Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

main.cpp@68:135a2d087198, 2020-07-20 (annotated)

Committer:
GiJeongKim
Date:
Mon Jul 20 06:58:38 2020 +0000
Revision:
68:135a2d087198
Parent:
67:cfc88fd0591e 
control;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 64:dc5b5c258579 1 //200518
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 11 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 12
Lightvalve 31:66738bfecec5 13 ///191008////
Lightvalve 31:66738bfecec5 14
jobuuu 7:e9086c72bb22 15 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 16 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 17 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 18 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 19 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 20 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 21 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 22 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 23
Lightvalve 24:ef6e1092e9e6 24
jobuuu 7:e9086c72bb22 25 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 26 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 27 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 28
jobuuu 7:e9086c72bb22 29 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 30 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 31 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 32 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 33
jobuuu 7:e9086c72bb22 34 // SPI ///////////////////////////////////////////
GiJeongKim 68:135a2d087198 35 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
GiJeongKim 68:135a2d087198 36 DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 37 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 38 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 39 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 40 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 41
jobuuu 7:e9086c72bb22 42 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 43 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 47 CANMessage msg;
Lightvalve 11:82d8768d7351 48 void onMsgReceived()
Lightvalve 11:82d8768d7351 49 {
Lightvalve 11:82d8768d7351 50 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 51 }
jobuuu 2:a1c0a37df760 52
jobuuu 7:e9086c72bb22 53 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 54 State pos;
jobuuu 7:e9086c72bb22 55 State vel;
jobuuu 7:e9086c72bb22 56 State Vout;
jobuuu 7:e9086c72bb22 57 State torq;
jobuuu 7:e9086c72bb22 58 State pres_A;
jobuuu 7:e9086c72bb22 59 State pres_B;
jobuuu 7:e9086c72bb22 60 State cur;
Lightvalve 14:8e7590227d22 61 State valve_pos;
Lightvalve 14:8e7590227d22 62
Lightvalve 14:8e7590227d22 63 State INIT_Vout;
Lightvalve 14:8e7590227d22 64 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 65 State INIT_Pos;
Lightvalve 14:8e7590227d22 66 State INIT_torq;
jobuuu 5:a4319f79457b 67
Lightvalve 19:23b7c1ad8683 68 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 69 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 70 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 71 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 72
Lightvalve 19:23b7c1ad8683 73 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 74 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 75 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 79
Lightvalve 63:a3c7f31742c9 80 float I_REF_fil_DZ = 0.0f;
Lightvalve 63:a3c7f31742c9 81
jobuuu 7:e9086c72bb22 82 // =============================================================================
jobuuu 7:e9086c72bb22 83 // =============================================================================
jobuuu 7:e9086c72bb22 84 // =============================================================================
jobuuu 7:e9086c72bb22 85
Lightvalve 12:6f2531038ea4 86 /*******************************************************************************
Lightvalve 12:6f2531038ea4 87 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 88 ******************************************************************************/
Lightvalve 13:747daba9cf59 89 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 90 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 91 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 92 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 93 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 94 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 95 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 96 };
Lightvalve 12:6f2531038ea4 97
Lightvalve 12:6f2531038ea4 98 /*******************************************************************************
Lightvalve 12:6f2531038ea4 99 * CONTROL MODE
Lightvalve 12:6f2531038ea4 100 ******************************************************************************/
Lightvalve 13:747daba9cf59 101 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 102 //control mode
Lightvalve 12:6f2531038ea4 103 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 104 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 105 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 106
Lightvalve 47:fdcb8bd86fd6 107 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 108 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 109 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 110
Lightvalve 12:6f2531038ea4 111 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 116 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 117
Lightvalve 14:8e7590227d22 118 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 119 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 120 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 121
Lightvalve 12:6f2531038ea4 122 //utility
Lightvalve 12:6f2531038ea4 123 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 124 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 125 MODE_FIND_HOME, //22
Lightvalve 62:851cf7b7aa7a 126 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 127 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 128 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 129 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 130
Lightvalve 12:6f2531038ea4 131 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 132 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 133 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 62:851cf7b7aa7a 134 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 135 };
Lightvalve 12:6f2531038ea4 136
Lightvalve 62:851cf7b7aa7a 137 void SystemClock_Config(void);
Lightvalve 62:851cf7b7aa7a 138
GiJeongKim 0:51c43836c1d7 139 int main()
GiJeongKim 0:51c43836c1d7 140 {
jobuuu 6:df07d3491e3a 141 /*********************************
jobuuu 1:e04e563be5ce 142 *** Initialization
jobuuu 6:df07d3491e3a 143 *********************************/
Lightvalve 62:851cf7b7aa7a 144 HAL_Init();
Lightvalve 62:851cf7b7aa7a 145 // SystemClock_Config();
Lightvalve 62:851cf7b7aa7a 146
Lightvalve 62:851cf7b7aa7a 147
Lightvalve 62:851cf7b7aa7a 148 // LED = 1;
Lightvalve 62:851cf7b7aa7a 149 // pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 150
GiJeongKim 0:51c43836c1d7 151 // i2c init
Lightvalve 8:5d2eebdad025 152 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 153 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 154 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 155 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 156 make_delay();
jobuuu 2:a1c0a37df760 157
GiJeongKim 0:51c43836c1d7 158 // // spi init
Lightvalve 16:903b5a4433b4 159 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 160 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 161 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 162 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 163 make_delay();
Lightvalve 21:e5f1a43ea6f9 164
Lightvalve 16:903b5a4433b4 165 //rom
GiJeongKim 68:135a2d087198 166 //ROM_CALL_DATA();
GiJeongKim 68:135a2d087198 167 spi_eeprom_call_data();
Lightvalve 16:903b5a4433b4 168 make_delay();
Lightvalve 13:747daba9cf59 169
GiJeongKim 0:51c43836c1d7 170 // ADC init
jobuuu 5:a4319f79457b 171 Init_ADC();
Lightvalve 11:82d8768d7351 172 make_delay();
jobuuu 2:a1c0a37df760 173
GiJeongKim 0:51c43836c1d7 174 // Pwm init
GiJeongKim 0:51c43836c1d7 175 Init_PWM();
GiJeongKim 0:51c43836c1d7 176 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 177 make_delay();
Lightvalve 13:747daba9cf59 178
Lightvalve 11:82d8768d7351 179 // TMR3 init
Lightvalve 11:82d8768d7351 180 Init_TMR3();
Lightvalve 11:82d8768d7351 181 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 182 make_delay();
Lightvalve 21:e5f1a43ea6f9 183
Lightvalve 50:3c630b5eba9f 184 // TMR2 init
Lightvalve 56:6f50d9d3bfee 185 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 186 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 187 // make_delay();
Lightvalve 21:e5f1a43ea6f9 188
GiJeongKim 0:51c43836c1d7 189 // CAN
Lightvalve 67:cfc88fd0591e 190 // can.reset();
Lightvalve 67:cfc88fd0591e 191 CAN_ID_INIT();
Lightvalve 67:cfc88fd0591e 192 // can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 67:cfc88fd0591e 193 // can.frequency(1000000); // set CAN bit rate to 1Mbps
Lightvalve 67:cfc88fd0591e 194 can.filter(CID_RX_CMD, 0xFFF, CANStandard, 0);
Lightvalve 67:cfc88fd0591e 195 can.filter(CID_RX_REF_POSITION, 0xFFF, CANStandard, 1);
Lightvalve 67:cfc88fd0591e 196 can.filter(CID_RX_REF_VALVE_POS, 0xFFF, CANStandard, 2);
Lightvalve 67:cfc88fd0591e 197 can.filter(CID_RX_REF_PWM, 0xFFF, CANStandard, 3);
jobuuu 2:a1c0a37df760 198 can.attach(&CAN_RX_HANDLER);
Lightvalve 67:cfc88fd0591e 199
Lightvalve 11:82d8768d7351 200 make_delay();
Lightvalve 34:bb2ca2fc2a8e 201
Lightvalve 23:59218d4a256d 202 //Timer priority
Lightvalve 23:59218d4a256d 203 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 62:851cf7b7aa7a 204 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 205 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 206
Lightvalve 67:cfc88fd0591e 207
Lightvalve 34:bb2ca2fc2a8e 208
GiJeongKim 0:51c43836c1d7 209 // spi _ enc
GiJeongKim 0:51c43836c1d7 210 spi_enc_set_init();
Lightvalve 11:82d8768d7351 211 make_delay();
Lightvalve 13:747daba9cf59 212
Lightvalve 11:82d8768d7351 213 //DAC init
Lightvalve 62:851cf7b7aa7a 214 if (SENSING_MODE == 0) {
Lightvalve 62:851cf7b7aa7a 215 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 62:851cf7b7aa7a 216 dac_2 = 0.0f;
Lightvalve 62:851cf7b7aa7a 217 } else if (SENSING_MODE == 1) {
Lightvalve 62:851cf7b7aa7a 218 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 62:851cf7b7aa7a 219 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 62:851cf7b7aa7a 220 }
Lightvalve 11:82d8768d7351 221 make_delay();
Lightvalve 13:747daba9cf59 222
Lightvalve 19:23b7c1ad8683 223 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 224 if(i%2==0)
Lightvalve 38:118df027d851 225 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 226 else
Lightvalve 38:118df027d851 227 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 228 }
Lightvalve 58:2eade98630e2 229
jobuuu 6:df07d3491e3a 230 /************************************
jobuuu 1:e04e563be5ce 231 *** Program is operating!
