Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

function_utilities/function_utilities.cpp@13:747daba9cf59, 2019-08-27 (annotated)

Committer:
Lightvalve
Date:
Tue Aug 27 06:50:54 2019 +0000
Revision:
13:747daba9cf59
Parent:
12:6f2531038ea4
Child:
14:8e7590227d22
1908271550

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 11:82d8768d7351 1 #include "setting.h"
Lightvalve 11:82d8768d7351 2 #include "SPI_EEP_ENC.h"
Lightvalve 11:82d8768d7351 3 #include "function_utilities.h"
Lightvalve 11:82d8768d7351 4
Lightvalve 11:82d8768d7351 5 /*******************************************************************************
Lightvalve 11:82d8768d7351 6 * VARIABLE
Lightvalve 11:82d8768d7351 7 ******************************************************************************/
Lightvalve 11:82d8768d7351 8
Lightvalve 11:82d8768d7351 9 // Board Information
Lightvalve 11:82d8768d7351 10 uint8_t BNO = 0;
Lightvalve 11:82d8768d7351 11 uint8_t CONTROL_MODE = 0;
Lightvalve 11:82d8768d7351 12 uint8_t OPERATING_MODE = 0;
Lightvalve 11:82d8768d7351 13 uint8_t SETTING_SWITCH = 0;
Lightvalve 11:82d8768d7351 14 uint8_t SETTING_SWITCH_OLD = 0;
Lightvalve 11:82d8768d7351 15 uint8_t REFERENCE_MODE = 0;
Lightvalve 11:82d8768d7351 16 uint16_t CAN_FREQ = 5000;
Lightvalve 11:82d8768d7351 17 uint8_t DIR_JOINT_ENC = 0;
Lightvalve 11:82d8768d7351 18 uint8_t DIR_VALVE = 0;
Lightvalve 11:82d8768d7351 19 uint8_t DIR_VALVE_ENC = 0;
Lightvalve 11:82d8768d7351 20
Lightvalve 11:82d8768d7351 21 double SUPPLY_VOLTAGE = 12.0;
Lightvalve 11:82d8768d7351 22 double VALVE_VOLTAGE_LIMIT = 5.0;
Lightvalve 11:82d8768d7351 23
Lightvalve 11:82d8768d7351 24 double P_GAIN_VALVE_POSITION = 0.0;
Lightvalve 11:82d8768d7351 25 double I_GAIN_VALVE_POSITION= 0.0;
Lightvalve 11:82d8768d7351 26 double D_GAIN_VALVE_POSITION= 0.0;
Lightvalve 11:82d8768d7351 27 double P_GAIN_JOINT_POSITION = 0.0;
Lightvalve 11:82d8768d7351 28 double I_GAIN_JOINT_POSITION = 0.0;
Lightvalve 11:82d8768d7351 29 double D_GAIN_JOINT_POSITION = 0.0;
Lightvalve 11:82d8768d7351 30 double P_GAIN_JOINT_TORQUE = 0.0;
Lightvalve 11:82d8768d7351 31 double I_GAIN_JOINT_TORQUE = 0.0;
Lightvalve 11:82d8768d7351 32 double D_GAIN_JOINT_TORQUE = 0.0;
Lightvalve 11:82d8768d7351 33
Lightvalve 11:82d8768d7351 34 int16_t VALVE_DEADZONE_PLUS;
Lightvalve 11:82d8768d7351 35 int16_t VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 36
Lightvalve 11:82d8768d7351 37 int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 38 int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 39
Lightvalve 11:82d8768d7351 40 int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 41
Lightvalve 11:82d8768d7351 42 int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 43
Lightvalve 11:82d8768d7351 44 int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 45
Lightvalve 11:82d8768d7351 46 int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 47 int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 48
Lightvalve 11:82d8768d7351 49 int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 50 int16_t PISTON_AREA_B;
Lightvalve 11:82d8768d7351 51 double PISTON_AREA_alpha;
Lightvalve 11:82d8768d7351 52
Lightvalve 11:82d8768d7351 53
Lightvalve 11:82d8768d7351 54 int16_t PRES_SUPPLY;
Lightvalve 11:82d8768d7351 55 int16_t PRES_RETURN;
Lightvalve 11:82d8768d7351 56
Lightvalve 11:82d8768d7351 57 int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 58 int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 59
Lightvalve 11:82d8768d7351 60 int16_t STROKE;
Lightvalve 11:82d8768d7351 61
Lightvalve 11:82d8768d7351 62
Lightvalve 11:82d8768d7351 63 int16_t VALVE_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 64 int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 65
Lightvalve 11:82d8768d7351 66 int16_t ENC_PULSE_PER_POSITION;
Lightvalve 11:82d8768d7351 67 int16_t TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 11:82d8768d7351 68 double PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 69 double PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 70
Lightvalve 11:82d8768d7351 71 int HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 72 int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 73
Lightvalve 11:82d8768d7351 74 double FRICTION;
Lightvalve 11:82d8768d7351 75 double REF_PERIOD;
