HydraulicControlBoard_LIGHT_GJ - eeprom_test

Users » GiJeongKim » Code » HydraulicControlBoard_LIGHT_GJ

Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

main.cpp@65:443a5f0e8ee1, 2020-05-19 (annotated)

Committer:: Lightvalve
Date:: Tue May 19 01:36:41 2020 +0000
Revision:: 65:443a5f0e8ee1
Parent:: 64:dc5b5c258579
Child:: 66:d385a08132d7

Who changed what in which revision?

User	Revision	Line number	New 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 ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	35	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	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
Lightvalve	19:23b7c1ad8683	166	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	167	make_delay();
Lightvalve	13:747daba9cf59	168
GiJeongKim	0:51c43836c1d7	169	// ADC init
jobuuu	5:a4319f79457b	170	Init_ADC();
Lightvalve	11:82d8768d7351	171	make_delay();
jobuuu	2:a1c0a37df760	172
GiJeongKim	0:51c43836c1d7	173	// Pwm init
GiJeongKim	0:51c43836c1d7	174	Init_PWM();
GiJeongKim	0:51c43836c1d7	175	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	176	make_delay();
Lightvalve	13:747daba9cf59	177
Lightvalve	11:82d8768d7351	178	// TMR3 init
Lightvalve	11:82d8768d7351	179	Init_TMR3();
Lightvalve	11:82d8768d7351	180	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	181	make_delay();
Lightvalve	21:e5f1a43ea6f9	182
Lightvalve	50:3c630b5eba9f	183	// TMR2 init
Lightvalve	56:6f50d9d3bfee	184	// Init_TMR2();
Lightvalve	56:6f50d9d3bfee	185	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	56:6f50d9d3bfee	186	// make_delay();
Lightvalve	21:e5f1a43ea6f9	187
GiJeongKim	0:51c43836c1d7	188	// CAN
jobuuu	2:a1c0a37df760	189	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	190	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	191	make_delay();
Lightvalve	34:bb2ca2fc2a8e	192
Lightvalve	23:59218d4a256d	193	//Timer priority
Lightvalve	23:59218d4a256d	194	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	62:851cf7b7aa7a	195	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	54:647072f5307a	196	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	197
Lightvalve	23:59218d4a256d	198	//can.reset();
Lightvalve	19:23b7c1ad8683	199	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	200
GiJeongKim	0:51c43836c1d7	201	// spi _ enc
GiJeongKim	0:51c43836c1d7	202	spi_enc_set_init();
Lightvalve	11:82d8768d7351	203	make_delay();
Lightvalve	13:747daba9cf59	204
Lightvalve	11:82d8768d7351	205	//DAC init
Lightvalve	62:851cf7b7aa7a	206	if (SENSING_MODE == 0) {
Lightvalve	62:851cf7b7aa7a	207	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	62:851cf7b7aa7a	208	dac_2 = 0.0f;
Lightvalve	62:851cf7b7aa7a	209	} else if (SENSING_MODE == 1) {
Lightvalve	62:851cf7b7aa7a	210	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	62:851cf7b7aa7a	211	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	62:851cf7b7aa7a	212	}
Lightvalve	11:82d8768d7351	213	make_delay();
Lightvalve	13:747daba9cf59	214
Lightvalve	19:23b7c1ad8683	215	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	216	if(i%2==0)
Lightvalve	38:118df027d851	217	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	218	else
Lightvalve	38:118df027d851	219	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	220	}
Lightvalve	58:2eade98630e2	221
jobuuu	6:df07d3491e3a	222	/************************************
jobuuu	1:e04e563be5ce	223	*** Program is operating!
jobuuu	6:df07d3491e3a	224	*************************************/
GiJeongKim	0:51c43836c1d7	225	while(1) {
Lightvalve	62:851cf7b7aa7a	226	if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve	62:851cf7b7aa7a	227	// if(timer_while==1000) {
Lightvalve	17:1865016ca2e7	228	//i2c
Lightvalve	17:1865016ca2e7	229	read_field(i2c_slave_addr1);
Lightvalve	17:1865016ca2e7	230	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	62:851cf7b7aa7a	231	// if(LED==1) {
Lightvalve	62:851cf7b7aa7a	232	// LED=0;
Lightvalve	62:851cf7b7aa7a	233	// } else
Lightvalve	62:851cf7b7aa7a	234	// LED = 1;
Lightvalve	17:1865016ca2e7	235	timer_while = 0;
Lightvalve	17:1865016ca2e7	236	}
Lightvalve	17:1865016ca2e7	237	timer_while ++;
Lightvalve	62:851cf7b7aa7a	238	//pc.printf("%d\n", value);
GiJeongKim	0:51c43836c1d7	239	}
jobuuu	1:e04e563be5ce	240	}
jobuuu	1:e04e563be5ce	241
Lightvalve	33:91b17819ec30	242	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	243	{
Lightvalve	14:8e7590227d22	244
Lightvalve	13:747daba9cf59	245	int i = 0;
Lightvalve	48:889798ff9329	246	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	247	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	248	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	249	if(i==0) {
Lightvalve	50:3c630b5eba9f	250	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	62:851cf7b7aa7a	251	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	252	} else {
Lightvalve	62:851cf7b7aa7a	253	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	254	}
Lightvalve	14:8e7590227d22	255	} else {
Lightvalve	50:3c630b5eba9f	256	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	62:851cf7b7aa7a	257	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	258	} else {
Lightvalve	62:851cf7b7aa7a	259	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	260	}
Lightvalve	13:747daba9cf59	261	}
Lightvalve	13:747daba9cf59	262	break;
Lightvalve	13:747daba9cf59	263	}
Lightvalve	13:747daba9cf59	264	}
Lightvalve	14:8e7590227d22	265	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	266	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	267	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	268	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	269	}
Lightvalve	36:a46e63505ed8	270
Lightvalve	62:851cf7b7aa7a	271	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	272	return Ref_Valve_Pos_FF;
Lightvalve	50:3c630b5eba9f	273
Lightvalve	13:747daba9cf59	274	}
jobuuu	6:df07d3491e3a	275
jobuuu	6:df07d3491e3a	276
Lightvalve	30:8d561f16383b	277	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	278	{
Lightvalve	13:747daba9cf59	279	int i = 0;
Lightvalve	13:747daba9cf59	280
Lightvalve	38:118df027d851	281	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	282	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	283	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	284	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	285	}
Lightvalve	38:118df027d851	286
Lightvalve	13:747daba9cf59	287	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	288	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	289	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	290	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	291	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	292	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	293
Lightvalve	13:747daba9cf59	294	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	295
Lightvalve	18:b8adf1582ea3	296	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	297	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	298	if(i==0) {
Lightvalve	48:889798ff9329	299	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	300	} else {
Lightvalve	48:889798ff9329	301	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	302	}
Lightvalve	13:747daba9cf59	303	break;
Lightvalve	13:747daba9cf59	304	}
Lightvalve	13:747daba9cf59	305	}
Lightvalve	62:851cf7b7aa7a	306	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	307	}
Lightvalve	13:747daba9cf59	308
Lightvalve	14:8e7590227d22	309	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	310	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	311	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	312	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	313	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	314	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	315	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	316	}; // duty
Lightvalve	62:851cf7b7aa7a	317	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	318	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	62:851cf7b7aa7a	319	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	62:851cf7b7aa7a	320	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	62:851cf7b7aa7a	321	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	62:851cf7b7aa7a	322	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	323	}; // mV
Lightvalve	13:747daba9cf59	324
Lightvalve	30:8d561f16383b	325	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	326	{
Lightvalve	30:8d561f16383b	327	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	328	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	329	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	330	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	331	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	332	} else {
Lightvalve	13:747daba9cf59	333	int idx = 0;
Lightvalve	13:747daba9cf59	334	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	335	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	336	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	337	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	338	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	339	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	340	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	341	break;
Lightvalve	13:747daba9cf59	342	}
Lightvalve	13:747daba9cf59	343	}
Lightvalve	13:747daba9cf59	344	}
Lightvalve	14:8e7590227d22	345
Lightvalve	13:747daba9cf59	346	return PWM_duty;
Lightvalve	13:747daba9cf59	347	}
jobuuu	6:df07d3491e3a	348
Lightvalve	62:851cf7b7aa7a	349
Lightvalve	62:851cf7b7aa7a	350
Lightvalve	62:851cf7b7aa7a	351
Lightvalve	62:851cf7b7aa7a	352
jobuuu	2:a1c0a37df760	353	/*******************************************************************************
jobuuu	2:a1c0a37df760	354	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	355	*******************************************************************************/
jobuuu	2:a1c0a37df760	356
Lightvalve	51:b46bed7fec80	357	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	358	float DT_TMR4 = (float)DT_20k;
Lightvalve	62:851cf7b7aa7a	359	long CNT_TMR4 = 0;
Lightvalve	62:851cf7b7aa7a	360	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	361	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	362	{
Lightvalve	19:23b7c1ad8683	363	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	364
Lightvalve	21:e5f1a43ea6f9	365	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	366	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	367	********************************************************/
Lightvalve	13:747daba9cf59	368
Lightvalve	62:851cf7b7aa7a	369	//Encoder
Lightvalve	62:851cf7b7aa7a	370	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	62:851cf7b7aa7a	371	ENC_UPDATE();
