Kim GiJeong
eeprom_test
main.cpp
- Committer:
- Lightvalve
- Date:
- 2019-08-27
- Revision:
- 13:747daba9cf59
- Parent:
- 12:6f2531038ea4
- Child:
- 14:8e7590227d22
File content as of revision 13:747daba9cf59:
#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
#include "function_CAN.h"
#include "SPI_EEP_ENC.h"
#include "I2C_AS5510.h"
#include "setting.h"
#include "function_utilities.h"
// dac & check ///////////////////////////////////////////
DigitalOut check(PC_2);
DigitalOut check_2(PC_3);
AnalogOut dac_1(PA_4);
AnalogOut dac_2(PA_5);
//AnalogIn adc3(PC_1);
// PWM ///////////////////////////////////////////
double dtc_v=0.0;
double dtc_w=0.0;
// I2C ///////////////////////////////////////////
I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
const int i2c_slave_addr1 = 0x56;
unsigned int value; // 10bit output of reading sensor AS5510
// SPI ///////////////////////////////////////////
SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
DigitalOut eeprom_cs(PB_12);
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
DigitalOut LED(PA_15);
// UART ///////////////////////////////////////////
Serial pc(PA_9,PA_10); // _ UART
// CAN ///////////////////////////////////////////
CAN can(PB_8, PB_9, 1000000);
CANMessage msg;
void onMsgReceived()
{
CAN_RX_HANDLER();
}
// Variables ///////////////////////////////////////////
State pos;
State vel;
State Vout;
State torq;
State pres_A;
State pres_B;
State cur;
double V_out=0.0;
double V_rem=0.0; // for anti-windup
double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
double PWM_out=0.0;
// =============================================================================
// =============================================================================
// =============================================================================
/*******************************************************************************
* REFERENCE MODE
******************************************************************************/
enum _REFERENCE_MODE {
MODE_REF_NO_ACT = 0, //0
MODE_REF_DIRECT, //1
MODE_REF_COS_INC, //2
MODE_REF_LINE_INC, //3
MODE_REF_SIN_WAVE, //4
MODE_REF_SQUARE_WAVE, //5
};
/*******************************************************************************
* CONTROL MODE
******************************************************************************/
enum _CONTROL_MODE {
//control mode
MODE_NO_ACT = 0, //0
MODE_VALVE_OPEN_LOOP, //1
MODE_VALVE_POSITION_CONTROL, //2
MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
MODE_TEST_CURRENT_CONTROL, //9
MODE_TEST_PWM_CONTROL, //10
//utility
MODE_TORQUE_SENSOR_NULLING = 20, //20
MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
MODE_FIND_HOME, //22
MODE_VALVE_GAIN_SETTING, //23
MODE_PRESSURE_SENSOR_NULLING, //24
MODE_PRESSURE_SENSOR_CALIB, //25
MODE_ROTARY_FRICTION_TUNING, //26
MODE_DDV_POS_VS_PWM_ID = 30, //30
MODE_DDV_DEADZONE_AND_CENTER, //31
MODE_DDV_POS_VS_FLOWRATE, //32
};
int main()
{
/*********************************
*** Initialization
*********************************/
LED = 1;
pc.baud(9600);
// i2c init
i2c.frequency(400 * 1000); // 0.4 mHz
wait_ms(2); // Power Up wait
look_for_hardware_i2c(); // Hardware present
init_as5510(i2c_slave_addr1);
make_delay();
// // spi init
eeprom.format(8,3);
eeprom.frequency(5000000); //5M
enc.format(8,0);
enc.frequency(5000000); //5M
make_delay();
// ADC init
Init_ADC();
make_delay();
// Pwm init
Init_PWM();
TIM4->CR1 ^= TIM_CR1_UDIS;
make_delay();
// TMR3 init
Init_TMR3();
TIM3->CR1 ^= TIM_CR1_UDIS;
make_delay();
// CAN
can.attach(&CAN_RX_HANDLER);
CAN_ID_INIT();
make_delay();
// spi _ enc
spi_enc_set_init();
make_delay();
//eeprom
ROM_INIT_DATA();
make_delay();
//DAC init
dac_1 = PRES_A_VREF/3.3;
dac_2 = PRES_B_VREF/3.3;
make_delay();
for (int i=0; i<100; i++) {
if(i%2==0)
ID_index_array[i] = - i * 0.5;
else
ID_index_array[i] = (i+1) * 0.5;
}
/************************************
*** Program is operating!
*************************************/
while(1) {
//spi _ enc
//int a = spi_enc_read();
//i2c
read_field(i2c_slave_addr1);
}
}
int DDV_JOINT_POS_FF(double REF_JOINT_VEL){
int i = 0;
int Ref_Valve_Pos_FF = DDV_CENTER;
for(i=0; i<VALVE_POS_NUM; i++)
{
if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1]))
{
if(i==0)
{
Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
}
else
{
Ref_Valve_Pos_FF = ((int) 50.0*(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 + 50*ID_index_array[i-1];
}
break;
}
}
if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2]))
{
Ref_Valve_Pos_FF = VALVE_MAX_POS;
}
else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2]))
{
Ref_Valve_Pos_FF = VALVE_MIN_POS;
}
return Ref_Valve_Pos_FF;
}
void VALVE_POS_CONTROL(double REF_VALVE_POS){
int i = 0;
valve_pos_err = REF_VALVE_POS - value;
valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
valve_pos_err_old = valve_pos_err;
valve_pos_err_sum += valve_pos_err;
if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
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;
if(REF_VALVE_POS > VALVE_MAX_POS)
{
REF_VALVE_POS = VALVE_MAX_POS;
}
else if(REF_VALVE_POS < VALVE_MIN_POS)
{
REF_VALVE_POS = VALVE_MIN_POS;
}
for(i=0; i<16; i++)
{
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]))
{
if(i==0)
{
VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
}
else
{
VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1];
}
break;
}
}
VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}
double PWM_duty_byLT(double Ref_V) {
double PWM_duty = 0.0;
if(Ref_V<LT_Voltage_Output[0]) {
PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
} else {
int idx = 0;
for(idx=0; idx<LT_MAX_IDX-1; idx++) {
double ini_x = LT_Voltage_Output[idx];
double fin_x = LT_Voltage_Output[idx+1];
double ini_y = LT_PWM_duty[idx];
double fin_y = LT_PWM_duty[idx+1];
if(Ref_V>=ini_x && Ref_V<fin_x) {
PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
break;
}
}
}
return PWM_duty;
}
/*******************************************************************************
TIMER INTERRUPT
*******************************************************************************/
unsigned long CNT_TMR4 = 0;
double FREQ_TMR4 = (double)FREQ_20k;
double DT_TMR4 = (double)DT_20k;
extern "C" void TIM4_IRQHandler(void)
{
if ( TIM4->SR & TIM_SR_UIF ) {
/*******************************************************
*** Sensor Read & Data Handling
********************************************************/
if((CNT_TMR4%2)==0) {
//ADC
ADC3->CR2 |= 0x40000000; // adc _ 12bit
// a1=ADC1->DR;
// a1=ADC2->DR;
// int raw_cur = ADC3->DR;
while((ADC3->SR & 0b10));
double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
}
//DAC
// dac_1 = ADC1->DR;
// dac_2 = ADC2->DR;
/*******************************************************
*** Timer Counting & etc.
********************************************************/
CNT_TMR4++;
}
TIM4->SR = 0x0; // reset the status register
}
unsigned long CNT_TMR3 = 0;
double FREQ_TMR3 = (double)FREQ_5k;
double DT_TMR3 = (double)DT_5k;
extern "C" void TIM3_IRQHandler(void)
{
if ( TIM3->SR & TIM_SR_UIF ) {
ENC_UPDATE();
CUR_PRES_A_BAR = (CUR_PRES_A - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR + 1.;
CUR_PRES_B_BAR = (CUR_PRES_B - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR + 1.;
//CUR_TORQUE_NM = (CUR_TORQUE - TORQUE_NULL) / (double) TORQUE_SENSOR_PULSE_PER_TORQUE; //
CUR_TORQUE_NM = CUR_TORQUE; //
CUR_TORQUE_NM_PRESS = 1. * (CUR_PRES_A_BAR - CUR_PRES_B_BAR);
// Reference Loop
switch (REFERENCE_MODE) {
case MODE_REF_NO_ACT: {
break;
}
case MODE_REF_DIRECT: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = (double) REF_PWM;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
Ref_Valve_Pos = (double) REF_VALVE_POSITION;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
Ref_Joint_Pos = (double) REF_POSITION;
Ref_Joint_Vel = (double) REF_VELOCITY;
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
Ref_Joint_Torq = (double) REF_TORQUE;
}
break;
}
case MODE_REF_COS_INC: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_PWM;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
Ref_Valve_Pos = ((double) REF_VALVE_POSITION - (double) INIT_REF_VALVE_POS)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_VALVE_POS;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
Ref_Joint_Pos = ((double) REF_POSITION - (double) INIT_REF_POS)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_POS;
Ref_Joint_Vel = 0.0;
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
Ref_Joint_Torq = ((double) REF_TORQUE - (double) INIT_REF_TORQUE)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_TORQUE;
}
TMR2_COUNT_REFERENCE++;
if (TMR2_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
REFERENCE_MODE = MODE_REF_DIRECT;
TMR2_COUNT_REFERENCE = 0;
}
break;
}
case MODE_REF_LINE_INC: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_PWM;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