jobuuu 6:df07d3491e3a 232 *************************************/
GiJeongKim 0:51c43836c1d7 233 while(1) {
Lightvalve 62:851cf7b7aa7a 234 if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 62:851cf7b7aa7a 235 // if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 236 //i2c
Lightvalve 17:1865016ca2e7 237 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 238 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 62:851cf7b7aa7a 239 // if(LED==1) {
Lightvalve 62:851cf7b7aa7a 240 // LED=0;
Lightvalve 62:851cf7b7aa7a 241 // } else
Lightvalve 62:851cf7b7aa7a 242 // LED = 1;
Lightvalve 17:1865016ca2e7 243 timer_while = 0;
Lightvalve 17:1865016ca2e7 244 }
Lightvalve 17:1865016ca2e7 245 timer_while ++;
Lightvalve 62:851cf7b7aa7a 246 //pc.printf("%d\n", value);
GiJeongKim 0:51c43836c1d7 247 }
jobuuu 1:e04e563be5ce 248 }
jobuuu 1:e04e563be5ce 249
Lightvalve 33:91b17819ec30 250 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 251 {
Lightvalve 14:8e7590227d22 252
Lightvalve 13:747daba9cf59 253 int i = 0;
Lightvalve 48:889798ff9329 254 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 255 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 256 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 257 if(i==0) {
Lightvalve 50:3c630b5eba9f 258 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 62:851cf7b7aa7a 259 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 260 } else {
Lightvalve 62:851cf7b7aa7a 261 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 262 }
Lightvalve 14:8e7590227d22 263 } else {
Lightvalve 50:3c630b5eba9f 264 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 62:851cf7b7aa7a 265 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 266 } else {
Lightvalve 62:851cf7b7aa7a 267 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 268 }
Lightvalve 13:747daba9cf59 269 }
Lightvalve 13:747daba9cf59 270 break;
Lightvalve 13:747daba9cf59 271 }
Lightvalve 13:747daba9cf59 272 }
Lightvalve 14:8e7590227d22 273 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 274 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 275 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 276 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 277 }
Lightvalve 36:a46e63505ed8 278
Lightvalve 62:851cf7b7aa7a 279 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 280 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 281
Lightvalve 13:747daba9cf59 282 }
jobuuu 6:df07d3491e3a 283
jobuuu 6:df07d3491e3a 284
Lightvalve 30:8d561f16383b 285 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 286 {
Lightvalve 13:747daba9cf59 287 int i = 0;
Lightvalve 13:747daba9cf59 288
Lightvalve 38:118df027d851 289 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 290 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 291 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 292 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 293 }
Lightvalve 38:118df027d851 294
Lightvalve 13:747daba9cf59 295 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 296 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 297 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 298 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 299 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 300 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 301
Lightvalve 13:747daba9cf59 302 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 303
Lightvalve 18:b8adf1582ea3 304 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 305 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 306 if(i==0) {
Lightvalve 48:889798ff9329 307 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 308 } else {
Lightvalve 48:889798ff9329 309 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 310 }
Lightvalve 13:747daba9cf59 311 break;
Lightvalve 13:747daba9cf59 312 }
Lightvalve 13:747daba9cf59 313 }
Lightvalve 62:851cf7b7aa7a 314 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 315 }
Lightvalve 13:747daba9cf59 316
Lightvalve 14:8e7590227d22 317 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 318 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 319 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 320 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 321 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 322 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 323 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 324 }; // duty
Lightvalve 62:851cf7b7aa7a 325 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 62:851cf7b7aa7a 326 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 62:851cf7b7aa7a 327 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 62:851cf7b7aa7a 328 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 62:851cf7b7aa7a 329 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 62:851cf7b7aa7a 330 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 331 }; // mV
Lightvalve 13:747daba9cf59 332
Lightvalve 30:8d561f16383b 333 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 334 {
Lightvalve 30:8d561f16383b 335 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 336 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 337 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 338 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 339 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 340 } else {
Lightvalve 13:747daba9cf59 341 int idx = 0;
Lightvalve 13:747daba9cf59 342 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 343 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 344 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 345 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 346 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 347 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 348 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 349 break;
Lightvalve 13:747daba9cf59 350 }
Lightvalve 13:747daba9cf59 351 }
Lightvalve 13:747daba9cf59 352 }
Lightvalve 14:8e7590227d22 353
Lightvalve 13:747daba9cf59 354 return PWM_duty;
Lightvalve 13:747daba9cf59 355 }
jobuuu 6:df07d3491e3a 356
Lightvalve 62:851cf7b7aa7a 357
Lightvalve 62:851cf7b7aa7a 358
Lightvalve 62:851cf7b7aa7a 359
Lightvalve 62:851cf7b7aa7a 360
jobuuu 2:a1c0a37df760 361 /*******************************************************************************
jobuuu 2:a1c0a37df760 362 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 363 *******************************************************************************/
jobuuu 2:a1c0a37df760 364
Lightvalve 51:b46bed7fec80 365 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 366 float DT_TMR4 = (float)DT_20k;
Lightvalve 62:851cf7b7aa7a 367 long CNT_TMR4 = 0;
Lightvalve 62:851cf7b7aa7a 368 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 369 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 370 {
Lightvalve 19:23b7c1ad8683 371 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 372
Lightvalve 21:e5f1a43ea6f9 373 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 374 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 375 ********************************************************/
Lightvalve 13:747daba9cf59 376
Lightvalve 62:851cf7b7aa7a 377 //Encoder
Lightvalve 62:851cf7b7aa7a 378 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 62:851cf7b7aa7a 379 ENC_UPDATE();
Lightvalve 62:851cf7b7aa7a 380 }
Lightvalve 59:0ad14153b58f 381
Lightvalve 62:851cf7b7aa7a 382 ADC1->CR2 |= 0x40000000;
Lightvalve 62:851cf7b7aa7a 383 if (SENSING_MODE == 0) {
Lightvalve 62:851cf7b7aa7a 384 // Torque Sensing (0~210)bar =============================================
Lightvalve 62:851cf7b7aa7a 385 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 62:851cf7b7aa7a 386 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 62:851cf7b7aa7a 387 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 62:851cf7b7aa7a 388 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 59:0ad14153b58f 389
Lightvalve 59:0ad14153b58f 390
Lightvalve 62:851cf7b7aa7a 391 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 62:851cf7b7aa7a 392 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 62:851cf7b7aa7a 393 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 62:851cf7b7aa7a 394 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 62:851cf7b7aa7a 395 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 62:851cf7b7aa7a 396
Lightvalve 17:1865016ca2e7 397
Lightvalve 62:851cf7b7aa7a 398 } else if (SENSING_MODE == 1) {
Lightvalve 62:851cf7b7aa7a 399 // Pressure Sensing (0~210)bar =============================================
Lightvalve 62:851cf7b7aa7a 400 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 62:851cf7b7aa7a 401 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 62:851cf7b7aa7a 402 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 62:851cf7b7aa7a 403 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 62:851cf7b7aa7a 404 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 62:851cf7b7aa7a 405 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 62:851cf7b7aa7a 406 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 407
Lightvalve 62:851cf7b7aa7a 408 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 62:851cf7b7aa7a 409 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 62:851cf7b7aa7a 410 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 62:851cf7b7aa7a 411 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 62:851cf7b7aa7a 412 }
Lightvalve 62:851cf7b7aa7a 413 }
Lightvalve 59:0ad14153b58f 414
Lightvalve 62:851cf7b7aa7a 415 // //Pressure sensor A
Lightvalve 62:851cf7b7aa7a 416 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 62:851cf7b7aa7a 417 // //while((ADC1->SR & 0b10));
Lightvalve 62:851cf7b7aa7a 418 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 62:851cf7b7aa7a 419 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 62:851cf7b7aa7a 420 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 62:851cf7b7aa7a 421 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 62:851cf7b7aa7a 422 //
Lightvalve 62:851cf7b7aa7a 423 //
Lightvalve 62:851cf7b7aa7a 424 // //Pressure sensor B
Lightvalve 62:851cf7b7aa7a 425 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 62:851cf7b7aa7a 426 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 62:851cf7b7aa7a 427 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 62:851cf7b7aa7a 428 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 429
Lightvalve 17:1865016ca2e7 430
Lightvalve 21:e5f1a43ea6f9 431 //Current
Lightvalve 21:e5f1a43ea6f9 432 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 433 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 434 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 435 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 67:cfc88fd0591e 436 float cur_new = ((float)ADC3->DR-2048.0f) / 4096.0f * 3.3f * 10.0f / 1.44f; // unit : mA
Lightvalve 30:8d561f16383b 437 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 438 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 439
Lightvalve 62:851cf7b7aa7a 440 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 441 }
Lightvalve 11:82d8768d7351 442 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 443 }
Lightvalve 19:23b7c1ad8683 444
Lightvalve 19:23b7c1ad8683 445
Lightvalve 18:b8adf1582ea3 446 int j =0;
Lightvalve 54:647072f5307a 447 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 448 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 449 int cnt_trans = 0;
Lightvalve 48:889798ff9329 450 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 62:851cf7b7aa7a 451 int can_rest =0;
Lightvalve 48:889798ff9329 452
Lightvalve 11:82d8768d7351 453 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 454 {
Lightvalve 19:23b7c1ad8683 455 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 62:851cf7b7aa7a 456