Lightvalve	62:851cf7b7aa7a	372	}
Lightvalve	59:0ad14153b58f	373
Lightvalve	62:851cf7b7aa7a	374	ADC1->CR2 \|= 0x40000000;
Lightvalve	62:851cf7b7aa7a	375	if (SENSING_MODE == 0) {
Lightvalve	62:851cf7b7aa7a	376	// Torque Sensing (0~210)bar =============================================
Lightvalve	62:851cf7b7aa7a	377	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	62:851cf7b7aa7a	378	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	62:851cf7b7aa7a	379	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	62:851cf7b7aa7a	380	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	59:0ad14153b58f	381
Lightvalve	59:0ad14153b58f	382
Lightvalve	62:851cf7b7aa7a	383	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	62:851cf7b7aa7a	384	//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	62:851cf7b7aa7a	385	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	62:851cf7b7aa7a	386	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	62:851cf7b7aa7a	387	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	62:851cf7b7aa7a	388
Lightvalve	17:1865016ca2e7	389
Lightvalve	62:851cf7b7aa7a	390	} else if (SENSING_MODE == 1) {
Lightvalve	62:851cf7b7aa7a	391	// Pressure Sensing (0~210)bar =============================================
Lightvalve	62:851cf7b7aa7a	392	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	62:851cf7b7aa7a	393	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	62:851cf7b7aa7a	394	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	62:851cf7b7aa7a	395	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	62:851cf7b7aa7a	396	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	62:851cf7b7aa7a	397	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	62:851cf7b7aa7a	398	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	399
Lightvalve	62:851cf7b7aa7a	400	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	62:851cf7b7aa7a	401	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	402	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	62:851cf7b7aa7a	403	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	404	}
Lightvalve	62:851cf7b7aa7a	405	}
Lightvalve	59:0ad14153b58f	406
Lightvalve	62:851cf7b7aa7a	407	// //Pressure sensor A
Lightvalve	62:851cf7b7aa7a	408	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	62:851cf7b7aa7a	409	// //while((ADC1->SR & 0b10));
Lightvalve	62:851cf7b7aa7a	410	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	62:851cf7b7aa7a	411	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	62:851cf7b7aa7a	412	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	62:851cf7b7aa7a	413	// 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	414	//
Lightvalve	62:851cf7b7aa7a	415	//
Lightvalve	62:851cf7b7aa7a	416	// //Pressure sensor B
Lightvalve	62:851cf7b7aa7a	417	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	62:851cf7b7aa7a	418	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	62:851cf7b7aa7a	419	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	62:851cf7b7aa7a	420	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	421
Lightvalve	17:1865016ca2e7	422
Lightvalve	21:e5f1a43ea6f9	423	//Current
Lightvalve	21:e5f1a43ea6f9	424	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	425	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	426	//while((ADC3->SR & 0b10));
Lightvalve	51:b46bed7fec80	427	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	428	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	429	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	430	//cur.sen = raw_cur;
Lightvalve	58:2eade98630e2	431
Lightvalve	62:851cf7b7aa7a	432	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	433	}
Lightvalve	11:82d8768d7351	434	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	435	}
Lightvalve	19:23b7c1ad8683	436
Lightvalve	19:23b7c1ad8683	437
Lightvalve	18:b8adf1582ea3	438	int j =0;
Lightvalve	54:647072f5307a	439	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	440	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	441	int cnt_trans = 0;
Lightvalve	48:889798ff9329	442	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	62:851cf7b7aa7a	443	int can_rest =0;
Lightvalve	48:889798ff9329	444
Lightvalve	11:82d8768d7351	445	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	446	{
Lightvalve	19:23b7c1ad8683	447	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	62:851cf7b7aa7a	448
Lightvalve	62:851cf7b7aa7a	449	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	62:851cf7b7aa7a	450	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	62:851cf7b7aa7a	451	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	62:851cf7b7aa7a	452	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	62:851cf7b7aa7a	453	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	62:851cf7b7aa7a	454	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	62:851cf7b7aa7a	455	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	62:851cf7b7aa7a	456	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	62:851cf7b7aa7a	457	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	62:851cf7b7aa7a	458	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	62:851cf7b7aa7a	459	}
Lightvalve	50:3c630b5eba9f	460
Lightvalve	50:3c630b5eba9f	461	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	462	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	463	cnt_trans++;
Lightvalve	46:2694daea349b	464	torq.err_sum = 0;
Lightvalve	48:889798ff9329	465	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	466	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	467	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	468	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	469	cnt_trans++;
Lightvalve	46:2694daea349b	470	torq.err_sum = 0;
Lightvalve	48:889798ff9329	471	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	472	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	473	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	62:851cf7b7aa7a	474	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	475	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	476	} else {
Lightvalve	62:851cf7b7aa7a	477	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	478	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	479	}
Lightvalve	45:35fa6884d0c6	480
Lightvalve	50:3c630b5eba9f	481
Lightvalve	62:851cf7b7aa7a	482	int UTILITY_MODE = 0;
Lightvalve	62:851cf7b7aa7a	483	int CONTROL_MODE = 0;
Lightvalve	62:851cf7b7aa7a	484
Lightvalve	62:851cf7b7aa7a	485	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	62:851cf7b7aa7a	486	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	62:851cf7b7aa7a	487	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	62:851cf7b7aa7a	488	} else {
Lightvalve	62:851cf7b7aa7a	489	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	62:851cf7b7aa7a	490	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	62:851cf7b7aa7a	491	}
Lightvalve	62:851cf7b7aa7a	492
Lightvalve	62:851cf7b7aa7a	493
Lightvalve	59:0ad14153b58f	494
Lightvalve	62:851cf7b7aa7a	495	// UTILITY MODE ------------------------------------------------------------
Lightvalve	58:2eade98630e2	496
Lightvalve	62:851cf7b7aa7a	497	switch (UTILITY_MODE) {
Lightvalve	62:851cf7b7aa7a	498	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	499	break;
Lightvalve	13:747daba9cf59	500	}
Lightvalve	14:8e7590227d22	501
Lightvalve	14:8e7590227d22	502	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	503	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	504	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	505	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	506
Lightvalve	14:8e7590227d22	507	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	508	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	509	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	510
Lightvalve	62:851cf7b7aa7a	511	TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	512
Lightvalve	30:8d561f16383b	513	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	62:851cf7b7aa7a	514	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	50:3c630b5eba9f	515
Lightvalve	16:903b5a4433b4	516	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	517	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	518	}
Lightvalve	13:747daba9cf59	519	} else {
Lightvalve	62:851cf7b7aa7a	520	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	521	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	522	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	523	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	524
Lightvalve	16:903b5a4433b4	525	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	526
Lightvalve	30:8d561f16383b	527	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	528
Lightvalve	13:747daba9cf59	529	}
Lightvalve	14:8e7590227d22	530	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	531	break;
Lightvalve	19:23b7c1ad8683	532	}
Lightvalve	14:8e7590227d22	533
Lightvalve	50:3c630b5eba9f	534	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	535	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	536	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	537	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	538	// }
Lightvalve	50:3c630b5eba9f	539	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	540	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	541	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	542	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	543	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	544	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	545	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	546	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	547	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	548	// }
Lightvalve	50:3c630b5eba9f	549	//
Lightvalve	50:3c630b5eba9f	550	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	551	// 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	552	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	553	//
Lightvalve	50:3c630b5eba9f	554	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	555	// V_out = 0;
Lightvalve	50:3c630b5eba9f	556	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	557	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	558	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	559	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	560	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	561	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	562	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	563	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	564	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	565	//