Ref_Valve_Pos = ((double) REF_VALVE_POSITION - (double) INIT_REF_VALVE_POS)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_VALVE_POS;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
Ref_Joint_Pos = ((double) REF_POSITION - (double) INIT_REF_POS)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_POS;
Ref_Vel_Test = ((double) REF_POSITION - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k; // pulse/sec
//Ref_Vel_Test = 10;
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
Ref_Joint_Torq = ((double) REF_TORQUE - (double) INIT_REF_TORQUE)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_TORQUE;
}
TMR2_COUNT_REFERENCE++;
if (TMR2_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
//REFERENCE_MODE = MODE_REF_DIRECT;
Ref_Vel_Test = 1;
TMR2_COUNT_REFERENCE = REF_MOVE_TIME_5k;
//TMR2_COUNT_REFERENCE = 0;
}
break;
}
case MODE_REF_SIN_WAVE: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
Ref_Valve_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_VALVE_POSITION;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_POSITION;
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_TORQUE;
}
TMR2_COUNT_REFERENCE++;
if (TMR2_COUNT_REFERENCE >= TMR2_COUNT_REFERENCE * REF_NUM) {
REFERENCE_MODE = MODE_REF_DIRECT;
TMR2_COUNT_REFERENCE = 0;
}
break;
}
case MODE_REF_SQUARE_WAVE: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM;
if (Ref_PWM >= REF_PWM) Ref_PWM = REF_MAG + REF_PWM;
else Ref_PWM = -REF_MAG + REF_PWM;
}
if (FLAG_REFERENCE_VALVE_POSITION) {
Ref_Valve_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_VALVE_POSITION;
if (Ref_Valve_Pos >= REF_VALVE_POSITION) Ref_Valve_Pos = REF_MAG + REF_VALVE_POSITION;
else Ref_Valve_Pos = -REF_MAG + REF_VALVE_POSITION;
}
if (FLAG_REFERENCE_JOINT_POSITION) {
Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_POSITION;
if (Ref_Joint_Pos >= REF_POSITION) Ref_Valve_Pos = REF_MAG + REF_POSITION;
else Ref_Joint_Pos = -REF_MAG + REF_POSITION;
}
if (FLAG_REFERENCE_JOINT_TORQUE) {
Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_TORQUE;
if (Ref_Joint_Torq >= REF_TORQUE) Ref_Valve_Pos = REF_MAG + REF_TORQUE;
else Ref_Joint_Torq = -REF_MAG + REF_TORQUE;
}
TMR2_COUNT_REFERENCE++;
if (TMR2_COUNT_REFERENCE >= TMR2_COUNT_REFERENCE * REF_NUM) {
REFERENCE_MODE = MODE_REF_DIRECT;
TMR2_COUNT_REFERENCE = 0;
}
break;
}
default:
break;
}
// CONTROL LOOP ------------------------------------------------------------
switch (CONTROL_MODE) {
case MODE_NO_ACT:
{
// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
VALVE_PWM_RAW = 0;
break;
}
case MODE_VALVE_OPEN_LOOP:
{
VALVE_PWM_RAW = Ref_PWM;
break;
}
case MODE_VALVE_POSITION_CONTROL:
{
VALVE_POS_CONTROL(Ref_Valve_Pos);
break;
}
case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM:
{
double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
// feedback input for position control
joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
joint_pos_err_old = joint_pos_err;
joint_pos_err_sum += joint_pos_err;
if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
// PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff;
PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err;
PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
// feedforward input for position control
double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
double K_ff = 0.9;
if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
PWM_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
// torque feedback
// joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
// joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
// joint_torq_err_old = joint_torq_err;
// joint_torq_err_sum += joint_torq_err;
// if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
// if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
// VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
PWM_RAW_FORCE_FB = 0.0;
// VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
VALVE_PWM_RAW = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
break;
}
case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION:
{
TMR2_COUNT_JOINT++;
double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
int DDV_JOINT_CAN = 0;
// feedback input for position control
joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
joint_pos_err_old = joint_pos_err;
joint_pos_err_sum += joint_pos_err;
if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff;
VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
//Ref_Joint_Vel = Ref_Vel_Test;
// feedforward input for position control
// double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
// double K_ff = 0.9;
// if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
// if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
// VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
// torque feedback
// joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
// joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
// joint_torq_err_old = joint_torq_err;
// joint_torq_err_sum += joint_torq_err;
// if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
// if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
// VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
VALVE_POS_RAW_FORCE_FB = 0.0;
Ref_Valve_Pos = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(Ref_Joint_Vel) + VALVE_POS_RAW_FORCE_FB;
//Ref_Valve_Pos = DDV_JOINT_POS_FF(Ref_Joint_Vel);
VALVE_POS_CONTROL(Ref_Valve_Pos);
break;
}
case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING:
{
break;
}
case MODE_JOINT_POSITION_PRES_CONTROL_PWM:
{
joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
joint_pos_err_old = joint_pos_err;
joint_pos_err_sum += joint_pos_err;
if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01;
joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
joint_torq_err_old = joint_torq_err;
joint_torq_err_sum += joint_torq_err;
if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
VALVE_PWM_RAW = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 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))
if (DIR_VALVE > 0) {
if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
else VALVE_FF_VOLTAGE = 0;
} else {
if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
else VALVE_FF_VOLTAGE = 0;
}
// VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
break;
}
case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION:
{
joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
joint_pos_err_old = joint_pos_err;
joint_pos_err_sum += joint_pos_err;
if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01;
joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
joint_torq_err_old = joint_torq_err;
joint_torq_err_sum += joint_torq_err;
if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
Ref_Valve_Pos = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
valve_pos_err = Ref_Valve_Pos - value;
valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
valve_pos_err_old = valve_pos_err;
valve_pos_err_sum += valve_pos_err;
if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
VALVE_PWM_RAW = (double) P_GAIN_VALVE_POSITION * valve_pos_err + (double) I_GAIN_VALVE_POSITION * valve_pos_err_sum + (double) D_GAIN_VALVE_POSITION * valve_pos_err_diff;
break;
}
case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING:
{
break;
}
case MODE_TORQUE_SENSOR_NULLING:
{
// DAC Voltage reference set
if (TMR2_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
CUR_TORQUE_sum += CUR_TORQUE;
if (TMR2_COUNT_TORQUE_NULL % 10 == 0) {
CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
CUR_TORQUE_sum = 0;
TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
// TORQUE_VREF = 0;
if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
if (TORQUE_VREF < 0) TORQUE_VREF = 0;
spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
}
} else {
CONTROL_MODE = MODE_NO_ACT;
TMR2_COUNT_TORQUE_NULL = 0;
CUR_TORQUE_sum = 0;
CUR_TORQUE_mean = 0;
spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
}
TMR2_COUNT_TORQUE_NULL++;
break;
}
case MODE_VALVE_NULLING_AND_DEADZONE_SETTING:
{
if (TMR2_COUNT_DEADZONE == 0) {
if (pos_plus_end == pos_minus_end) need_enc_init = true;
else temp_time = 0;
}
if (need_enc_init) {
if (TMR2_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
pos_plus_end = CUR_POSITION;
} else if (TMR2_COUNT_DEADZONE < TMR_FREQ_5k) {
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
pos_minus_end = CUR_POSITION;
} else if (TMR2_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
temp_time = TMR_FREQ_5k;
}
if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
} else if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
VALVE_PWM_RAW = 0;
CUR_VELOCITY_sum += CUR_VELOCITY;
} else if (TMR2_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
else DZ_temp_cnt2 = DZ_end;
CUR_VELOCITY_sum = 0;
} else if (TMR2_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
if (TMR2_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
// Position of Dead Zone
// (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
// | / | / |/
// | ______/ ___|___/ ______/|
// |/ / | / |
// /| / | / |
// 0V 0V 0V
if (DZ_temp_cnt2 < DZ_end) {
if (TMR2_COUNT_DEADZONE % 20 != 0) {
CUR_VELOCITY_sum += CUR_VELOCITY;
} else {
VALVE_PWM_RAW -= DZ_dir;
if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
CUR_VELOCITY_sum = 0;
}
if (DZ_temp_cnt == 5) {
if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW;
else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW;
DZ_dir = -DZ_dir;
DZ_temp_cnt = 0;
DZ_temp_cnt2++;
}
} else {
TMR2_COUNT_DEADZONE = -1;
VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
VALVE_DEADZONE_PLUS = VALVE_CENTER;
VALVE_DEADZONE_MINUS = VALVE_CENTER;
}
VALVE_PWM_RAW = 0;
spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
CONTROL_MODE = MODE_NO_ACT;
DZ_temp_cnt2 = 0;
}
}
TMR2_COUNT_DEADZONE++;
break;
}
case MODE_FIND_HOME:
{
if (FLAG_FIND_HOME == true) {
cnt_findhome = 0;
cnt_vel_findhome = 0;
REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Ref_Joint_Pos = CUR_POSITION;
FLAG_FIND_HOME = false;
}
int check_enc = (TMR_FREQ_5k/10);
if(cnt_findhome%check_enc == 0){
FINDHOME_POSITION = CUR_POSITION;
FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
FINDHOME_POSITION_OLD = FINDHOME_POSITION;
} cnt_findhome++;
if(cnt_findhome == 10000) cnt_findhome = 0;
if (abs(FINDHOME_VELOCITY) <= 1) {
cnt_vel_findhome = cnt_vel_findhome + 1;
} else {
cnt_vel_findhome = 0;
}
if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
REFERENCE_MODE = MODE_REF_NO_ACT;
if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
joint_pos_err = Ref_Joint_Pos - CUR_POSITION;
VALVE_PWM_RAW = ((double) P_GAIN_JOINT_POSITION * joint_pos_err) * 0.01;
// if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
// else VALVE_PWM_RAW = -100;
} else {
ENC_SET(HOMEPOS_OFFSET);
FLAG_REFERENCE_JOINT_POSITION = 1;
INIT_REF_POS = HOMEPOS_OFFSET;
REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
TMR2_COUNT_REFERENCE = 0;
Ref_Joint_Vel = 0.0;
REFERENCE_MODE = MODE_REF_COS_INC;
CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
FINDHOME_POSITION = 0;
FINDHOME_POSITION_OLD = 0;
FINDHOME_VELOCITY = 0;
cnt_findhome = 0;
cnt_vel_findhome = 0;
}
break;
}
case MODE_VALVE_GAIN_SETTING:
{
if (TMR2_COUNT_FLOWRATE == 0) {
if (pos_plus_end == pos_minus_end) need_enc_init = true;
else {
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
}
}
if (need_enc_init) {
if (TMR2_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
pos_plus_end = CUR_POSITION;
} else if (TMR2_COUNT_FLOWRATE < TMR_FREQ_5k) {
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
pos_minus_end = CUR_POSITION;
} else if (TMR2_COUNT_FLOWRATE == TMR_FREQ_5k) {
need_enc_init = false;
check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
}
temp_time = TMR_FREQ_5k;
}
TMR2_COUNT_FLOWRATE++;
if (TMR2_COUNT_FLOWRATE > temp_time) {
if (flag_flowrate % 2 == 0) { // (+)
VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1);
VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
if (CUR_POSITION > (pos_minus_end + check_vel_pos_init) && CUR_POSITION < (pos_minus_end + check_vel_pos_fin)) {
fl_temp_cnt++;
} else if (CUR_POSITION >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
fl_temp_cnt2++;
}
} else if (flag_flowrate % 2 == 1) { // (-)
VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
if (CUR_POSITION < (pos_plus_end - check_vel_pos_init) && CUR_POSITION > (pos_plus_end - check_vel_pos_fin)) {
fl_temp_cnt++;
} else if (CUR_POSITION <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
fl_temp_cnt2++;
}
}
if (fl_temp_cnt2 == 100) {
spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
cur_vel_sum = 0;
fl_temp_cnt = 0;
fl_temp_cnt2 = 0;
flag_flowrate++;
}
if (flag_flowrate == 10) {
VALVE_PWM_RAW = 0;
flag_flowrate = 0;
TMR2_COUNT_FLOWRATE = 0;
valve_gain_repeat_cnt++;
if (valve_gain_repeat_cnt >= 1) {
CONTROL_MODE = MODE_NO_ACT;
valve_gain_repeat_cnt = 0;
}
}
break;
}
}
case MODE_PRESSURE_SENSOR_NULLING:
{
// DAC Voltage reference set
if (TMR2_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
CUR_PRES_A_sum += CUR_PRES_A;
CUR_PRES_B_sum += CUR_PRES_B;
if (TMR2_COUNT_PRES_NULL % 10 == 0) {
CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
CUR_PRES_A_sum = 0;
CUR_PRES_B_sum = 0;
double VREF_NullingGain = 0.0003;
PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
if (PRES_A_VREF < 0) PRES_A_VREF = 0;
if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
if (PRES_B_VREF < 0) PRES_B_VREF = 0;
spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
}
} else {
CONTROL_MODE = MODE_NO_ACT;
TMR2_COUNT_PRES_NULL = 0;
CUR_PRES_A_sum = 0;
CUR_PRES_B_sum = 0;
CUR_PRES_A_mean = 0;
CUR_PRES_B_mean = 0;
spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
}
TMR2_COUNT_PRES_NULL++;
break;
}
case MODE_PRESSURE_SENSOR_CALIB:
{
if (TMR2_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
if (TMR2_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
CUR_PRES_A_sum += CUR_PRES_A;
}
} else if (TMR2_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
if (TMR2_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
CUR_PRES_B_sum += CUR_PRES_B;
}
} else {
CONTROL_MODE = MODE_NO_ACT;
TMR2_COUNT_PRES_CALIB = 0;
VALVE_PWM_RAW = 0;
PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL;
PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL;
PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
CUR_PRES_A_sum = 0;
CUR_PRES_B_sum = 0;
CUR_PRES_A_mean = 0;
CUR_PRES_B_mean = 0;
spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
}
TMR2_COUNT_PRES_CALIB++;
break;
}
case MODE_ROTARY_FRICTION_TUNING:
{
if (TMR2_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001);
if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL;
else VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
TMR2_COUNT_ROTARY_FRIC_TUNE++;
if (TMR2_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
TMR2_COUNT_ROTARY_FRIC_TUNE = 0;
VALVE_PWM_RAW = 0;
CONTROL_MODE = MODE_NO_ACT;
}
break;
}
case MODE_DDV_POS_VS_PWM_ID:
{
VALVE_ID_timer = VALVE_ID_timer + 1;
if(VALVE_ID_timer < TMR_FREQ_5k*1)
{
VALVE_PWM_RAW = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100);
}
else if(VALVE_ID_timer < TMR_FREQ_5k*2)
{
VALVE_PWM_RAW = 1000*(ID_index_array[ID_index]);
}