Lightvalve 62:851cf7b7aa7a 457 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 62:851cf7b7aa7a 458 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 62:851cf7b7aa7a 459 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 62:851cf7b7aa7a 460 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 62:851cf7b7aa7a 461 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 62:851cf7b7aa7a 462 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 62:851cf7b7aa7a 463 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 62:851cf7b7aa7a 464 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 62:851cf7b7aa7a 465 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 62:851cf7b7aa7a 466 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 62:851cf7b7aa7a 467 }
Lightvalve 50:3c630b5eba9f 468
Lightvalve 50:3c630b5eba9f 469 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 470 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 471 cnt_trans++;
Lightvalve 46:2694daea349b 472 torq.err_sum = 0;
Lightvalve 48:889798ff9329 473 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 474 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 475 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 476 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 477 cnt_trans++;
Lightvalve 46:2694daea349b 478 torq.err_sum = 0;
Lightvalve 48:889798ff9329 479 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 480 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 481 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 62:851cf7b7aa7a 482 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 483 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 484 } else {
Lightvalve 62:851cf7b7aa7a 485 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 486 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 487 }
Lightvalve 45:35fa6884d0c6 488
Lightvalve 50:3c630b5eba9f 489
Lightvalve 62:851cf7b7aa7a 490 int UTILITY_MODE = 0;
Lightvalve 62:851cf7b7aa7a 491 int CONTROL_MODE = 0;
Lightvalve 62:851cf7b7aa7a 492
Lightvalve 62:851cf7b7aa7a 493 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 62:851cf7b7aa7a 494 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 62:851cf7b7aa7a 495 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 62:851cf7b7aa7a 496 } else {
Lightvalve 62:851cf7b7aa7a 497 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 62:851cf7b7aa7a 498 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 62:851cf7b7aa7a 499 }
Lightvalve 62:851cf7b7aa7a 500
Lightvalve 62:851cf7b7aa7a 501
Lightvalve 59:0ad14153b58f 502
Lightvalve 62:851cf7b7aa7a 503 // UTILITY MODE ------------------------------------------------------------
Lightvalve 58:2eade98630e2 504
Lightvalve 62:851cf7b7aa7a 505 switch (UTILITY_MODE) {
Lightvalve 62:851cf7b7aa7a 506 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 507 break;
Lightvalve 13:747daba9cf59 508 }
Lightvalve 14:8e7590227d22 509
Lightvalve 14:8e7590227d22 510 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 67:cfc88fd0591e 511
Lightvalve 67:cfc88fd0591e 512 if(SENSING_MODE == 0){
Lightvalve 67:cfc88fd0591e 513
Lightvalve 67:cfc88fd0591e 514 // DAC Voltage reference set
Lightvalve 67:cfc88fd0591e 515 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 67:cfc88fd0591e 516 CUR_TORQUE_sum += torq.sen;
Lightvalve 67:cfc88fd0591e 517
Lightvalve 67:cfc88fd0591e 518 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 67:cfc88fd0591e 519 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 67:cfc88fd0591e 520 CUR_TORQUE_sum = 0;
Lightvalve 67:cfc88fd0591e 521
Lightvalve 67:cfc88fd0591e 522 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 67:cfc88fd0591e 523
Lightvalve 67:cfc88fd0591e 524 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 67:cfc88fd0591e 525 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 67:cfc88fd0591e 526
Lightvalve 67:cfc88fd0591e 527 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 67:cfc88fd0591e 528 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 67:cfc88fd0591e 529 }
Lightvalve 67:cfc88fd0591e 530 } else {
Lightvalve 67:cfc88fd0591e 531 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 67:cfc88fd0591e 532 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 67:cfc88fd0591e 533 CUR_TORQUE_sum = 0;
Lightvalve 67:cfc88fd0591e 534 CUR_TORQUE_mean = 0;
Lightvalve 67:cfc88fd0591e 535
Lightvalve 67:cfc88fd0591e 536 ROM_RESET_DATA();
Lightvalve 67:cfc88fd0591e 537
Lightvalve 67:cfc88fd0591e 538 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 67:cfc88fd0591e 539 }
Lightvalve 67:cfc88fd0591e 540 } else {
Lightvalve 14:8e7590227d22 541 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 67:cfc88fd0591e 542 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 67:cfc88fd0591e 543 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 19:23b7c1ad8683 544
Lightvalve 14:8e7590227d22 545 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 67:cfc88fd0591e 546 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 67:cfc88fd0591e 547 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 67:cfc88fd0591e 548 CUR_PRES_A_sum = 0;
Lightvalve 67:cfc88fd0591e 549 CUR_PRES_B_sum = 0;
Lightvalve 19:23b7c1ad8683 550
Lightvalve 67:cfc88fd0591e 551 float VREF_NullingGain = 0.0003f;
Lightvalve 67:cfc88fd0591e 552 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 67:cfc88fd0591e 553 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 50:3c630b5eba9f 554
Lightvalve 67:cfc88fd0591e 555 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 67:cfc88fd0591e 556 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 67:cfc88fd0591e 557 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 67:cfc88fd0591e 558 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 67:cfc88fd0591e 559
Lightvalve 67:cfc88fd0591e 560 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 67:cfc88fd0591e 561 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 562 }
Lightvalve 13:747daba9cf59 563 } else {
Lightvalve 62:851cf7b7aa7a 564 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 565 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 67:cfc88fd0591e 566 CUR_PRES_A_sum = 0;
Lightvalve 67:cfc88fd0591e 567 CUR_PRES_B_sum = 0;
Lightvalve 67:cfc88fd0591e 568 CUR_PRES_A_mean = 0;
Lightvalve 67:cfc88fd0591e 569 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 570
Lightvalve 16:903b5a4433b4 571 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 572
Lightvalve 67:cfc88fd0591e 573 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 67:cfc88fd0591e 574 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 67:cfc88fd0591e 575 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 576 }
Lightvalve 19:23b7c1ad8683 577 }
Lightvalve 67:cfc88fd0591e 578 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 67:cfc88fd0591e 579 break;
Lightvalve 67:cfc88fd0591e 580 }
Lightvalve 14:8e7590227d22 581
Lightvalve 50:3c630b5eba9f 582 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 583 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 584 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 585 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 586 // }
Lightvalve 50:3c630b5eba9f 587 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 588 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 589 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 590 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 591 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 592 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 593 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 594 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 595 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 596 // }
Lightvalve 50:3c630b5eba9f 597 //
Lightvalve 50:3c630b5eba9f 598 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 599 // 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 600 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 601 //
Lightvalve 50:3c630b5eba9f 602 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 603 // V_out = 0;
Lightvalve 50:3c630b5eba9f 604 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 605 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 606 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 607 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 608 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 609 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 610 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 611 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 612 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 613 //
Lightvalve 50:3c630b5eba9f 614 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 615 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 616 // // | / | / |/
Lightvalve 50:3c630b5eba9f 617 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 618 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 619 // // /| / | / |
Lightvalve 50:3c630b5eba9f 620 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 621 //
Lightvalve 50:3c630b5eba9f 622 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 623 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 624 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 625 // } else {
Lightvalve 50:3c630b5eba9f 626 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 627 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 628 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 629 // }
Lightvalve 50:3c630b5eba9f 630 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 631 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 632 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 633 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 634 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 635 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 636 // }
Lightvalve 50:3c630b5eba9f 637 // } else {
Lightvalve 50:3c630b5eba9f 638 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 639 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 640 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 641 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 642 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 643 // }
Lightvalve 50:3c630b5eba9f 644 // V_out = 0;
Lightvalve 50:3c630b5eba9f 645 //
Lightvalve 50:3c630b5eba9f 646 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 647 //
Lightvalve 50:3c630b5eba9f 648 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 649 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 650 //
Lightvalve 50:3c630b5eba9f 651 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 652 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 653 // }
Lightvalve 50:3c630b5eba9f 654 // }
Lightvalve 50:3c630b5eba9f 655 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 656 // break;
Lightvalve 50:3c630b5eba9f 657 // }
Lightvalve 14:8e7590227d22 658
Lightvalve 14:8e7590227d22 659 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 660 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 661 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 662 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 663 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 62:851cf7b7aa7a 664 pos.ref = pos.sen;
Lightvalve 62:851cf7b7aa7a 665 vel.ref = 0.0f;
Lightvalve 66:d385a08132d7 666 I_ERR_INT = 0.0f;
Lightvalve 29:69f3f5445d6d 667 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 668 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 62:851cf7b7aa7a 669 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 670 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 671 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 672 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 673 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 674 }
Lightvalve 29:69f3f5445d6d 675 cnt_findhome++;
Lightvalve 14:8e7590227d22 676
Lightvalve 29:69f3f5445d6d 677 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 678 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 679 } else {
Lightvalve 29:69f3f5445d6d 680 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 681 }