Lightvalve 11:82d8768d7351 76 double REF_MAG;
Lightvalve 11:82d8768d7351 77 int REF_NUM;
Lightvalve 11:82d8768d7351 78
Lightvalve 11:82d8768d7351 79
Lightvalve 11:82d8768d7351 80 double DAC_REF;
Lightvalve 11:82d8768d7351 81 double DAC_RESOL;
Lightvalve 11:82d8768d7351 82 double PWM_RESOL;
Lightvalve 11:82d8768d7351 83
Lightvalve 11:82d8768d7351 84 int REF_POSITION;
Lightvalve 11:82d8768d7351 85 int REF_VELOCITY;
Lightvalve 11:82d8768d7351 86 int16_t REF_TORQUE;
Lightvalve 11:82d8768d7351 87 int16_t REF_PRES_DIFF;
Lightvalve 11:82d8768d7351 88 int16_t REF_PWM;
Lightvalve 11:82d8768d7351 89 int16_t REF_VALVE_POSITION;
Lightvalve 11:82d8768d7351 90
Lightvalve 11:82d8768d7351 91 int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 92 int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 93 int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 94 int INIT_REF_POS;
Lightvalve 11:82d8768d7351 95 int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 96 int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 97 int INIT_REF_PRES_DIFF;
Lightvalve 11:82d8768d7351 98
Lightvalve 11:82d8768d7351 99 int CUR_POSITION;
Lightvalve 11:82d8768d7351 100 int CUR_VELOCITY;
Lightvalve 11:82d8768d7351 101 double CUR_TORQUE;
Lightvalve 11:82d8768d7351 102 double CUR_PRES_A;
Lightvalve 11:82d8768d7351 103 double CUR_PRES_B;
Lightvalve 11:82d8768d7351 104 int CUR_PWM;
Lightvalve 11:82d8768d7351 105 int CUR_VALVE_POSITION;
Lightvalve 11:82d8768d7351 106
Lightvalve 11:82d8768d7351 107 unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 108 unsigned int TMR2_COUNT_LED2;
Lightvalve 11:82d8768d7351 109 unsigned int TMR2_COUNT_CAN_TX;
Lightvalve 11:82d8768d7351 110
Lightvalve 11:82d8768d7351 111 int num_err;
Lightvalve 11:82d8768d7351 112 int flag_err[8];
Lightvalve 11:82d8768d7351 113 int flag_err_old[8];
Lightvalve 11:82d8768d7351 114 int flag_err_rt;
Lightvalve 11:82d8768d7351 115
Lightvalve 11:82d8768d7351 116 int flag_ref_enable;
Lightvalve 11:82d8768d7351 117
Lightvalve 11:82d8768d7351 118 int flag_data_request[5];
Lightvalve 11:82d8768d7351 119
Lightvalve 11:82d8768d7351 120 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 121 ////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
Lightvalve 11:82d8768d7351 122 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 123
Lightvalve 11:82d8768d7351 124 double CUR_PRES_A_BAR;
Lightvalve 11:82d8768d7351 125 double CUR_PRES_B_BAR;
Lightvalve 11:82d8768d7351 126 double CUR_TORQUE_NM;
Lightvalve 11:82d8768d7351 127 double CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 128
Lightvalve 11:82d8768d7351 129 double PRES_A_VREF;
Lightvalve 11:82d8768d7351 130 double PRES_B_VREF;
Lightvalve 11:82d8768d7351 131 double TORQUE_VREF;
Lightvalve 11:82d8768d7351 132
Lightvalve 11:82d8768d7351 133 double VALVE_PWM_RAW;
Lightvalve 11:82d8768d7351 134 double VALVE_PWM_RAW_FB;
Lightvalve 11:82d8768d7351 135 double VALVE_PWM_RAW_FF;
Lightvalve 11:82d8768d7351 136 int VALVE_PWM_VALVE_DZ;
Lightvalve 11:82d8768d7351 137 int VALVE_INPUT_PWM;
Lightvalve 11:82d8768d7351 138
Lightvalve 11:82d8768d7351 139 double VALVE_GAIN_LPM_PER_V[10];
Lightvalve 11:82d8768d7351 140 double VALVE_POS_VS_PWM[18];
Lightvalve 11:82d8768d7351 141 long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 142
Lightvalve 11:82d8768d7351 143 int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 144 int VALVE_MIN_POS;
Lightvalve 11:82d8768d7351 145 int DDV_CENTER;
Lightvalve 11:82d8768d7351 146 int VALVE_POS_NUM;
Lightvalve 11:82d8768d7351 147
Lightvalve 11:82d8768d7351 148 int TMR2_COUNT_FINDHOME;
Lightvalve 11:82d8768d7351 149 int TMR2_COUNT_FLOWRATE;
Lightvalve 11:82d8768d7351 150 int TMR2_COUNT_DEADZONE;
Lightvalve 11:82d8768d7351 151 int TMR2_COUNT_PRES_NULL;
Lightvalve 11:82d8768d7351 152 int TMR2_COUNT_TORQUE_NULL;
Lightvalve 11:82d8768d7351 153 int TMR2_COUNT_PRES_CALIB;
Lightvalve 11:82d8768d7351 154 int TMR2_COUNT_REFERENCE;
Lightvalve 11:82d8768d7351 155 int TMR2_COUNT_JOINT;
Lightvalve 11:82d8768d7351 156 int TMR2_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 157
Lightvalve 11:82d8768d7351 158 bool FLAG_REFERENCE_VALVE_PWM;
Lightvalve 11:82d8768d7351 159 bool FLAG_REFERENCE_VALVE_POSITION;
Lightvalve 11:82d8768d7351 160 bool FLAG_REFERENCE_JOINT_POSITION;