Lightvalve	50:3c630b5eba9f	566	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	567	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	568	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	569	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	570	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	571	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	572	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	573	//
Lightvalve	50:3c630b5eba9f	574	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	575	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	576	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	577	// } else {
Lightvalve	50:3c630b5eba9f	578	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	579	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	580	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	581	// }
Lightvalve	50:3c630b5eba9f	582	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	583	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	584	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	585	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	586	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	587	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	588	// }
Lightvalve	50:3c630b5eba9f	589	// } else {
Lightvalve	50:3c630b5eba9f	590	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	591	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	592	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	593	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	594	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	595	// }
Lightvalve	50:3c630b5eba9f	596	// V_out = 0;
Lightvalve	50:3c630b5eba9f	597	//
Lightvalve	50:3c630b5eba9f	598	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	599	//
Lightvalve	50:3c630b5eba9f	600	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	601	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	602	//
Lightvalve	50:3c630b5eba9f	603	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	604	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	605	// }
Lightvalve	50:3c630b5eba9f	606	// }
Lightvalve	50:3c630b5eba9f	607	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	608	// break;
Lightvalve	50:3c630b5eba9f	609	// }
Lightvalve	14:8e7590227d22	610
Lightvalve	14:8e7590227d22	611	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	612	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	613	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	614	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	615	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	62:851cf7b7aa7a	616	pos.ref = pos.sen;
Lightvalve	62:851cf7b7aa7a	617	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	618	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	619	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	62:851cf7b7aa7a	620	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	621	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	622	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	623	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	624	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	625	}
Lightvalve	29:69f3f5445d6d	626	cnt_findhome++;
Lightvalve	14:8e7590227d22	627
Lightvalve	29:69f3f5445d6d	628	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	629	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	630	} else {
Lightvalve	29:69f3f5445d6d	631	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	632	}
Lightvalve	19:23b7c1ad8683	633
Lightvalve	62:851cf7b7aa7a	634	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	635	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	62:851cf7b7aa7a	636	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	62:851cf7b7aa7a	637	else pos.ref = pos.ref - 12.0f;
Lightvalve	34:bb2ca2fc2a8e	638
Lightvalve	65:443a5f0e8ee1	639
Lightvalve	65:443a5f0e8ee1	640
Lightvalve	65:443a5f0e8ee1	641
Lightvalve	65:443a5f0e8ee1	642	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	65:443a5f0e8ee1	643
Lightvalve	65:443a5f0e8ee1	644	double I_REF_POS = 0.0f;
Lightvalve	65:443a5f0e8ee1	645	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	65:443a5f0e8ee1	646	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	65:443a5f0e8ee1	647
Lightvalve	65:443a5f0e8ee1	648	double temp_vel_pos = 0.0f;
Lightvalve	65:443a5f0e8ee1	649	double temp_vel_torq = 0.0f;
Lightvalve	65:443a5f0e8ee1	650	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	65:443a5f0e8ee1	651
Lightvalve	65:443a5f0e8ee1	652	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	65:443a5f0e8ee1	653	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) * 3.14159f / 180.0f; // rad/s
Lightvalve	65:443a5f0e8ee1	654	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	65:443a5f0e8ee1	655	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	65:443a5f0e8ee1	656	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	65:443a5f0e8ee1	657	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	65:443a5f0e8ee1	658	}
Lightvalve	65:443a5f0e8ee1	659	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	660	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	65:443a5f0e8ee1	661
Lightvalve	65:443a5f0e8ee1	662	I_REF = I_REF_POS;
Lightvalve	65:443a5f0e8ee1	663
Lightvalve	65:443a5f0e8ee1	664
Lightvalve	65:443a5f0e8ee1	665
Lightvalve	65:443a5f0e8ee1	666	} else {
Lightvalve	65:443a5f0e8ee1	667	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	65:443a5f0e8ee1	668	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	669
Lightvalve	65:443a5f0e8ee1	670	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	65:443a5f0e8ee1	671	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	65:443a5f0e8ee1	672	} else {
Lightvalve	65:443a5f0e8ee1	673	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	65:443a5f0e8ee1	674	}
Lightvalve	65:443a5f0e8ee1	675
Lightvalve	65:443a5f0e8ee1	676	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	65:443a5f0e8ee1	677
Lightvalve	65:443a5f0e8ee1	678	V_out = (float) Vout.ref;
Lightvalve	65:443a5f0e8ee1	679
Lightvalve	65:443a5f0e8ee1	680	}
Lightvalve	65:443a5f0e8ee1	681
Lightvalve	65:443a5f0e8ee1	682
Lightvalve	65:443a5f0e8ee1	683
Lightvalve	62:851cf7b7aa7a	684	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	62:851cf7b7aa7a	685	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	62:851cf7b7aa7a	686	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	62:851cf7b7aa7a	687	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	62:851cf7b7aa7a	688	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	689
Lightvalve	65:443a5f0e8ee1	690	cnt_findhome_wait = 0;
Lightvalve	65:443a5f0e8ee1	691	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	62:851cf7b7aa7a	692	alpha_trans = 0.0f;
Lightvalve	62:851cf7b7aa7a	693
Lightvalve	62:851cf7b7aa7a	694
Lightvalve	29:69f3f5445d6d	695	} else {
Lightvalve	29:69f3f5445d6d	696	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	65:443a5f0e8ee1	697	// for(int i_hp=0; i_hp<100; i_hp++){
Lightvalve	65:443a5f0e8ee1	698	// ENC_SET(HOMEPOS_OFFSET);
Lightvalve	65:443a5f0e8ee1	699	// }
Lightvalve	62:851cf7b7aa7a	700	// ENC_SET_ZERO();
Lightvalve	29:69f3f5445d6d	701	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	702	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	703	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	704	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	705	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	706	FINDHOME_VELOCITY = 0;
Lightvalve	65:443a5f0e8ee1	707
Lightvalve	65:443a5f0e8ee1	708	if(cnt_findhome_wait > 10) {
Lightvalve	65:443a5f0e8ee1	709	cnt_findhome = 0;
Lightvalve	65:443a5f0e8ee1	710	cnt_vel_findhome = 0;
Lightvalve	65:443a5f0e8ee1	711	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	65:443a5f0e8ee1	712	}
Lightvalve	62:851cf7b7aa7a	713
Lightvalve	62:851cf7b7aa7a	714	pos.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	715	vel.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	716	pos.ref_home_pos = 0.0f;
Lightvalve	62:851cf7b7aa7a	717	vel.ref_home_pos = 0.0f;
Lightvalve	65:443a5f0e8ee1	718
Lightvalve	65:443a5f0e8ee1	719	cnt_findhome_wait = cnt_findhome_wait + 1;
Lightvalve	62:851cf7b7aa7a	720	//FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	62:851cf7b7aa7a	721	//CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	62:851cf7b7aa7a	722
Lightvalve	62:851cf7b7aa7a	723
Lightvalve	29:69f3f5445d6d	724	}
Lightvalve	29:69f3f5445d6d	725	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	726	int T_move = 2*TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	727	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	62:851cf7b7aa7a	728	//pos.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	729	vel.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	730
Lightvalve	29:69f3f5445d6d	731	// input for position control
Lightvalve	62:851cf7b7aa7a	732
Lightvalve	62:851cf7b7aa7a	733	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	62:851cf7b7aa7a	734	alpha_trans = 0.0f;
Lightvalve	62:851cf7b7aa7a	735
Lightvalve	62:851cf7b7aa7a	736	double torq_ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	737	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	62:851cf7b7aa7a	738	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	62:851cf7b7aa7a	739	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	62:851cf7b7aa7a	740
Lightvalve	62:851cf7b7aa7a	741	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	62:851cf7b7aa7a	742
Lightvalve	62:851cf7b7aa7a	743	double I_REF_POS = 0.0f;
Lightvalve	62:851cf7b7aa7a	744	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	62:851cf7b7aa7a	745	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	62:851cf7b7aa7a	746
Lightvalve	62:851cf7b7aa7a	747	double temp_vel_pos = 0.0f;
Lightvalve	62:851cf7b7aa7a	748	double temp_vel_torq = 0.0f;
Lightvalve	62:851cf7b7aa7a	749	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	62:851cf7b7aa7a	750
Lightvalve	62:851cf7b7aa7a	751	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	62:851cf7b7aa7a	752	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) * 3.14159f / 180.0f; // rad/s
Lightvalve	62:851cf7b7aa7a	753	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	62:851cf7b7aa7a	754	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	62:851cf7b7aa7a	755	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	756	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	62:851cf7b7aa7a	757	}
Lightvalve	62:851cf7b7aa7a	758	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	759	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	62:851cf7b7aa7a	760
Lightvalve	62:851cf7b7aa7a	761	I_REF = I_REF_POS;
Lightvalve	62:851cf7b7aa7a	762
Lightvalve	62:851cf7b7aa7a	763