Lightvalve 19:23b7c1ad8683 682
Lightvalve 62:851cf7b7aa7a 683 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 684 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 62:851cf7b7aa7a 685 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 62:851cf7b7aa7a 686 else pos.ref = pos.ref - 12.0f;
Lightvalve 34:bb2ca2fc2a8e 687
Lightvalve 66:d385a08132d7 688 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 65:443a5f0e8ee1 689
Lightvalve 65:443a5f0e8ee1 690 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 65:443a5f0e8ee1 691
Lightvalve 65:443a5f0e8ee1 692 double I_REF_POS = 0.0f;
Lightvalve 65:443a5f0e8ee1 693 double temp_vel_pos = 0.0f;
Lightvalve 65:443a5f0e8ee1 694 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 65:443a5f0e8ee1 695
Lightvalve 65:443a5f0e8ee1 696 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 66:d385a08132d7 697 temp_vel_pos = 0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err; // rad/s
Lightvalve 65:443a5f0e8ee1 698 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 66:d385a08132d7 699 temp_vel_pos = 0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err; // mm/s
Lightvalve 65:443a5f0e8ee1 700 }
Lightvalve 65:443a5f0e8ee1 701 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 65:443a5f0e8ee1 702 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 65:443a5f0e8ee1 703
Lightvalve 65:443a5f0e8ee1 704 I_REF = I_REF_POS;
Lightvalve 66:d385a08132d7 705 I_ERR_INT = 0.0f;
Lightvalve 66:d385a08132d7 706
Lightvalve 66:d385a08132d7 707
Lightvalve 66:d385a08132d7 708 } else {
Lightvalve 66:d385a08132d7 709 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 66:d385a08132d7 710 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 66:d385a08132d7 711
Lightvalve 66:d385a08132d7 712 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 66:d385a08132d7 713 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 66:d385a08132d7 714 } else {
Lightvalve 66:d385a08132d7 715 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 66:d385a08132d7 716 }
Lightvalve 66:d385a08132d7 717
Lightvalve 66:d385a08132d7 718 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 66:d385a08132d7 719
Lightvalve 66:d385a08132d7 720 V_out = (float) Vout.ref;
Lightvalve 66:d385a08132d7 721
Lightvalve 66:d385a08132d7 722 }
Lightvalve 66:d385a08132d7 723
Lightvalve 66:d385a08132d7 724
Lightvalve 66:d385a08132d7 725
Lightvalve 66:d385a08132d7 726 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 66:d385a08132d7 727 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 66:d385a08132d7 728 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 66:d385a08132d7 729 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 66:d385a08132d7 730 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 66:d385a08132d7 731
Lightvalve 66:d385a08132d7 732 cnt_findhome_wait = 0;
Lightvalve 66:d385a08132d7 733 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 66:d385a08132d7 734 alpha_trans = 0.0f;
Lightvalve 66:d385a08132d7 735
Lightvalve 66:d385a08132d7 736
Lightvalve 66:d385a08132d7 737 } else {
Lightvalve 66:d385a08132d7 738 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 66:d385a08132d7 739 // ENC_SET_ZERO();
Lightvalve 66:d385a08132d7 740 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 66:d385a08132d7 741 REF_POSITION = 0;
Lightvalve 66:d385a08132d7 742 REF_VELOCITY = 0;
Lightvalve 66:d385a08132d7 743 FINDHOME_POSITION = 0;
Lightvalve 66:d385a08132d7 744 FINDHOME_POSITION_OLD = 0;
Lightvalve 66:d385a08132d7 745 FINDHOME_VELOCITY = 0;
Lightvalve 66:d385a08132d7 746
Lightvalve 66:d385a08132d7 747 cnt_findhome = 0;
Lightvalve 66:d385a08132d7 748 cnt_vel_findhome = 0;
Lightvalve 66:d385a08132d7 749 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 66:d385a08132d7 750
Lightvalve 66:d385a08132d7 751 pos.ref = 0.0f;
Lightvalve 66:d385a08132d7 752 vel.ref = 0.0f;
Lightvalve 66:d385a08132d7 753 pos.ref_home_pos = 0.0f;
Lightvalve 66:d385a08132d7 754 vel.ref_home_pos = 0.0f;
Lightvalve 66:d385a08132d7 755
Lightvalve 66:d385a08132d7 756 I_ERR_INT = 0.0f;
Lightvalve 66:d385a08132d7 757
Lightvalve 66:d385a08132d7 758 // cnt_findhome_wait = 0;
Lightvalve 66:d385a08132d7 759 // FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 66:d385a08132d7 760 // CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 66:d385a08132d7 761 }
Lightvalve 66:d385a08132d7 762
Lightvalve 66:d385a08132d7 763 // } else if (FINDHOME_STAGE == FINDHOME_WAIT) {
Lightvalve 66:d385a08132d7 764 // cnt_findhome_wait = cnt_findhome_wait + 1;
Lightvalve 66:d385a08132d7 765 // if(cnt_findhome_wait > 3*TMR_FREQ_5k){
Lightvalve 66:d385a08132d7 766 // FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 66:d385a08132d7 767 // pos.sen = 0.0f;
Lightvalve 66:d385a08132d7 768 // vel.sen = 0.0f;
Lightvalve 66:d385a08132d7 769 // }
Lightvalve 66:d385a08132d7 770
Lightvalve 66:d385a08132d7 771 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 66:d385a08132d7 772 int T_move = 2*TMR_FREQ_5k;
Lightvalve 66:d385a08132d7 773 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 66:d385a08132d7 774 vel.ref = 0.0f;
Lightvalve 66:d385a08132d7 775
Lightvalve 66:d385a08132d7 776 // input for position control
Lightvalve 66:d385a08132d7 777
Lightvalve 66:d385a08132d7 778 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 66:d385a08132d7 779 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 66:d385a08132d7 780
Lightvalve 66:d385a08132d7 781 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 66:d385a08132d7 782
Lightvalve 66:d385a08132d7 783 double I_REF_POS = 0.0f;
Lightvalve 66:d385a08132d7 784
Lightvalve 66:d385a08132d7 785 double temp_vel_pos = 0.0f;
Lightvalve 66:d385a08132d7 786 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 66:d385a08132d7 787
Lightvalve 66:d385a08132d7 788 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 66:d385a08132d7 789 temp_vel_pos = 0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err; // rad/s
Lightvalve 66:d385a08132d7 790 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 66:d385a08132d7 791 temp_vel_pos = 0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err; // mm/s
Lightvalve 66:d385a08132d7 792 }
Lightvalve 66:d385a08132d7 793 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 66:d385a08132d7 794 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 66:d385a08132d7 795
Lightvalve 66:d385a08132d7 796 I_REF = I_REF_POS;
Lightvalve 66:d385a08132d7 797 I_ERR_INT = 0.0f;
Lightvalve 65:443a5f0e8ee1 798
Lightvalve 65:443a5f0e8ee1 799
Lightvalve 65:443a5f0e8ee1 800
Lightvalve 65:443a5f0e8ee1 801 } else {
Lightvalve 65:443a5f0e8ee1 802 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 65:443a5f0e8ee1 803 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 65:443a5f0e8ee1 804
Lightvalve 65:443a5f0e8ee1 805 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 65:443a5f0e8ee1 806 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 65:443a5f0e8ee1 807 } else {
Lightvalve 65:443a5f0e8ee1 808 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 65:443a5f0e8ee1 809 }
Lightvalve 65:443a5f0e8ee1 810
Lightvalve 65:443a5f0e8ee1 811 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 65:443a5f0e8ee1 812
Lightvalve 65:443a5f0e8ee1 813 V_out = (float) Vout.ref;
Lightvalve 65:443a5f0e8ee1 814
Lightvalve 65:443a5f0e8ee1 815 }
Lightvalve 62:851cf7b7aa7a 816
Lightvalve 62:851cf7b7aa7a 817 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 62:851cf7b7aa7a 818 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 62:851cf7b7aa7a 819 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 62:851cf7b7aa7a 820 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 62:851cf7b7aa7a 821 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 822
Lightvalve 29:69f3f5445d6d 823 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 824 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 825 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 826 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 827 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 828 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 829 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 830 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 831 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 62:851cf7b7aa7a 832 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 833 }
Lightvalve 13:747daba9cf59 834 }
Lightvalve 19:23b7c1ad8683 835
Lightvalve 13:747daba9cf59 836 break;
Lightvalve 13:747daba9cf59 837 }
Lightvalve 14:8e7590227d22 838
Lightvalve 50:3c630b5eba9f 839 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 840 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 841 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 842 // else {
Lightvalve 50:3c630b5eba9f 843 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 844 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 845 // }
Lightvalve 50:3c630b5eba9f 846 // }
Lightvalve 50:3c630b5eba9f 847 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 848 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 849 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 850 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 851 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 852 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 853 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 854 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 855 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 856 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 857 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 858 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 859 // }
Lightvalve 50:3c630b5eba9f 860 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 861 // }
Lightvalve 50:3c630b5eba9f 862 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 863 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 864 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 865 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 866 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 867 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 868 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 869 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 870 // 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 871 // // 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 872 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 873 // }
Lightvalve 50:3c630b5eba9f 874 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 875 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 876 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 877 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 878 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 879 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 880 // 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 881 // // 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 882 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 883 // }
Lightvalve 50:3c630b5eba9f 884 // }
Lightvalve 50:3c630b5eba9f 885 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 886 //
Lightvalve 50:3c630b5eba9f 887 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 888 //
Lightvalve 50:3c630b5eba9f 889 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 890 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 891 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 892 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 893 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 894 // }
Lightvalve 50:3c630b5eba9f 895 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 896 // V_out = 0;
Lightvalve 50:3c630b5eba9f 897 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 898 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 899 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 900 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 901 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 902 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 903 // }