else if(VALVE_ID_timer == TMR_FREQ_5k*2)
{
VALVE_POS_TMP = 0;
data_num = 0;
}
else if(VALVE_ID_timer < TMR_FREQ_5k*3)
{
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
}
else if(VALVE_ID_timer == TMR_FREQ_5k*3)
{
VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
VALVE_ID_timer = 0;
ID_index= ID_index +1;
}
if(ID_index>=18)
{
int i;
VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
for(i=0;i<18;i++)
{
VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD)
{
VALVE_MAX_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MAX_POS;
}
else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD)
{
VALVE_MIN_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MIN_POS;
}
}
spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
ID_index = 0;
CONTROL_MODE = MODE_NO_ACT;
}
break;
}
case MODE_DDV_DEADZONE_AND_CENTER:
{
VALVE_DZ_timer = VALVE_DZ_timer + 1;
if(first_check == 0)
{
if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
}
else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
pos_plus_end = CUR_POSITION;
}
else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
}
else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
pos_minus_end = CUR_POSITION;
}
else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
}
else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
}
else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
DDV_POS_AVG = VALVE_POS_TMP / data_num;
START_POS = CUR_POSITION;
CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
VALVE_POS_TMP = 0;
data_num = 0;
}
else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos = DDV_POS_AVG;
VALVE_POS_CONTROL(Ref_Valve_Pos);
//CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
}
else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos = DDV_POS_AVG;
VALVE_POS_CONTROL(Ref_Valve_Pos);
if(CUR_VELOCITY >= 0)
VEL_POINT = VEL_POINT + 1;
else
VEL_POINT = VEL_POINT - 1;
}
else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos = DDV_POS_AVG;
VALVE_POS_CONTROL(Ref_Valve_Pos);
FINAL_POS = CUR_POSITION;
// if(VEL_POINT >= 0)
// {
// DZ_case = 1;
// }
// else
// {
// DZ_case = -1;
// }
// if(abs(FINAL_POS - START_POS) < 100)
// {
// DZ_case = 0;
// }
if((FINAL_POS - START_POS)>100)
{
DZ_case = 1;
}
else if((FINAL_POS - START_POS)<-100)
{
DZ_case = -1;
}
else
{
DZ_case = 0;
}
VEL_POINT = 0;
first_check = 1;
DZ_DIRECTION = 1;
VALVE_DZ_timer = 0;
Ref_Valve_Pos_Old = DDV_POS_AVG;
DZ_NUM = 1;
DZ_index = 1;
CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
}
}
else
{
if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1))
{
if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
}
else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
{
START_POS = CUR_POSITION;
}
else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
if(Ref_Valve_Pos <= VALVE_MIN_POS)
{
Ref_Valve_Pos = VALVE_MIN_POS;
}
else if(Ref_Valve_Pos >= VALVE_MAX_POS)
{
Ref_Valve_Pos = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(Ref_Valve_Pos);
if(CUR_VELOCITY >= 0)
VEL_POINT = VEL_POINT + 1;
else
VEL_POINT = VEL_POINT - 1;
}
else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos_Old = Ref_Valve_Pos;
FINAL_POS = CUR_POSITION;
// if(VEL_POINT >= 0)
// DZ_DIRECTION = 1 * DZ_case;
// else
// DZ_DIRECTION = -1 * DZ_case;
// if(abs(FINAL_POS - START_POS) < 100)
// DZ_DIRECTION = 1 * DZ_case;
if((FINAL_POS - START_POS)>100)
{
DZ_DIRECTION = 1 * DZ_case;
}
else if((FINAL_POS - START_POS)<-100)
{
DZ_DIRECTION = -1 * DZ_case;
}
else
{
DZ_DIRECTION = 1 * DZ_case;
}
VEL_POINT = 0;
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128)
{
FIRST_DZ = Ref_Valve_Pos;
DZ_NUM = 2;
Ref_Valve_Pos_Old = FIRST_DZ;
DZ_index = 1;
DZ_DIRECTION = 1;
}
//CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
}
}
else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2))
{
if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
}
else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
{
START_POS = CUR_POSITION;
}
else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION + 64 / DZ_index;
if(Ref_Valve_Pos <= VALVE_MIN_POS)
{
Ref_Valve_Pos = VALVE_MIN_POS;
}
else if(Ref_Valve_Pos >= VALVE_MAX_POS)
{
Ref_Valve_Pos = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(Ref_Valve_Pos);
if(CUR_VELOCITY >= 0)
VEL_POINT = VEL_POINT + 1;
else
VEL_POINT = VEL_POINT - 1;
}
else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos_Old = Ref_Valve_Pos;
FINAL_POS = CUR_POSITION;
// if(VEL_POINT >= 0)
// DZ_DIRECTION = 1 * DZ_case;
// else
// DZ_DIRECTION = -1 * DZ_case;
// if(abs(FINAL_POS - START_POS) < 100)
// DZ_DIRECTION = -1 * DZ_case;
if((FINAL_POS - START_POS)>100)
{
DZ_DIRECTION = -1;
}
else if((FINAL_POS - START_POS)<-100)
{
DZ_DIRECTION = 1;
}
else
{
DZ_DIRECTION = 1;
}
VEL_POINT = 0;
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128)
{
SECOND_DZ = Ref_Valve_Pos;
DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
first_check = 0;
spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
//CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
CONTROL_MODE = MODE_NO_ACT;
DZ_index = 1;
}
CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
}
}
else if(DZ_case == 0 && DZ_NUM ==1)
{
if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
}
else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
{
START_POS = CUR_POSITION;
}
else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
if(Ref_Valve_Pos <= VALVE_MIN_POS)
{
Ref_Valve_Pos = VALVE_MIN_POS;
}
else if(Ref_Valve_Pos >= VALVE_MAX_POS)
{
Ref_Valve_Pos = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(Ref_Valve_Pos);
if(CUR_VELOCITY >= 0)
VEL_POINT = VEL_POINT + 1;
else
VEL_POINT = VEL_POINT - 1;
}
else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos_Old = Ref_Valve_Pos;
FINAL_POS = CUR_POSITION;
// if(VEL_POINT >= 0)
// DZ_DIRECTION = 1;
// else
// DZ_DIRECTION = -1;
// if(abs(FINAL_POS - START_POS) < 100)
// DZ_DIRECTION = 1;
if((FINAL_POS - START_POS)>100)
{
DZ_DIRECTION = 1;
}
else if((FINAL_POS - START_POS)<-100)
{
DZ_DIRECTION = -1;
}
else
{
DZ_DIRECTION = 1;
}
VEL_POINT = 0;
//CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128)
{
FIRST_DZ = Ref_Valve_Pos;
DZ_NUM = 2;
Ref_Valve_Pos_Old = FIRST_DZ;
DZ_index = 1;
DZ_DIRECTION = 1;
}
}
}
else
{
if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
}
else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
{
START_POS = CUR_POSITION;
}
else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
if(Ref_Valve_Pos <= VALVE_MIN_POS)
{
Ref_Valve_Pos = VALVE_MIN_POS;
}
else if(Ref_Valve_Pos > VALVE_MAX_POS)
{
Ref_Valve_Pos = VALVE_MAX_POS - 1;
}
VALVE_POS_CONTROL(Ref_Valve_Pos);
if(CUR_VELOCITY >= 0)
VEL_POINT = VEL_POINT + 1;
else
VEL_POINT = VEL_POINT - 1;
}
else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos_Old = Ref_Valve_Pos;
FINAL_POS = CUR_POSITION;
if(VEL_POINT >= 0)
DZ_DIRECTION = -1;
else
DZ_DIRECTION = 1;
if(abs(FINAL_POS - START_POS) < 100)
DZ_DIRECTION = 1;
VEL_POINT = 0;
VALVE_DZ_timer = 0;
//CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
DZ_index= DZ_index *2;
if(DZ_index >= 128)
{
SECOND_DZ = Ref_Valve_Pos;
DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = FIRST_DZ;
spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
VALVE_DEADZONE_PLUS = SECOND_DZ;
spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
CONTROL_MODE = MODE_NO_ACT;
DZ_index = 1;
}
//CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
}
}
}
break;
}
case MODE_DDV_POS_VS_FLOWRATE:
{
VALVE_FR_timer = VALVE_FR_timer + 1;
if(first_check == 0)
{
if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
}
else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
pos_plus_end = CUR_POSITION;
// CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (7));
}
else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
}
else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k))
{
// CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (8));
VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
pos_minus_end = CUR_POSITION;
first_check = 1;
VALVE_FR_timer = 0;
Ref_Valve_Pos = DDV_CENTER;
ID_index = 0;
max_check = 0;
min_check = 0;
}
}
else
{
if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k))
{
VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
}
else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k))
{
data_num = 0;
Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER;
VALVE_POS_CONTROL(Ref_Valve_Pos);
START_POS = CUR_POSITION;
}
else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k))
{
Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER;
VALVE_POS_CONTROL(Ref_Valve_Pos);
data_num = data_num + 1;
if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION) > 20000)
{
FINAL_POS = CUR_POSITION;
one_period_end = 1;
}
}
else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k))
{
FINAL_POS = CUR_POSITION;
one_period_end = 1;
}
if(one_period_end == 1){
if(Ref_Valve_Pos > VALVE_MAX_POS)
{
max_check = 1;
}
else if(Ref_Valve_Pos < VALVE_MIN_POS)
{
min_check = 1;
}
JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
VALVE_FR_timer = 0;
one_period_end = 0;
ID_index= ID_index +1;
// CAN_TX_PRES((int16_t) (Ref_Valve_Pos), (int16_t) (ID_index));
}
if(max_check == 1 && min_check == 1)
{
spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
VALVE_POS_NUM = ID_index;
ID_index = 0;
first_check = 0;
VALVE_FR_timer = 0;
// CAN_TX_PRES((int16_t) (123), (int16_t) (123));
CONTROL_MODE = MODE_NO_ACT;
}
}
break;
}
default:
break;
}
if (FLAG_VALVE_OUTPUT_CALIB) {
// Valve Dead Zone (Mechanical dead-zone canceling)
// if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
// if (VALVE_PWM_RAW > 0.) {
// VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_PLUS;
// } else if (VALVE_PWM_RAW < 0.) {
// VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_MINUS;
// } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_CENTER;
// } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW;
if(VALVE_PWM_RAW>0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS;
else if(VALVE_PWM_RAW<0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS;
VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_CENTER;
// Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV
double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
if (CUR_PWM_DZ > 0) CUR_PWM = (int)CUR_PWM_DZ + 143;
else if (CUR_PWM_DZ < 0) CUR_PWM = (int)CUR_PWM_DZ - 138;
else CUR_PWM = CUR_PWM_DZ;
} else {
CUR_PWM = VALVE_PWM_RAW;
}
VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
//CAN ----------------------------------------------------------------------
if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
if (flag_data_request[0] == HIGH) {
//position+velocity
CAN_TX_POSITION((long) CUR_POSITION, (long) CUR_VELOCITY);
// CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.));
// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
}
if (flag_data_request[1] == HIGH) {
//torque
//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
}
if (flag_data_request[2] == HIGH) {
//pressure A and B
CAN_TX_PRES((int16_t) (CUR_PRES_A), (int16_t) (CUR_PRES_B)); // CUR_PRES_X : 0(0bar)~4096(210bar)
// CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
// CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
// CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
}
if (flag_data_request[3] == HIGH) {
//PWM
CAN_TX_PWM((int16_t) CUR_PWM);
// CAN_TX_PWM((int16_t) (CONTROL_MODE));
// CAN_TX_PWM((int16_t) cnt_vel_findhome);
// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
}
if (flag_data_request[4] == HIGH) {
//valve position
CAN_TX_VALVE_POSITION((int16_t) (I2C_val));
//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE));
// CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
// CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
// CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
}
TMR3_COUNT_CAN_TX = 0;
}
TMR3_COUNT_CAN_TX++;
/*******************************************************
*** Valve Control
********************************************************/
ValveControl(CONTROL_MODE);
double t = (double)CNT_TMR4*DT_TMR4;
double T = 5.0;
V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
// if(V_out > 0.0) V_out = 1000.0;
// else if(V_out < 0.0) V_out = -1000.0;
/*******************************************************
*** PWM
********************************************************/
PWM_out= V_out/12000.0; // Full duty : 12000.0mV
// Saturation of output voltage to 5.0V
if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
else if (PWM_out < -0.41667) PWM_out=-0.41667;
if (PWM_out>0.0) {
dtc_v=0.0;
dtc_w=PWM_out;
} else {
dtc_v=-PWM_out;
dtc_w=0.0;
}
//pwm
TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
/*******************************************************
*** Data Send (CAN) & Print out (UART)
********************************************************/
//if((CNT_TMR3%40)==0){
// msg.id = 50;
// msg.len = 4;
// int temp_CUR = (int)(cur.sen*1000.0);
// msg.data[0]=0x00FF&temp_CUR;
// msg.data[1]=0x00FF&(temp_CUR>>8);
// int temp_PWM = (int)(V_out);
// msg.data[2]=0x00FF&temp_PWM;
// msg.data[3]=0x00FF&(temp_PWM>>8);
// can.write(msg);
// }
if((CNT_TMR3%5000)==0) {
if(LED==1) {
LED=0;
} else
LED = 1;
// LED != LED;
}
/*******************************************************
*** Timer Counting & etc.
********************************************************/
CNT_TMR3++;
}
TIM3->SR = 0x0; // reset the status register
}
void ValveControl(unsigned int ControlMode)
{
switch (ControlMode) {
case MODE_NO_ACT: // 0
V_out = 0.0;
break;
case MODE_VALVE_OPEN_LOOP: // 1
V_out = Vout.ref;
break;
case MODE_VALVE_POSITION_CONTROL: // 2
CurrentControl();
break;
case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3
V_out = 0.0;
break;
case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4
double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
// feedback input for position control
pos.err = pos.ref - pos.sen;
double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
pos.err_old = pos.err;
I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
// feedforward input for position control
double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
double K_ff = 1.3;
double K_v = 0.0;
if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
cur.ref = I_REF_POS_FF + I_REF_POS_FB;
break;
case MODE_TEST_CURRENT_CONTROL: // 9
V_out = 0.0;
break;
case MODE_TEST_PWM_CONTROL: // 10
V_out = 0.0;
break;
case MODE_FIND_HOME: // 22
V_out = 0.0;
break;
default:
V_out = 0.0;
break;
}
}
void CurrentControl()
{
cur.err = cur.ref - cur.sen;
cur.err_int = cur.err_int + cur.err*DT_TMR4;
cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
cur.err_old = cur.err;
double R_model = 150.0; // ohm
double L_model = 0.3;
double w0 = 2.0*3.14*90.0;
double KP_I = L_model*w0;
double KI_I = R_model*w0;
double KD_I = 0.0;
double FF_gain = 0.0;
V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
// V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
double Ka = 5.0/KP_I;
if(V_out > V_MAX) {
V_rem = V_out-V_MAX;
V_rem = Ka*V_rem;
V_out = V_MAX;
cur.err_int = cur.err_int - V_rem*DT_5k;
} else if(V_out < -V_MAX) {
V_rem = V_out-(-V_MAX);
V_rem = Ka*V_rem;
V_out = -V_MAX;
cur.err_int = cur.err_int - V_rem*DT_5k;
}
}