Lightvalve	62:851cf7b7aa7a	764
Lightvalve	62:851cf7b7aa7a	765	} else {
Lightvalve	62:851cf7b7aa7a	766	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	62:851cf7b7aa7a	767	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	62:851cf7b7aa7a	768
Lightvalve	62:851cf7b7aa7a	769	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	62:851cf7b7aa7a	770	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	62:851cf7b7aa7a	771	} else {
Lightvalve	62:851cf7b7aa7a	772	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	62:851cf7b7aa7a	773	}
Lightvalve	62:851cf7b7aa7a	774
Lightvalve	62:851cf7b7aa7a	775	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	776
Lightvalve	62:851cf7b7aa7a	777	V_out = (float) Vout.ref;
Lightvalve	62:851cf7b7aa7a	778
Lightvalve	62:851cf7b7aa7a	779	}
Lightvalve	62:851cf7b7aa7a	780
Lightvalve	62:851cf7b7aa7a	781
Lightvalve	62:851cf7b7aa7a	782
Lightvalve	62:851cf7b7aa7a	783
Lightvalve	62:851cf7b7aa7a	784	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	62:851cf7b7aa7a	785	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	62:851cf7b7aa7a	786	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	62:851cf7b7aa7a	787	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	62:851cf7b7aa7a	788	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	789
Lightvalve	29:69f3f5445d6d	790	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	791	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	792	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	793	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	794	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	795	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	796	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	797	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	798	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	62:851cf7b7aa7a	799	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	800	}
Lightvalve	13:747daba9cf59	801	}
Lightvalve	19:23b7c1ad8683	802
Lightvalve	13:747daba9cf59	803	break;
Lightvalve	13:747daba9cf59	804	}
Lightvalve	14:8e7590227d22	805
Lightvalve	50:3c630b5eba9f	806	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	807	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	808	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	809	// else {
Lightvalve	50:3c630b5eba9f	810	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	811	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	812	// }
Lightvalve	50:3c630b5eba9f	813	// }
Lightvalve	50:3c630b5eba9f	814	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	815	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	816	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	817	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	818	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	819	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	820	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	821	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	822	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	823	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	824	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	825	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	826	// }
Lightvalve	50:3c630b5eba9f	827	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	828	// }
Lightvalve	50:3c630b5eba9f	829	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	830	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	831	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	832	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	833	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	834	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	835	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	836	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	837	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	838	// // 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	839	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	840	// }
Lightvalve	50:3c630b5eba9f	841	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	842	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	843	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	844	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	845	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	846	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	847	// 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	848	// // 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	849	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	850	// }
Lightvalve	50:3c630b5eba9f	851	// }
Lightvalve	50:3c630b5eba9f	852	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	853	//
Lightvalve	50:3c630b5eba9f	854	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	855	//
Lightvalve	50:3c630b5eba9f	856	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	857	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	858	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	859	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	860	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	861	// }
Lightvalve	50:3c630b5eba9f	862	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	863	// V_out = 0;
Lightvalve	50:3c630b5eba9f	864	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	865	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	866	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	867	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	868	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	869	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	870	// }
Lightvalve	50:3c630b5eba9f	871	//
Lightvalve	50:3c630b5eba9f	872	// }
Lightvalve	50:3c630b5eba9f	873	// break;
Lightvalve	50:3c630b5eba9f	874	// }
Lightvalve	50:3c630b5eba9f	875	//
Lightvalve	50:3c630b5eba9f	876	// }
Lightvalve	14:8e7590227d22	877	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	878	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	879	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	880	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	881	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	882
Lightvalve	14:8e7590227d22	883	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	884	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	885	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	886	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	887	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	888
Lightvalve	38:118df027d851	889	float VREF_NullingGain = 0.0003f;
Lightvalve	62:851cf7b7aa7a	890	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	62:851cf7b7aa7a	891	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	892
Lightvalve	30:8d561f16383b	893	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	894	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	895	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	896	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	897
Lightvalve	30:8d561f16383b	898	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	899	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	900	}
Lightvalve	13:747daba9cf59	901	} else {
Lightvalve	62:851cf7b7aa7a	902	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	903	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	904	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	905	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	906	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	907	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	908
Lightvalve	16:903b5a4433b4	909	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	910
Lightvalve	30:8d561f16383b	911	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	912	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	913	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	914	}
Lightvalve	14:8e7590227d22	915	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	916	break;
Lightvalve	13:747daba9cf59	917	}
Lightvalve	14:8e7590227d22	918
Lightvalve	50:3c630b5eba9f	919	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	920	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	921	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	922	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	923	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	924	// }
Lightvalve	50:3c630b5eba9f	925	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	926	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	927	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	928	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	929	// }
Lightvalve	50:3c630b5eba9f	930	// } else {
Lightvalve	50:3c630b5eba9f	931	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	932	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	933	// V_out = 0;
Lightvalve	50:3c630b5eba9f	934	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	935	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	936	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	937	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	938	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	939	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	940	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	941	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	942	//
Lightvalve	50:3c630b5eba9f	943	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	944	//
Lightvalve	50:3c630b5eba9f	945	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	946	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	947	// }
Lightvalve	50:3c630b5eba9f	948	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	949	// break;
Lightvalve	50:3c630b5eba9f	950	// }
Lightvalve	19:23b7c1ad8683	951
Lightvalve	50:3c630b5eba9f	952	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	953	// 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	954	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	955	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	956	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	957	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	958	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	959	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	960	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	961	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	962	// }
Lightvalve	50:3c630b5eba9f	963	// break;
Lightvalve	50:3c630b5eba9f	964	// }
Lightvalve	14:8e7590227d22	965
Lightvalve	14:8e7590227d22	966	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	62:851cf7b7aa7a	967	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	968	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	969