Lightvalve 50:3c630b5eba9f 904 //
Lightvalve 50:3c630b5eba9f 905 // }
Lightvalve 50:3c630b5eba9f 906 // break;
Lightvalve 50:3c630b5eba9f 907 // }
Lightvalve 50:3c630b5eba9f 908 //
Lightvalve 50:3c630b5eba9f 909 // }
Lightvalve 14:8e7590227d22 910 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 911 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 912 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 913 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 914 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 915
Lightvalve 14:8e7590227d22 916 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 917 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 918 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 919 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 920 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 921
Lightvalve 38:118df027d851 922 float VREF_NullingGain = 0.0003f;
Lightvalve 62:851cf7b7aa7a 923 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 62:851cf7b7aa7a 924 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 925
Lightvalve 30:8d561f16383b 926 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 927 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 928 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 929 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 930
Lightvalve 30:8d561f16383b 931 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 932 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 933 }
Lightvalve 13:747daba9cf59 934 } else {
Lightvalve 62:851cf7b7aa7a 935 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 936 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 937 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 938 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 939 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 940 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 941
Lightvalve 16:903b5a4433b4 942 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 943
Lightvalve 30:8d561f16383b 944 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 945 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 946 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 947 }
Lightvalve 14:8e7590227d22 948 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 949 break;
Lightvalve 13:747daba9cf59 950 }
Lightvalve 14:8e7590227d22 951
Lightvalve 50:3c630b5eba9f 952 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 953 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 954 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 955 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 956 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 957 // }
Lightvalve 50:3c630b5eba9f 958 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 959 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 960 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 961 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 962 // }
Lightvalve 50:3c630b5eba9f 963 // } else {
Lightvalve 50:3c630b5eba9f 964 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 965 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 966 // V_out = 0;
Lightvalve 50:3c630b5eba9f 967 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 968 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 969 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 970 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 971 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 972 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 973 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 974 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 975 //
Lightvalve 50:3c630b5eba9f 976 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 977 //
Lightvalve 50:3c630b5eba9f 978 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 979 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 980 // }
Lightvalve 50:3c630b5eba9f 981 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 982 // break;
Lightvalve 50:3c630b5eba9f 983 // }
Lightvalve 19:23b7c1ad8683 984
Lightvalve 50:3c630b5eba9f 985 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 986 // 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 987 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 988 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 989 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 990 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 991 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 992 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 993 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 994 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 995 // }
Lightvalve 50:3c630b5eba9f 996 // break;
Lightvalve 50:3c630b5eba9f 997 // }
Lightvalve 14:8e7590227d22 998
Lightvalve 14:8e7590227d22 999 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 62:851cf7b7aa7a 1000 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1001 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1002
Lightvalve 14:8e7590227d22 1003 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 62:851cf7b7aa7a 1004 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1005 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 62:851cf7b7aa7a 1006 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1007 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1008 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1009 data_num = 0;
Lightvalve 14:8e7590227d22 1010 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1011 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1012 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1013 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 62:851cf7b7aa7a 1014 Vout.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 1015 } else {
Lightvalve 13:747daba9cf59 1016 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1017 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1018 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1019 }
Lightvalve 14:8e7590227d22 1020
Lightvalve 17:1865016ca2e7 1021 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1022 int i;
Lightvalve 13:747daba9cf59 1023 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1024 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1025 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1026 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1027 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1028 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1029 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1030 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1031 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1032 }
Lightvalve 13:747daba9cf59 1033 }
Lightvalve 62:851cf7b7aa7a 1034 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1035 ID_index = 0;
Lightvalve 62:851cf7b7aa7a 1036 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1037 }
Lightvalve 14:8e7590227d22 1038
Lightvalve 14:8e7590227d22 1039
Lightvalve 13:747daba9cf59 1040 break;
Lightvalve 13:747daba9cf59 1041 }
Lightvalve 14:8e7590227d22 1042
Lightvalve 14:8e7590227d22 1043 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 62:851cf7b7aa7a 1044 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1045 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1046 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1047 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1048 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1049 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1050 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1051 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1052 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1053 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1054 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1055 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1056 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1057 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1058 Vout.ref = (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 1059 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1060 Vout.ref = (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 1061 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1062 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1063 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1064 Vout.ref = (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 1065 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1066 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1067 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1068 data_num = 0;
Lightvalve 14:8e7590227d22 1069
Lightvalve 30:8d561f16383b 1070 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1071 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1072 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1073
Lightvalve 30:8d561f16383b 1074 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1075 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1076 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1077
Lightvalve 30:8d561f16383b 1078 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1079 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1080 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1081 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1082
Lightvalve 62:851cf7b7aa7a 1083 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1084 DZ_case = 1;
Lightvalve 62:851cf7b7aa7a 1085 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1086 DZ_case = -1;
Lightvalve 14:8e7590227d22 1087 } else {
Lightvalve 13:747daba9cf59 1088 DZ_case = 0;
Lightvalve 13:747daba9cf59 1089 }
Lightvalve 14:8e7590227d22 1090
Lightvalve 49:e7bcfc244d40 1091 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1092
Lightvalve 13:747daba9cf59 1093 first_check = 1;
Lightvalve 13:747daba9cf59 1094 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1095 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1096 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1097 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1098 DZ_index = 1;
Lightvalve 14:8e7590227d22 1099
Lightvalve 13:747daba9cf59 1100 }
Lightvalve 19:23b7c1ad8683 1101 } else {
Lightvalve 14:8e7590227d22 1102 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1103 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1104 Vout.ref = (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 62:851cf7b7aa7a 1105 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1106 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1107 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1108 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1109 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1110 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1111 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1112 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1113 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1114 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1115 }
Lightvalve 14:8e7590227d22 1116 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1117
Lightvalve 30:8d561f16383b 1118 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1119 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1120 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1121
Lightvalve 14:8e7590227d22 1122 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1123 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1124 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1125 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1126 } else {
Lightvalve 13:747daba9cf59 1127 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1128 }
Lightvalve 14:8e7590227d22 1129
Lightvalve 13:747daba9cf59 1130 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1131 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1132 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1133 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1134 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1135 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1136 DZ_index = 1;
Lightvalve 13:747daba9cf59 1137 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1138 }
Lightvalve 13:747daba9cf59 1139 }
Lightvalve 14:8e7590227d22 1140 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1141 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1142 Vout.ref = (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 62:851cf7b7aa7a 1143 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1144 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1145 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1146 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1147 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1148 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1149 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1150 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1151 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1152 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1153 }
Lightvalve 14:8e7590227d22 1154 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1155
Lightvalve 30:8d561f16383b 1156 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1157 Vout.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 1158 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1159 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1160 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1161
Lightvalve 14:8e7590227d22 1162 if((FINAL_POS - START_POS)>100) {
Lightvalve 62:851cf7b7aa7a 1163 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1164 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 62:851cf7b7aa7a 1165 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1166 } else {
Lightvalve 62:851cf7b7aa7a 1167 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1168 }
Lightvalve 14:8e7590227d22 1169
Lightvalve 13:747daba9cf59 1170 VALVE_DZ_timer = 0;
Lightvalve 62:851cf7b7aa7a 1171 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1172 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1173 SECOND_DZ = valve_pos.ref;
Lightvalve 62:851cf7b7aa7a 1174 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1175 first_check = 0;
Lightvalve 33:91b17819ec30 1176 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1177 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1178
Lightvalve 16:903b5a4433b4 1179 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1180
Lightvalve 62:851cf7b7aa7a 1181 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1182 DZ_index = 1;
Lightvalve 13:747daba9cf59 1183 }
Lightvalve 13:747daba9cf59 1184 }
Lightvalve 14:8e7590227d22 1185 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1186 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1187 Vout.ref = (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 62:851cf7b7aa7a 1188 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1189 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1190 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1191 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1192 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1193 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1194 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1195 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1196 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1197 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1198 }
Lightvalve 14:8e7590227d22 1199 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1200
Lightvalve 30:8d561f16383b 1201 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1202 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1203 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1204
Lightvalve 14:8e7590227d22 1205 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1206 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1207 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1208 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1209 } else {
Lightvalve 13:747daba9cf59 1210 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1211 }
Lightvalve 13:747daba9cf59 1212 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1213 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1214 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1215 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1216 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1217 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1218 DZ_index = 1;
Lightvalve 13:747daba9cf59 1219 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1220 }
Lightvalve 13:747daba9cf59 1221 }
Lightvalve 14:8e7590227d22 1222 } else {
Lightvalve 30:8d561f16383b 1223 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1224 Vout.ref = (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 62:851cf7b7aa7a 1225 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1226 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1227 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1228 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1229 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1230 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1231 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1232 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1233 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1234 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1235 }
Lightvalve 14:8e7590227d22 1236 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1237
Lightvalve 30:8d561f16383b 1238 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1239 Vout.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 1240 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1241 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1242 FINAL_POS = pos.sen;
Lightvalve 62:851cf7b7aa7a 1243
Lightvalve 62:851cf7b7aa7a 1244 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1245 DZ_DIRECTION = 1;
Lightvalve 62:851cf7b7aa7a 1246 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 62:851cf7b7aa7a 1247 DZ_DIRECTION = -1;
Lightvalve 62:851cf7b7aa7a 1248 } else {
Lightvalve 13:747daba9cf59 1249 DZ_DIRECTION = 1;
Lightvalve 62:851cf7b7aa7a 1250 }
Lightvalve 14:8e7590227d22 1251
Lightvalve 13:747daba9cf59 1252 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1253 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1254 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1255 SECOND_DZ = valve_pos.ref;
Lightvalve 62:851cf7b7aa7a 1256 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1257 first_check = 0;
Lightvalve 33:91b17819ec30 1258 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1259 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1260
Lightvalve 62:851cf7b7aa7a 1261 ROM_RESET_DATA();
Lightvalve 62:851cf7b7aa7a 1262
Lightvalve 62:851cf7b7aa7a 1263 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1264 DZ_index = 1;
Lightvalve 13:747daba9cf59 1265 }
Lightvalve 13:747daba9cf59 1266 }
Lightvalve 13:747daba9cf59 1267 }
Lightvalve 14:8e7590227d22 1268 }
Lightvalve 13:747daba9cf59 1269 break;
Lightvalve 13:747daba9cf59 1270 }
Lightvalve 14:8e7590227d22 1271
Lightvalve 14:8e7590227d22 1272 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 62:851cf7b7aa7a 1273 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1274 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1275 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1276 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1277 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1278 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1279 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1280 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1281 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1282 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1283 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1284 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1285 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1286 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 62:851cf7b7aa7a 1287 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1288 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1289 first_check = 1;
Lightvalve 13:747daba9cf59 1290 VALVE_FR_timer = 0;
Lightvalve 62:851cf7b7aa7a 1291 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1292 ID_index = 0;
Lightvalve 13:747daba9cf59 1293 max_check = 0;
Lightvalve 13:747daba9cf59 1294 min_check = 0;
Lightvalve 13:747daba9cf59 1295 }
Lightvalve 14:8e7590227d22 1296 } else {
Lightvalve 30:8d561f16383b 1297 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1298 //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 62:851cf7b7aa7a 1299 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1300 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1301 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1302 data_num = 0;
Lightvalve 62:851cf7b7aa7a 1303 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1304
Lightvalve 14:8e7590227d22 1305 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1306 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1307 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1308 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1309 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1310 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1311 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1312 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1313 one_period_end = 1;
Lightvalve 13:747daba9cf59 1314 }
Lightvalve 30:8d561f16383b 1315 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1316 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1317 one_period_end = 1;
Lightvalve 62:851cf7b7aa7a 1318 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1319 }
Lightvalve 14:8e7590227d22 1320
Lightvalve 14:8e7590227d22 1321 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1322 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1323 max_check = 1;
Lightvalve 14:8e7590227d22 1324 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1325 min_check = 1;
Lightvalve 13:747daba9cf59 1326 }
Lightvalve 13:747daba9cf59 1327 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1328
Lightvalve 13:747daba9cf59 1329 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1330 one_period_end = 0;
Lightvalve 13:747daba9cf59 1331 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1332 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1333 }
Lightvalve 14:8e7590227d22 1334
Lightvalve 14:8e7590227d22 1335 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1336
Lightvalve 13:747daba9cf59 1337 VALVE_POS_NUM = ID_index;
Lightvalve 62:851cf7b7aa7a 1338 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1339 ID_index = 0;
Lightvalve 13:747daba9cf59 1340 first_check = 0;
Lightvalve 13:747daba9cf59 1341 VALVE_FR_timer = 0;
Lightvalve 62:851cf7b7aa7a 1342 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1343 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1344 }
Lightvalve 13:747daba9cf59 1345 }
Lightvalve 13:747daba9cf59 1346 break;
Lightvalve 13:747daba9cf59 1347 }
Lightvalve 58:2eade98630e2 1348
Lightvalve 62:851cf7b7aa7a 1349 case MODE_SYSTEM_ID: {
Lightvalve 62:851cf7b7aa7a 1350 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 62:851cf7b7aa7a 1351 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 62:851cf7b7aa7a 1352 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 62:851cf7b7aa7a 1353 cnt_sysid++;
Lightvalve 62:851cf7b7aa7a 1354 if (freq_sysid_Iref >= 300) {
Lightvalve 62:851cf7b7aa7a 1355 cnt_sysid = 0;
Lightvalve 62:851cf7b7aa7a 1356 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 62:851cf7b7aa7a 1357 }
Lightvalve 62:851cf7b7aa7a 1358 break;
