
Lightvalve 13:747daba9cf59 534 }
Lightvalve 14:8e7590227d22 535
Lightvalve 50:3c630b5eba9f 536 // case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 50:3c630b5eba9f 537 //
Lightvalve 50:3c630b5eba9f 538 // break;
Lightvalve 50:3c630b5eba9f 539 // }
Lightvalve 14:8e7590227d22 540
Lightvalve 50:3c630b5eba9f 541 // case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 50:3c630b5eba9f 542 // pos.err = pos.ref - (float) pos.sen;
Lightvalve 50:3c630b5eba9f 543 // pos.err_diff = pos.err - pos.err_old;
Lightvalve 50:3c630b5eba9f 544 // pos.err_old = pos.err;
Lightvalve 50:3c630b5eba9f 545 // pos.err_sum += pos.err;
Lightvalve 50:3c630b5eba9f 546 // if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 50:3c630b5eba9f 547 // if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 548 // VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 50:3c630b5eba9f 549 //
Lightvalve 50:3c630b5eba9f 550 // torq.err = torq.ref - torq.sen;
Lightvalve 50:3c630b5eba9f 551 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 50:3c630b5eba9f 552 // torq.err_old = torq.err;
Lightvalve 50:3c630b5eba9f 553 // torq.err_sum += torq.err;
Lightvalve 50:3c630b5eba9f 554 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 50:3c630b5eba9f 555 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 556 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 50:3c630b5eba9f 557 //
Lightvalve 50:3c630b5eba9f 558 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 50:3c630b5eba9f 559 //
Lightvalve 50:3c630b5eba9f 560 // V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 50:3c630b5eba9f 561 //
Lightvalve 50:3c630b5eba9f 562 // CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 50:3c630b5eba9f 563 // CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 50:3c630b5eba9f 564 // if (DIR_VALVE > 0) {
Lightvalve 50:3c630b5eba9f 565 // if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 50:3c630b5eba9f 566 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve 50:3c630b5eba9f 567 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve 50:3c630b5eba9f 568 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve 50:3c630b5eba9f 569 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve 50:3c630b5eba9f 570 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 50:3c630b5eba9f 571 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve 50:3c630b5eba9f 572 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve 50:3c630b5eba9f 573 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve 50:3c630b5eba9f 574 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve 50:3c630b5eba9f 575 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve 50:3c630b5eba9f 576 // else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 50:3c630b5eba9f 577 // else VALVE_FF_VOLTAGE = 0;
Lightvalve 50:3c630b5eba9f 578 // } else {
Lightvalve 50:3c630b5eba9f 579 // if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 50:3c630b5eba9f 580 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve 50:3c630b5eba9f 581 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve 50:3c630b5eba9f 582 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve 50:3c630b5eba9f 583 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve 50:3c630b5eba9f 584 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 50:3c630b5eba9f 585 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve 50:3c630b5eba9f 586 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve 50:3c630b5eba9f 587 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve 50:3c630b5eba9f 588 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve 50:3c630b5eba9f 589 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve 50:3c630b5eba9f 590 // else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 50:3c630b5eba9f 591 // else VALVE_FF_VOLTAGE = 0;
Lightvalve 50:3c630b5eba9f 592 // }
Lightvalve 50:3c630b5eba9f 593 // // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 50:3c630b5eba9f 594 //
Lightvalve 50:3c630b5eba9f 595 // if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve 50:3c630b5eba9f 596 // else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve 50:3c630b5eba9f 597 //
Lightvalve 50:3c630b5eba9f 598 // V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 50:3c630b5eba9f 599 // break;
Lightvalve 50:3c630b5eba9f 600 // }
Lightvalve 14:8e7590227d22 601
Lightvalve 50:3c630b5eba9f 602 // case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 50:3c630b5eba9f 603 //
Lightvalve 50:3c630b5eba9f 604 // pos.err = pos.ref - (float) pos.sen;
Lightvalve 50:3c630b5eba9f 605 // pos.err_diff = pos.err - pos.err_old;
Lightvalve 50:3c630b5eba9f 606 // pos.err_old = pos.err;
Lightvalve 50:3c630b5eba9f 607 // pos.err_sum += pos.err;
Lightvalve 50:3c630b5eba9f 608 // if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 50:3c630b5eba9f 609 // if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 610 // VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 50:3c630b5eba9f 611 //
Lightvalve 50:3c630b5eba9f 612 // torq.err = torq.ref - torq.sen;
Lightvalve 50:3c630b5eba9f 613 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 50:3c630b5eba9f 614 // torq.err_old = torq.err;
Lightvalve 50:3c630b5eba9f 615 // torq.err_sum += torq.err;
Lightvalve 50:3c630b5eba9f 616 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 50:3c630b5eba9f 617 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 618 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 50:3c630b5eba9f 619 //
Lightvalve 50:3c630b5eba9f 620 // valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 50:3c630b5eba9f 621 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 50:3c630b5eba9f 622 //
Lightvalve 50:3c630b5eba9f 623 // break;
Lightvalve 50:3c630b5eba9f 624 // }
Lightvalve 14:8e7590227d22 625
Lightvalve 50:3c630b5eba9f 626 // case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 50:3c630b5eba9f 627 //
Lightvalve 50:3c630b5eba9f 628 // break;
Lightvalve 50:3c630b5eba9f 629 // }
Lightvalve 14:8e7590227d22 630
Lightvalve 19:23b7c1ad8683 631
Lightvalve 50:3c630b5eba9f 632 // case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 50:3c630b5eba9f 633 // if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 634 // TMR3_COUNT_IREF = 0;
Lightvalve 50:3c630b5eba9f 635 // }
Lightvalve 50:3c630b5eba9f 636 // TMR3_COUNT_IREF++;
Lightvalve 50:3c630b5eba9f 637 //
Lightvalve 50:3c630b5eba9f 638 // // Set Current Reference
Lightvalve 50:3c630b5eba9f 639 // float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 50:3c630b5eba9f 640 // float I_REF_MID = 0.0f;
Lightvalve 50:3c630b5eba9f 641 // if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 50:3c630b5eba9f 642 // I_REF = I_REF_MID + 1.0f;
Lightvalve 50:3c630b5eba9f 643 // } else {
Lightvalve 50:3c630b5eba9f 644 // I_REF = I_REF_MID - 1.0f;
Lightvalve 50:3c630b5eba9f 645 // }
Lightvalve 50:3c630b5eba9f 646 //// float T = 1.0; // wave period
Lightvalve 50:3c630b5eba9f 647 //// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 50:3c630b5eba9f 648 //// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 50:3c630b5eba9f 649 //
Lightvalve 50:3c630b5eba9f 650 // if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 50:3c630b5eba9f 651 // //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 50:3c630b5eba9f 652 // }
Lightvalve 50:3c630b5eba9f 653 // break;
Lightvalve 50:3c630b5eba9f 654 // }
Lightvalve 19:23b7c1ad8683 655
Lightvalve 50:3c630b5eba9f 656 // case MODE_TEST_PWM_CONTROL: {
Lightvalve 50:3c630b5eba9f 657 // if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 658 // TMR3_COUNT_IREF = 0;
Lightvalve 50:3c630b5eba9f 659 // }
Lightvalve 50:3c630b5eba9f 660 // TMR3_COUNT_IREF++;
Lightvalve 50:3c630b5eba9f 661 //
Lightvalve 50:3c630b5eba9f 662 // // Set PWM reference
Lightvalve 50:3c630b5eba9f 663 // float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 50:3c630b5eba9f 664 // //float I_REF_MID = 0.0f;
Lightvalve 50:3c630b5eba9f 665 // if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 50:3c630b5eba9f 666 // CUR_PWM = 1000;
Lightvalve 50:3c630b5eba9f 667 // } else {
Lightvalve 50:3c630b5eba9f 668 // CUR_PWM = -1000;
Lightvalve 50:3c630b5eba9f 669 // }
Lightvalve 50:3c630b5eba9f 670 //