Lightvalve	14:8e7590227d22	970	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	62:851cf7b7aa7a	971	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	972	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	62:851cf7b7aa7a	973	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	974	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	975	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	976	data_num = 0;
Lightvalve	14:8e7590227d22	977	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	978	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	979	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	980	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	62:851cf7b7aa7a	981	Vout.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	982	} else {
Lightvalve	13:747daba9cf59	983	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	984	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	985	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	986	}
Lightvalve	14:8e7590227d22	987
Lightvalve	17:1865016ca2e7	988	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	989	int i;
Lightvalve	13:747daba9cf59	990	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	991	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	992	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	993	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	994	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	995	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	996	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	997	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	998	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	999	}
Lightvalve	13:747daba9cf59	1000	}
Lightvalve	62:851cf7b7aa7a	1001	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1002	ID_index = 0;
Lightvalve	62:851cf7b7aa7a	1003	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1004	}
Lightvalve	14:8e7590227d22	1005
Lightvalve	14:8e7590227d22	1006
Lightvalve	13:747daba9cf59	1007	break;
Lightvalve	13:747daba9cf59	1008	}
Lightvalve	14:8e7590227d22	1009
Lightvalve	14:8e7590227d22	1010	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	62:851cf7b7aa7a	1011	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1012	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1013	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1014	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1015	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1016	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1017	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1018	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1019	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1020	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1021	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1022	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1023	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1024	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1025	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	1026	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1027	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	1028	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1029	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1030	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1031	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	1032	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1033	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1034	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1035	data_num = 0;
Lightvalve	14:8e7590227d22	1036
Lightvalve	30:8d561f16383b	1037	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1038	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1039	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1040
Lightvalve	30:8d561f16383b	1041	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1042	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1043	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1044
Lightvalve	30:8d561f16383b	1045	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1046	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1047	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1048	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1049
Lightvalve	62:851cf7b7aa7a	1050	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	1051	DZ_case = 1;
Lightvalve	62:851cf7b7aa7a	1052	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	1053	DZ_case = -1;
Lightvalve	14:8e7590227d22	1054	} else {
Lightvalve	13:747daba9cf59	1055	DZ_case = 0;
Lightvalve	13:747daba9cf59	1056	}
Lightvalve	14:8e7590227d22	1057
Lightvalve	49:e7bcfc244d40	1058	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	1059
Lightvalve	13:747daba9cf59	1060	first_check = 1;
Lightvalve	13:747daba9cf59	1061	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1062	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1063	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1064	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1065	DZ_index = 1;
Lightvalve	14:8e7590227d22	1066
Lightvalve	13:747daba9cf59	1067	}
Lightvalve	19:23b7c1ad8683	1068	} else {
Lightvalve	14:8e7590227d22	1069	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1070	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1071	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	1072	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1073	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1074	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1075	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1076	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1077	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1078	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1079	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1080	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1081	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1082	}
Lightvalve	14:8e7590227d22	1083	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1084
Lightvalve	30:8d561f16383b	1085	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1086	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1087	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1088
Lightvalve	14:8e7590227d22	1089	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1090	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1091	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1092	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1093	} else {
Lightvalve	13:747daba9cf59	1094	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1095	}
Lightvalve	14:8e7590227d22	1096
Lightvalve	13:747daba9cf59	1097	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1098	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1099	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1100	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1101	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1102	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1103	DZ_index = 1;
Lightvalve	13:747daba9cf59	1104	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1105	}
Lightvalve	13:747daba9cf59	1106	}
Lightvalve	14:8e7590227d22	1107	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1108	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1109	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	1110	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1111	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1112	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1113	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1114	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1115	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1116	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1117	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1118	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1119	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1120	}
Lightvalve	14:8e7590227d22	1121	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1122
Lightvalve	30:8d561f16383b	1123	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1124	Vout.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	1125	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1126	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1127	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1128
Lightvalve	14:8e7590227d22	1129	if((FINAL_POS - START_POS)>100) {
Lightvalve	62:851cf7b7aa7a	1130	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1131	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	62:851cf7b7aa7a	1132	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1133	} else {
Lightvalve	62:851cf7b7aa7a	1134	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1135	}
Lightvalve	14:8e7590227d22	1136
Lightvalve	13:747daba9cf59	1137	VALVE_DZ_timer = 0;
Lightvalve	62:851cf7b7aa7a	1138	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1139	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1140	SECOND_DZ = valve_pos.ref;
Lightvalve	62:851cf7b7aa7a	1141	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1142	first_check = 0;
Lightvalve	33:91b17819ec30	1143	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1144	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1145
Lightvalve	16:903b5a4433b4	1146	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1147
Lightvalve	62:851cf7b7aa7a	1148	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1149	DZ_index = 1;
Lightvalve	13:747daba9cf59	1150	}
Lightvalve	13:747daba9cf59	1151	}
Lightvalve	14:8e7590227d22	1152	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1153	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1154	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	1155	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1156	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1157	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1158	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1159	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1160	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1161	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1162	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1163	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1164	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1165	}
Lightvalve	14:8e7590227d22	1166	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1167
Lightvalve	30:8d561f16383b	1168	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1169	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1170	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1171