Lightvalve 62:851cf7b7aa7a 1359 }
Lightvalve 62:851cf7b7aa7a 1360
Lightvalve 62:851cf7b7aa7a 1361
Lightvalve 62:851cf7b7aa7a 1362
Lightvalve 62:851cf7b7aa7a 1363 default:
Lightvalve 62:851cf7b7aa7a 1364 break;
Lightvalve 62:851cf7b7aa7a 1365 }
Lightvalve 62:851cf7b7aa7a 1366
Lightvalve 62:851cf7b7aa7a 1367 // CONTROL MODE ------------------------------------------------------------
Lightvalve 62:851cf7b7aa7a 1368
Lightvalve 62:851cf7b7aa7a 1369 switch (CONTROL_MODE) {
Lightvalve 62:851cf7b7aa7a 1370 case MODE_NO_ACT: {
Lightvalve 62:851cf7b7aa7a 1371 V_out = 0.0f;
Lightvalve 62:851cf7b7aa7a 1372 break;
Lightvalve 62:851cf7b7aa7a 1373 }
Lightvalve 62:851cf7b7aa7a 1374
Lightvalve 62:851cf7b7aa7a 1375 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 62:851cf7b7aa7a 1376 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 62:851cf7b7aa7a 1377 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1378 V_out = Vout.ref;
Lightvalve 62:851cf7b7aa7a 1379 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 62:851cf7b7aa7a 1380 V_out = valve_pos.ref;
Lightvalve 62:851cf7b7aa7a 1381 } else {
Lightvalve 62:851cf7b7aa7a 1382 I_REF = valve_pos.ref * 0.001f;
Lightvalve 62:851cf7b7aa7a 1383 }
Lightvalve 62:851cf7b7aa7a 1384
Lightvalve 62:851cf7b7aa7a 1385 break;
Lightvalve 62:851cf7b7aa7a 1386 }
Lightvalve 62:851cf7b7aa7a 1387
Lightvalve 62:851cf7b7aa7a 1388 case MODE_JOINT_CONTROL: {
Lightvalve 62:851cf7b7aa7a 1389 double torq_ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 1390 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 63:a3c7f31742c9 1391 vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 63:a3c7f31742c9 1392 // vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 62:851cf7b7aa7a 1393 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 62:851cf7b7aa7a 1394
Lightvalve 62:851cf7b7aa7a 1395 //K & D Low Pass Filter
Lightvalve 62:851cf7b7aa7a 1396 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 62:851cf7b7aa7a 1397 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 62:851cf7b7aa7a 1398 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 62:851cf7b7aa7a 1399
Lightvalve 62:851cf7b7aa7a 1400 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 62:851cf7b7aa7a 1401
Lightvalve 62:851cf7b7aa7a 1402 // torque feedback
Lightvalve 63:a3c7f31742c9 1403 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 62:851cf7b7aa7a 1404 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 62:851cf7b7aa7a 1405
Lightvalve 62:851cf7b7aa7a 1406 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 62:851cf7b7aa7a 1407
Lightvalve 62:851cf7b7aa7a 1408 double I_REF_POS = 0.0f;
Lightvalve 62:851cf7b7aa7a 1409 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 62:851cf7b7aa7a 1410 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 62:851cf7b7aa7a 1411
Lightvalve 62:851cf7b7aa7a 1412 double temp_vel_pos = 0.0f;
Lightvalve 62:851cf7b7aa7a 1413 double temp_vel_torq = 0.0f;
Lightvalve 62:851cf7b7aa7a 1414 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 62:851cf7b7aa7a 1415
Lightvalve 62:851cf7b7aa7a 1416 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 62:851cf7b7aa7a 1417 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 62:851cf7b7aa7a 1418 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 62:851cf7b7aa7a 1419 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 62:851cf7b7aa7a 1420 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 62:851cf7b7aa7a 1421 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 62:851cf7b7aa7a 1422 }
Lightvalve 62:851cf7b7aa7a 1423 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 1424 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 1425
Lightvalve 62:851cf7b7aa7a 1426 // velocity compensation for torque control
Lightvalve 62:851cf7b7aa7a 1427 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 62:851cf7b7aa7a 1428 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 62:851cf7b7aa7a 1429 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 62:851cf7b7aa7a 1430 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 62:851cf7b7aa7a 1431 // L feedforward velocity
Lightvalve 62:851cf7b7aa7a 1432 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 62:851cf7b7aa7a 1433 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 62:851cf7b7aa7a 1434 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 62:851cf7b7aa7a 1435 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 62:851cf7b7aa7a 1436 // L feedforward velocity
Lightvalve 62:851cf7b7aa7a 1437 }
Lightvalve 62:851cf7b7aa7a 1438 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 1439 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 1440 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 62:851cf7b7aa7a 1441 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 62:851cf7b7aa7a 1442 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 62:851cf7b7aa7a 1443
Lightvalve 62:851cf7b7aa7a 1444 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 62:851cf7b7aa7a 1445
Lightvalve 62:851cf7b7aa7a 1446 // Anti-windup for FT
Lightvalve 62:851cf7b7aa7a 1447 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 62:851cf7b7aa7a 1448 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 62:851cf7b7aa7a 1449 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 62:851cf7b7aa7a 1450 if (I_REF > I_MAX) {
Lightvalve 62:851cf7b7aa7a 1451 double I_rem = I_REF - I_MAX;
Lightvalve 62:851cf7b7aa7a 1452 I_rem = Ka*I_rem;
Lightvalve 62:851cf7b7aa7a 1453 I_REF = I_MAX;
Lightvalve 62:851cf7b7aa7a 1454 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 62:851cf7b7aa7a 1455 } else if (I_REF < -I_MAX) {
Lightvalve 62:851cf7b7aa7a 1456 double I_rem = I_REF - (-I_MAX);
Lightvalve 62:851cf7b7aa7a 1457 I_rem = Ka*I_rem;
Lightvalve 62:851cf7b7aa7a 1458 I_REF = -I_MAX;
Lightvalve 62:851cf7b7aa7a 1459 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 62:851cf7b7aa7a 1460 }
Lightvalve 62:851cf7b7aa7a 1461 }
Lightvalve 62:851cf7b7aa7a 1462
Lightvalve 62:851cf7b7aa7a 1463 } else {
Lightvalve 62:851cf7b7aa7a 1464 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 62:851cf7b7aa7a 1465
Lightvalve 62:851cf7b7aa7a 1466 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 62:851cf7b7aa7a 1467 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 62:851cf7b7aa7a 1468
Lightvalve 62:851cf7b7aa7a 1469 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 62:851cf7b7aa7a 1470 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 62:851cf7b7aa7a 1471 } else {
Lightvalve 62:851cf7b7aa7a 1472 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 62:851cf7b7aa7a 1473 }
Lightvalve 62:851cf7b7aa7a 1474
Lightvalve 62:851cf7b7aa7a 1475 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 62:851cf7b7aa7a 1476 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 62:851cf7b7aa7a 1477 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 62:851cf7b7aa7a 1478 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 62:851cf7b7aa7a 1479 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 62:851cf7b7aa7a 1480 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 62:851cf7b7aa7a 1481 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 62:851cf7b7aa7a 1482 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 62:851cf7b7aa7a 1483 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 62:851cf7b7aa7a 1484 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 62:851cf7b7aa7a 1485 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 62:851cf7b7aa7a 1486 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 62:851cf7b7aa7a 1487 }
Lightvalve 62:851cf7b7aa7a 1488 }
Lightvalve 62:851cf7b7aa7a 1489
Lightvalve 62:851cf7b7aa7a 1490 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1491
Lightvalve 62:851cf7b7aa7a 1492 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 62:851cf7b7aa7a 1493 V_out = (float) Vout.ref;
Lightvalve 62:851cf7b7aa7a 1494
Lightvalve 62:851cf7b7aa7a 1495 }
Lightvalve 62:851cf7b7aa7a 1496
Lightvalve 62:851cf7b7aa7a 1497 break;
Lightvalve 62:851cf7b7aa7a 1498 }
Lightvalve 62:851cf7b7aa7a 1499
Lightvalve 62:851cf7b7aa7a 1500 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 62:851cf7b7aa7a 1501 V_out = (float) Vout.ref;
Lightvalve 62:851cf7b7aa7a 1502 break;
Lightvalve 62:851cf7b7aa7a 1503 }
Lightvalve 62:851cf7b7aa7a 1504
Lightvalve 12:6f2531038ea4 1505 default:
Lightvalve 12:6f2531038ea4 1506 break;
Lightvalve 12:6f2531038ea4 1507 }
Lightvalve 14:8e7590227d22 1508
Lightvalve 62:851cf7b7aa7a 1509
Lightvalve 62:851cf7b7aa7a 1510 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 62:851cf7b7aa7a 1511
Lightvalve 62:851cf7b7aa7a 1512 ////////////////////////////////////////////////////////////////////////////
Lightvalve 62:851cf7b7aa7a 1513 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 62:851cf7b7aa7a 1514 ////////////////////////////////////////////////////////////////////////////
Lightvalve 63:a3c7f31742c9 1515
Lightvalve 62:851cf7b7aa7a 1516 if (CURRENT_CONTROL_MODE) {
Lightvalve 63:a3c7f31742c9 1517
Lightvalve 62:851cf7b7aa7a 1518 // Moog Valve Current Control Gain
Lightvalve 62:851cf7b7aa7a 1519 double R_model = 500.0f; // ohm
Lightvalve 62:851cf7b7aa7a 1520 double L_model = 1.2f;
Lightvalve 62:851cf7b7aa7a 1521 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 62:851cf7b7aa7a 1522 double KP_I = 0.1f * L_model*w0;
Lightvalve 62:851cf7b7aa7a 1523 double KI_I = 0.1f * R_model*w0;
Lightvalve 62:851cf7b7aa7a 1524
Lightvalve 62:851cf7b7aa7a 1525 // KNR Valve Current Control Gain
Lightvalve 62:851cf7b7aa7a 1526 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 62:851cf7b7aa7a 1527 R_model = 163.0f; // ohm
Lightvalve 62:851cf7b7aa7a 1528 L_model = 1.0f;
Lightvalve 62:851cf7b7aa7a 1529 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 62:851cf7b7aa7a 1530 KP_I = 1.0f * L_model*w0;
Lightvalve 62:851cf7b7aa7a 1531 KI_I = 0.08f * R_model*w0;
Lightvalve 62:851cf7b7aa7a 1532 }
Lightvalve 63:a3c7f31742c9 1533
Lightvalve 63:a3c7f31742c9 1534 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 63:a3c7f31742c9 1535 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 63:a3c7f31742c9 1536
Lightvalve 63:a3c7f31742c9 1537 FLAG_VALVE_DEADZONE = 1;
Lightvalve 63:a3c7f31742c9 1538
Lightvalve 63:a3c7f31742c9 1539 if (FLAG_VALVE_DEADZONE) {
Lightvalve 63:a3c7f31742c9 1540 if (I_REF_fil > 0) I_REF_fil_DZ = I_REF_fil + VALVE_DEADZONE_PLUS / 1000.0f; // unit: mA
Lightvalve 63:a3c7f31742c9 1541 else if (I_REF_fil < 0) I_REF_fil_DZ = I_REF_fil + VALVE_DEADZONE_MINUS / 1000.0f; // unit: mA
Lightvalve 63:a3c7f31742c9 1542 else I_REF_fil_DZ = I_REF_fil + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f / 1000.0f; // unit: mA
Lightvalve 63:a3c7f31742c9 1543 } else {
Lightvalve 63:a3c7f31742c9 1544 I_REF_fil_DZ = I_REF_fil;
Lightvalve 63:a3c7f31742c9 1545 }
Lightvalve 63:a3c7f31742c9 1546
Lightvalve 63:a3c7f31742c9 1547 I_ERR = I_REF_fil_DZ - cur.sen;
Lightvalve 63:a3c7f31742c9 1548 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 63:a3c7f31742c9 1549
Lightvalve 63:a3c7f31742c9 1550
Lightvalve 63:a3c7f31742c9 1551
Lightvalve 62:851cf7b7aa7a 1552
Lightvalve 62:851cf7b7aa7a 1553 double FF_gain = 1.0f;
Lightvalve 62:851cf7b7aa7a 1554
Lightvalve 62:851cf7b7aa7a 1555 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 62:851cf7b7aa7a 1556 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 63:a3c7f31742c9 1557 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
Lightvalve 63:a3c7f31742c9 1558 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 63:a3c7f31742c9 1559 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 63:a3c7f31742c9 1560 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 62:851cf7b7aa7a 1561 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 14:8e7590227d22 1562
Lightvalve 62:851cf7b7aa7a 1563 double Ka = 3.0f / KP_I;
Lightvalve 62:851cf7b7aa7a 1564 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 62:851cf7b7aa7a 1565 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 62:851cf7b7aa7a 1566 V_rem = Ka*V_rem;
Lightvalve 62:851cf7b7aa7a 1567 VALVE_PWM_RAW = V_MAX;
Lightvalve 62:851cf7b7aa7a 1568 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 62:851cf7b7aa7a 1569 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 62:851cf7b7aa7a 1570 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 62:851cf7b7aa7a 1571 V_rem = Ka*V_rem;
Lightvalve 62:851cf7b7aa7a 1572 VALVE_PWM_RAW = -V_MAX;
Lightvalve 62:851cf7b7aa7a 1573 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 62:851cf7b7aa7a 1574 }
Lightvalve 62:851cf7b7aa7a 1575 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 62:851cf7b7aa7a 1576 } else {
Lightvalve 62:851cf7b7aa7a 1577 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 62:851cf7b7aa7a 1578 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 62:851cf7b7aa7a 1579 }
Lightvalve 62:851cf7b7aa7a 1580
Lightvalve 62:851cf7b7aa7a 1581 ////////////////////////////////////////////////////////////////////////////
Lightvalve 62:851cf7b7aa7a 1582 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 62:851cf7b7aa7a 1583 ////////////////////////////////////////////////////////////////////////////
Lightvalve 62:851cf7b7aa7a 1584 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 63:a3c7f31742c9 1585 // if (FLAG_VALVE_DEADZONE) {
Lightvalve 63:a3c7f31742c9 1586 // if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 63:a3c7f31742c9 1587 // else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 63:a3c7f31742c9 1588 // VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 63:a3c7f31742c9 1589 // } else {
Lightvalve 63:a3c7f31742c9 1590 // VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 63:a3c7f31742c9 1591 // }
Lightvalve 62:851cf7b7aa7a 1592
Lightvalve 63:a3c7f31742c9 1593 // VALVE_DEADZONE_PLUS : Current[mA] to start extraction
Lightvalve 63:a3c7f31742c9 1594 // VALVE_DEADZONE_MINUS : Current[mA] to start contraction
Lightvalve 63:a3c7f31742c9 1595 // double R_model = 500.0f;
Lightvalve 63:a3c7f31742c9 1596 // FLAG_VALVE_DEADZONE = true;
Lightvalve 63:a3c7f31742c9 1597 // if (FLAG_VALVE_DEADZONE) {
Lightvalve 63:a3c7f31742c9 1598 // if (VALVE_PWM_RAW > 0) VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * R_model / 1000.0f; // unit: mV
Lightvalve 63:a3c7f31742c9 1599 // else if (VALVE_PWM_RAW < 0) VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * R_model / 1000.0f; // unit: mV
Lightvalve 63:a3c7f31742c9 1600 // else VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f* R_model / 1000.0f;
Lightvalve 63:a3c7f31742c9 1601 // } else {
Lightvalve 62:851cf7b7aa7a 1602 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 63:a3c7f31742c9 1603 // }
Lightvalve 62:851cf7b7aa7a 1604
Lightvalve 62:851cf7b7aa7a 1605 // Output Voltage Linearization
Lightvalve 62:851cf7b7aa7a 1606 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 62:851cf7b7aa7a 1607 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 62:851cf7b7aa7a 1608
Lightvalve 62:851cf7b7aa7a 1609 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 62:851cf7b7aa7a 1610 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 62:851cf7b7aa7a 1611 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 62:851cf7b7aa7a 1612 else V_out = (float) (CUR_PWM_lin);
Lightvalve 62:851cf7b7aa7a 1613 }
Lightvalve 62:851cf7b7aa7a 1614
Lightvalve 62:851cf7b7aa7a 1615 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 62:851cf7b7aa7a 1616 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 62:851cf7b7aa7a 1617 // else V_out = V_out;
Lightvalve 62:851cf7b7aa7a 1618
jobuuu 7:e9086c72bb22 1619 /*******************************************************
jobuuu 7:e9086c72bb22 1620 *** PWM
jobuuu 7:e9086c72bb22 1621 ********************************************************/
Lightvalve 62:851cf7b7aa7a 1622 if(DIR_VALVE<0){
Lightvalve 62:851cf7b7aa7a 1623 V_out = -V_out;
Lightvalve 62:851cf7b7aa7a 1624 }
Lightvalve 62:851cf7b7aa7a 1625
Lightvalve 49:e7bcfc244d40 1626 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1627 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1628 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1629 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1630 }
Lightvalve 49:e7bcfc244d40 1631 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1632
Lightvalve 19:23b7c1ad8683 1633 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1634 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1635 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1636
Lightvalve 30:8d561f16383b 1637 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1638 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1639 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1640 } else {
jobuuu 2:a1c0a37df760 1641 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1642 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1643 }
Lightvalve 13:747daba9cf59 1644
jobuuu 1:e04e563be5ce 1645 //pwm
Lightvalve 30:8d561f16383b 1646 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1647 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1648
Lightvalve 20:806196fda269 1649
Lightvalve 62:851cf7b7aa7a 1650 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1651
Lightvalve 54:647072f5307a 1652 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1653 if (flag_data_request[0] == HIGH) {
Lightvalve 62:851cf7b7aa7a 1654 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 67:cfc88fd0591e 1655 //if (SENSING_MODE == 0) {
Lightvalve 59:0ad14153b58f 1656 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 67:cfc88fd0591e 1657 //} else if (SENSING_MODE == 1) {
Lightvalve 67:cfc88fd0591e 1658 // CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 67:cfc88fd0591e 1659 //}
Lightvalve 62:851cf7b7aa7a 1660 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 67:cfc88fd0591e 1661 //if (SENSING_MODE == 0) {
Lightvalve 63:a3c7f31742c9 1662 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 67:cfc88fd0591e 1663 //} else if (SENSING_MODE == 1) {
Lightvalve 67:cfc88fd0591e 1664 // CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 67:cfc88fd0591e 1665 //}
Lightvalve 52:8ea76864368a 1666 }
Lightvalve 52:8ea76864368a 1667 }
Lightvalve 56:6f50d9d3bfee 1668 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1669 //valve position
Lightvalve 54:647072f5307a 1670 double t_value = 0;
Lightvalve 62:851cf7b7aa7a 1671 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 62:851cf7b7aa7a 1672 // t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 62:851cf7b7aa7a 1673 // } else {
Lightvalve 62:851cf7b7aa7a 1674 // t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 62:851cf7b7aa7a 1675 // }
Lightvalve 62:851cf7b7aa7a 1676 if(OPERATING_MODE==5) {
Lightvalve 62:851cf7b7aa7a 1677 t_value = (double) value;
Lightvalve 62:851cf7b7aa7a 1678 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 62:851cf7b7aa7a 1679 t_value = cur.sen;
Lightvalve 58:2eade98630e2 1680 } else {
Lightvalve 62:851cf7b7aa7a 1681 t_value = V_out;
Lightvalve 54:647072f5307a 1682 }
Lightvalve 63:a3c7f31742c9 1683 // CAN_TX_TORQUE((int16_t) (I_REF_fil_DZ * 1000.0f)); //1300
Lightvalve 63:a3c7f31742c9 1684 CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 62:851cf7b7aa7a 1685 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1686 }
Lightvalve 58:2eade98630e2 1687
Lightvalve 62:851cf7b7aa7a 1688
Lightvalve 56:6f50d9d3bfee 1689 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1690 //pressure A and B
Lightvalve 62:851cf7b7aa7a 1691 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 62:851cf7b7aa7a 1692 }
Lightvalve 62:851cf7b7aa7a 1693
Lightvalve 67:cfc88fd0591e 1694 // If it doesn't rest, below can can not work.
Lightvalve 62:851cf7b7aa7a 1695 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 62:851cf7b7aa7a 1696 ;
Lightvalve 57:f4819de54e7a 1697 }
Lightvalve 58:2eade98630e2 1698
Lightvalve 56:6f50d9d3bfee 1699 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1700 //PWM
Lightvalve 62:851cf7b7aa7a 1701 CAN_TX_PWM((int16_t) value); //1500
Lightvalve 54:647072f5307a 1702 }
Lightvalve 62:851cf7b7aa7a 1703 //for (i = 0; i < 10000; i++) {
Lightvalve 62:851cf7b7aa7a 1704 // ;
Lightvalve 62:851cf7b7aa7a 1705 // }
Lightvalve 56:6f50d9d3bfee 1706 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1707 //valve position
Lightvalve 62:851cf7b7aa7a 1708 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1709 }
Lightvalve 20:806196fda269 1710
Lightvalve 54:647072f5307a 1711 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1712 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1713 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1714 // }
Lightvalve 54:647072f5307a 1715 //if (flag_delay_test == 1){
Lightvalve 62:851cf7b7aa7a 1716 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1717 //}
Lightvalve 52:8ea76864368a 1718
Lightvalve 54:647072f5307a 1719 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1720 }
Lightvalve 54:647072f5307a 1721 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1722
Lightvalve 20:806196fda269 1723 }
Lightvalve 52:8ea76864368a 1724 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1725
Lightvalve 59:0ad14153b58f 1726 }
Lightvalve 59:0ad14153b58f 1727
Lightvalve 62:851cf7b7aa7a 1728 void SystemClock_Config(void)
Lightvalve 62:851cf7b7aa7a 1729 {
Lightvalve 62:851cf7b7aa7a 1730 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 62:851cf7b7aa7a 1731 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 59:0ad14153b58f 1732
Lightvalve 62:851cf7b7aa7a 1733 /** Configure the main internal regulator output voltage
Lightvalve 62:851cf7b7aa7a 1734 */
Lightvalve 62:851cf7b7aa7a 1735 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 62:851cf7b7aa7a 1736 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 62:851cf7b7aa7a 1737 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 62:851cf7b7aa7a 1738 */
Lightvalve 62:851cf7b7aa7a 1739 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 62:851cf7b7aa7a 1740 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 62:851cf7b7aa7a 1741 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 62:851cf7b7aa7a 1742 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 62:851cf7b7aa7a 1743 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 62:851cf7b7aa7a 1744 RCC_OscInitStruct.PLL.PLLM = 8; //8
Lightvalve 62:851cf7b7aa7a 1745 RCC_OscInitStruct.PLL.PLLN = 180;//180
Lightvalve 62:851cf7b7aa7a 1746 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 62:851cf7b7aa7a 1747 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 62:851cf7b7aa7a 1748 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 62:851cf7b7aa7a 1749 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 62:851cf7b7aa7a 1750 //Error_Handler();
Lightvalve 62:851cf7b7aa7a 1751 }
Lightvalve 62:851cf7b7aa7a 1752 /** Activate the Over-Drive mode
Lightvalve 62:851cf7b7aa7a 1753 */
Lightvalve 62:851cf7b7aa7a 1754 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 62:851cf7b7aa7a 1755 //Error_Handler();
Lightvalve 62:851cf7b7aa7a 1756 }
Lightvalve 62:851cf7b7aa7a 1757 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 62:851cf7b7aa7a 1758 */
Lightvalve 62:851cf7b7aa7a 1759 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 62:851cf7b7aa7a 1760 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 62:851cf7b7aa7a 1761 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 62:851cf7b7aa7a 1762 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 62:851cf7b7aa7a 1763 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 62:851cf7b7aa7a 1764 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 59:0ad14153b58f 1765
Lightvalve 62:851cf7b7aa7a 1766 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 62:851cf7b7aa7a 1767 //Error_Handler();
Lightvalve 59:0ad14153b58f 1768 }
Lightvalve 62:851cf7b7aa7a 1769 HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
Lightvalve 62:851cf7b7aa7a 1770 HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_SYSCLK, RCC_MCODIV_2);
Lightvalve 62:851cf7b7aa7a 1771 }