Lightvalve 11:82d8768d7351 161 bool FLAG_REFERENCE_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 162 bool FLAG_REFERENCE_PRES_DIFF;
Lightvalve 11:82d8768d7351 163
Lightvalve 11:82d8768d7351 164 double TUNING_TIME;
Lightvalve 11:82d8768d7351 165
Lightvalve 11:82d8768d7351 166 double REFERENCE_FREQ;
Lightvalve 11:82d8768d7351 167 double REFERENCE_MAG;
Lightvalve 11:82d8768d7351 168
Lightvalve 11:82d8768d7351 169 bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 170
Lightvalve 11:82d8768d7351 171 int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 172 enum _JUMP_STATUS {
Lightvalve 11:82d8768d7351 173 JUMP_NO_ACT = 0, //0
Lightvalve 11:82d8768d7351 174 JUMP_START, //1
Lightvalve 11:82d8768d7351 175 JUMP_TAKEOFF, //2
Lightvalve 11:82d8768d7351 176 JUMP_FLYING, //3
Lightvalve 11:82d8768d7351 177 JUMP_LANDING, //4
Lightvalve 11:82d8768d7351 178 };
Lightvalve 11:82d8768d7351 179
Lightvalve 13:747daba9cf59 180 double CUR_PRES_DIFF_BAR = 0.0;
Lightvalve 13:747daba9cf59 181 double CUR_PRES_A_sum = 0.0;
Lightvalve 13:747daba9cf59 182 double CUR_PRES_B_sum = 0.0;
Lightvalve 13:747daba9cf59 183 double CUR_PRES_A_mean = 0.0;
Lightvalve 13:747daba9cf59 184 double CUR_PRES_B_mean = 0.0;
Lightvalve 13:747daba9cf59 185 double CUR_TORQUE_sum = 0.0;
Lightvalve 13:747daba9cf59 186 double CUR_TORQUE_mean = 0.0;
Lightvalve 13:747daba9cf59 187 double PRES_A_NULL = 200.0;
Lightvalve 13:747daba9cf59 188 double PRES_B_NULL = 200.0;
Lightvalve 13:747daba9cf59 189 double TORQUE_NULL = 3900;
Lightvalve 11:82d8768d7351 190
Lightvalve 13:747daba9cf59 191 double Ref_PWM = 0.0;
Lightvalve 13:747daba9cf59 192 double Ref_Valve_Pos = 0.0;
Lightvalve 13:747daba9cf59 193 double Ref_Joint_Pos = 0.0;
Lightvalve 13:747daba9cf59 194 double Ref_Joint_Vel = 0.0;
Lightvalve 13:747daba9cf59 195 double Ref_Joint_Torq = 0.0;
Lightvalve 13:747daba9cf59 196 double Ref_Valve_Pos_Old = 0.0;
Lightvalve 11:82d8768d7351 197
Lightvalve 13:747daba9cf59 198 int VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 199 int VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 200 int VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 201 int VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 202 int JOINT_VEL_TMP = 0;
Lightvalve 13:747daba9cf59 203 int DDV_POS_AVG = 0;
Lightvalve 13:747daba9cf59 204 int VALVE_POS_AVG[100] = {0};
Lightvalve 13:747daba9cf59 205 int VALVE_POS_AVG_OLD = 0;
Lightvalve 13:747daba9cf59 206 int data_num = 0;
Lightvalve 13:747daba9cf59 207 int ID_index = 0;
Lightvalve 13:747daba9cf59 208 int DZ_index = 1;
Lightvalve 13:747daba9cf59 209 int ID_index_array[100] = {0};
Lightvalve 13:747daba9cf59 210 int FR_index_array[100] = {0};
Lightvalve 13:747daba9cf59 211 int first_check = 0;
Lightvalve 13:747daba9cf59 212 double init_time = 0.0;
Lightvalve 13:747daba9cf59 213 int VEL_POINT = 0;
Lightvalve 13:747daba9cf59 214 int DZ_case = 0;
Lightvalve 13:747daba9cf59 215 int START_POS = 0;
Lightvalve 13:747daba9cf59 216 int FINAL_POS = 0;
Lightvalve 13:747daba9cf59 217 int DZ_DIRECTION = 0;
Lightvalve 13:747daba9cf59 218 int FIRST_DZ = 0;
Lightvalve 13:747daba9cf59 219 int SECOND_DZ = 0;
Lightvalve 13:747daba9cf59 220 int DZ_NUM = 0;
Lightvalve 13:747daba9cf59 221 int one_period_end = 0;
Lightvalve 13:747daba9cf59 222 double Ref_Vel_Test = 0.0;
Lightvalve 13:747daba9cf59 223 long TMR2_FOR_SLOW_LOGGING = 0;
Lightvalve 13:747daba9cf59 224 int velcount = 0;
Lightvalve 13:747daba9cf59 225 char max_check = 0;
Lightvalve 13:747daba9cf59 226 char min_check = 0;
Lightvalve 13:747daba9cf59 227
Lightvalve 13:747daba9cf59 228 double valve_pos_err = 0.0, valve_pos_err_old = 0.0, valve_pos_err_diff = 0.0, valve_pos_err_sum = 0.0;
Lightvalve 13:747daba9cf59 229 double joint_pos_err = 0.0, joint_pos_err_old = 0.0, joint_pos_err_diff = 0.0, joint_pos_err_sum = 0.0;
Lightvalve 13:747daba9cf59 230 double joint_torq_err = 0.0, joint_torq_err_old = 0.0, joint_torq_err_diff = 0.0, joint_torq_err_sum = 0.0;
Lightvalve 13:747daba9cf59 231 double VALVE_PWM_RAW_POS = 0.0, VALVE_PWM_RAW_TORQ = 0.0;
Lightvalve 13:747daba9cf59 232
Lightvalve 13:747daba9cf59 233 double CUR_FLOWRATE = 0.0;
Lightvalve 13:747daba9cf59 234 double VALVE_FF_VOLTAGE = 0.0;
Lightvalve 13:747daba9cf59 235
Lightvalve 13:747daba9cf59 236 int pos_plus_end = 0;
Lightvalve 13:747daba9cf59 237 int pos_minus_end = 0;