Lightvalve	14:8e7590227d22	1172	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1173	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1174	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1175	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1176	} else {
Lightvalve	13:747daba9cf59	1177	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1178	}
Lightvalve	13:747daba9cf59	1179	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1180	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1181	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1182	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1183	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1184	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1185	DZ_index = 1;
Lightvalve	13:747daba9cf59	1186	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1187	}
Lightvalve	13:747daba9cf59	1188	}
Lightvalve	14:8e7590227d22	1189	} else {
Lightvalve	30:8d561f16383b	1190	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1191	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	1192	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1193	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1194	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1195	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1196	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1197	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1198	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1199	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1200	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1201	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1202	}
Lightvalve	14:8e7590227d22	1203	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1204
Lightvalve	30:8d561f16383b	1205	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1206	Vout.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	1207	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1208	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1209	FINAL_POS = pos.sen;
Lightvalve	62:851cf7b7aa7a	1210
Lightvalve	62:851cf7b7aa7a	1211	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1212	DZ_DIRECTION = 1;
Lightvalve	62:851cf7b7aa7a	1213	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	62:851cf7b7aa7a	1214	DZ_DIRECTION = -1;
Lightvalve	62:851cf7b7aa7a	1215	} else {
Lightvalve	13:747daba9cf59	1216	DZ_DIRECTION = 1;
Lightvalve	62:851cf7b7aa7a	1217	}
Lightvalve	14:8e7590227d22	1218
Lightvalve	13:747daba9cf59	1219	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1220	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1221	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1222	SECOND_DZ = valve_pos.ref;
Lightvalve	62:851cf7b7aa7a	1223	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1224	first_check = 0;
Lightvalve	33:91b17819ec30	1225	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1226	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	34:bb2ca2fc2a8e	1227
Lightvalve	62:851cf7b7aa7a	1228	ROM_RESET_DATA();
Lightvalve	62:851cf7b7aa7a	1229
Lightvalve	62:851cf7b7aa7a	1230	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1231	DZ_index = 1;
Lightvalve	13:747daba9cf59	1232	}
Lightvalve	13:747daba9cf59	1233	}
Lightvalve	13:747daba9cf59	1234	}
Lightvalve	14:8e7590227d22	1235	}
Lightvalve	13:747daba9cf59	1236	break;
Lightvalve	13:747daba9cf59	1237	}
Lightvalve	14:8e7590227d22	1238
Lightvalve	14:8e7590227d22	1239	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	62:851cf7b7aa7a	1240	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1241	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1242	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1243	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1244	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1245	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1246	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1247	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1248	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1249	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1250	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1251	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1252	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1253	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	62:851cf7b7aa7a	1254	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1255	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1256	first_check = 1;
Lightvalve	13:747daba9cf59	1257	VALVE_FR_timer = 0;
Lightvalve	62:851cf7b7aa7a	1258	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1259	ID_index = 0;
Lightvalve	13:747daba9cf59	1260	max_check = 0;
Lightvalve	13:747daba9cf59	1261	min_check = 0;
Lightvalve	13:747daba9cf59	1262	}
Lightvalve	14:8e7590227d22	1263	} else {
Lightvalve	30:8d561f16383b	1264	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1265	//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	1266	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1267	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1268	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1269	data_num = 0;
Lightvalve	62:851cf7b7aa7a	1270	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1271
Lightvalve	14:8e7590227d22	1272	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1273	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1274	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1275	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1276	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1277	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1278	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1279	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1280	one_period_end = 1;
Lightvalve	13:747daba9cf59	1281	}
Lightvalve	30:8d561f16383b	1282	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1283	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1284	one_period_end = 1;
Lightvalve	62:851cf7b7aa7a	1285	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1286	}
Lightvalve	14:8e7590227d22	1287
Lightvalve	14:8e7590227d22	1288	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1289	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1290	max_check = 1;
Lightvalve	14:8e7590227d22	1291	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1292	min_check = 1;
Lightvalve	13:747daba9cf59	1293	}
Lightvalve	13:747daba9cf59	1294	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1295
Lightvalve	13:747daba9cf59	1296	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1297	one_period_end = 0;
Lightvalve	13:747daba9cf59	1298	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1299	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1300	}
Lightvalve	14:8e7590227d22	1301
Lightvalve	14:8e7590227d22	1302	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1303
Lightvalve	13:747daba9cf59	1304	VALVE_POS_NUM = ID_index;
Lightvalve	62:851cf7b7aa7a	1305	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1306	ID_index = 0;
Lightvalve	13:747daba9cf59	1307	first_check = 0;
Lightvalve	13:747daba9cf59	1308	VALVE_FR_timer = 0;
Lightvalve	62:851cf7b7aa7a	1309	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1310	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1311	}
Lightvalve	13:747daba9cf59	1312	}
Lightvalve	13:747daba9cf59	1313	break;
Lightvalve	13:747daba9cf59	1314	}
Lightvalve	58:2eade98630e2	1315
Lightvalve	62:851cf7b7aa7a	1316	case MODE_SYSTEM_ID: {
Lightvalve	62:851cf7b7aa7a	1317	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	62:851cf7b7aa7a	1318	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	62:851cf7b7aa7a	1319	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	62:851cf7b7aa7a	1320	cnt_sysid++;
Lightvalve	62:851cf7b7aa7a	1321	if (freq_sysid_Iref >= 300) {
Lightvalve	62:851cf7b7aa7a	1322	cnt_sysid = 0;
Lightvalve	62:851cf7b7aa7a	1323	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	62:851cf7b7aa7a	1324	}
Lightvalve	62:851cf7b7aa7a	1325	break;
Lightvalve	62:851cf7b7aa7a	1326	}
Lightvalve	62:851cf7b7aa7a	1327
Lightvalve	62:851cf7b7aa7a	1328
Lightvalve	62:851cf7b7aa7a	1329
Lightvalve	62:851cf7b7aa7a	1330	default:
Lightvalve	62:851cf7b7aa7a	1331	break;
Lightvalve	62:851cf7b7aa7a	1332	}
Lightvalve	62:851cf7b7aa7a	1333
Lightvalve	62:851cf7b7aa7a	1334	// CONTROL MODE ------------------------------------------------------------
Lightvalve	62:851cf7b7aa7a	1335
Lightvalve	62:851cf7b7aa7a	1336	switch (CONTROL_MODE) {
Lightvalve	62:851cf7b7aa7a	1337	case MODE_NO_ACT: {
Lightvalve	62:851cf7b7aa7a	1338	V_out = 0.0f;
Lightvalve	62:851cf7b7aa7a	1339	break;
Lightvalve	62:851cf7b7aa7a	1340	}
Lightvalve	62:851cf7b7aa7a	1341
Lightvalve	62:851cf7b7aa7a	1342	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	62:851cf7b7aa7a	1343	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	62:851cf7b7aa7a	1344	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1345	V_out = Vout.ref;
Lightvalve	62:851cf7b7aa7a	1346	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	62:851cf7b7aa7a	1347	V_out = valve_pos.ref;
Lightvalve	62:851cf7b7aa7a	1348	} else {
Lightvalve	62:851cf7b7aa7a	1349	I_REF = valve_pos.ref * 0.001f;
Lightvalve	62:851cf7b7aa7a	1350	}
Lightvalve	62:851cf7b7aa7a	1351
Lightvalve	62:851cf7b7aa7a	1352	break;
Lightvalve	62:851cf7b7aa7a	1353	}
Lightvalve	62:851cf7b7aa7a	1354
Lightvalve	62:851cf7b7aa7a	1355	case MODE_JOINT_CONTROL: {
Lightvalve	62:851cf7b7aa7a	1356	double torq_ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	1357	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	63:a3c7f31742c9	1358	vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	63:a3c7f31742c9	1359	// vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	62:851cf7b7aa7a	1360	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	62:851cf7b7aa7a	1361
Lightvalve	62:851cf7b7aa7a	1362	//K & D Low Pass Filter
Lightvalve	62:851cf7b7aa7a	1363	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	62:851cf7b7aa7a	1364	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	62:851cf7b7aa7a	1365	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	62:851cf7b7aa7a	1366
Lightvalve	62:851cf7b7aa7a	1367	torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	62:851cf7b7aa7a	1368
Lightvalve	62:851cf7b7aa7a	1369	// torque feedback
Lightvalve	63:a3c7f31742c9	1370	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	62:851cf7b7aa7a	1371	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	62:851cf7b7aa7a	1372
Lightvalve	62:851cf7b7aa7a	1373	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	62:851cf7b7aa7a	1374
Lightvalve	62:851cf7b7aa7a	1375	double I_REF_POS = 0.0f;