Lightvalve 50:3c630b5eba9f 671 // if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 50:3c630b5eba9f 672 // //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 50:3c630b5eba9f 673 // }
Lightvalve 50:3c630b5eba9f 674 // break;
Lightvalve 50:3c630b5eba9f 675 // }
Lightvalve 19:23b7c1ad8683 676
Lightvalve 19:23b7c1ad8683 677
Lightvalve 50:3c630b5eba9f 678 // case MODE_CURRENT_CONTROL: {
Lightvalve 50:3c630b5eba9f 679 //
Lightvalve 50:3c630b5eba9f 680 // cur.ref = cur.ref; // Unit : mA
Lightvalve 50:3c630b5eba9f 681 // CurrentControl();
Lightvalve 50:3c630b5eba9f 682 // break;
Lightvalve 50:3c630b5eba9f 683 // }
Lightvalve 19:23b7c1ad8683 684
Lightvalve 50:3c630b5eba9f 685 // case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 50:3c630b5eba9f 686 // float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 50:3c630b5eba9f 687 // float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 50:3c630b5eba9f 688 // float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 50:3c630b5eba9f 689 // float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 50:3c630b5eba9f 690 //
Lightvalve 50:3c630b5eba9f 691 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 692 // pos.err = pos.ref - pos.sen;
Lightvalve 50:3c630b5eba9f 693 // float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 50:3c630b5eba9f 694 // float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 50:3c630b5eba9f 695 // pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 50:3c630b5eba9f 696 // pos.err_old = pos.err;
Lightvalve 50:3c630b5eba9f 697 // I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 50:3c630b5eba9f 698 //
Lightvalve 50:3c630b5eba9f 699 // // feedforward input for position control
Lightvalve 50:3c630b5eba9f 700 // float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 701 // float K_ff = 1.3f;
Lightvalve 50:3c630b5eba9f 702 // float K_v = 0.0f;
Lightvalve 50:3c630b5eba9f 703 // if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 50:3c630b5eba9f 704 // if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 50:3c630b5eba9f 705 // I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 50:3c630b5eba9f 706 //
Lightvalve 50:3c630b5eba9f 707 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 708 // I_REF_FORCE_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 709 //
Lightvalve 50:3c630b5eba9f 710 // // feedforward input for position control
Lightvalve 50:3c630b5eba9f 711 // I_REF_FORCE_FF = 0.0f;
Lightvalve 50:3c630b5eba9f 712 //
Lightvalve 50:3c630b5eba9f 713 // cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 50:3c630b5eba9f 714 //
Lightvalve 50:3c630b5eba9f 715 // CurrentControl();
Lightvalve 50:3c630b5eba9f 716 //
Lightvalve 50:3c630b5eba9f 717 // break;
Lightvalve 50:3c630b5eba9f 718 // }
Lightvalve 19:23b7c1ad8683 719
Lightvalve 50:3c630b5eba9f 720 // case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 50:3c630b5eba9f 721 // //float T_REF = 0.0; // Torque Reference
Lightvalve 50:3c630b5eba9f 722 // float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 50:3c630b5eba9f 723 // float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 50:3c630b5eba9f 724 //
Lightvalve 50:3c630b5eba9f 725 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 726 // //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 727 // //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 728 // //float K_spring = 0.7f;
Lightvalve 50:3c630b5eba9f 729 // //float D_damper = 0.02f;
Lightvalve 50:3c630b5eba9f 730 //// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 50:3c630b5eba9f 731 //
Lightvalve 50:3c630b5eba9f 732 // // torque feedback
Lightvalve 50:3c630b5eba9f 733 // torq.err = torq.ref - torq.sen;
Lightvalve 50:3c630b5eba9f 734 // // torq.err_diff = torq.err - torq.err_old;
Lightvalve 50:3c630b5eba9f 735 // // torq.err_old = torq.err;
Lightvalve 50:3c630b5eba9f 736 // torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 737 // I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 50:3c630b5eba9f 738 //
Lightvalve 50:3c630b5eba9f 739 // // velocity compensation for torque control
Lightvalve 50:3c630b5eba9f 740 // float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 741 // float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 50:3c630b5eba9f 742 // float K_v = 0.0f; // Valve gain
Lightvalve 50:3c630b5eba9f 743 // if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 50:3c630b5eba9f 744 // if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 50:3c630b5eba9f 745 // I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 50:3c630b5eba9f 746 //
Lightvalve 50:3c630b5eba9f 747 // cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 50:3c630b5eba9f 748 // // cur.ref = I_REF_FORCE_FB;
Lightvalve 50:3c630b5eba9f 749 //
Lightvalve 50:3c630b5eba9f 750 // float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 50:3c630b5eba9f 751 // float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 50:3c630b5eba9f 752 // if(cur.ref > I_MAX) {
Lightvalve 50:3c630b5eba9f 753 // float I_rem = cur.ref-I_MAX;
Lightvalve 50:3c630b5eba9f 754 // I_rem = Ka*I_rem;
Lightvalve 50:3c630b5eba9f 755 // cur.ref = I_MAX;
Lightvalve 50:3c630b5eba9f 756 // torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 757 // } else if(cur.ref < -I_MAX) {
Lightvalve 50:3c630b5eba9f 758 // float I_rem = cur.ref-(-I_MAX);
Lightvalve 50:3c630b5eba9f 759 // I_rem = Ka*I_rem;
Lightvalve 50:3c630b5eba9f 760 // cur.ref = -I_MAX;
Lightvalve 50:3c630b5eba9f 761 // torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 762 // }
Lightvalve 50:3c630b5eba9f 763 //
Lightvalve 50:3c630b5eba9f 764 // CurrentControl();
Lightvalve 50:3c630b5eba9f 765 //
Lightvalve 50:3c630b5eba9f 766 //
Lightvalve 50:3c630b5eba9f 767 // /*
Lightvalve 50:3c630b5eba9f 768 // float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 50:3c630b5eba9f 769 // float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 50:3c630b5eba9f 770 // float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 50:3c630b5eba9f 771 // float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 50:3c630b5eba9f 772 //
Lightvalve 50:3c630b5eba9f 773 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 774 // pos.err = pos.ref - pos.sen;
Lightvalve 50:3c630b5eba9f 775 // float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 50:3c630b5eba9f 776 // float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 50:3c630b5eba9f 777 // pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 50:3c630b5eba9f 778 // pos.err_old = pos.err;
Lightvalve 50:3c630b5eba9f 779 // I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 50:3c630b5eba9f 780 //
Lightvalve 50:3c630b5eba9f 781 // // feedforward input for position control
Lightvalve 50:3c630b5eba9f 782 // float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 783 // float K_ff = 1.3f;
Lightvalve 50:3c630b5eba9f 784 // float K_v = 0.0f;
Lightvalve 50:3c630b5eba9f 785 // if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 50:3c630b5eba9f 786 // if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 50:3c630b5eba9f 787 // I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 50:3c630b5eba9f 788 //
Lightvalve 50:3c630b5eba9f 789 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 790 // I_REF_FORCE_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 791 //
Lightvalve 50:3c630b5eba9f 792 // // feedforward input for position control
Lightvalve 50:3c630b5eba9f 793 // I_REF_FORCE_FF = 0.0f;
Lightvalve 50:3c630b5eba9f 794 //
Lightvalve 50:3c630b5eba9f 795 // cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 50:3c630b5eba9f 796 //
Lightvalve 50:3c630b5eba9f 797 // CurrentControl();
Lightvalve 50:3c630b5eba9f 798 // */
Lightvalve 50:3c630b5eba9f 799 //
Lightvalve 50:3c630b5eba9f 800 // break;
Lightvalve 50:3c630b5eba9f 801 // }
Lightvalve 14:8e7590227d22 802
Lightvalve 14:8e7590227d22 803 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 804 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 805 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 806 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 807
Lightvalve 14:8e7590227d22 808 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 809 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 810 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 811