Lightvalve 13:747daba9cf59 238
Lightvalve 13:747daba9cf59 239 bool need_enc_init = false;
Lightvalve 13:747daba9cf59 240
Lightvalve 13:747daba9cf59 241 int temp_time = 0;
Lightvalve 13:747daba9cf59 242
Lightvalve 13:747daba9cf59 243 double CUR_VELOCITY_sum = 0.0;
Lightvalve 13:747daba9cf59 244 double temp_vel_sum = 0.0;
Lightvalve 13:747daba9cf59 245
Lightvalve 13:747daba9cf59 246 int DZ_dir = 0;
Lightvalve 13:747daba9cf59 247 int DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 248 int DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 249 int DZ_end = 2;
Lightvalve 13:747daba9cf59 250 int flag_flowrate = 0;
Lightvalve 13:747daba9cf59 251 int fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 252 int fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 253 int cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 254
Lightvalve 13:747daba9cf59 255 // find home
Lightvalve 13:747daba9cf59 256 int CUR_VELOCITY_OLD = 0;
Lightvalve 13:747daba9cf59 257 int cnt_findhome = 0;
Lightvalve 13:747daba9cf59 258 int cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 259 int FINDHOME_VELOCITY = 0;
Lightvalve 13:747daba9cf59 260 int FINDHOME_VELOCITY_OLD = 0;
Lightvalve 13:747daba9cf59 261 int FINDHOME_POSITION = 0;
Lightvalve 13:747daba9cf59 262 int FINDHOME_POSITION_OLD = 0;
Lightvalve 13:747daba9cf59 263
Lightvalve 13:747daba9cf59 264 // valve gain
Lightvalve 13:747daba9cf59 265 int check_vel_pos_init = 0;
Lightvalve 13:747daba9cf59 266 int check_vel_pos_fin = 0;
Lightvalve 13:747daba9cf59 267 int check_vel_pos_interv = 0;
Lightvalve 13:747daba9cf59 268 int valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 269 double VALVE_VOLTAGE = 0.0;
Lightvalve 13:747daba9cf59 270
Lightvalve 13:747daba9cf59 271 double freq_fric_tune = 1.0;
Lightvalve 13:747daba9cf59 272
Lightvalve 13:747daba9cf59 273 bool FLAG_VALVE_OUTPUT_CALIB = false;
Lightvalve 11:82d8768d7351 274
Lightvalve 11:82d8768d7351 275 /*******************************************************************************
Lightvalve 11:82d8768d7351 276 * General math functions
Lightvalve 11:82d8768d7351 277 ******************************************************************************/
Lightvalve 11:82d8768d7351 278
Lightvalve 11:82d8768d7351 279
Lightvalve 11:82d8768d7351 280 double dabs(double tx) {
Lightvalve 11:82d8768d7351 281 if (tx >= 0.0)
Lightvalve 11:82d8768d7351 282 return tx;
Lightvalve 11:82d8768d7351 283 else
Lightvalve 11:82d8768d7351 284 return -tx;
Lightvalve 11:82d8768d7351 285 }
Lightvalve 11:82d8768d7351 286
Lightvalve 11:82d8768d7351 287 double change_int_to_efloat(int input) {
Lightvalve 11:82d8768d7351 288 int i = 0;
Lightvalve 11:82d8768d7351 289
Lightvalve 11:82d8768d7351 290 double output = 0;
Lightvalve 11:82d8768d7351 291 int vn = (int) ((double) input / 10.);
Lightvalve 11:82d8768d7351 292 int en = input % 10;
Lightvalve 11:82d8768d7351 293
Lightvalve 11:82d8768d7351 294 double temp = 1.;
Lightvalve 11:82d8768d7351 295 for (i = 0; i < en; i++)
Lightvalve 11:82d8768d7351 296 temp *= 0.1;
Lightvalve 11:82d8768d7351 297
Lightvalve 11:82d8768d7351 298 output = (double) vn*temp;
Lightvalve 11:82d8768d7351 299 return output;
Lightvalve 11:82d8768d7351 300 }
Lightvalve 11:82d8768d7351 301
Lightvalve 11:82d8768d7351 302 void make_delay(void) {
Lightvalve 11:82d8768d7351 303 int i = 0;
Lightvalve 11:82d8768d7351 304
Lightvalve 11:82d8768d7351 305 for (i = 0; i < 100000; i++) {
Lightvalve 11:82d8768d7351 306 ;
Lightvalve 11:82d8768d7351 307 }
Lightvalve 11:82d8768d7351 308
Lightvalve 11:82d8768d7351 309 }
Lightvalve 11:82d8768d7351 310
Lightvalve 11:82d8768d7351 311
Lightvalve 11:82d8768d7351 312 /*******************************************************************************
Lightvalve 11:82d8768d7351 313 * ROM functions
Lightvalve 11:82d8768d7351 314 ******************************************************************************/
Lightvalve 11:82d8768d7351 315 void ROM_INIT_DATA(void) {
Lightvalve 11:82d8768d7351 316 static int16_t temp_check_num = LATEST_VERSION;
Lightvalve 11:82d8768d7351 317 spi_eeprom_ready();
Lightvalve 11:82d8768d7351 318 if (spi_eeprom_read(RID_IS_FIRST) != temp_check_num) {
Lightvalve 11:82d8768d7351 319 spi_eeprom_ready();
Lightvalve 11:82d8768d7351 320 spi_eeprom_write(RID_IS_FIRST, temp_check_num);
Lightvalve 11:82d8768d7351 321 ROM_RESET_DATA();
Lightvalve 11:82d8768d7351 322 }
Lightvalve 11:82d8768d7351 323 ROM_CALL_DATA();
Lightvalve 11:82d8768d7351 324 }
Lightvalve 11:82d8768d7351 325
Lightvalve 11:82d8768d7351 326 void ROM_RESET_DATA(void) {
Lightvalve 11:82d8768d7351 327
Lightvalve 11:82d8768d7351 328 spi_eeprom_write(RID_BNO, (int16_t) BNO);
Lightvalve 11:82d8768d7351 329 spi_eeprom_write(RID_OPERATING_MODE, (int16_t) OPERATING_MODE);
Lightvalve 11:82d8768d7351 330 spi_eeprom_write(RID_CAN_FREQ, (int16_t) CAN_FREQ);
Lightvalve 11:82d8768d7351 331 spi_eeprom_write(RID_JOINT_ENC_DIR, (int16_t) DIR_JOINT_ENC);
Lightvalve 11:82d8768d7351 332 spi_eeprom_write(RID_VALVE_DIR, (int16_t) DIR_VALVE);
Lightvalve 11:82d8768d7351 333 spi_eeprom_write(RID_VALVE_ENC_DIR, (int16_t) DIR_VALVE_ENC);
Lightvalve 11:82d8768d7351 334 spi_eeprom_write(RID_VOLATGE_SUPPLY, (int16_t) (SUPPLY_VOLTAGE * 10.));
Lightvalve 11:82d8768d7351 335 spi_eeprom_write(RID_VOLTAGE_VALVE, (int16_t) (VALVE_VOLTAGE_LIMIT * 10.));
Lightvalve 11:82d8768d7351 336 spi_eeprom_write(RID_P_GAIN_VALVE_POSITION, (int16_t) P_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 337 spi_eeprom_write(RID_I_GAIN_VALVE_POSITION, (int16_t) I_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 338 spi_eeprom_write(RID_D_GAIN_VALVE_POSITION, (int16_t) D_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 339 spi_eeprom_write(RID_P_GAIN_JOINT_POSITION, (int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 340 spi_eeprom_write(RID_I_GAIN_JOINT_POSITION, (int16_t) I_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 341 spi_eeprom_write(RID_D_GAIN_JOINT_POSITION, (int16_t) D_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 342 spi_eeprom_write(RID_P_GAIN_JOINT_TORQUE, (int16_t) P_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 343 spi_eeprom_write(RID_I_GAIN_JOINT_TORQUE, (int16_t) I_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 344 spi_eeprom_write(RID_D_GAIN_JOINT_TORQUE, (int16_t) D_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 345 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) (VALVE_DEADZONE_PLUS));
Lightvalve 11:82d8768d7351 346 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) (VALVE_DEADZONE_MINUS));
Lightvalve 11:82d8768d7351 347 spi_eeprom_write(RID_VELOCITY_COMP_GAIN, (int16_t) VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 348 spi_eeprom_write(RID_COMPLIANCE_GAIN, (int16_t) COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 349 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 11:82d8768d7351 350 spi_eeprom_write(RID_VALVE_FF, (int16_t) VALVE_FF);
Lightvalve 11:82d8768d7351 351 spi_eeprom_write(RID_BULK_MODULUS, (int16_t) BULK_MODULUS);
Lightvalve 11:82d8768d7351 352 spi_eeprom_write(RID_CHAMBER_VOLUME_A, (int16_t) CHAMBER_VOLUME_A);
Lightvalve 11:82d8768d7351 353 spi_eeprom_write(RID_CHAMBER_VOLUME_B, (int16_t) CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 354 spi_eeprom_write(RID_PISTON_AREA_A, (int16_t) PISTON_AREA_A);
Lightvalve 11:82d8768d7351 355 spi_eeprom_write(RID_PISTON_AREA_B, (int16_t) PISTON_AREA_B);
Lightvalve 11:82d8768d7351 356 spi_eeprom_write(RID_PRES_SUPPLY, (int16_t) PRES_SUPPLY);
Lightvalve 11:82d8768d7351 357 spi_eeprom_write(RID_PRES_RETURN, (int16_t) PRES_RETURN);
Lightvalve 11:82d8768d7351 358 spi_eeprom_write(RID_ENC_LIMIT_MINUS, (int16_t) ENC_LIMIT_MINUS);
Lightvalve 11:82d8768d7351 359 spi_eeprom_write(RID_ENC_LIMIT_PLUS, (int16_t) ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 360 spi_eeprom_write(RID_STROKE, (int16_t) STROKE);
Lightvalve 11:82d8768d7351 361 spi_eeprom_write(RID_VALVE_LIMIT_MINUS, (int16_t) VALVE_LIMIT_MINUS);
Lightvalve 11:82d8768d7351 362 spi_eeprom_write(RID_VALVE_LIMIT_PLUS, (int16_t) VALVE_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 363 spi_eeprom_write(RID_ENC_PULSE_PER_POSITION, (int16_t) ENC_PULSE_PER_POSITION);
Lightvalve 11:82d8768d7351 364 spi_eeprom_write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE, (int16_t) TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve 11:82d8768d7351 365 spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 366 spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.));
Lightvalve 11:82d8768d7351 367 spi_eeprom_write(RID_FRICTION, (int16_t) (FRICTION * 10.));
Lightvalve 11:82d8768d7351 368 spi_eeprom_write(RID_HOMEPOS_OFFSET, (int16_t) HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 369 spi_eeprom_write(RID_HOMEPOS_VALVE_OPENING, (int16_t) HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 370 spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.));
Lightvalve 11:82d8768d7351 371 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.));
Lightvalve 11:82d8768d7351 372 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.));
Lightvalve 11:82d8768d7351 373 spi_eeprom_write(RID_VALVE_GAIN_PLUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[0] * 100.));
Lightvalve 11:82d8768d7351 374 spi_eeprom_write(RID_VALVE_GAIN_PLUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[2] * 100.));
Lightvalve 11:82d8768d7351 375 spi_eeprom_write(RID_VALVE_GAIN_PLUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[4] * 100.));
Lightvalve 11:82d8768d7351 376 spi_eeprom_write(RID_VALVE_GAIN_PLUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[6] * 100.));
Lightvalve 11:82d8768d7351 377 spi_eeprom_write(RID_VALVE_GAIN_PLUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[8] * 100.));
Lightvalve 11:82d8768d7351 378 spi_eeprom_write(RID_VALVE_GAIN_MINUS_1, (int16_t) (VALVE_GAIN_LPM_PER_V[1] * 100.));
Lightvalve 11:82d8768d7351 379 spi_eeprom_write(RID_VALVE_GAIN_MINUS_2, (int16_t) (VALVE_GAIN_LPM_PER_V[3] * 100.));
Lightvalve 11:82d8768d7351 380 spi_eeprom_write(RID_VALVE_GAIN_MINUS_3, (int16_t) (VALVE_GAIN_LPM_PER_V[5] * 100.));
Lightvalve 11:82d8768d7351 381 spi_eeprom_write(RID_VALVE_GAIN_MINUS_4, (int16_t) (VALVE_GAIN_LPM_PER_V[7] * 100.));
Lightvalve 11:82d8768d7351 382 spi_eeprom_write(RID_VALVE_GAIN_MINUS_5, (int16_t) (VALVE_GAIN_LPM_PER_V[9] * 100.));
Lightvalve 11:82d8768d7351 383
Lightvalve 11:82d8768d7351 384
Lightvalve 11:82d8768d7351 385 }
Lightvalve 11:82d8768d7351 386
Lightvalve 11:82d8768d7351 387 void ROM_CALL_DATA(void) {
Lightvalve 11:82d8768d7351 388 int i = 0;
Lightvalve 11:82d8768d7351 389 BNO = spi_eeprom_read(RID_BNO);
Lightvalve 11:82d8768d7351 390 BNO = 10;
Lightvalve 11:82d8768d7351 391 OPERATING_MODE = spi_eeprom_read(RID_OPERATING_MODE);
Lightvalve 11:82d8768d7351 392 CAN_FREQ = spi_eeprom_read(RID_CAN_FREQ);
Lightvalve 11:82d8768d7351 393
Lightvalve 11:82d8768d7351 394 DIR_JOINT_ENC = spi_eeprom_read(RID_JOINT_ENC_DIR);
Lightvalve 11:82d8768d7351 395 DIR_VALVE = spi_eeprom_read(RID_VALVE_DIR);
Lightvalve 11:82d8768d7351 396 DIR_VALVE_ENC = spi_eeprom_read(RID_VALVE_ENC_DIR);
Lightvalve 11:82d8768d7351 397
Lightvalve 11:82d8768d7351 398 SUPPLY_VOLTAGE = (double) spi_eeprom_read(RID_VOLATGE_SUPPLY) / 10.;
Lightvalve 11:82d8768d7351 399 VALVE_VOLTAGE_LIMIT = (double) spi_eeprom_read(RID_VOLTAGE_VALVE) / 10.;
Lightvalve 11:82d8768d7351 400
Lightvalve 11:82d8768d7351 401 P_GAIN_VALVE_POSITION = spi_eeprom_read(RID_P_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 402 I_GAIN_VALVE_POSITION = spi_eeprom_read(RID_I_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 403 D_GAIN_VALVE_POSITION = spi_eeprom_read(RID_D_GAIN_VALVE_POSITION);
Lightvalve 11:82d8768d7351 404
Lightvalve 11:82d8768d7351 405 P_GAIN_JOINT_POSITION = spi_eeprom_read(RID_P_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 406 I_GAIN_JOINT_POSITION = spi_eeprom_read(RID_I_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 407 D_GAIN_JOINT_POSITION = spi_eeprom_read(RID_D_GAIN_JOINT_POSITION);
Lightvalve 11:82d8768d7351 408
Lightvalve 11:82d8768d7351 409 P_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_P_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 410 I_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_I_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 411 D_GAIN_JOINT_TORQUE = spi_eeprom_read(RID_D_GAIN_JOINT_TORQUE);
Lightvalve 11:82d8768d7351 412
Lightvalve 11:82d8768d7351 413 VALVE_DEADZONE_PLUS = spi_eeprom_read(RID_VALVE_DEADZONE_PLUS);
Lightvalve 11:82d8768d7351 414 VALVE_DEADZONE_MINUS = spi_eeprom_read(RID_VALVE_DEADZONE_MINUS);
Lightvalve 11:82d8768d7351 415
Lightvalve 11:82d8768d7351 416 VELOCITY_COMP_GAIN = spi_eeprom_read(RID_VELOCITY_COMP_GAIN);
Lightvalve 11:82d8768d7351 417 COMPLIANCE_GAIN = spi_eeprom_read(RID_COMPLIANCE_GAIN);
Lightvalve 11:82d8768d7351 418
Lightvalve 11:82d8768d7351 419 VALVE_CENTER = spi_eeprom_read(RID_VALVE_CNETER);
Lightvalve 11:82d8768d7351 420 VALVE_FF = spi_eeprom_read(RID_VALVE_FF);
Lightvalve 11:82d8768d7351 421 BULK_MODULUS = spi_eeprom_read(RID_BULK_MODULUS);
Lightvalve 11:82d8768d7351 422
Lightvalve 11:82d8768d7351 423 CHAMBER_VOLUME_A = spi_eeprom_read(RID_CHAMBER_VOLUME_A);
Lightvalve 11:82d8768d7351 424 CHAMBER_VOLUME_B = spi_eeprom_read(RID_CHAMBER_VOLUME_B);
Lightvalve 11:82d8768d7351 425
Lightvalve 11:82d8768d7351 426 PISTON_AREA_A = spi_eeprom_read(RID_PISTON_AREA_A);
Lightvalve 11:82d8768d7351 427 PISTON_AREA_B = spi_eeprom_read(RID_PISTON_AREA_B);
Lightvalve 11:82d8768d7351 428 PISTON_AREA_alpha = (double)PISTON_AREA_B/(double)PISTON_AREA_A;
Lightvalve 11:82d8768d7351 429
Lightvalve 11:82d8768d7351 430 PRES_SUPPLY = spi_eeprom_read(RID_PRES_SUPPLY);
Lightvalve 11:82d8768d7351 431 PRES_RETURN = spi_eeprom_read(RID_PRES_RETURN);
Lightvalve 11:82d8768d7351 432
Lightvalve 11:82d8768d7351 433 ENC_LIMIT_MINUS = spi_eeprom_read(RID_ENC_LIMIT_MINUS);
Lightvalve 11:82d8768d7351 434 ENC_LIMIT_PLUS = spi_eeprom_read(RID_ENC_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 435
Lightvalve 11:82d8768d7351 436 STROKE = spi_eeprom_read(RID_STROKE);
Lightvalve 11:82d8768d7351 437
Lightvalve 11:82d8768d7351 438 VALVE_LIMIT_MINUS = spi_eeprom_read(RID_VALVE_LIMIT_MINUS);
Lightvalve 11:82d8768d7351 439 VALVE_LIMIT_PLUS = spi_eeprom_read(RID_VALVE_LIMIT_PLUS);
Lightvalve 11:82d8768d7351 440
Lightvalve 11:82d8768d7351 441 ENC_PULSE_PER_POSITION = spi_eeprom_read(RID_ENC_PULSE_PER_POSITION);
Lightvalve 11:82d8768d7351 442 TORQUE_SENSOR_PULSE_PER_TORQUE = spi_eeprom_read(RID_TORQUE_SENSOR_PULSE_PER_TORQUE);
Lightvalve 11:82d8768d7351 443 PRES_SENSOR_A_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_A_PULSE_PER_BAR) * 0.01;
Lightvalve 11:82d8768d7351 444 PRES_SENSOR_B_PULSE_PER_BAR = (double) spi_eeprom_read(RID_PRES_SENSOR_B_PULSE_PER_BAR) * 0.01;
Lightvalve 11:82d8768d7351 445
Lightvalve 11:82d8768d7351 446 FRICTION = (double) spi_eeprom_read(RID_FRICTION) / 10.;
Lightvalve 11:82d8768d7351 447 HOMEPOS_OFFSET = (int) spi_eeprom_read(RID_HOMEPOS_OFFSET);
Lightvalve 11:82d8768d7351 448 HOMEPOS_VALVE_OPENING = (int) spi_eeprom_read(RID_HOMEPOS_VALVE_OPENING);
Lightvalve 11:82d8768d7351 449
Lightvalve 11:82d8768d7351 450 TORQUE_VREF = (double) spi_eeprom_read(RID_TORQUE_SENSOR_VREF) / 1000.;
Lightvalve 11:82d8768d7351 451
Lightvalve 11:82d8768d7351 452 PRES_A_VREF = (double) spi_eeprom_read(RID_PRES_A_SENSOR_VREF) / 1000.;
Lightvalve 11:82d8768d7351 453 PRES_B_VREF = (double) spi_eeprom_read(RID_PRES_B_SENSOR_VREF) / 1000.;
Lightvalve 11:82d8768d7351 454
Lightvalve 11:82d8768d7351 455 VALVE_GAIN_LPM_PER_V[0] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_1) / 100.;
Lightvalve 11:82d8768d7351 456 VALVE_GAIN_LPM_PER_V[2] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_2) / 100.;
Lightvalve 11:82d8768d7351 457 VALVE_GAIN_LPM_PER_V[4] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_3) / 100.;
Lightvalve 11:82d8768d7351 458 VALVE_GAIN_LPM_PER_V[6] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_4) / 100.;
Lightvalve 11:82d8768d7351 459 VALVE_GAIN_LPM_PER_V[8] = (double) spi_eeprom_read(RID_VALVE_GAIN_PLUS_5) / 100.;
Lightvalve 11:82d8768d7351 460 VALVE_GAIN_LPM_PER_V[1] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_1) / 100.;
Lightvalve 11:82d8768d7351 461 VALVE_GAIN_LPM_PER_V[3] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_2) / 100.;
Lightvalve 11:82d8768d7351 462 VALVE_GAIN_LPM_PER_V[5] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_3) / 100.;
Lightvalve 11:82d8768d7351 463 VALVE_GAIN_LPM_PER_V[7] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_4) / 100.;
Lightvalve 11:82d8768d7351 464 VALVE_GAIN_LPM_PER_V[9] = (double) spi_eeprom_read(RID_VALVE_GAIN_MINUS_5) / 100.;
Lightvalve 11:82d8768d7351 465
Lightvalve 11:82d8768d7351 466 for(i=0; i<18; i++)
Lightvalve 11:82d8768d7351 467 {
Lightvalve 11:82d8768d7351 468 VALVE_POS_VS_PWM[i] = (double) spi_eeprom_read(RID_VALVE_POS_VS_PWM_0 + i);
Lightvalve 11:82d8768d7351 469 }
Lightvalve 11:82d8768d7351 470 for(i=0; i<100; i++)
Lightvalve 11:82d8768d7351 471 {
Lightvalve 12:6f2531038ea4 472 JOINT_VEL[i] = (int32_t) ( (spi_eeprom_read(RID_VALVE_POS_VS_FLOWRATE_0 + i) & 0xFFFF) | ((spi_eeprom_read(RID_VALVE_POS_VS_FLOWRATE_0_1 + i) & 0xFFFF) << 16));
