HydraulicControlBoard_LIGHT_GJ - eeprom_test

Users » GiJeongKim » Code » HydraulicControlBoard_LIGHT_GJ

Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

main.cpp@62:851cf7b7aa7a, 2020-05-12 (annotated)

Committer:: Lightvalve
Date:: Tue May 12 06:23:22 2020 +0000
Revision:: 62:851cf7b7aa7a
Parent:: 61:7572762e3837
Child:: 63:a3c7f31742c9

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
Lightvalve	31:66738bfecec5	12	///191008////
Lightvalve	31:66738bfecec5	13
jobuuu	7:e9086c72bb22	14	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	15	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	16	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	17	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	18	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	19	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	20	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	21	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	22
Lightvalve	24:ef6e1092e9e6	23
jobuuu	7:e9086c72bb22	24	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	25	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	26	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	30	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	31	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	32
jobuuu	7:e9086c72bb22	33	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	34	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	35	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	36	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	37	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	38	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	39	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	43
jobuuu	7:e9086c72bb22	44	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	45	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	46	CANMessage msg;
Lightvalve	11:82d8768d7351	47	void onMsgReceived()
Lightvalve	11:82d8768d7351	48	{
Lightvalve	11:82d8768d7351	49	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
jobuuu	7:e9086c72bb22	52	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	53	State pos;
jobuuu	7:e9086c72bb22	54	State vel;
jobuuu	7:e9086c72bb22	55	State Vout;
jobuuu	7:e9086c72bb22	56	State torq;
jobuuu	7:e9086c72bb22	57	State pres_A;
jobuuu	7:e9086c72bb22	58	State pres_B;
jobuuu	7:e9086c72bb22	59	State cur;
Lightvalve	14:8e7590227d22	60	State valve_pos;
Lightvalve	14:8e7590227d22	61
Lightvalve	14:8e7590227d22	62	State INIT_Vout;
Lightvalve	14:8e7590227d22	63	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	64	State INIT_Pos;
Lightvalve	14:8e7590227d22	65	State INIT_torq;
jobuuu	5:a4319f79457b	66
Lightvalve	19:23b7c1ad8683	67	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	68	extern int CID_RX_REF_POSITION;
Lightvalve	49:e7bcfc244d40	69	extern int CID_RX_REF_VALVE_POS;
Lightvalve	45:35fa6884d0c6	70	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	71
Lightvalve	19:23b7c1ad8683	72	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	73	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	74	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	75	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	76	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	77	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	78
jobuuu	7:e9086c72bb22	79	// =============================================================================
jobuuu	7:e9086c72bb22	80	// =============================================================================
jobuuu	7:e9086c72bb22	81	// =============================================================================
jobuuu	7:e9086c72bb22	82
Lightvalve	12:6f2531038ea4	83	/*******************************************************************************
Lightvalve	12:6f2531038ea4	84	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	85	******************************************************************************/
Lightvalve	13:747daba9cf59	86	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	87	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	88	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	89	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	90	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	91	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	92	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	93	};
Lightvalve	12:6f2531038ea4	94
Lightvalve	12:6f2531038ea4	95	/*******************************************************************************
Lightvalve	12:6f2531038ea4	96	* CONTROL MODE
Lightvalve	12:6f2531038ea4	97	******************************************************************************/
Lightvalve	13:747daba9cf59	98	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	99	//control mode
Lightvalve	12:6f2531038ea4	100	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	101	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	102	MODE_JOINT_CONTROL, //2
Lightvalve	50:3c630b5eba9f	103
Lightvalve	47:fdcb8bd86fd6	104	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	12:6f2531038ea4	105	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	106	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	107
Lightvalve	12:6f2531038ea4	108	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	109	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	110	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	111
Lightvalve	12:6f2531038ea4	112	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	113	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	114
Lightvalve	14:8e7590227d22	115	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	116	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	117	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	//utility
Lightvalve	12:6f2531038ea4	120	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	121	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	122	MODE_FIND_HOME, //22
Lightvalve	62:851cf7b7aa7a	123	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	124	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	125	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	126	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	127
Lightvalve	12:6f2531038ea4	128	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	129	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	130	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	62:851cf7b7aa7a	131	MODE_SYSTEM_ID, //33
Lightvalve	12:6f2531038ea4	132	};
Lightvalve	12:6f2531038ea4	133
Lightvalve	62:851cf7b7aa7a	134	void SystemClock_Config(void);
Lightvalve	62:851cf7b7aa7a	135
GiJeongKim	0:51c43836c1d7	136	int main()
GiJeongKim	0:51c43836c1d7	137	{
jobuuu	6:df07d3491e3a	138	/*********************************
jobuuu	1:e04e563be5ce	139	*** Initialization
jobuuu	6:df07d3491e3a	140	*********************************/
Lightvalve	62:851cf7b7aa7a	141	HAL_Init();
Lightvalve	62:851cf7b7aa7a	142	// SystemClock_Config();
Lightvalve	62:851cf7b7aa7a	143
Lightvalve	62:851cf7b7aa7a	144
Lightvalve	62:851cf7b7aa7a	145	// LED = 1;
Lightvalve	62:851cf7b7aa7a	146	// pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	147
GiJeongKim	0:51c43836c1d7	148	// i2c init
Lightvalve	8:5d2eebdad025	149	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	150	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	151	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	152	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	153	make_delay();
jobuuu	2:a1c0a37df760	154
GiJeongKim	0:51c43836c1d7	155	// // spi init
Lightvalve	16:903b5a4433b4	156	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	157	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	158	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	159	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	160	make_delay();
Lightvalve	21:e5f1a43ea6f9	161
Lightvalve	16:903b5a4433b4	162	//rom
Lightvalve	19:23b7c1ad8683	163	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	164	make_delay();
Lightvalve	13:747daba9cf59	165
GiJeongKim	0:51c43836c1d7	166	// ADC init
jobuuu	5:a4319f79457b	167	Init_ADC();
Lightvalve	11:82d8768d7351	168	make_delay();
jobuuu	2:a1c0a37df760	169
GiJeongKim	0:51c43836c1d7	170	// Pwm init
GiJeongKim	0:51c43836c1d7	171	Init_PWM();
GiJeongKim	0:51c43836c1d7	172	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	173	make_delay();
Lightvalve	13:747daba9cf59	174
Lightvalve	11:82d8768d7351	175	// TMR3 init
Lightvalve	11:82d8768d7351	176	Init_TMR3();
Lightvalve	11:82d8768d7351	177	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	178	make_delay();
Lightvalve	21:e5f1a43ea6f9	179
Lightvalve	50:3c630b5eba9f	180	// TMR2 init
Lightvalve	56:6f50d9d3bfee	181	// Init_TMR2();
Lightvalve	56:6f50d9d3bfee	182	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	56:6f50d9d3bfee	183	// make_delay();
Lightvalve	21:e5f1a43ea6f9	184
GiJeongKim	0:51c43836c1d7	185	// CAN
jobuuu	2:a1c0a37df760	186	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	187	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	188	make_delay();
Lightvalve	34:bb2ca2fc2a8e	189
Lightvalve	23:59218d4a256d	190	//Timer priority
Lightvalve	23:59218d4a256d	191	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	62:851cf7b7aa7a	192	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	54:647072f5307a	193	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	194
Lightvalve	23:59218d4a256d	195	//can.reset();
Lightvalve	19:23b7c1ad8683	196	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	197
GiJeongKim	0:51c43836c1d7	198	// spi _ enc
GiJeongKim	0:51c43836c1d7	199	spi_enc_set_init();
Lightvalve	11:82d8768d7351	200	make_delay();
Lightvalve	13:747daba9cf59	201
Lightvalve	11:82d8768d7351	202	//DAC init
Lightvalve	62:851cf7b7aa7a	203	if (SENSING_MODE == 0) {
Lightvalve	62:851cf7b7aa7a	204	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	62:851cf7b7aa7a	205	dac_2 = 0.0f;
Lightvalve	62:851cf7b7aa7a	206	} else if (SENSING_MODE == 1) {
Lightvalve	62:851cf7b7aa7a	207	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	62:851cf7b7aa7a	208	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	62:851cf7b7aa7a	209	}
Lightvalve	11:82d8768d7351	210	make_delay();
Lightvalve	13:747daba9cf59	211
Lightvalve	19:23b7c1ad8683	212	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	213	if(i%2==0)
Lightvalve	38:118df027d851	214	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	215	else
Lightvalve	38:118df027d851	216	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	217	}
Lightvalve	58:2eade98630e2	218
jobuuu	6:df07d3491e3a	219	/************************************
jobuuu	1:e04e563be5ce	220	*** Program is operating!
jobuuu	6:df07d3491e3a	221	*************************************/
GiJeongKim	0:51c43836c1d7	222	while(1) {
Lightvalve	62:851cf7b7aa7a	223	if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve	62:851cf7b7aa7a	224	// if(timer_while==1000) {
Lightvalve	17:1865016ca2e7	225	//i2c
Lightvalve	17:1865016ca2e7	226	read_field(i2c_slave_addr1);
Lightvalve	17:1865016ca2e7	227	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	62:851cf7b7aa7a	228	// if(LED==1) {
Lightvalve	62:851cf7b7aa7a	229	// LED=0;
Lightvalve	62:851cf7b7aa7a	230	// } else
Lightvalve	62:851cf7b7aa7a	231	// LED = 1;
Lightvalve	17:1865016ca2e7	232	timer_while = 0;
Lightvalve	17:1865016ca2e7	233	}
Lightvalve	17:1865016ca2e7	234	timer_while ++;
Lightvalve	62:851cf7b7aa7a	235	//pc.printf("%d\n", value);
GiJeongKim	0:51c43836c1d7	236	}
jobuuu	1:e04e563be5ce	237	}
jobuuu	1:e04e563be5ce	238
Lightvalve	33:91b17819ec30	239	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	240	{
Lightvalve	14:8e7590227d22	241
Lightvalve	13:747daba9cf59	242	int i = 0;
Lightvalve	48:889798ff9329	243	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	244	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	245	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	246	if(i==0) {
Lightvalve	50:3c630b5eba9f	247	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	62:851cf7b7aa7a	248	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	249	} else {
Lightvalve	62:851cf7b7aa7a	250	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	251	}
Lightvalve	14:8e7590227d22	252	} else {
Lightvalve	50:3c630b5eba9f	253	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	62:851cf7b7aa7a	254	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	255	} else {
Lightvalve	62:851cf7b7aa7a	256	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	257	}
Lightvalve	13:747daba9cf59	258	}
Lightvalve	13:747daba9cf59	259	break;
Lightvalve	13:747daba9cf59	260	}
Lightvalve	13:747daba9cf59	261	}
Lightvalve	14:8e7590227d22	262	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	263	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	264	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	265	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	266	}
Lightvalve	36:a46e63505ed8	267
Lightvalve	62:851cf7b7aa7a	268	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	269	return Ref_Valve_Pos_FF;
Lightvalve	50:3c630b5eba9f	270
Lightvalve	13:747daba9cf59	271	}
jobuuu	6:df07d3491e3a	272
jobuuu	6:df07d3491e3a	273
Lightvalve	30:8d561f16383b	274	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	275	{
Lightvalve	13:747daba9cf59	276	int i = 0;
Lightvalve	13:747daba9cf59	277
Lightvalve	38:118df027d851	278	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	279	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	280	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	281	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	282	}
Lightvalve	38:118df027d851	283
Lightvalve	13:747daba9cf59	284	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	285	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	286	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	287	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	288	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	289	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	290
Lightvalve	13:747daba9cf59	291	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	292
Lightvalve	18:b8adf1582ea3	293	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	294	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	295	if(i==0) {
Lightvalve	48:889798ff9329	296	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	297	} else {
Lightvalve	48:889798ff9329	298	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	299	}
Lightvalve	13:747daba9cf59	300	break;
Lightvalve	13:747daba9cf59	301	}
Lightvalve	13:747daba9cf59	302	}
Lightvalve	62:851cf7b7aa7a	303	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	304	}
Lightvalve	13:747daba9cf59	305
Lightvalve	14:8e7590227d22	306	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	307	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	308	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	309	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	310	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	311	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	312	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	313	}; // duty
Lightvalve	62:851cf7b7aa7a	314	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	315	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	62:851cf7b7aa7a	316	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	62:851cf7b7aa7a	317	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	62:851cf7b7aa7a	318	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	62:851cf7b7aa7a	319	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	320	}; // mV
Lightvalve	13:747daba9cf59	321
Lightvalve	30:8d561f16383b	322	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	323	{
Lightvalve	30:8d561f16383b	324	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	325	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	326	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	327	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	328	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	329	} else {
Lightvalve	13:747daba9cf59	330	int idx = 0;
Lightvalve	13:747daba9cf59	331	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	332	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	333	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	334	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	335	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	336	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	337	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	338	break;
Lightvalve	13:747daba9cf59	339	}
Lightvalve	13:747daba9cf59	340	}
Lightvalve	13:747daba9cf59	341	}
Lightvalve	14:8e7590227d22	342
Lightvalve	13:747daba9cf59	343	return PWM_duty;
Lightvalve	13:747daba9cf59	344	}
jobuuu	6:df07d3491e3a	345
Lightvalve	62:851cf7b7aa7a	346
Lightvalve	62:851cf7b7aa7a	347
Lightvalve	62:851cf7b7aa7a	348
Lightvalve	62:851cf7b7aa7a	349
jobuuu	2:a1c0a37df760	350	/*******************************************************************************
jobuuu	2:a1c0a37df760	351	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	352	*******************************************************************************/
jobuuu	2:a1c0a37df760	353
Lightvalve	51:b46bed7fec80	354	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	355	float DT_TMR4 = (float)DT_20k;
Lightvalve	62:851cf7b7aa7a	356	long CNT_TMR4 = 0;
Lightvalve	62:851cf7b7aa7a	357	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	358	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	359	{
Lightvalve	19:23b7c1ad8683	360	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	361
Lightvalve	21:e5f1a43ea6f9	362	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	363	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	364	********************************************************/
Lightvalve	13:747daba9cf59	365
Lightvalve	62:851cf7b7aa7a	366	//Encoder
Lightvalve	62:851cf7b7aa7a	367	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	62:851cf7b7aa7a	368	ENC_UPDATE();
Lightvalve	62:851cf7b7aa7a	369	}
Lightvalve	59:0ad14153b58f	370
Lightvalve	62:851cf7b7aa7a	371	ADC1->CR2 \|= 0x40000000;
Lightvalve	62:851cf7b7aa7a	372	if (SENSING_MODE == 0) {
Lightvalve	62:851cf7b7aa7a	373	// Torque Sensing (0~210)bar =============================================
Lightvalve	62:851cf7b7aa7a	374	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	62:851cf7b7aa7a	375	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	62:851cf7b7aa7a	376	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	62:851cf7b7aa7a	377	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	59:0ad14153b58f	378
Lightvalve	59:0ad14153b58f	379
Lightvalve	62:851cf7b7aa7a	380	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	62:851cf7b7aa7a	381	//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	62:851cf7b7aa7a	382	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	62:851cf7b7aa7a	383	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	62:851cf7b7aa7a	384	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	62:851cf7b7aa7a	385
Lightvalve	17:1865016ca2e7	386
Lightvalve	62:851cf7b7aa7a	387	} else if (SENSING_MODE == 1) {
Lightvalve	62:851cf7b7aa7a	388	// Pressure Sensing (0~210)bar =============================================
Lightvalve	62:851cf7b7aa7a	389	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	62:851cf7b7aa7a	390	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	62:851cf7b7aa7a	391	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	62:851cf7b7aa7a	392	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	62:851cf7b7aa7a	393	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	62:851cf7b7aa7a	394	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	62:851cf7b7aa7a	395	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	396
Lightvalve	62:851cf7b7aa7a	397	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	62:851cf7b7aa7a	398	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	399	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	62:851cf7b7aa7a	400	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	401	}
Lightvalve	62:851cf7b7aa7a	402	}
Lightvalve	59:0ad14153b58f	403
Lightvalve	62:851cf7b7aa7a	404	// //Pressure sensor A
Lightvalve	62:851cf7b7aa7a	405	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	62:851cf7b7aa7a	406	// //while((ADC1->SR & 0b10));
Lightvalve	62:851cf7b7aa7a	407	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	62:851cf7b7aa7a	408	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	62:851cf7b7aa7a	409	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	62:851cf7b7aa7a	410	// 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	411	//
Lightvalve	62:851cf7b7aa7a	412	//
Lightvalve	62:851cf7b7aa7a	413	// //Pressure sensor B
Lightvalve	62:851cf7b7aa7a	414	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	62:851cf7b7aa7a	415	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	62:851cf7b7aa7a	416	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	62:851cf7b7aa7a	417	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	418
Lightvalve	17:1865016ca2e7	419
Lightvalve	21:e5f1a43ea6f9	420	//Current
Lightvalve	21:e5f1a43ea6f9	421	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	422	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	423	//while((ADC3->SR & 0b10));
Lightvalve	51:b46bed7fec80	424	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	425	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	426	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	427	//cur.sen = raw_cur;
Lightvalve	58:2eade98630e2	428
Lightvalve	62:851cf7b7aa7a	429	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	430	}
Lightvalve	11:82d8768d7351	431	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	432	}
Lightvalve	19:23b7c1ad8683	433
Lightvalve	19:23b7c1ad8683	434
Lightvalve	18:b8adf1582ea3	435	int j =0;
Lightvalve	54:647072f5307a	436	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	437	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	438	int cnt_trans = 0;
Lightvalve	48:889798ff9329	439	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	62:851cf7b7aa7a	440	int can_rest =0;
Lightvalve	48:889798ff9329	441
Lightvalve	11:82d8768d7351	442	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	443	{
Lightvalve	19:23b7c1ad8683	444	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	62:851cf7b7aa7a	445
Lightvalve	62:851cf7b7aa7a	446	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	62:851cf7b7aa7a	447	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	62:851cf7b7aa7a	448	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	62:851cf7b7aa7a	449	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	62:851cf7b7aa7a	450	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	62:851cf7b7aa7a	451	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	62:851cf7b7aa7a	452	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	62:851cf7b7aa7a	453	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	62:851cf7b7aa7a	454	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	62:851cf7b7aa7a	455	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	62:851cf7b7aa7a	456	}
Lightvalve	50:3c630b5eba9f	457
Lightvalve	50:3c630b5eba9f	458	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	459	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	460	cnt_trans++;
Lightvalve	46:2694daea349b	461	torq.err_sum = 0;
Lightvalve	48:889798ff9329	462	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	463	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	464	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	465	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	466	cnt_trans++;
Lightvalve	46:2694daea349b	467	torq.err_sum = 0;
Lightvalve	48:889798ff9329	468	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	469	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	470	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	62:851cf7b7aa7a	471	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	472	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	473	} else {
Lightvalve	62:851cf7b7aa7a	474	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	475	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	476	}
Lightvalve	45:35fa6884d0c6	477
Lightvalve	50:3c630b5eba9f	478
Lightvalve	62:851cf7b7aa7a	479	int UTILITY_MODE = 0;
Lightvalve	62:851cf7b7aa7a	480	int CONTROL_MODE = 0;
Lightvalve	62:851cf7b7aa7a	481
Lightvalve	62:851cf7b7aa7a	482	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	62:851cf7b7aa7a	483	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	62:851cf7b7aa7a	484	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	62:851cf7b7aa7a	485	} else {
Lightvalve	62:851cf7b7aa7a	486	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	62:851cf7b7aa7a	487	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	62:851cf7b7aa7a	488	}
Lightvalve	62:851cf7b7aa7a	489
Lightvalve	62:851cf7b7aa7a	490
Lightvalve	59:0ad14153b58f	491
Lightvalve	62:851cf7b7aa7a	492	// UTILITY MODE ------------------------------------------------------------
Lightvalve	58:2eade98630e2	493
Lightvalve	62:851cf7b7aa7a	494	switch (UTILITY_MODE) {
Lightvalve	62:851cf7b7aa7a	495	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	496	break;
Lightvalve	13:747daba9cf59	497	}
Lightvalve	14:8e7590227d22	498
Lightvalve	14:8e7590227d22	499	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	500	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	501	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	502	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	503
Lightvalve	14:8e7590227d22	504	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	505	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	506	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	507
Lightvalve	62:851cf7b7aa7a	508	TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	509
Lightvalve	30:8d561f16383b	510	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	62:851cf7b7aa7a	511	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	50:3c630b5eba9f	512
Lightvalve	16:903b5a4433b4	513	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	514	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	515	}
Lightvalve	13:747daba9cf59	516	} else {
Lightvalve	62:851cf7b7aa7a	517	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	518	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	519	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	520	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	521
Lightvalve	16:903b5a4433b4	522	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	523
Lightvalve	30:8d561f16383b	524	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	525
Lightvalve	13:747daba9cf59	526	}
Lightvalve	14:8e7590227d22	527	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	528	break;
Lightvalve	19:23b7c1ad8683	529	}
Lightvalve	14:8e7590227d22	530
Lightvalve	50:3c630b5eba9f	531	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	532	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	533	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	534	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	535	// }
Lightvalve	50:3c630b5eba9f	536	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	537	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	538	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	539	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	540	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	541	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	542	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	543	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	544	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	545	// }
Lightvalve	50:3c630b5eba9f	546	//
Lightvalve	50:3c630b5eba9f	547	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	548	// 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	549	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	550	//
Lightvalve	50:3c630b5eba9f	551	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	552	// V_out = 0;
Lightvalve	50:3c630b5eba9f	553	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	554	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	555	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	556	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	557	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	558	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	559	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	560	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	561	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	562	//
Lightvalve	50:3c630b5eba9f	563	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	564	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	565	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	566	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	567	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	568	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	569	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	570	//
Lightvalve	50:3c630b5eba9f	571	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	572	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	573	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	574	// } else {
Lightvalve	50:3c630b5eba9f	575	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	576	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	577	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	578	// }
Lightvalve	50:3c630b5eba9f	579	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	580	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	581	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	582	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	583	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	584	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	585	// }
Lightvalve	50:3c630b5eba9f	586	// } else {
Lightvalve	50:3c630b5eba9f	587	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	588	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	589	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	590	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	591	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	592	// }
Lightvalve	50:3c630b5eba9f	593	// V_out = 0;
Lightvalve	50:3c630b5eba9f	594	//
Lightvalve	50:3c630b5eba9f	595	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	596	//
Lightvalve	50:3c630b5eba9f	597	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	598	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	599	//
Lightvalve	50:3c630b5eba9f	600	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	601	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	602	// }
Lightvalve	50:3c630b5eba9f	603	// }
Lightvalve	50:3c630b5eba9f	604	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	605	// break;
Lightvalve	50:3c630b5eba9f	606	// }
Lightvalve	14:8e7590227d22	607
Lightvalve	14:8e7590227d22	608	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	609	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	610	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	611	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	612	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	62:851cf7b7aa7a	613	pos.ref = pos.sen;
Lightvalve	62:851cf7b7aa7a	614	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	615	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	616	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	62:851cf7b7aa7a	617	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	618	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	619	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	620	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	621	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	622	}
Lightvalve	29:69f3f5445d6d	623	cnt_findhome++;
Lightvalve	14:8e7590227d22	624
Lightvalve	29:69f3f5445d6d	625	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	626	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	627	} else {
Lightvalve	29:69f3f5445d6d	628	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	629	}
Lightvalve	19:23b7c1ad8683	630
Lightvalve	62:851cf7b7aa7a	631	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	632	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	62:851cf7b7aa7a	633	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	62:851cf7b7aa7a	634	else pos.ref = pos.ref - 12.0f;
Lightvalve	34:bb2ca2fc2a8e	635
Lightvalve	62:851cf7b7aa7a	636	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	62:851cf7b7aa7a	637	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	62:851cf7b7aa7a	638	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	62:851cf7b7aa7a	639	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	62:851cf7b7aa7a	640	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	641
Lightvalve	62:851cf7b7aa7a	642	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	62:851cf7b7aa7a	643	alpha_trans = 0.0f;
Lightvalve	62:851cf7b7aa7a	644
Lightvalve	62:851cf7b7aa7a	645
Lightvalve	29:69f3f5445d6d	646	} else {
Lightvalve	29:69f3f5445d6d	647	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	62:851cf7b7aa7a	648	// ENC_SET_ZERO();
Lightvalve	29:69f3f5445d6d	649	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	650	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	651	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	652	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	653	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	654	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	655	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	656	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	657	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	62:851cf7b7aa7a	658
Lightvalve	62:851cf7b7aa7a	659
Lightvalve	62:851cf7b7aa7a	660	cnt_findhome = 0;
Lightvalve	62:851cf7b7aa7a	661	pos.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	662	vel.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	663	pos.ref_home_pos = 0.0f;
Lightvalve	62:851cf7b7aa7a	664	vel.ref_home_pos = 0.0f;
Lightvalve	62:851cf7b7aa7a	665	//FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	62:851cf7b7aa7a	666	//CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	62:851cf7b7aa7a	667
Lightvalve	62:851cf7b7aa7a	668
Lightvalve	29:69f3f5445d6d	669	}
Lightvalve	29:69f3f5445d6d	670	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	671	int T_move = 2*TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	672	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	673	//pos.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	674	vel.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	675
Lightvalve	29:69f3f5445d6d	676	// input for position control
Lightvalve	62:851cf7b7aa7a	677
Lightvalve	62:851cf7b7aa7a	678	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	62:851cf7b7aa7a	679	alpha_trans = 0.0f;
Lightvalve	62:851cf7b7aa7a	680
Lightvalve	62:851cf7b7aa7a	681	double torq_ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	682	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	62:851cf7b7aa7a	683	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	62:851cf7b7aa7a	684	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	62:851cf7b7aa7a	685
Lightvalve	62:851cf7b7aa7a	686	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	62:851cf7b7aa7a	687
Lightvalve	62:851cf7b7aa7a	688	double I_REF_POS = 0.0f;
Lightvalve	62:851cf7b7aa7a	689	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	62:851cf7b7aa7a	690	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	62:851cf7b7aa7a	691
Lightvalve	62:851cf7b7aa7a	692	double temp_vel_pos = 0.0f;
Lightvalve	62:851cf7b7aa7a	693	double temp_vel_torq = 0.0f;
Lightvalve	62:851cf7b7aa7a	694	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	62:851cf7b7aa7a	695
Lightvalve	62:851cf7b7aa7a	696	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	62:851cf7b7aa7a	697	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	698	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	62:851cf7b7aa7a	699	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	62:851cf7b7aa7a	700	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	701	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	62:851cf7b7aa7a	702	}
Lightvalve	62:851cf7b7aa7a	703	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	704	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	62:851cf7b7aa7a	705
Lightvalve	62:851cf7b7aa7a	706	I_REF = I_REF_POS;
Lightvalve	62:851cf7b7aa7a	707
Lightvalve	62:851cf7b7aa7a	708
Lightvalve	62:851cf7b7aa7a	709
Lightvalve	62:851cf7b7aa7a	710	} else {
Lightvalve	62:851cf7b7aa7a	711	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	62:851cf7b7aa7a	712	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	713
Lightvalve	62:851cf7b7aa7a	714	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	62:851cf7b7aa7a	715	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	62:851cf7b7aa7a	716	} else {
Lightvalve	62:851cf7b7aa7a	717	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	62:851cf7b7aa7a	718	}
Lightvalve	62:851cf7b7aa7a	719
Lightvalve	62:851cf7b7aa7a	720	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	721
Lightvalve	62:851cf7b7aa7a	722	V_out = (float) Vout.ref;
Lightvalve	62:851cf7b7aa7a	723
Lightvalve	62:851cf7b7aa7a	724	}
Lightvalve	62:851cf7b7aa7a	725
Lightvalve	62:851cf7b7aa7a	726
Lightvalve	62:851cf7b7aa7a	727
Lightvalve	62:851cf7b7aa7a	728
Lightvalve	62:851cf7b7aa7a	729	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	62:851cf7b7aa7a	730	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	62:851cf7b7aa7a	731	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	62:851cf7b7aa7a	732	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	62:851cf7b7aa7a	733	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	734
Lightvalve	29:69f3f5445d6d	735	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	736	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	737	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	738	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	739	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	740	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	741	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	742	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	743	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	62:851cf7b7aa7a	744	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	745	}
Lightvalve	13:747daba9cf59	746	}
Lightvalve	19:23b7c1ad8683	747
Lightvalve	13:747daba9cf59	748	break;
Lightvalve	13:747daba9cf59	749	}
Lightvalve	14:8e7590227d22	750
Lightvalve	50:3c630b5eba9f	751	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	752	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	753	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	754	// else {
Lightvalve	50:3c630b5eba9f	755	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	756	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	757	// }
Lightvalve	50:3c630b5eba9f	758	// }
Lightvalve	50:3c630b5eba9f	759	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	760	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	761	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	762	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	763	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	764	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	765	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	766	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	767	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	768	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	769	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	770	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	771	// }
Lightvalve	50:3c630b5eba9f	772	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	773	// }
Lightvalve	50:3c630b5eba9f	774	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	775	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	776	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	777	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	778	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	779	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	780	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	781	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	782	// 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	783	// // 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	784	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	785	// }
Lightvalve	50:3c630b5eba9f	786	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	787	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	788	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	789	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	790	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	791	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	792	// 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	793	// // 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	794	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	795	// }
Lightvalve	50:3c630b5eba9f	796	// }
Lightvalve	50:3c630b5eba9f	797	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	798	//
Lightvalve	50:3c630b5eba9f	799	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	800	//
Lightvalve	50:3c630b5eba9f	801	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	802	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	803	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	804	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	805	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	806	// }
Lightvalve	50:3c630b5eba9f	807	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	808	// V_out = 0;
Lightvalve	50:3c630b5eba9f	809	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	810	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	811	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	812	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	813	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	814	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	815	// }
Lightvalve	50:3c630b5eba9f	816	//
Lightvalve	50:3c630b5eba9f	817	// }
Lightvalve	50:3c630b5eba9f	818	// break;
Lightvalve	50:3c630b5eba9f	819	// }
Lightvalve	50:3c630b5eba9f	820	//
Lightvalve	50:3c630b5eba9f	821	// }
Lightvalve	14:8e7590227d22	822	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	823	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	824	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	825	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	826	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	827
Lightvalve	14:8e7590227d22	828	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	829	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	830	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	831	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	832	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	833
Lightvalve	38:118df027d851	834	float VREF_NullingGain = 0.0003f;
Lightvalve	62:851cf7b7aa7a	835	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	62:851cf7b7aa7a	836	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	837
Lightvalve	30:8d561f16383b	838	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	839	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	840	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	841	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	842
Lightvalve	30:8d561f16383b	843	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	844	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	845	}
Lightvalve	13:747daba9cf59	846	} else {
Lightvalve	62:851cf7b7aa7a	847	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	848	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	849	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	850	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	851	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	852	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	853
Lightvalve	16:903b5a4433b4	854	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	855
Lightvalve	30:8d561f16383b	856	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	857	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	858	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	859	}
Lightvalve	14:8e7590227d22	860	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	861	break;
Lightvalve	13:747daba9cf59	862	}
Lightvalve	14:8e7590227d22	863
Lightvalve	50:3c630b5eba9f	864	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	865	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	866	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	867	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	868	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	869	// }
Lightvalve	50:3c630b5eba9f	870	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	871	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	872	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	873	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	874	// }
Lightvalve	50:3c630b5eba9f	875	// } else {
Lightvalve	50:3c630b5eba9f	876	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	877	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	878	// V_out = 0;
Lightvalve	50:3c630b5eba9f	879	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	880	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	881	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	882	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	883	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	884	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	885	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	886	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	887	//
Lightvalve	50:3c630b5eba9f	888	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	889	//
Lightvalve	50:3c630b5eba9f	890	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	891	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	892	// }
Lightvalve	50:3c630b5eba9f	893	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	894	// break;
Lightvalve	50:3c630b5eba9f	895	// }
Lightvalve	19:23b7c1ad8683	896
Lightvalve	50:3c630b5eba9f	897	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	898	// 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	899	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	900	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	901	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	902	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	903	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	904	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	905	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	906	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	907	// }
Lightvalve	50:3c630b5eba9f	908	// break;
Lightvalve	50:3c630b5eba9f	909	// }
Lightvalve	14:8e7590227d22	910
Lightvalve	14:8e7590227d22	911	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	62:851cf7b7aa7a	912	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	913	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	914
Lightvalve	14:8e7590227d22	915	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	62:851cf7b7aa7a	916	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	917	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	62:851cf7b7aa7a	918	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	919	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	920	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	921	data_num = 0;
Lightvalve	14:8e7590227d22	922	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	923	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	924	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	925	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	62:851cf7b7aa7a	926	Vout.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	927	} else {
Lightvalve	13:747daba9cf59	928	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	929	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	930	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	931	}
Lightvalve	14:8e7590227d22	932
Lightvalve	17:1865016ca2e7	933	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	934	int i;
Lightvalve	13:747daba9cf59	935	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	936	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	937	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	938	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	939	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	940	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	941	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	942	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	943	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	944	}
Lightvalve	13:747daba9cf59	945	}
Lightvalve	62:851cf7b7aa7a	946	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	947	ID_index = 0;
Lightvalve	62:851cf7b7aa7a	948	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	949	}
Lightvalve	14:8e7590227d22	950
Lightvalve	14:8e7590227d22	951
Lightvalve	13:747daba9cf59	952	break;
Lightvalve	13:747daba9cf59	953	}
Lightvalve	14:8e7590227d22	954
Lightvalve	14:8e7590227d22	955	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	62:851cf7b7aa7a	956	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	957	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	958	if(first_check == 0) {
Lightvalve	30:8d561f16383b	959	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	960	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	961	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	962	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	963	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	964	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	965	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	966	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	967	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	968	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	969	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	970	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	971	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	972	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	973	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	974	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	975	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	976	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	977	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	978	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	979	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	980	data_num = 0;
Lightvalve	14:8e7590227d22	981
Lightvalve	30:8d561f16383b	982	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	983	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	984	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	985
Lightvalve	30:8d561f16383b	986	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	987	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	988	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	989
Lightvalve	30:8d561f16383b	990	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	991	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	992	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	993	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	994
Lightvalve	62:851cf7b7aa7a	995	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	996	DZ_case = 1;
Lightvalve	62:851cf7b7aa7a	997	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	998	DZ_case = -1;
Lightvalve	14:8e7590227d22	999	} else {
Lightvalve	13:747daba9cf59	1000	DZ_case = 0;
Lightvalve	13:747daba9cf59	1001	}
Lightvalve	14:8e7590227d22	1002
Lightvalve	49:e7bcfc244d40	1003	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	1004
Lightvalve	13:747daba9cf59	1005	first_check = 1;
Lightvalve	13:747daba9cf59	1006	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1007	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1008	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1009	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1010	DZ_index = 1;
Lightvalve	14:8e7590227d22	1011
Lightvalve	13:747daba9cf59	1012	}
Lightvalve	19:23b7c1ad8683	1013	} else {
Lightvalve	14:8e7590227d22	1014	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1015	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1016	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	1017	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1018	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1019	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1020	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1021	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1022	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1023	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1024	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1025	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1026	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1027	}
Lightvalve	14:8e7590227d22	1028	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1029
Lightvalve	30:8d561f16383b	1030	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1031	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1032	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1033
Lightvalve	14:8e7590227d22	1034	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1035	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1036	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1037	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1038	} else {
Lightvalve	13:747daba9cf59	1039	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1040	}
Lightvalve	14:8e7590227d22	1041
Lightvalve	13:747daba9cf59	1042	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1043	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1044	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1045	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1046	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1047	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1048	DZ_index = 1;
Lightvalve	13:747daba9cf59	1049	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1050	}
Lightvalve	13:747daba9cf59	1051	}
Lightvalve	14:8e7590227d22	1052	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1053	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1054	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	1055	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1056	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1057	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1058	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1059	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1060	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1061	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1062	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1063	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1064	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1065	}
Lightvalve	14:8e7590227d22	1066	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1067
Lightvalve	30:8d561f16383b	1068	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1069	Vout.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	1070	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1071	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1072	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1073
Lightvalve	14:8e7590227d22	1074	if((FINAL_POS - START_POS)>100) {
Lightvalve	62:851cf7b7aa7a	1075	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1076	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	62:851cf7b7aa7a	1077	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1078	} else {
Lightvalve	62:851cf7b7aa7a	1079	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1080	}
Lightvalve	14:8e7590227d22	1081
Lightvalve	13:747daba9cf59	1082	VALVE_DZ_timer = 0;
Lightvalve	62:851cf7b7aa7a	1083	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1084	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1085	SECOND_DZ = valve_pos.ref;
Lightvalve	62:851cf7b7aa7a	1086	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1087	first_check = 0;
Lightvalve	33:91b17819ec30	1088	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1089	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1090
Lightvalve	16:903b5a4433b4	1091	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1092
Lightvalve	62:851cf7b7aa7a	1093	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1094	DZ_index = 1;
Lightvalve	13:747daba9cf59	1095	}
Lightvalve	13:747daba9cf59	1096	}
Lightvalve	14:8e7590227d22	1097	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1098	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1099	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	1100	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1101	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1102	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1103	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1104	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1105	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1106	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1107	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1108	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1109	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1110	}
Lightvalve	14:8e7590227d22	1111	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1112
Lightvalve	30:8d561f16383b	1113	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1114	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1115	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1116
Lightvalve	14:8e7590227d22	1117	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1118	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1119	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1120	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1121	} else {
Lightvalve	13:747daba9cf59	1122	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1123	}
Lightvalve	13:747daba9cf59	1124	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1125	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1126	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1127	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1128	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1129	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1130	DZ_index = 1;
Lightvalve	13:747daba9cf59	1131	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1132	}
Lightvalve	13:747daba9cf59	1133	}
Lightvalve	14:8e7590227d22	1134	} else {
Lightvalve	30:8d561f16383b	1135	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1136	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	1137	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1138	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1139	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1140	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1141	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1142	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1143	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1144	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1145	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1146	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1147	}
Lightvalve	14:8e7590227d22	1148	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1149
Lightvalve	30:8d561f16383b	1150	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1151	Vout.ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	1152	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1153	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1154	FINAL_POS = pos.sen;
Lightvalve	62:851cf7b7aa7a	1155
Lightvalve	62:851cf7b7aa7a	1156	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1157	DZ_DIRECTION = 1;
Lightvalve	62:851cf7b7aa7a	1158	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	62:851cf7b7aa7a	1159	DZ_DIRECTION = -1;
Lightvalve	62:851cf7b7aa7a	1160	} else {
Lightvalve	13:747daba9cf59	1161	DZ_DIRECTION = 1;
Lightvalve	62:851cf7b7aa7a	1162	}
Lightvalve	14:8e7590227d22	1163
Lightvalve	13:747daba9cf59	1164	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1165	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1166	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1167	SECOND_DZ = valve_pos.ref;
Lightvalve	62:851cf7b7aa7a	1168	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1169	first_check = 0;
Lightvalve	33:91b17819ec30	1170	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1171	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	34:bb2ca2fc2a8e	1172
Lightvalve	62:851cf7b7aa7a	1173	ROM_RESET_DATA();
Lightvalve	62:851cf7b7aa7a	1174
Lightvalve	62:851cf7b7aa7a	1175	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1176	DZ_index = 1;
Lightvalve	13:747daba9cf59	1177	}
Lightvalve	13:747daba9cf59	1178	}
Lightvalve	13:747daba9cf59	1179	}
Lightvalve	14:8e7590227d22	1180	}
Lightvalve	13:747daba9cf59	1181	break;
Lightvalve	13:747daba9cf59	1182	}
Lightvalve	14:8e7590227d22	1183
Lightvalve	14:8e7590227d22	1184	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	62:851cf7b7aa7a	1185	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1186	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1187	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1188	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1189	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1190	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1191	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1192	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1193	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1194	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1195	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1196	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1197	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1198	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	62:851cf7b7aa7a	1199	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1200	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1201	first_check = 1;
Lightvalve	13:747daba9cf59	1202	VALVE_FR_timer = 0;
Lightvalve	62:851cf7b7aa7a	1203	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1204	ID_index = 0;
Lightvalve	13:747daba9cf59	1205	max_check = 0;
Lightvalve	13:747daba9cf59	1206	min_check = 0;
Lightvalve	13:747daba9cf59	1207	}
Lightvalve	14:8e7590227d22	1208	} else {
Lightvalve	30:8d561f16383b	1209	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1210	//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	1211	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	62:851cf7b7aa7a	1212	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1213	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1214	data_num = 0;
Lightvalve	62:851cf7b7aa7a	1215	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1216
Lightvalve	14:8e7590227d22	1217	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1218	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1219	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	62:851cf7b7aa7a	1220	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1221	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1222	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1223	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1224	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1225	one_period_end = 1;
Lightvalve	13:747daba9cf59	1226	}
Lightvalve	30:8d561f16383b	1227	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1228	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1229	one_period_end = 1;
Lightvalve	62:851cf7b7aa7a	1230	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1231	}
Lightvalve	14:8e7590227d22	1232
Lightvalve	14:8e7590227d22	1233	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1234	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1235	max_check = 1;
Lightvalve	14:8e7590227d22	1236	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1237	min_check = 1;
Lightvalve	13:747daba9cf59	1238	}
Lightvalve	13:747daba9cf59	1239	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1240
Lightvalve	13:747daba9cf59	1241	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1242	one_period_end = 0;
Lightvalve	13:747daba9cf59	1243	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1244	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1245	}
Lightvalve	14:8e7590227d22	1246
Lightvalve	14:8e7590227d22	1247	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1248
Lightvalve	13:747daba9cf59	1249	VALVE_POS_NUM = ID_index;
Lightvalve	62:851cf7b7aa7a	1250	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1251	ID_index = 0;
Lightvalve	13:747daba9cf59	1252	first_check = 0;
Lightvalve	13:747daba9cf59	1253	VALVE_FR_timer = 0;
Lightvalve	62:851cf7b7aa7a	1254	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1255	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1256	}
Lightvalve	13:747daba9cf59	1257	}
Lightvalve	13:747daba9cf59	1258	break;
Lightvalve	13:747daba9cf59	1259	}
Lightvalve	58:2eade98630e2	1260
Lightvalve	62:851cf7b7aa7a	1261	case MODE_SYSTEM_ID: {
Lightvalve	62:851cf7b7aa7a	1262	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	62:851cf7b7aa7a	1263	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	62:851cf7b7aa7a	1264	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	62:851cf7b7aa7a	1265	cnt_sysid++;
Lightvalve	62:851cf7b7aa7a	1266	if (freq_sysid_Iref >= 300) {
Lightvalve	62:851cf7b7aa7a	1267	cnt_sysid = 0;
Lightvalve	62:851cf7b7aa7a	1268	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	62:851cf7b7aa7a	1269	}
Lightvalve	62:851cf7b7aa7a	1270	break;
Lightvalve	62:851cf7b7aa7a	1271	}
Lightvalve	62:851cf7b7aa7a	1272
Lightvalve	62:851cf7b7aa7a	1273
Lightvalve	62:851cf7b7aa7a	1274
Lightvalve	62:851cf7b7aa7a	1275	default:
Lightvalve	62:851cf7b7aa7a	1276	break;
Lightvalve	62:851cf7b7aa7a	1277	}
Lightvalve	62:851cf7b7aa7a	1278
Lightvalve	62:851cf7b7aa7a	1279	// CONTROL MODE ------------------------------------------------------------
Lightvalve	62:851cf7b7aa7a	1280
Lightvalve	62:851cf7b7aa7a	1281	switch (CONTROL_MODE) {
Lightvalve	62:851cf7b7aa7a	1282	case MODE_NO_ACT: {
Lightvalve	62:851cf7b7aa7a	1283	V_out = 0.0f;
Lightvalve	62:851cf7b7aa7a	1284	break;
Lightvalve	62:851cf7b7aa7a	1285	}
Lightvalve	62:851cf7b7aa7a	1286
Lightvalve	62:851cf7b7aa7a	1287	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	62:851cf7b7aa7a	1288	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	62:851cf7b7aa7a	1289	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1290	V_out = Vout.ref;
Lightvalve	62:851cf7b7aa7a	1291	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	62:851cf7b7aa7a	1292	V_out = valve_pos.ref;
Lightvalve	62:851cf7b7aa7a	1293	} else {
Lightvalve	62:851cf7b7aa7a	1294	I_REF = valve_pos.ref * 0.001f;
Lightvalve	62:851cf7b7aa7a	1295	}
Lightvalve	62:851cf7b7aa7a	1296
Lightvalve	62:851cf7b7aa7a	1297	break;
Lightvalve	62:851cf7b7aa7a	1298	}
Lightvalve	62:851cf7b7aa7a	1299
Lightvalve	62:851cf7b7aa7a	1300	case MODE_JOINT_CONTROL: {
Lightvalve	62:851cf7b7aa7a	1301	double torq_ref = 0.0f;
Lightvalve	62:851cf7b7aa7a	1302	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	62:851cf7b7aa7a	1303	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	62:851cf7b7aa7a	1304	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	62:851cf7b7aa7a	1305
Lightvalve	62:851cf7b7aa7a	1306	//K & D Low Pass Filter
Lightvalve	62:851cf7b7aa7a	1307	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	62:851cf7b7aa7a	1308	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	62:851cf7b7aa7a	1309	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	62:851cf7b7aa7a	1310
Lightvalve	62:851cf7b7aa7a	1311	torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	62:851cf7b7aa7a	1312
Lightvalve	62:851cf7b7aa7a	1313	// torque feedback
Lightvalve	62:851cf7b7aa7a	1314	torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve	62:851cf7b7aa7a	1315	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	62:851cf7b7aa7a	1316
Lightvalve	62:851cf7b7aa7a	1317	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	62:851cf7b7aa7a	1318
Lightvalve	62:851cf7b7aa7a	1319	double I_REF_POS = 0.0f;
Lightvalve	62:851cf7b7aa7a	1320	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	62:851cf7b7aa7a	1321	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	62:851cf7b7aa7a	1322
Lightvalve	62:851cf7b7aa7a	1323	double temp_vel_pos = 0.0f;
Lightvalve	62:851cf7b7aa7a	1324	double temp_vel_torq = 0.0f;
Lightvalve	62:851cf7b7aa7a	1325	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	62:851cf7b7aa7a	1326
Lightvalve	62:851cf7b7aa7a	1327	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	62:851cf7b7aa7a	1328	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	1329	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	62:851cf7b7aa7a	1330	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	62:851cf7b7aa7a	1331	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	1332	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	62:851cf7b7aa7a	1333	}
Lightvalve	62:851cf7b7aa7a	1334	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	1335	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	62:851cf7b7aa7a	1336
Lightvalve	62:851cf7b7aa7a	1337	// velocity compensation for torque control
Lightvalve	62:851cf7b7aa7a	1338	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	62:851cf7b7aa7a	1339	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	62:851cf7b7aa7a	1340	// 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	1341	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	62:851cf7b7aa7a	1342	// L feedforward velocity
Lightvalve	62:851cf7b7aa7a	1343	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	62:851cf7b7aa7a	1344	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	1345	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	62:851cf7b7aa7a	1346	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	62:851cf7b7aa7a	1347	// L feedforward velocity
Lightvalve	62:851cf7b7aa7a	1348	}
Lightvalve	62:851cf7b7aa7a	1349	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	1350	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	62:851cf7b7aa7a	1351	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	62:851cf7b7aa7a	1352	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	62:851cf7b7aa7a	1353	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	62:851cf7b7aa7a	1354
Lightvalve	62:851cf7b7aa7a	1355	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	62:851cf7b7aa7a	1356
Lightvalve	62:851cf7b7aa7a	1357	// Anti-windup for FT
Lightvalve	62:851cf7b7aa7a	1358	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	62:851cf7b7aa7a	1359	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	62:851cf7b7aa7a	1360	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	62:851cf7b7aa7a	1361	if (I_REF > I_MAX) {
Lightvalve	62:851cf7b7aa7a	1362	double I_rem = I_REF - I_MAX;
Lightvalve	62:851cf7b7aa7a	1363	I_rem = Ka*I_rem;
Lightvalve	62:851cf7b7aa7a	1364	I_REF = I_MAX;
Lightvalve	62:851cf7b7aa7a	1365	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	1366	} else if (I_REF < -I_MAX) {
Lightvalve	62:851cf7b7aa7a	1367	double I_rem = I_REF - (-I_MAX);
Lightvalve	62:851cf7b7aa7a	1368	I_rem = Ka*I_rem;
Lightvalve	62:851cf7b7aa7a	1369	I_REF = -I_MAX;
Lightvalve	62:851cf7b7aa7a	1370	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	1371	}
Lightvalve	62:851cf7b7aa7a	1372	}
Lightvalve	62:851cf7b7aa7a	1373
Lightvalve	62:851cf7b7aa7a	1374	} else {
Lightvalve	62:851cf7b7aa7a	1375	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	62:851cf7b7aa7a	1376
Lightvalve	62:851cf7b7aa7a	1377	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	1378	+ 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	1379
Lightvalve	62:851cf7b7aa7a	1380	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	62:851cf7b7aa7a	1381	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	62:851cf7b7aa7a	1382	} else {
Lightvalve	62:851cf7b7aa7a	1383	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	62:851cf7b7aa7a	1384	}
Lightvalve	62:851cf7b7aa7a	1385
Lightvalve	62:851cf7b7aa7a	1386	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	62:851cf7b7aa7a	1387	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	62:851cf7b7aa7a	1388	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	62:851cf7b7aa7a	1389	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	62:851cf7b7aa7a	1390	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	62:851cf7b7aa7a	1391	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	62:851cf7b7aa7a	1392	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	1393	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	62:851cf7b7aa7a	1394	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	62:851cf7b7aa7a	1395	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	62:851cf7b7aa7a	1396	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	62:851cf7b7aa7a	1397	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	62:851cf7b7aa7a	1398	}
Lightvalve	62:851cf7b7aa7a	1399	}
Lightvalve	62:851cf7b7aa7a	1400
Lightvalve	62:851cf7b7aa7a	1401	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	62:851cf7b7aa7a	1402
Lightvalve	62:851cf7b7aa7a	1403	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	62:851cf7b7aa7a	1404	V_out = (float) Vout.ref;
Lightvalve	62:851cf7b7aa7a	1405
Lightvalve	62:851cf7b7aa7a	1406	}
Lightvalve	62:851cf7b7aa7a	1407
Lightvalve	62:851cf7b7aa7a	1408	break;
Lightvalve	62:851cf7b7aa7a	1409	}
Lightvalve	62:851cf7b7aa7a	1410
Lightvalve	62:851cf7b7aa7a	1411	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	62:851cf7b7aa7a	1412	V_out = (float) Vout.ref;
Lightvalve	62:851cf7b7aa7a	1413	break;
Lightvalve	62:851cf7b7aa7a	1414	}
Lightvalve	62:851cf7b7aa7a	1415
Lightvalve	12:6f2531038ea4	1416	default:
Lightvalve	12:6f2531038ea4	1417	break;
Lightvalve	12:6f2531038ea4	1418	}
Lightvalve	14:8e7590227d22	1419
Lightvalve	62:851cf7b7aa7a	1420
Lightvalve	62:851cf7b7aa7a	1421	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	62:851cf7b7aa7a	1422
Lightvalve	62:851cf7b7aa7a	1423	////////////////////////////////////////////////////////////////////////////
Lightvalve	62:851cf7b7aa7a	1424	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	62:851cf7b7aa7a	1425	////////////////////////////////////////////////////////////////////////////
Lightvalve	62:851cf7b7aa7a	1426	if (CURRENT_CONTROL_MODE) {
Lightvalve	62:851cf7b7aa7a	1427	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	62:851cf7b7aa7a	1428	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	62:851cf7b7aa7a	1429
Lightvalve	62:851cf7b7aa7a	1430	I_ERR = I_REF_fil - cur.sen;
Lightvalve	62:851cf7b7aa7a	1431	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	62:851cf7b7aa7a	1432
Lightvalve	62:851cf7b7aa7a	1433
Lightvalve	62:851cf7b7aa7a	1434	// Moog Valve Current Control Gain
Lightvalve	62:851cf7b7aa7a	1435	double R_model = 500.0f; // ohm
Lightvalve	62:851cf7b7aa7a	1436	double L_model = 1.2f;
Lightvalve	62:851cf7b7aa7a	1437	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	62:851cf7b7aa7a	1438	double KP_I = 0.1f * L_model*w0;
Lightvalve	62:851cf7b7aa7a	1439	double KI_I = 0.1f * R_model*w0;
Lightvalve	62:851cf7b7aa7a	1440
Lightvalve	62:851cf7b7aa7a	1441	// KNR Valve Current Control Gain
Lightvalve	62:851cf7b7aa7a	1442	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	62:851cf7b7aa7a	1443	R_model = 163.0f; // ohm
Lightvalve	62:851cf7b7aa7a	1444	L_model = 1.0f;
Lightvalve	62:851cf7b7aa7a	1445	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	62:851cf7b7aa7a	1446	KP_I = 1.0f * L_model*w0;
Lightvalve	62:851cf7b7aa7a	1447	KI_I = 0.08f * R_model*w0;
Lightvalve	62:851cf7b7aa7a	1448	}
Lightvalve	62:851cf7b7aa7a	1449
Lightvalve	62:851cf7b7aa7a	1450	double FF_gain = 1.0f;
Lightvalve	62:851cf7b7aa7a	1451
Lightvalve	62:851cf7b7aa7a	1452	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	62:851cf7b7aa7a	1453	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	62:851cf7b7aa7a	1454	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	62:851cf7b7aa7a	1455	I_REF_fil_old = I_REF_fil;
Lightvalve	62:851cf7b7aa7a	1456	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve	62:851cf7b7aa7a	1457	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	62:851cf7b7aa7a	1458	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	14:8e7590227d22	1459
Lightvalve	62:851cf7b7aa7a	1460	double Ka = 3.0f / KP_I;
Lightvalve	62:851cf7b7aa7a	1461	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	62:851cf7b7aa7a	1462	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	62:851cf7b7aa7a	1463	V_rem = Ka*V_rem;
Lightvalve	62:851cf7b7aa7a	1464	VALVE_PWM_RAW = V_MAX;
Lightvalve	62:851cf7b7aa7a	1465	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	62:851cf7b7aa7a	1466	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	62:851cf7b7aa7a	1467	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	62:851cf7b7aa7a	1468	V_rem = Ka*V_rem;
Lightvalve	62:851cf7b7aa7a	1469	VALVE_PWM_RAW = -V_MAX;
Lightvalve	62:851cf7b7aa7a	1470	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	62:851cf7b7aa7a	1471	}
Lightvalve	62:851cf7b7aa7a	1472	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	62:851cf7b7aa7a	1473	} else {
Lightvalve	62:851cf7b7aa7a	1474	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	62:851cf7b7aa7a	1475	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	62:851cf7b7aa7a	1476	}
Lightvalve	62:851cf7b7aa7a	1477
Lightvalve	62:851cf7b7aa7a	1478	////////////////////////////////////////////////////////////////////////////
Lightvalve	62:851cf7b7aa7a	1479	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	62:851cf7b7aa7a	1480	////////////////////////////////////////////////////////////////////////////
Lightvalve	62:851cf7b7aa7a	1481	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	62:851cf7b7aa7a	1482	if (FLAG_VALVE_DEADZONE) {
Lightvalve	62:851cf7b7aa7a	1483	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	62:851cf7b7aa7a	1484	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	62:851cf7b7aa7a	1485
Lightvalve	62:851cf7b7aa7a	1486	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	62:851cf7b7aa7a	1487
Lightvalve	62:851cf7b7aa7a	1488	} else {
Lightvalve	62:851cf7b7aa7a	1489	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	62:851cf7b7aa7a	1490	}
Lightvalve	62:851cf7b7aa7a	1491
Lightvalve	62:851cf7b7aa7a	1492	// Output Voltage Linearization
Lightvalve	62:851cf7b7aa7a	1493	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	62:851cf7b7aa7a	1494	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	62:851cf7b7aa7a	1495
Lightvalve	62:851cf7b7aa7a	1496	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	62:851cf7b7aa7a	1497	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	62:851cf7b7aa7a	1498	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	62:851cf7b7aa7a	1499	else V_out = (float) (CUR_PWM_lin);
Lightvalve	62:851cf7b7aa7a	1500	}
Lightvalve	62:851cf7b7aa7a	1501
Lightvalve	62:851cf7b7aa7a	1502	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	62:851cf7b7aa7a	1503	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	62:851cf7b7aa7a	1504	// else V_out = V_out;
Lightvalve	62:851cf7b7aa7a	1505
jobuuu	7:e9086c72bb22	1506	/*******************************************************
jobuuu	7:e9086c72bb22	1507	*** PWM
jobuuu	7:e9086c72bb22	1508	********************************************************/
Lightvalve	62:851cf7b7aa7a	1509	if(DIR_VALVE<0){
Lightvalve	62:851cf7b7aa7a	1510	V_out = -V_out;
Lightvalve	62:851cf7b7aa7a	1511	}
Lightvalve	62:851cf7b7aa7a	1512
Lightvalve	49:e7bcfc244d40	1513	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1514	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1515	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1516	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1517	}
Lightvalve	49:e7bcfc244d40	1518	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1519
Lightvalve	19:23b7c1ad8683	1520	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1521	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1522	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1523
Lightvalve	30:8d561f16383b	1524	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1525	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1526	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1527	} else {
jobuuu	2:a1c0a37df760	1528	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1529	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1530	}
Lightvalve	13:747daba9cf59	1531
jobuuu	1:e04e563be5ce	1532	//pwm
Lightvalve	30:8d561f16383b	1533	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1534	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1535
Lightvalve	20:806196fda269	1536
Lightvalve	62:851cf7b7aa7a	1537	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1538
Lightvalve	54:647072f5307a	1539	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1540	if (flag_data_request[0] == HIGH) {
Lightvalve	62:851cf7b7aa7a	1541	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1542	if (SENSING_MODE == 0) {
Lightvalve	59:0ad14153b58f	1543	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1544	} else if (SENSING_MODE == 1) {
Lightvalve	62:851cf7b7aa7a	1545	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	1546	}
Lightvalve	62:851cf7b7aa7a	1547	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1548	if (SENSING_MODE == 0) {
Lightvalve	62:851cf7b7aa7a	1549	CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen));
Lightvalve	54:647072f5307a	1550	} else if (SENSING_MODE == 1) {
Lightvalve	62:851cf7b7aa7a	1551	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	1552	}
Lightvalve	52:8ea76864368a	1553	}
Lightvalve	52:8ea76864368a	1554	}
Lightvalve	56:6f50d9d3bfee	1555	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1556	//valve position
Lightvalve	54:647072f5307a	1557	double t_value = 0;
Lightvalve	62:851cf7b7aa7a	1558	// if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	62:851cf7b7aa7a	1559	// t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	62:851cf7b7aa7a	1560	// } else {
Lightvalve	62:851cf7b7aa7a	1561	// t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	62:851cf7b7aa7a	1562	// }
Lightvalve	62:851cf7b7aa7a	1563	if(OPERATING_MODE==5) {
Lightvalve	62:851cf7b7aa7a	1564	t_value = (double) value;
Lightvalve	62:851cf7b7aa7a	1565	} else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	62:851cf7b7aa7a	1566	t_value = cur.sen;
Lightvalve	58:2eade98630e2	1567	} else {
Lightvalve	62:851cf7b7aa7a	1568	t_value = V_out;
Lightvalve	54:647072f5307a	1569	}
Lightvalve	62:851cf7b7aa7a	1570	CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve	62:851cf7b7aa7a	1571	//CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve	62:851cf7b7aa7a	1572	//CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve	54:647072f5307a	1573	}
Lightvalve	58:2eade98630e2	1574
Lightvalve	62:851cf7b7aa7a	1575
Lightvalve	56:6f50d9d3bfee	1576	if (flag_data_request[2] == HIGH) {
Lightvalve	56:6f50d9d3bfee	1577	//pressure A and B
Lightvalve	62:851cf7b7aa7a	1578	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve	62:851cf7b7aa7a	1579	}
Lightvalve	62:851cf7b7aa7a	1580
Lightvalve	62:851cf7b7aa7a	1581	//If it doesn't rest, below can can not work.
Lightvalve	62:851cf7b7aa7a	1582	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	62:851cf7b7aa7a	1583	;
Lightvalve	57:f4819de54e7a	1584	}
Lightvalve	58:2eade98630e2	1585
Lightvalve	56:6f50d9d3bfee	1586	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1587	//PWM
Lightvalve	62:851cf7b7aa7a	1588	CAN_TX_PWM((int16_t) value); //1500
Lightvalve	54:647072f5307a	1589	}
Lightvalve	62:851cf7b7aa7a	1590	//for (i = 0; i < 10000; i++) {
Lightvalve	62:851cf7b7aa7a	1591	// ;
Lightvalve	62:851cf7b7aa7a	1592	// }
Lightvalve	56:6f50d9d3bfee	1593	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1594	//valve position
Lightvalve	62:851cf7b7aa7a	1595	CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve	54:647072f5307a	1596	}
Lightvalve	20:806196fda269	1597
Lightvalve	54:647072f5307a	1598	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1599	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1600	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1601	// }
Lightvalve	54:647072f5307a	1602	//if (flag_delay_test == 1){
Lightvalve	62:851cf7b7aa7a	1603	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1604	//}
Lightvalve	52:8ea76864368a	1605
Lightvalve	54:647072f5307a	1606	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1607	}
Lightvalve	54:647072f5307a	1608	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1609
Lightvalve	20:806196fda269	1610	}
Lightvalve	52:8ea76864368a	1611	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1612
Lightvalve	59:0ad14153b58f	1613	}
Lightvalve	59:0ad14153b58f	1614
Lightvalve	62:851cf7b7aa7a	1615	void SystemClock_Config(void)
Lightvalve	62:851cf7b7aa7a	1616	{
Lightvalve	62:851cf7b7aa7a	1617	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	62:851cf7b7aa7a	1618	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	59:0ad14153b58f	1619
Lightvalve	62:851cf7b7aa7a	1620	/** Configure the main internal regulator output voltage
Lightvalve	62:851cf7b7aa7a	1621	*/
Lightvalve	62:851cf7b7aa7a	1622	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	62:851cf7b7aa7a	1623	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	62:851cf7b7aa7a	1624	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	62:851cf7b7aa7a	1625	*/
Lightvalve	62:851cf7b7aa7a	1626	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	62:851cf7b7aa7a	1627	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	62:851cf7b7aa7a	1628	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	62:851cf7b7aa7a	1629	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	62:851cf7b7aa7a	1630	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	62:851cf7b7aa7a	1631	RCC_OscInitStruct.PLL.PLLM = 8; //8
Lightvalve	62:851cf7b7aa7a	1632	RCC_OscInitStruct.PLL.PLLN = 180;//180
Lightvalve	62:851cf7b7aa7a	1633	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	62:851cf7b7aa7a	1634	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	62:851cf7b7aa7a	1635	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	62:851cf7b7aa7a	1636	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve	62:851cf7b7aa7a	1637	//Error_Handler();
Lightvalve	62:851cf7b7aa7a	1638	}
Lightvalve	62:851cf7b7aa7a	1639	/** Activate the Over-Drive mode
Lightvalve	62:851cf7b7aa7a	1640	*/
Lightvalve	62:851cf7b7aa7a	1641	if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve	62:851cf7b7aa7a	1642	//Error_Handler();
Lightvalve	62:851cf7b7aa7a	1643	}
Lightvalve	62:851cf7b7aa7a	1644	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	62:851cf7b7aa7a	1645	*/
Lightvalve	62:851cf7b7aa7a	1646	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	62:851cf7b7aa7a	1647	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	62:851cf7b7aa7a	1648	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	62:851cf7b7aa7a	1649	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	62:851cf7b7aa7a	1650	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	62:851cf7b7aa7a	1651	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	59:0ad14153b58f	1652
Lightvalve	62:851cf7b7aa7a	1653	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve	62:851cf7b7aa7a	1654	//Error_Handler();
Lightvalve	59:0ad14153b58f	1655	}
Lightvalve	62:851cf7b7aa7a	1656	HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
Lightvalve	62:851cf7b7aa7a	1657	HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_SYSCLK, RCC_MCODIV_2);
Lightvalve	62:851cf7b7aa7a	1658	}

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@62:851cf7b7aa7a, 2020-05-12 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning