Kim GiJeong
eeprom_test
Diff: setting.h
- Revision:
- 11:82d8768d7351
- Parent:
- 7:e9086c72bb22
- Child:
- 13:747daba9cf59
--- a/setting.h Fri Aug 23 01:02:32 2019 +0000 +++ b/setting.h Fri Aug 23 12:28:08 2019 +0000 @@ -1,8 +1,6 @@ #include "mbed.h" #include "FastPWM.h" -#define PI 3.141592 - // pwm #define PIN_V PB_7 #define PIN_W PB_6 @@ -10,6 +8,7 @@ //#define PWM_ARR 0x8CA // loop 40k, pwm 20k #define PWM_ARR 0x1194 // loop 20k, pwm 10k //#define PWM_ARR 0x2328 // loop 10k, pwm 5k +#define TMR3_COUNT 0x4650 // loop 5k #define FREQ_5k 5000.0 #define FREQ_10k 10000.0 @@ -53,3 +52,215 @@ void CurrentControl(); void ValveControl(unsigned int ControlMode); + + +/******************************************************************************* + * COMMON Settings + ******************************************************************************/ +#define LATEST_VERSION 19032 + + + +/******************************************************************************* + * COMMON CONSTANTS + ******************************************************************************/ +#define RAD_30 0.523598775598299 +#define RAD_60 1.047197551196598 +#define RAD_120 2.094395102393195 +#define RAD_180 3.141592653589793 +#define RAD_240 4.188790204786391 +#define RAD_300 5.235987755982989 +#define RAD_360 6.283185307179586 + +#define SYSFREQ 200000000 +#define PBCLK 100000000 + +//#define TMR_FREQ_10k 10000 +#define TMR_FREQ_5k 5000 + +#define FALSE 0 +#define TRUE 1 +#define OUTPUT 0 +#define INPUT 1 +#define LOW 0 +#define HIGH 1 +#define DIGITAL 0 +#define ANALOG 1 + +#define PI 3.141592653589793 +#define D2R 0.017453292519943 +#define R2D 57.295779513082323 + + +/******************************************************************************* + * HEADER INCLUDE + ******************************************************************************/ + +/******************************************************************************* + * VARIABLE + ******************************************************************************/ + +// Board Information +extern uint8_t BNO; +extern uint8_t CONTROL_MODE; +extern uint8_t OPERATING_MODE; +extern uint8_t SETTING_SWITCH; +extern uint8_t SETTING_SWITCH_OLD; +extern uint8_t REFERENCE_MODE; +extern uint16_t CAN_FREQ; +extern uint8_t DIR_JOINT_ENC; +extern uint8_t DIR_VALVE; +extern uint8_t DIR_VALVE_ENC; + +extern double SUPPLY_VOLTAGE; +extern double VALVE_VOLTAGE_LIMIT; + +extern double P_GAIN_VALVE_POSITION; +extern double I_GAIN_VALVE_POSITION; +extern double D_GAIN_VALVE_POSITION; +extern double P_GAIN_JOINT_POSITION; +extern double I_GAIN_JOINT_POSITION; +extern double D_GAIN_JOINT_POSITION; +extern double P_GAIN_JOINT_TORQUE; +extern double I_GAIN_JOINT_TORQUE; +extern double D_GAIN_JOINT_TORQUE; + +extern int16_t VALVE_DEADZONE_PLUS; +extern int16_t VALVE_DEADZONE_MINUS; + +extern int16_t VELOCITY_COMP_GAIN; +extern int16_t COMPLIANCE_GAIN; + +extern int16_t VALVE_CENTER; + +extern int16_t VALVE_FF; + +extern int16_t BULK_MODULUS; + +extern int16_t CHAMBER_VOLUME_A; +extern int16_t CHAMBER_VOLUME_B; + +extern int16_t PISTON_AREA_A; +extern int16_t PISTON_AREA_B; +extern double PISTON_AREA_alpha; + + +extern int16_t PRES_SUPPLY; +extern int16_t PRES_RETURN; + +extern int16_t ENC_LIMIT_PLUS; +extern int16_t ENC_LIMIT_MINUS; + +extern int16_t STROKE; + + +extern int16_t VALVE_LIMIT_PLUS; +extern int16_t VALVE_LIMIT_MINUS; + +extern int16_t ENC_PULSE_PER_POSITION; +extern int16_t TORQUE_SENSOR_PULSE_PER_TORQUE; +extern double PRES_SENSOR_A_PULSE_PER_BAR; +extern double PRES_SENSOR_B_PULSE_PER_BAR; + +extern int HOMEPOS_OFFSET; +extern int HOMEPOS_VALVE_OPENING; + +extern double FRICTION; +extern double REF_PERIOD; +extern double REF_MAG; +extern int REF_NUM; + + +extern double DAC_REF; +extern double DAC_RESOL; +extern double PWM_RESOL; + +extern int REF_POSITION; +extern int REF_VELOCITY; +extern int16_t REF_TORQUE; +extern int16_t REF_PRES_DIFF; +extern int16_t REF_PWM; +extern int16_t REF_VALVE_POSITION; + +extern int REF_MOVE_TIME_5k; +extern int INIT_REF_PWM; +extern int INIT_REF_VALVE_POS; +extern int INIT_REF_POS; +extern int INIT_REF_VEL; +extern int INIT_REF_TORQUE; +extern int INIT_REF_PRES_DIFF; + +extern int CUR_POSITION; +extern int CUR_VELOCITY; +extern double CUR_TORQUE; +extern double CUR_PRES_A; +extern double CUR_PRES_B; +extern int CUR_PWM; +extern int CUR_VALVE_POSITION; + +extern unsigned int TMR2_COUNT_LED1; +extern unsigned int TMR2_COUNT_LED2; +extern unsigned int TMR2_COUNT_CAN_TX; + +extern int num_err; +extern int flag_err[8]; +extern int flag_err_old[8]; +extern int flag_err_rt; + +extern int flag_ref_enable; + +extern int flag_data_request[5]; + +//////////////////////////////////////////////////////////////////////////////// +////////////////////////////// SEUNGHOON ADD /////////////////////////////////// +//////////////////////////////////////////////////////////////////////////////// + +extern double CUR_PRES_A_BAR; +extern double CUR_PRES_B_BAR; +extern double CUR_TORQUE_NM; +extern double CUR_TORQUE_NM_PRESS; + +extern double PRES_A_VREF; +extern double PRES_B_VREF; +extern double TORQUE_VREF; + +extern double VALVE_PWM_RAW; +extern double VALVE_PWM_RAW_FB; +extern double VALVE_PWM_RAW_FF; +extern int VALVE_PWM_VALVE_DZ; +extern int VALVE_INPUT_PWM; + +extern double VALVE_GAIN_LPM_PER_V[10]; +extern double VALVE_POS_VS_PWM[18]; +extern long JOINT_VEL[100]; + +extern int VALVE_MAX_POS; +extern int VALVE_MIN_POS; +extern int DDV_CENTER; +extern int VALVE_POS_NUM; + +extern int TMR2_COUNT_FINDHOME; +extern int TMR2_COUNT_FLOWRATE; +extern int TMR2_COUNT_DEADZONE; +extern int TMR2_COUNT_PRES_NULL; +extern int TMR2_COUNT_TORQUE_NULL; +extern int TMR2_COUNT_PRES_CALIB; +extern int TMR2_COUNT_REFERENCE; +extern int TMR2_COUNT_JOINT; +extern int TMR2_COUNT_ROTARY_FRIC_TUNE; + +extern bool FLAG_REFERENCE_VALVE_PWM; +extern bool FLAG_REFERENCE_VALVE_POSITION; +extern bool FLAG_REFERENCE_JOINT_POSITION; +extern bool FLAG_REFERENCE_JOINT_TORQUE; +extern bool FLAG_REFERENCE_PRES_DIFF; + +extern double TUNING_TIME; + +extern double REFERENCE_FREQ; +extern double REFERENCE_MAG; + +extern bool FLAG_FIND_HOME; + +extern int MODE_JUMP_STATUS; +