Lightvalve 11:82d8768d7351 473 }
Lightvalve 11:82d8768d7351 474
Lightvalve 11:82d8768d7351 475 VALVE_MAX_POS = (int) spi_eeprom_read(RID_VALVE_MAX_POS);
Lightvalve 11:82d8768d7351 476 VALVE_MIN_POS = (int) spi_eeprom_read(RID_VALVE_MIN_POS);
Lightvalve 11:82d8768d7351 477 DDV_CENTER = (int) spi_eeprom_read(RID_DDV_CNETER);
Lightvalve 11:82d8768d7351 478
Lightvalve 11:82d8768d7351 479 VALVE_POS_NUM = (int) spi_eeprom_read(RID_VALVE_POS_NUM);
Lightvalve 11:82d8768d7351 480
Lightvalve 11:82d8768d7351 481 }
Lightvalve 11:82d8768d7351 482
Lightvalve 11:82d8768d7351 483 /*******************************************************************************
Lightvalve 11:82d8768d7351 484 * ENCODER functions
Lightvalve 11:82d8768d7351 485 ******************************************************************************/
Lightvalve 11:82d8768d7351 486 // A-KHA
Lightvalve 11:82d8768d7351 487 #define KF_G1_11 0.083920206005350
Lightvalve 11:82d8768d7351 488 #define KF_G1_12 0.000013905329560
Lightvalve 11:82d8768d7351 489 #define KF_G1_21 -0.000575742328210
Lightvalve 11:82d8768d7351 490 #define KF_G1_22 0.799999939711725
Lightvalve 11:82d8768d7351 491 // K
Lightvalve 11:82d8768d7351 492 #define KF_G2_11 0.916079793994650
Lightvalve 11:82d8768d7351 493 #define KF_G2_12 0.000002878711641
Lightvalve 11:82d8768d7351 494 #define KF_G2_21 0.000575742328210
Lightvalve 11:82d8768d7351 495 #define KF_G2_22 0.199999945139809
Lightvalve 11:82d8768d7351 496
Lightvalve 11:82d8768d7351 497 double KF_Y_11 = 0.;
Lightvalve 11:82d8768d7351 498 double KF_Y_21 = 0.;
Lightvalve 11:82d8768d7351 499 double KF_X_11 = 0.;
Lightvalve 11:82d8768d7351 500 double KF_X_21 = 0.;
Lightvalve 11:82d8768d7351 501
Lightvalve 11:82d8768d7351 502 long ENC_pos_old = 0, ENC_pos_cur = 0, ENC_pos_diff = 0;
Lightvalve 11:82d8768d7351 503 long ENC_RAW = 0, ENC_VEL_RAW = 0, ENC_VEL_KF = 0;
Lightvalve 11:82d8768d7351 504 long enc_offset = 0;
Lightvalve 11:82d8768d7351 505
Lightvalve 11:82d8768d7351 506 void ENC_UPDATE(void) {
Lightvalve 11:82d8768d7351 507
Lightvalve 11:82d8768d7351 508 ENC_pos_cur = spi_enc_read();
Lightvalve 11:82d8768d7351 509 ENC_pos_diff = ENC_pos_cur - ENC_pos_old;
Lightvalve 11:82d8768d7351 510
Lightvalve 11:82d8768d7351 511 if (ENC_pos_diff > 1300 || ENC_pos_diff<-1300) {
Lightvalve 11:82d8768d7351 512 //MOT_E_STOP(0);
Lightvalve 11:82d8768d7351 513 }
Lightvalve 11:82d8768d7351 514
Lightvalve 12:6f2531038ea4 515 ENC_VEL_RAW = (int32_t) (ENC_pos_diff * TMR_FREQ_5k);
Lightvalve 11:82d8768d7351 516
Lightvalve 11:82d8768d7351 517 KF_Y_11 = ENC_pos_cur;
Lightvalve 11:82d8768d7351 518 KF_Y_21 = ENC_VEL_RAW;
Lightvalve 11:82d8768d7351 519 KF_X_11 = KF_G1_11 * KF_X_11 + KF_G1_12 * KF_X_21 + KF_G2_11 * KF_Y_11 + KF_G2_12*KF_Y_21;
Lightvalve 11:82d8768d7351 520 KF_X_21 = KF_G1_21 * KF_X_11 + KF_G1_22 * KF_X_21 + KF_G2_21 * KF_Y_11 + KF_G2_22*KF_Y_21;
Lightvalve 12:6f2531038ea4 521 ENC_VEL_KF = (int32_t) KF_X_21;
Lightvalve 11:82d8768d7351 522
Lightvalve 11:82d8768d7351 523 CUR_POSITION = (DIR_JOINT_ENC) * ENC_pos_cur + enc_offset;
Lightvalve 11:82d8768d7351 524 // CUR_POSITION = (DIR_JOINT_ENC) * ENC_pos_cur;
Lightvalve 11:82d8768d7351 525 CUR_VELOCITY = (DIR_JOINT_ENC) * ENC_VEL_KF;
Lightvalve 11:82d8768d7351 526
Lightvalve 11:82d8768d7351 527 // CUR_POSITION = ENC_pos_cur;
Lightvalve 11:82d8768d7351 528 // CUR_VELOCITY = ENC_VEL_KF;
Lightvalve 11:82d8768d7351 529
Lightvalve 11:82d8768d7351 530 ENC_pos_old = ENC_pos_cur;
Lightvalve 11:82d8768d7351 531 }
Lightvalve 11:82d8768d7351 532
Lightvalve 11:82d8768d7351 533 void ENC_SET_ZERO(void) {
Lightvalve 11:82d8768d7351 534
Lightvalve 11:82d8768d7351 535 spi_enc_set_clear();
Lightvalve 11:82d8768d7351 536 CUR_POSITION = 0;
Lightvalve 11:82d8768d7351 537 ENC_pos_old = ENC_pos_cur = 0;
Lightvalve 11:82d8768d7351 538
Lightvalve 11:82d8768d7351 539 }
Lightvalve 11:82d8768d7351 540
Lightvalve 13:747daba9cf59 541 void ENC_SET(int32_t value_e) {
Lightvalve 11:82d8768d7351 542 spi_enc_set_clear();
Lightvalve 13:747daba9cf59 543 enc_offset = value_e;
Lightvalve 13:747daba9cf59 544 CUR_POSITION = value_e;
Lightvalve 13:747daba9cf59 545 ENC_pos_old = ENC_pos_cur = value_e;
Lightvalve 11:82d8768d7351 546
Lightvalve 11:82d8768d7351 547 }