Lightvalve 43:b084e5f5d0d5 812 TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 813
Lightvalve 30:8d561f16383b 814 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 815 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 50:3c630b5eba9f 816
Lightvalve 16:903b5a4433b4 817 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 818 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 819 }
Lightvalve 13:747daba9cf59 820 } else {
Lightvalve 13:747daba9cf59 821 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 822 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 823 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 824 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 825
Lightvalve 16:903b5a4433b4 826 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 827
Lightvalve 16:903b5a4433b4 828 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 829
Lightvalve 17:1865016ca2e7 830 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 831 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 832
Lightvalve 13:747daba9cf59 833 }
Lightvalve 14:8e7590227d22 834 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 835 break;
Lightvalve 50:3c630b5eba9f 836
Lightvalve 50:3c630b5eba9f 837
Lightvalve 50:3c630b5eba9f 838
Lightvalve 50:3c630b5eba9f 839 // // DAC Voltage reference set
Lightvalve 43:b084e5f5d0d5 840 // if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 43:b084e5f5d0d5 841 // CUR_PRES_A_sum += pres_A.sen;
Lightvalve 43:b084e5f5d0d5 842 // CUR_PRES_B_sum += pres_B.sen;
Lightvalve 43:b084e5f5d0d5 843 //
Lightvalve 43:b084e5f5d0d5 844 // if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 43:b084e5f5d0d5 845 // CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 846 // CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 847 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 848 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 849 //
Lightvalve 43:b084e5f5d0d5 850 // float VREF_NullingGain = 0.0003f;
Lightvalve 43:b084e5f5d0d5 851 // PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 43:b084e5f5d0d5 852 // PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 43:b084e5f5d0d5 853 //
Lightvalve 43:b084e5f5d0d5 854 // if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 855 // if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 856 // if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 857 // if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 858 //
Lightvalve 43:b084e5f5d0d5 859 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 860 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 861 // }
Lightvalve 43:b084e5f5d0d5 862 // } else {
Lightvalve 43:b084e5f5d0d5 863 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 43:b084e5f5d0d5 864 // TMR3_COUNT_PRES_NULL = 0;
Lightvalve 43:b084e5f5d0d5 865 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 866 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 867 // CUR_PRES_A_mean = 0;
Lightvalve 43:b084e5f5d0d5 868 // CUR_PRES_B_mean = 0;
Lightvalve 43:b084e5f5d0d5 869 //
Lightvalve 43:b084e5f5d0d5 870 // ROM_RESET_DATA();
Lightvalve 43:b084e5f5d0d5 871 //
Lightvalve 43:b084e5f5d0d5 872 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 873 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 874 // //pc.printf("nulling end");
Lightvalve 43:b084e5f5d0d5 875 // }
Lightvalve 43:b084e5f5d0d5 876 // TMR3_COUNT_PRES_NULL++;
Lightvalve 43:b084e5f5d0d5 877 // break;
Lightvalve 50:3c630b5eba9f 878
Lightvalve 50:3c630b5eba9f 879
Lightvalve 50:3c630b5eba9f 880
Lightvalve 50:3c630b5eba9f 881
Lightvalve 50:3c630b5eba9f 882
Lightvalve 19:23b7c1ad8683 883 }
Lightvalve 14:8e7590227d22 884
Lightvalve 50:3c630b5eba9f 885 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 886 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 887 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 888 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 889 // }
Lightvalve 50:3c630b5eba9f 890 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 891 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 892 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 893 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 894 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 895 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 896 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 897 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 898 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 899 // }
Lightvalve 50:3c630b5eba9f 900 //
Lightvalve 50:3c630b5eba9f 901 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 902 // 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 903 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 904 //
Lightvalve 50:3c630b5eba9f 905 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 906 // V_out = 0;
Lightvalve 50:3c630b5eba9f 907 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 908 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 909 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 910 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 911 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 912 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 913 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 914 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 915 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 916 //
Lightvalve 50:3c630b5eba9f 917 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 918 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 919 // // | / | / |/
Lightvalve 50:3c630b5eba9f 920 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 921 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 922 // // /| / | / |
Lightvalve 50:3c630b5eba9f 923 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 924 //
Lightvalve 50:3c630b5eba9f 925 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 926 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 927 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 928 // } else {
Lightvalve 50:3c630b5eba9f 929 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 930 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 931 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 932 // }
Lightvalve 50:3c630b5eba9f 933 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 934 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 935 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 936 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 937 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 938 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 939 // }
Lightvalve 50:3c630b5eba9f 940 // } else {
Lightvalve 50:3c630b5eba9f 941 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 942 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 943 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 944 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 945 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 946 // }
Lightvalve 50:3c630b5eba9f 947 // V_out = 0;
Lightvalve 50:3c630b5eba9f 948 //
Lightvalve 50:3c630b5eba9f 949 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 950 //
Lightvalve 50:3c630b5eba9f 951 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 952 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 953 //
Lightvalve 50:3c630b5eba9f 954 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 955 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 956 // }
Lightvalve 50:3c630b5eba9f 957 // }
Lightvalve 50:3c630b5eba9f 958 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 959 // break;
Lightvalve 50:3c630b5eba9f 960 // }
Lightvalve 14:8e7590227d22 961
Lightvalve 14:8e7590227d22 962 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 963 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 964 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 965 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 966 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 967 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 968 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 969 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 40:3f2c0619c8c4 970 CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
Lightvalve 29:69f3f5445d6d 971 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 972 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 973 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 974 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 975 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 976 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 977 }
Lightvalve 29:69f3f5445d6d 978 cnt_findhome++;
Lightvalve 30:8d561f16383b 979 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 980
Lightvalve 29:69f3f5445d6d 981 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 982 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 983 } else {
Lightvalve 29:69f3f5445d6d 984 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 985 }
Lightvalve 19:23b7c1ad8683 986
Lightvalve 30:8d561f16383b 987 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 988 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 989 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 990 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 991 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 992 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 993 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 29:69f3f5445d6d 994 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 995 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 996
Lightvalve 30:8d561f16383b 997 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 998 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 999 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 1000 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 1001 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 1002 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 1003 } else {
Lightvalve 29:69f3f5445d6d 1004 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 1005 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1006 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1007 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1008 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1009 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1010 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1011 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1012 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1013 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 1014 }
Lightvalve 29:69f3f5445d6d 1015 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1016 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 1017 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 1018 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 1019
Lightvalve 29:69f3f5445d6d 1020 // input for position control
Lightvalve 40:3f2c0619c8c4 1021 pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve 30:8d561f16383b 1022 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 1023 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 29:69f3f5445d6d 1024 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1025 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1026
Lightvalve 19:23b7c1ad8683 1027
Lightvalve 29:69f3f5445d6d 1028 // if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 30:8d561f16383b 1029 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1030 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve 29:69f3f5445d6d 1031 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1032 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1033 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1034 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1035 // // L thetadot(rad/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1036 // } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve 30:8d561f16383b 1037 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1038 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 29:69f3f5445d6d 1039 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1040 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1041 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1042 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1043 // // L xdot(mm/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1044 // }
Lightvalve 29:69f3f5445d6d 1045
Lightvalve 29:69f3f5445d6d 1046 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1047 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1048 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1049 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1050 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1051 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1052 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1053 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1054 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 48:889798ff9329 1055 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1056 }
Lightvalve 13:747daba9cf59 1057 }
Lightvalve 19:23b7c1ad8683 1058
Lightvalve 13:747daba9cf59 1059 break;
Lightvalve 13:747daba9cf59 1060 }
Lightvalve 14:8e7590227d22 1061
Lightvalve 50:3c630b5eba9f 1062 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1063 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1064 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1065 // else {
Lightvalve 50:3c630b5eba9f 1066 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1067 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1068 // }
Lightvalve 50:3c630b5eba9f 1069 // }
Lightvalve 50:3c630b5eba9f 1070 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1071 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1072 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1073 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1074 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1075 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1076 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1077 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1078 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1079 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1080 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1081 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1082 // }
Lightvalve 50:3c630b5eba9f 1083 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1084 // }
Lightvalve 50:3c630b5eba9f 1085 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1086 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1087 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1088 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1089 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1090 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1091 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1092 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1093 // 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=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1094 // // 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 1095 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1096 // }
Lightvalve 50:3c630b5eba9f 1097 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1098 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1099 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1100 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1101 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1102 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1103 // 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 1104 // // 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 1105 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1106 // }
Lightvalve 50:3c630b5eba9f 1107 // }
Lightvalve 50:3c630b5eba9f 1108 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1109 //
Lightvalve 50:3c630b5eba9f 1110 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1111 //
Lightvalve 50:3c630b5eba9f 1112 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1113 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1114 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1115 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1116 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1117 // }
Lightvalve 50:3c630b5eba9f 1118 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1119 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1120 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1121 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1122 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1123 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1124 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1125 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1126 // }
Lightvalve 50:3c630b5eba9f 1127 //
Lightvalve 50:3c630b5eba9f 1128 // }
Lightvalve 50:3c630b5eba9f 1129 // break;
Lightvalve 50:3c630b5eba9f 1130 // }
Lightvalve 50:3c630b5eba9f 1131 //
Lightvalve 50:3c630b5eba9f 1132 // }
Lightvalve 14:8e7590227d22 1133
Lightvalve 14:8e7590227d22 1134 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1135 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1136 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1137 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1138 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1139
Lightvalve 14:8e7590227d22 1140 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1141 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1142 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1143 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1144 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1145
Lightvalve 38:118df027d851 1146 float VREF_NullingGain = 0.0003f;
Lightvalve 38:118df027d851 1147 PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 38:118df027d851 1148 PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1149
Lightvalve 30:8d561f16383b 1150 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1151 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1152 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1153 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1154
Lightvalve 30:8d561f16383b 1155 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1156 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1157 }
Lightvalve 13:747daba9cf59 1158 } else {
Lightvalve 13:747daba9cf59 1159 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1160 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1161 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1162 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1163 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1164 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1165
Lightvalve 16:903b5a4433b4 1166 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1167
Lightvalve 30:8d561f16383b 1168 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1169 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1170 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1171 }
Lightvalve 14:8e7590227d22 1172 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1173 break;
Lightvalve 13:747daba9cf59 1174 }
Lightvalve 14:8e7590227d22 1175
Lightvalve 50:3c630b5eba9f 1176 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1177 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1178 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1179 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1180 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1181 // }
Lightvalve 50:3c630b5eba9f 1182 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1183 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1184 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1185 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1186 // }
Lightvalve 50:3c630b5eba9f 1187 // } else {
Lightvalve 50:3c630b5eba9f 1188 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1189 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1190 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1191 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1192 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1193 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1194 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1195 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1196 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1197 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1198 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1199 //
Lightvalve 50:3c630b5eba9f 1200 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1201 //
Lightvalve 50:3c630b5eba9f 1202 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1203 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1204 // }
Lightvalve 50:3c630b5eba9f 1205 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1206 // break;
Lightvalve 50:3c630b5eba9f 1207 // }
Lightvalve 19:23b7c1ad8683 1208
Lightvalve 50:3c630b5eba9f 1209 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1210 // 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 1211 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1212 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1213 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1214 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1215 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1216 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1217 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1218 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1219 // }
Lightvalve 50:3c630b5eba9f 1220 // break;
Lightvalve 50:3c630b5eba9f 1221 // }
Lightvalve 14:8e7590227d22 1222
Lightvalve 14:8e7590227d22 1223 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1224 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1225
Lightvalve 14:8e7590227d22 1226 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1227 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1228 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1229 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1230 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1231 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1232 data_num = 0;
Lightvalve 14:8e7590227d22 1233 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1234 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1235 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1236 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1237 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1238 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1239 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1240 }
Lightvalve 14:8e7590227d22 1241
Lightvalve 17:1865016ca2e7 1242 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1243 int i;
Lightvalve 13:747daba9cf59 1244 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1245 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1246 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1247 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1248 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1249 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1250 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1251 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1252 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1253 }
Lightvalve 13:747daba9cf59 1254 }
Lightvalve 27:a2254a485f23 1255 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1256 ID_index = 0;
Lightvalve 13:747daba9cf59 1257 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1258 }
Lightvalve 14:8e7590227d22 1259
Lightvalve 14:8e7590227d22 1260
Lightvalve 13:747daba9cf59 1261 break;
Lightvalve 13:747daba9cf59 1262 }
Lightvalve 14:8e7590227d22 1263
Lightvalve 14:8e7590227d22 1264 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1265
Lightvalve 13:747daba9cf59 1266 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1267 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1268 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1269 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1270 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1271 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1272 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1273 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1274 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1275 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1276 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1277 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1278 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1279 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 1280 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1281 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 1282 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1283 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1284 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1285 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 1286 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1287 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1288 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1289 data_num = 0;
Lightvalve 14:8e7590227d22 1290
Lightvalve 30:8d561f16383b 1291 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1292 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1293 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1294
Lightvalve 30:8d561f16383b 1295 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1296 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1297 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1298 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1299 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1300 else
Lightvalve 13:747daba9cf59 1301 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1302 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1303 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1304 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1305 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1306
Lightvalve 14:8e7590227d22 1307 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1308 DZ_case = 1;
Lightvalve 14:8e7590227d22 1309 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1310 DZ_case = -1;
Lightvalve 14:8e7590227d22 1311 } else {
Lightvalve 13:747daba9cf59 1312 DZ_case = 0;
Lightvalve 13:747daba9cf59 1313 }
Lightvalve 14:8e7590227d22 1314
Lightvalve 49:e7bcfc244d40 1315 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1316
Lightvalve 14:8e7590227d22 1317 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1318 first_check = 1;
Lightvalve 13:747daba9cf59 1319 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1320 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1321 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1322 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1323 DZ_index = 1;
Lightvalve 14:8e7590227d22 1324
Lightvalve 13:747daba9cf59 1325 }
Lightvalve 19:23b7c1ad8683 1326 } else {
Lightvalve 14:8e7590227d22 1327 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1328 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1329 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 1330 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1331 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1332 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1333 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1334 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1335 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1336 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1337 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1338 }
Lightvalve 14:8e7590227d22 1339 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1340 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1341 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1342 else
Lightvalve 13:747daba9cf59 1343 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1344 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1345 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1346 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1347
Lightvalve 14:8e7590227d22 1348 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1349 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1350 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1351 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1352 } else {
Lightvalve 13:747daba9cf59 1353 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1354 }
Lightvalve 14:8e7590227d22 1355
Lightvalve 14:8e7590227d22 1356 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1357
Lightvalve 13:747daba9cf59 1358 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1359 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1360 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1361 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1362 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1363 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1364 DZ_index = 1;
Lightvalve 13:747daba9cf59 1365 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1366 }
Lightvalve 13:747daba9cf59 1367 }
Lightvalve 14:8e7590227d22 1368 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1369 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1370 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 1371 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1372 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1373 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1374 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1375 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1376 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1377 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1378 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1379 }
Lightvalve 14:8e7590227d22 1380 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1381 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1382 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1383 else
Lightvalve 13:747daba9cf59 1384 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1385 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1386 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1387 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1388
Lightvalve 14:8e7590227d22 1389 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1390 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1391 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1392 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1393 } else {
Lightvalve 13:747daba9cf59 1394 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1395 }
Lightvalve 14:8e7590227d22 1396
Lightvalve 14:8e7590227d22 1397 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1398
Lightvalve 14:8e7590227d22 1399
Lightvalve 13:747daba9cf59 1400 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1401 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1402 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1403 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1404 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1405 first_check = 0;
Lightvalve 33:91b17819ec30 1406 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1407 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1408
Lightvalve 16:903b5a4433b4 1409 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1410
Lightvalve 13:747daba9cf59 1411 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1412 DZ_index = 1;
Lightvalve 13:747daba9cf59 1413 }
Lightvalve 13:747daba9cf59 1414 }
Lightvalve 14:8e7590227d22 1415 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1416 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1417 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 1418 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1419 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1420 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1421 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1422 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1423 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1424 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1425 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1426 }
Lightvalve 14:8e7590227d22 1427 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1428 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1429 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1430 else
Lightvalve 13:747daba9cf59 1431 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1432 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1433 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1434 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1435
Lightvalve 14:8e7590227d22 1436 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1437 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1438 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1439 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1440 } else {
Lightvalve 13:747daba9cf59 1441 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1442 }
Lightvalve 14:8e7590227d22 1443
Lightvalve 14:8e7590227d22 1444 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1445 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1446 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1447 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1448 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1449 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1450 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1451 DZ_index = 1;
Lightvalve 13:747daba9cf59 1452 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1453 }
Lightvalve 13:747daba9cf59 1454 }
Lightvalve 14:8e7590227d22 1455 } else {
Lightvalve 30:8d561f16383b 1456 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1457 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 1458 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1459 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1460 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1461 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1462 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1463 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1464 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1465 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1466 }
Lightvalve 14:8e7590227d22 1467 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1468 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1469 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1470 else
Lightvalve 13:747daba9cf59 1471 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1472 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1473 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1474 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1475 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1476 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1477 else
Lightvalve 13:747daba9cf59 1478 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1479 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1480 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1481
Lightvalve 14:8e7590227d22 1482 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1483
Lightvalve 14:8e7590227d22 1484
Lightvalve 13:747daba9cf59 1485 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1486 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1487 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1488 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1489 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1490 first_check = 0;
Lightvalve 33:91b17819ec30 1491 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1492 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1493
Lightvalve 13:747daba9cf59 1494 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1495 DZ_index = 1;
Lightvalve 13:747daba9cf59 1496 }
Lightvalve 13:747daba9cf59 1497 }
Lightvalve 13:747daba9cf59 1498 }
Lightvalve 14:8e7590227d22 1499 }
Lightvalve 13:747daba9cf59 1500 break;
Lightvalve 13:747daba9cf59 1501 }
Lightvalve 14:8e7590227d22 1502
Lightvalve 14:8e7590227d22 1503 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1504 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1505 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1506 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1507 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1508 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1509 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1510 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1511 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1512 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1513 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1514 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1515 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1516 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 49:e7bcfc244d40 1517 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1518 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1519 first_check = 1;
Lightvalve 13:747daba9cf59 1520 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1521 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1522 ID_index = 0;
Lightvalve 13:747daba9cf59 1523 max_check = 0;
Lightvalve 13:747daba9cf59 1524 min_check = 0;
Lightvalve 13:747daba9cf59 1525 }
Lightvalve 14:8e7590227d22 1526 } else {
Lightvalve 30:8d561f16383b 1527 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1528 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 1529 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1530 data_num = 0;
Lightvalve 33:91b17819ec30 1531 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1532
Lightvalve 14:8e7590227d22 1533 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1534 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1535 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 33:91b17819ec30 1536 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1537 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1538 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1539 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1540 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1541 one_period_end = 1;
Lightvalve 13:747daba9cf59 1542 }
Lightvalve 30:8d561f16383b 1543 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1544 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1545 one_period_end = 1;
Lightvalve 13:747daba9cf59 1546 }
Lightvalve 14:8e7590227d22 1547
Lightvalve 14:8e7590227d22 1548 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1549 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1550 max_check = 1;
Lightvalve 14:8e7590227d22 1551 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1552 min_check = 1;
Lightvalve 13:747daba9cf59 1553 }
Lightvalve 13:747daba9cf59 1554 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1555
Lightvalve 19:23b7c1ad8683 1556 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1557 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1558 one_period_end = 0;
Lightvalve 13:747daba9cf59 1559 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1560 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1561 }
Lightvalve 14:8e7590227d22 1562
Lightvalve 14:8e7590227d22 1563 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1564
Lightvalve 13:747daba9cf59 1565 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1566 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1567 ID_index = 0;
Lightvalve 13:747daba9cf59 1568 first_check = 0;
Lightvalve 13:747daba9cf59 1569 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1570 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1571 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1572 }
Lightvalve 13:747daba9cf59 1573 }
Lightvalve 13:747daba9cf59 1574 break;
Lightvalve 13:747daba9cf59 1575 }
Lightvalve 14:8e7590227d22 1576
Lightvalve 12:6f2531038ea4 1577 default:
Lightvalve 12:6f2531038ea4 1578 break;
Lightvalve 12:6f2531038ea4 1579 }
Lightvalve 14:8e7590227d22 1580
Lightvalve 50:3c630b5eba9f 1581 // if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 50:3c630b5eba9f 1582 // // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 50:3c630b5eba9f 1583 // // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 50:3c630b5eba9f 1584 // // if (V_out > 0.) {
Lightvalve 50:3c630b5eba9f 1585 // // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 50:3c630b5eba9f 1586 // // } else if (V_out < 0.) {
Lightvalve 50:3c630b5eba9f 1587 // // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 50:3c630b5eba9f 1588 // // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1589 // // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 50:3c630b5eba9f 1590 //
Lightvalve 50:3c630b5eba9f 1591 // if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 50:3c630b5eba9f 1592 // else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 50:3c630b5eba9f 1593 //
Lightvalve 50:3c630b5eba9f 1594 // VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1595 //
Lightvalve 50:3c630b5eba9f 1596 // // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 50:3c630b5eba9f 1597 // float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 50:3c630b5eba9f 1598 // float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 50:3c630b5eba9f 1599 //
Lightvalve 50:3c630b5eba9f 1600 // if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 50:3c630b5eba9f 1601 // else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 50:3c630b5eba9f 1602 // else V_out = CUR_PWM_DZ;
Lightvalve 50:3c630b5eba9f 1603 // } else {
Lightvalve 50:3c630b5eba9f 1604 // V_out = V_out;
Lightvalve 50:3c630b5eba9f 1605 // }
Lightvalve 14:8e7590227d22 1606
jobuuu 7:e9086c72bb22 1607 /*******************************************************
jobuuu 7:e9086c72bb22 1608 *** PWM
jobuuu 7:e9086c72bb22 1609 ********************************************************/
Lightvalve 49:e7bcfc244d40 1610 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1611 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1612 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1613 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1614 }
Lightvalve 49:e7bcfc244d40 1615 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1616
jobuuu 2:a1c0a37df760 1617 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1618 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1619 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1620
Lightvalve 19:23b7c1ad8683 1621 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1622 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1623 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1624
Lightvalve 30:8d561f16383b 1625 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1626 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1627 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1628 } else {
jobuuu 2:a1c0a37df760 1629 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1630 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1631 }
Lightvalve 13:747daba9cf59 1632
jobuuu 1:e04e563be5ce 1633 //pwm
Lightvalve 30:8d561f16383b 1634 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1635 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1636
jobuuu 1:e04e563be5ce 1637 }
Lightvalve 11:82d8768d7351 1638 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1639
jobuuu 7:e9086c72bb22 1640 }
jobuuu 7:e9086c72bb22 1641
Lightvalve 20:806196fda269 1642
Lightvalve 20:806196fda269 1643
Lightvalve 20:806196fda269 1644 //unsigned long CNT_TMR5 = 0;
Lightvalve 30:8d561f16383b 1645 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 30:8d561f16383b 1646 //float DT_TMR5 = (float)DT_500;
Lightvalve 23:59218d4a256d 1647 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1648 {
Lightvalve 23:59218d4a256d 1649 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1650
Lightvalve 20:806196fda269 1651 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1652 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1653 //position+velocity
Lightvalve 41:abbd4e2af68b 1654 //CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 50:3c630b5eba9f 1655 CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 20:806196fda269 1656 }
Lightvalve 20:806196fda269 1657
Lightvalve 20:806196fda269 1658 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1659 //torque
Lightvalve 20:806196fda269 1660 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1661 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 48:889798ff9329 1662 double t_value = 0;
Lightvalve 50:3c630b5eba9f 1663 if(value>=DDV_CENTER) {
Lightvalve 48:889798ff9329 1664 t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 50:3c630b5eba9f 1665 } else {
Lightvalve 48:889798ff9329 1666 t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 48:889798ff9329 1667 }
Lightvalve 48:889798ff9329 1668 CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve 20:806196fda269 1669 }
Lightvalve 20:806196fda269 1670
Lightvalve 20:806196fda269 1671 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1672 //pressure A and B
Lightvalve 50:3c630b5eba9f 1673 CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 38:118df027d851 1674 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1675 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1676 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1677 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1678
Lightvalve 20:806196fda269 1679 }
Lightvalve 20:806196fda269 1680
Lightvalve 20:806196fda269 1681 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1682 //PWM
Lightvalve 48:889798ff9329 1683 CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 20:806196fda269 1684 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1685 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1686 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1687
Lightvalve 20:806196fda269 1688 }
Lightvalve 20:806196fda269 1689
Lightvalve 20:806196fda269 1690 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1691 //valve position
Lightvalve 48:889798ff9329 1692 CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve 33:91b17819ec30 1693 //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 20:806196fda269 1694
Lightvalve 20:806196fda269 1695 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 1696 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 1697 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 1698 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 1699 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 1700 }
Lightvalve 50:3c630b5eba9f 1701
Lightvalve 20:806196fda269 1702
Lightvalve 20:806196fda269 1703 }
Lightvalve 23:59218d4a256d 1704 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 1705 }
Lightvalve 20:806196fda269 1706
Lightvalve 20:806196fda269 1707
Lightvalve 20:806196fda269 1708
Lightvalve 13:747daba9cf59 1709 void CurrentControl()
Lightvalve 13:747daba9cf59 1710 {
jobuuu 7:e9086c72bb22 1711 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1712 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1713 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1714 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1715
Lightvalve 30:8d561f16383b 1716 float R_model = 150.0f; // ohm
Lightvalve 30:8d561f16383b 1717 float L_model = 0.3f;
Lightvalve 30:8d561f16383b 1718 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 30:8d561f16383b 1719 float KP_I = L_model*w0;
Lightvalve 30:8d561f16383b 1720 float KI_I = R_model*w0;
Lightvalve 30:8d561f16383b 1721 float KD_I = 0.0f;
jobuuu 7:e9086c72bb22 1722
Lightvalve 30:8d561f16383b 1723 float FF_gain = 0.0f;
jobuuu 7:e9086c72bb22 1724 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1725 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1726 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1727
Lightvalve 30:8d561f16383b 1728 float Ka = 5.0f/KP_I;
jobuuu 7:e9086c72bb22 1729 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1730 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1731 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1732 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1733 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1734 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1735 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1736 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1737 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1738 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1739 }
Lightvalve 21:e5f1a43ea6f9 1740 }
Lightvalve 23:59218d4a256d 1741
Lightvalve 28:2a62d73e3dd0 1742
Lightvalve 30:8d561f16383b 1743
Lightvalve 32:4b8c0fedaf2c 1744
Lightvalve 36:a46e63505ed8 1745
Lightvalve 42:1cf66990ccab 1746
Lightvalve 44:fe7d5cfd2eea 1747
Lightvalve 50:3c630b5eba9f 1748