Lightvalve	62:851cf7b7aa7a	1376	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	62:851cf7b7aa7a	1377	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	62:851cf7b7aa7a	1378
Lightvalve	62:851cf7b7aa7a	1379	double temp_vel_pos = 0.0f;
Lightvalve	62:851cf7b7aa7a	1380	double temp_vel_torq = 0.0f;
Lightvalve	62:851cf7b7aa7a	1381	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	62:851cf7b7aa7a	1382
Lightvalve	62:851cf7b7aa7a	1383	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	62:851cf7b7aa7a	1384	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	1385	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	62:851cf7b7aa7a	1386	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	62:851cf7b7aa7a	1387	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	1388	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	62:851cf7b7aa7a	1389	}
Lightvalve	62:851cf7b7aa7a	1390	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	1391	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	62:851cf7b7aa7a	1392
Lightvalve	62:851cf7b7aa7a	1393	// velocity compensation for torque control
Lightvalve	62:851cf7b7aa7a	1394	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	62:851cf7b7aa7a	1395	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	62:851cf7b7aa7a	1396	// 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	1397	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	62:851cf7b7aa7a	1398	// L feedforward velocity
Lightvalve	62:851cf7b7aa7a	1399	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	62:851cf7b7aa7a	1400	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	1401	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	62:851cf7b7aa7a	1402	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	62:851cf7b7aa7a	1403	// L feedforward velocity
Lightvalve	62:851cf7b7aa7a	1404	}
Lightvalve	62:851cf7b7aa7a	1405	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	1406	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	62:851cf7b7aa7a	1407	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	62:851cf7b7aa7a	1408	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	62:851cf7b7aa7a	1409	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	62:851cf7b7aa7a	1410
Lightvalve	62:851cf7b7aa7a	1411	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	62:851cf7b7aa7a	1412
Lightvalve	62:851cf7b7aa7a	1413	// Anti-windup for FT
Lightvalve	62:851cf7b7aa7a	1414	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	62:851cf7b7aa7a	1415	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	62:851cf7b7aa7a	1416	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	62:851cf7b7aa7a	1417	if (I_REF > I_MAX) {
Lightvalve	62:851cf7b7aa7a	1418	double I_rem = I_REF - I_MAX;
Lightvalve	62:851cf7b7aa7a	1419	I_rem = Ka*I_rem;
Lightvalve	62:851cf7b7aa7a	1420	I_REF = I_MAX;
Lightvalve	62:851cf7b7aa7a	1421	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	1422	} else if (I_REF < -I_MAX) {
Lightvalve	62:851cf7b7aa7a	1423	double I_rem = I_REF - (-I_MAX);
Lightvalve	62:851cf7b7aa7a	1424	I_rem = Ka*I_rem;
Lightvalve	62:851cf7b7aa7a	1425	I_REF = -I_MAX;
Lightvalve	62:851cf7b7aa7a	1426	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	1427	}
Lightvalve	62:851cf7b7aa7a	1428	}
Lightvalve	62:851cf7b7aa7a	1429
Lightvalve	62:851cf7b7aa7a	1430	} else {
Lightvalve	62:851cf7b7aa7a	1431	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	62:851cf7b7aa7a	1432
Lightvalve	62:851cf7b7aa7a	1433	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	1434	+ 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	1435
Lightvalve	62:851cf7b7aa7a	1436	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	62:851cf7b7aa7a	1437	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	62:851cf7b7aa7a	1438	} else {
Lightvalve	62:851cf7b7aa7a	1439	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	62:851cf7b7aa7a	1440	}
Lightvalve	62:851cf7b7aa7a	1441
Lightvalve	62:851cf7b7aa7a	1442	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	62:851cf7b7aa7a	1443	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	62:851cf7b7aa7a	1444	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	62:851cf7b7aa7a	1445	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	62:851cf7b7aa7a	1446	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	62:851cf7b7aa7a	1447	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	62:851cf7b7aa7a	1448	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	1449	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	62:851cf7b7aa7a	1450	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	62:851cf7b7aa7a	1451	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	62:851cf7b7aa7a	1452	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	62:851cf7b7aa7a	1453	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	1454	}
Lightvalve	62:851cf7b7aa7a	1455	}
Lightvalve	62:851cf7b7aa7a	1456
Lightvalve	62:851cf7b7aa7a	1457	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1458
Lightvalve	62:851cf7b7aa7a	1459	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	62:851cf7b7aa7a	1460	V_out = (float) Vout.ref;
Lightvalve	62:851cf7b7aa7a	1461
Lightvalve	62:851cf7b7aa7a	1462	}
Lightvalve	62:851cf7b7aa7a	1463
Lightvalve	62:851cf7b7aa7a	1464	break;
Lightvalve	62:851cf7b7aa7a	1465	}
Lightvalve	62:851cf7b7aa7a	1466
Lightvalve	62:851cf7b7aa7a	1467	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	62:851cf7b7aa7a	1468	V_out = (float) Vout.ref;
Lightvalve	62:851cf7b7aa7a	1469	break;
Lightvalve	62:851cf7b7aa7a	1470	}
Lightvalve	62:851cf7b7aa7a	1471
Lightvalve	12:6f2531038ea4	1472	default:
Lightvalve	12:6f2531038ea4	1473	break;
Lightvalve	12:6f2531038ea4	1474	}
Lightvalve	14:8e7590227d22	1475
Lightvalve	62:851cf7b7aa7a	1476
Lightvalve	62:851cf7b7aa7a	1477	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	62:851cf7b7aa7a	1478
Lightvalve	62:851cf7b7aa7a	1479	////////////////////////////////////////////////////////////////////////////
Lightvalve	62:851cf7b7aa7a	1480	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	62:851cf7b7aa7a	1481	////////////////////////////////////////////////////////////////////////////
Lightvalve	63:a3c7f31742c9	1482
Lightvalve	62:851cf7b7aa7a	1483	if (CURRENT_CONTROL_MODE) {
Lightvalve	63:a3c7f31742c9	1484
Lightvalve	62:851cf7b7aa7a	1485	// Moog Valve Current Control Gain
Lightvalve	62:851cf7b7aa7a	1486	double R_model = 500.0f; // ohm
Lightvalve	62:851cf7b7aa7a	1487	double L_model = 1.2f;
Lightvalve	62:851cf7b7aa7a	1488	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	62:851cf7b7aa7a	1489	double KP_I = 0.1f * L_model*w0;
Lightvalve	62:851cf7b7aa7a	1490	double KI_I = 0.1f * R_model*w0;
Lightvalve	62:851cf7b7aa7a	1491
Lightvalve	62:851cf7b7aa7a	1492	// KNR Valve Current Control Gain
Lightvalve	62:851cf7b7aa7a	1493	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	62:851cf7b7aa7a	1494	R_model = 163.0f; // ohm
Lightvalve	62:851cf7b7aa7a	1495	L_model = 1.0f;
Lightvalve	62:851cf7b7aa7a	1496	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	62:851cf7b7aa7a	1497	KP_I = 1.0f * L_model*w0;
Lightvalve	62:851cf7b7aa7a	1498	KI_I = 0.08f * R_model*w0;
Lightvalve	62:851cf7b7aa7a	1499	}
Lightvalve	63:a3c7f31742c9	1500
Lightvalve	63:a3c7f31742c9	1501	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	63:a3c7f31742c9	1502	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	63:a3c7f31742c9	1503
Lightvalve	63:a3c7f31742c9	1504	FLAG_VALVE_DEADZONE = 1;
Lightvalve	63:a3c7f31742c9	1505
Lightvalve	63:a3c7f31742c9	1506	if (FLAG_VALVE_DEADZONE) {
Lightvalve	63:a3c7f31742c9	1507	if (I_REF_fil > 0) I_REF_fil_DZ = I_REF_fil + VALVE_DEADZONE_PLUS / 1000.0f; // unit: mA
Lightvalve	63:a3c7f31742c9	1508	else if (I_REF_fil < 0) I_REF_fil_DZ = I_REF_fil + VALVE_DEADZONE_MINUS / 1000.0f; // unit: mA
Lightvalve	63:a3c7f31742c9	1509	else I_REF_fil_DZ = I_REF_fil + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f / 1000.0f; // unit: mA
Lightvalve	63:a3c7f31742c9	1510	} else {
Lightvalve	63:a3c7f31742c9	1511	I_REF_fil_DZ = I_REF_fil;
Lightvalve	63:a3c7f31742c9	1512	}
Lightvalve	63:a3c7f31742c9	1513
Lightvalve	63:a3c7f31742c9	1514	I_ERR = I_REF_fil_DZ - cur.sen;
Lightvalve	63:a3c7f31742c9	1515	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	63:a3c7f31742c9	1516
Lightvalve	63:a3c7f31742c9	1517
Lightvalve	63:a3c7f31742c9	1518
Lightvalve	62:851cf7b7aa7a	1519
Lightvalve	62:851cf7b7aa7a	1520	double FF_gain = 1.0f;
Lightvalve	62:851cf7b7aa7a	1521
Lightvalve	62:851cf7b7aa7a	1522	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	62:851cf7b7aa7a	1523	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	63:a3c7f31742c9	1524	I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
Lightvalve	63:a3c7f31742c9	1525	I_REF_fil_old = I_REF_fil_DZ;
Lightvalve	63:a3c7f31742c9	1526	// 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	1527	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve	62:851cf7b7aa7a	1528	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	14:8e7590227d22	1529
Lightvalve	62:851cf7b7aa7a	1530	double Ka = 3.0f / KP_I;
Lightvalve	62:851cf7b7aa7a	1531	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	62:851cf7b7aa7a	1532	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	62:851cf7b7aa7a	1533	V_rem = Ka*V_rem;
Lightvalve	62:851cf7b7aa7a	1534	VALVE_PWM_RAW = V_MAX;
Lightvalve	62:851cf7b7aa7a	1535	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	62:851cf7b7aa7a	1536	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	62:851cf7b7aa7a	1537	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	62:851cf7b7aa7a	1538	V_rem = Ka*V_rem;
Lightvalve	62:851cf7b7aa7a	1539	VALVE_PWM_RAW = -V_MAX;
Lightvalve	62:851cf7b7aa7a	1540	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	62:851cf7b7aa7a	1541	}
Lightvalve	62:851cf7b7aa7a	1542	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	62:851cf7b7aa7a	1543	} else {
Lightvalve	62:851cf7b7aa7a	1544	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	62:851cf7b7aa7a	1545	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	62:851cf7b7aa7a	1546	}
Lightvalve	62:851cf7b7aa7a	1547
Lightvalve	62:851cf7b7aa7a	1548	////////////////////////////////////////////////////////////////////////////
Lightvalve	62:851cf7b7aa7a	1549	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	62:851cf7b7aa7a	1550	////////////////////////////////////////////////////////////////////////////
Lightvalve	62:851cf7b7aa7a	1551	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	63:a3c7f31742c9	1552	// if (FLAG_VALVE_DEADZONE) {
Lightvalve	63:a3c7f31742c9	1553	// if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	63:a3c7f31742c9	1554	// else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	63:a3c7f31742c9	1555	// VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	63:a3c7f31742c9	1556	// } else {
Lightvalve	63:a3c7f31742c9	1557	// VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	63:a3c7f31742c9	1558	// }
Lightvalve	62:851cf7b7aa7a	1559
Lightvalve	63:a3c7f31742c9	1560	// VALVE_DEADZONE_PLUS : Current[mA] to start extraction
Lightvalve	63:a3c7f31742c9	1561	// VALVE_DEADZONE_MINUS : Current[mA] to start contraction
Lightvalve	63:a3c7f31742c9	1562	// double R_model = 500.0f;
Lightvalve	63:a3c7f31742c9	1563	// FLAG_VALVE_DEADZONE = true;
Lightvalve	63:a3c7f31742c9	1564	// if (FLAG_VALVE_DEADZONE) {
Lightvalve	63:a3c7f31742c9	1565	// if (VALVE_PWM_RAW > 0) VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * R_model / 1000.0f; // unit: mV
Lightvalve	63:a3c7f31742c9	1566	// 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	1567	// else VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f* R_model / 1000.0f;
Lightvalve	63:a3c7f31742c9	1568	// } else {
Lightvalve	62:851cf7b7aa7a	1569	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	63:a3c7f31742c9	1570	// }
Lightvalve	62:851cf7b7aa7a	1571
Lightvalve	62:851cf7b7aa7a	1572	// Output Voltage Linearization
Lightvalve	62:851cf7b7aa7a	1573	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	62:851cf7b7aa7a	1574	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	62:851cf7b7aa7a	1575
Lightvalve	62:851cf7b7aa7a	1576	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	62:851cf7b7aa7a	1577	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	62:851cf7b7aa7a	1578	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	62:851cf7b7aa7a	1579	else V_out = (float) (CUR_PWM_lin);
Lightvalve	62:851cf7b7aa7a	1580	}
Lightvalve	62:851cf7b7aa7a	1581
Lightvalve	62:851cf7b7aa7a	1582	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	62:851cf7b7aa7a	1583	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	62:851cf7b7aa7a	1584	// else V_out = V_out;
Lightvalve	62:851cf7b7aa7a	1585
jobuuu	7:e9086c72bb22	1586	/*******************************************************
jobuuu	7:e9086c72bb22	1587	*** PWM
jobuuu	7:e9086c72bb22	1588	********************************************************/
Lightvalve	62:851cf7b7aa7a	1589	if(DIR_VALVE<0){
Lightvalve	62:851cf7b7aa7a	1590	V_out = -V_out;
Lightvalve	62:851cf7b7aa7a	1591	}
Lightvalve	62:851cf7b7aa7a	1592
Lightvalve	49:e7bcfc244d40	1593	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1594	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1595	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1596	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1597	}
Lightvalve	49:e7bcfc244d40	1598	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1599
Lightvalve	19:23b7c1ad8683	1600	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1601	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1602	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1603
Lightvalve	30:8d561f16383b	1604	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1605	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1606	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1607	} else {
jobuuu	2:a1c0a37df760	1608	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1609	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1610	}
Lightvalve	13:747daba9cf59	1611
jobuuu	1:e04e563be5ce	1612	//pwm
Lightvalve	30:8d561f16383b	1613	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1614	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1615
Lightvalve	20:806196fda269	1616
Lightvalve	62:851cf7b7aa7a	1617	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1618
Lightvalve	54:647072f5307a	1619	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1620	if (flag_data_request[0] == HIGH) {
Lightvalve	62:851cf7b7aa7a	1621	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1622	if (SENSING_MODE == 0) {
Lightvalve	59:0ad14153b58f	1623	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1624	} else if (SENSING_MODE == 1) {
Lightvalve	62:851cf7b7aa7a	1625	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
Lightvalve	54:647072f5307a	1626	}
Lightvalve	62:851cf7b7aa7a	1627	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1628	if (SENSING_MODE == 0) {
Lightvalve	63:a3c7f31742c9	1629	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	54:647072f5307a	1630	} else if (SENSING_MODE == 1) {
Lightvalve	62:851cf7b7aa7a	1631	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	54:647072f5307a	1632	}
Lightvalve	52:8ea76864368a	1633	}
Lightvalve	52:8ea76864368a	1634	}
Lightvalve	56:6f50d9d3bfee	1635	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1636	//valve position
Lightvalve	54:647072f5307a	1637	double t_value = 0;
Lightvalve	62:851cf7b7aa7a	1638	// if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	62:851cf7b7aa7a	1639	// t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	62:851cf7b7aa7a	1640	// } else {
Lightvalve	62:851cf7b7aa7a	1641	// t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	62:851cf7b7aa7a	1642	// }
Lightvalve	62:851cf7b7aa7a	1643	if(OPERATING_MODE==5) {
Lightvalve	62:851cf7b7aa7a	1644	t_value = (double) value;
Lightvalve	62:851cf7b7aa7a	1645	} else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	62:851cf7b7aa7a	1646	t_value = cur.sen;
Lightvalve	58:2eade98630e2	1647	} else {
Lightvalve	62:851cf7b7aa7a	1648	t_value = V_out;
Lightvalve	54:647072f5307a	1649	}
Lightvalve	63:a3c7f31742c9	1650	// CAN_TX_TORQUE((int16_t) (I_REF_fil_DZ * 1000.0f)); //1300
Lightvalve	63:a3c7f31742c9	1651	CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve	62:851cf7b7aa7a	1652	//CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve	54:647072f5307a	1653	}
Lightvalve	58:2eade98630e2	1654
Lightvalve	62:851cf7b7aa7a	1655
Lightvalve	56:6f50d9d3bfee	1656	if (flag_data_request[2] == HIGH) {
Lightvalve	56:6f50d9d3bfee	1657	//pressure A and B
Lightvalve	62:851cf7b7aa7a	1658	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve	62:851cf7b7aa7a	1659	}
Lightvalve	62:851cf7b7aa7a	1660
Lightvalve	62:851cf7b7aa7a	1661	//If it doesn't rest, below can can not work.
Lightvalve	62:851cf7b7aa7a	1662	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	62:851cf7b7aa7a	1663	;
Lightvalve	57:f4819de54e7a	1664	}
Lightvalve	58:2eade98630e2	1665
Lightvalve	56:6f50d9d3bfee	1666	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1667	//PWM
Lightvalve	62:851cf7b7aa7a	1668	CAN_TX_PWM((int16_t) value); //1500
Lightvalve	54:647072f5307a	1669	}
Lightvalve	62:851cf7b7aa7a	1670	//for (i = 0; i < 10000; i++) {
Lightvalve	62:851cf7b7aa7a	1671	// ;
Lightvalve	62:851cf7b7aa7a	1672	// }
Lightvalve	56:6f50d9d3bfee	1673	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1674	//valve position
Lightvalve	62:851cf7b7aa7a	1675	CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve	54:647072f5307a	1676	}
Lightvalve	20:806196fda269	1677
Lightvalve	54:647072f5307a	1678	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1679	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1680	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1681	// }
Lightvalve	54:647072f5307a	1682	//if (flag_delay_test == 1){
Lightvalve	62:851cf7b7aa7a	1683	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1684	//}
Lightvalve	52:8ea76864368a	1685
Lightvalve	54:647072f5307a	1686	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1687	}
Lightvalve	54:647072f5307a	1688	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1689
Lightvalve	20:806196fda269	1690	}
Lightvalve	52:8ea76864368a	1691	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1692
Lightvalve	59:0ad14153b58f	1693	}
Lightvalve	59:0ad14153b58f	1694
Lightvalve	62:851cf7b7aa7a	1695	void SystemClock_Config(void)
Lightvalve	62:851cf7b7aa7a	1696	{
Lightvalve	62:851cf7b7aa7a	1697	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	62:851cf7b7aa7a	1698	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	59:0ad14153b58f	1699
Lightvalve	62:851cf7b7aa7a	1700	/** Configure the main internal regulator output voltage
Lightvalve	62:851cf7b7aa7a	1701	*/
Lightvalve	62:851cf7b7aa7a	1702	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	62:851cf7b7aa7a	1703	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	62:851cf7b7aa7a	1704	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	62:851cf7b7aa7a	1705	*/
Lightvalve	62:851cf7b7aa7a	1706	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	62:851cf7b7aa7a	1707	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	62:851cf7b7aa7a	1708	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	62:851cf7b7aa7a	1709	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	62:851cf7b7aa7a	1710	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	62:851cf7b7aa7a	1711	RCC_OscInitStruct.PLL.PLLM = 8; //8
Lightvalve	62:851cf7b7aa7a	1712	RCC_OscInitStruct.PLL.PLLN = 180;//180
Lightvalve	62:851cf7b7aa7a	1713	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	62:851cf7b7aa7a	1714	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	62:851cf7b7aa7a	1715	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	62:851cf7b7aa7a	1716	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve	62:851cf7b7aa7a	1717	//Error_Handler();
Lightvalve	62:851cf7b7aa7a	1718	}
Lightvalve	62:851cf7b7aa7a	1719	/** Activate the Over-Drive mode
Lightvalve	62:851cf7b7aa7a	1720	*/
Lightvalve	62:851cf7b7aa7a	1721	if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve	62:851cf7b7aa7a	1722	//Error_Handler();
Lightvalve	62:851cf7b7aa7a	1723	}
Lightvalve	62:851cf7b7aa7a	1724	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	62:851cf7b7aa7a	1725	*/
Lightvalve	62:851cf7b7aa7a	1726	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	62:851cf7b7aa7a	1727	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	62:851cf7b7aa7a	1728	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	62:851cf7b7aa7a	1729	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	62:851cf7b7aa7a	1730	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	62:851cf7b7aa7a	1731	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	59:0ad14153b58f	1732
Lightvalve	62:851cf7b7aa7a	1733	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve	62:851cf7b7aa7a	1734	//Error_Handler();
Lightvalve	59:0ad14153b58f	1735	}
Lightvalve	62:851cf7b7aa7a	1736	HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
Lightvalve	62:851cf7b7aa7a	1737	HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_SYSCLK, RCC_MCODIV_2);
Lightvalve	62:851cf7b7aa7a	1738	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

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

main.cpp@65:443a5f0e8ee1, 2020-05-19 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning