Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

main.cpp@52:8ea76864368a, 2020-02-19 (annotated)

Committer:
Lightvalve
Date:
Wed Feb 19 05:48:57 2020 +0000
Revision:
52:8ea76864368a
Parent:
51:b46bed7fec80
Child:
53:4d66fb1c5dd9
Child:
54:647072f5307a
200219_2

Who changed what in which revision?

UserRevisionLine numberNew 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 30:8d561f16383b 67 float V_out=0.0f;
Lightvalve 30:8d561f16383b 68 float V_rem=0.0f; // for anti-windup
Lightvalve 30:8d561f16383b 69 float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 70
Lightvalve 30:8d561f16383b 71 float PWM_out=0.0f;
Lightvalve 12:6f2531038ea4 72
Lightvalve 17:1865016ca2e7 73 int timer_while = 0;
Lightvalve 17:1865016ca2e7 74 int while_index = 0;
Lightvalve 17:1865016ca2e7 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 78 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 79 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 80
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 87
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89 // =============================================================================
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91
Lightvalve 12:6f2531038ea4 92 /*******************************************************************************
Lightvalve 12:6f2531038ea4 93 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 94 ******************************************************************************/
Lightvalve 13:747daba9cf59 95 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 96 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 97 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 98 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 99 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 100 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 101 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 102 };
Lightvalve 12:6f2531038ea4 103
Lightvalve 12:6f2531038ea4 104 /*******************************************************************************
Lightvalve 12:6f2531038ea4 105 * CONTROL MODE
Lightvalve 12:6f2531038ea4 106 ******************************************************************************/
Lightvalve 13:747daba9cf59 107 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 108 //control mode
Lightvalve 12:6f2531038ea4 109 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 110 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 111 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 112
Lightvalve 47:fdcb8bd86fd6 113 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 114 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 122 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 123
Lightvalve 14:8e7590227d22 124 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 125 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 //utility
Lightvalve 12:6f2531038ea4 129 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 130 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 131 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 132 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 133 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 134 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 135 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 136
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 138 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 139 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 140 };
Lightvalve 12:6f2531038ea4 141
GiJeongKim 0:51c43836c1d7 142 int main()
GiJeongKim 0:51c43836c1d7 143 {
jobuuu 6:df07d3491e3a 144 /*********************************
jobuuu 1:e04e563be5ce 145 *** Initialization
jobuuu 6:df07d3491e3a 146 *********************************/
Lightvalve 19:23b7c1ad8683 147 //LED = 1;
Lightvalve 19:23b7c1ad8683 148 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 149
GiJeongKim 0:51c43836c1d7 150 // i2c init
Lightvalve 8:5d2eebdad025 151 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 152 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 153 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 154 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 155 make_delay();
jobuuu 2:a1c0a37df760 156
GiJeongKim 0:51c43836c1d7 157 // // spi init
Lightvalve 16:903b5a4433b4 158 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 159 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 160 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 161 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 162 make_delay();
Lightvalve 21:e5f1a43ea6f9 163
Lightvalve 16:903b5a4433b4 164 //rom
Lightvalve 19:23b7c1ad8683 165 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 166 make_delay();
Lightvalve 13:747daba9cf59 167
GiJeongKim 0:51c43836c1d7 168 // ADC init
jobuuu 5:a4319f79457b 169 Init_ADC();
Lightvalve 11:82d8768d7351 170 make_delay();
jobuuu 2:a1c0a37df760 171
GiJeongKim 0:51c43836c1d7 172 // Pwm init
GiJeongKim 0:51c43836c1d7 173 Init_PWM();
GiJeongKim 0:51c43836c1d7 174 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 175 make_delay();
Lightvalve 13:747daba9cf59 176
Lightvalve 11:82d8768d7351 177 // TMR3 init
Lightvalve 11:82d8768d7351 178 Init_TMR3();
Lightvalve 11:82d8768d7351 179 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 180 make_delay();
Lightvalve 21:e5f1a43ea6f9 181
Lightvalve 50:3c630b5eba9f 182 // TMR2 init
Lightvalve 52:8ea76864368a 183 // Init_TMR2();
Lightvalve 52:8ea76864368a 184 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 52:8ea76864368a 185 // make_delay();
Lightvalve 21:e5f1a43ea6f9 186
GiJeongKim 0:51c43836c1d7 187 // CAN
jobuuu 2:a1c0a37df760 188 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 189 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 190 make_delay();
Lightvalve 34:bb2ca2fc2a8e 191
Lightvalve 23:59218d4a256d 192 //Timer priority
Lightvalve 23:59218d4a256d 193 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 52:8ea76864368a 194 // NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 195 NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve 34:bb2ca2fc2a8e 196
Lightvalve 23:59218d4a256d 197 //can.reset();
Lightvalve 19:23b7c1ad8683 198 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 199
GiJeongKim 0:51c43836c1d7 200 // spi _ enc
GiJeongKim 0:51c43836c1d7 201 spi_enc_set_init();
Lightvalve 11:82d8768d7351 202 make_delay();
Lightvalve 13:747daba9cf59 203
Lightvalve 11:82d8768d7351 204 //DAC init
Lightvalve 43:b084e5f5d0d5 205 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 206 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 207 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 208 dac_2 = 0.0f;
Lightvalve 11:82d8768d7351 209 make_delay();
Lightvalve 13:747daba9cf59 210
Lightvalve 19:23b7c1ad8683 211 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 212 if(i%2==0)
Lightvalve 38:118df027d851 213 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 214 else
Lightvalve 38:118df027d851 215 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 216 }
Lightvalve 13:747daba9cf59 217
jobuuu 6:df07d3491e3a 218 /************************************
jobuuu 1:e04e563be5ce 219 *** Program is operating!
jobuuu 6:df07d3491e3a 220 *************************************/
GiJeongKim 0:51c43836c1d7 221 while(1) {
Lightvalve 21:e5f1a43ea6f9 222 if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 223 //i2c
Lightvalve 17:1865016ca2e7 224 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 225 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 19:23b7c1ad8683 226 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 227 // LED=0;
Lightvalve 19:23b7c1ad8683 228 // } else
Lightvalve 19:23b7c1ad8683 229 // LED = 1;
Lightvalve 17:1865016ca2e7 230 timer_while = 0;
Lightvalve 17:1865016ca2e7 231 }
Lightvalve 17:1865016ca2e7 232 timer_while ++;
GiJeongKim 0:51c43836c1d7 233 }
jobuuu 1:e04e563be5ce 234 }
jobuuu 1:e04e563be5ce 235
Lightvalve 33:91b17819ec30 236 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 237 {
Lightvalve 14:8e7590227d22 238
Lightvalve 13:747daba9cf59 239 int i = 0;
Lightvalve 48:889798ff9329 240 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 241 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 242 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 243 if(i==0) {
Lightvalve 50:3c630b5eba9f 244 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 38:118df027d851 245 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 50:3c630b5eba9f 246 } else {
Lightvalve 38:118df027d851 247 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 38:118df027d851 248 }
Lightvalve 14:8e7590227d22 249 } else {
Lightvalve 50:3c630b5eba9f 250 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 50:3c630b5eba9f 251 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 50:3c630b5eba9f 252 } else {
Lightvalve 38:118df027d851 253 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])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 254 }
Lightvalve 13:747daba9cf59 255 }
Lightvalve 13:747daba9cf59 256 break;
Lightvalve 13:747daba9cf59 257 }
Lightvalve 13:747daba9cf59 258 }
Lightvalve 14:8e7590227d22 259 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 260 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 261 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 262 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 263 }
Lightvalve 36:a46e63505ed8 264
Lightvalve 45:35fa6884d0c6 265 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER);
Lightvalve 13:747daba9cf59 266 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 267
Lightvalve 13:747daba9cf59 268 }
jobuuu 6:df07d3491e3a 269
jobuuu 6:df07d3491e3a 270
Lightvalve 30:8d561f16383b 271 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 272 {
Lightvalve 13:747daba9cf59 273 int i = 0;
Lightvalve 13:747daba9cf59 274
Lightvalve 38:118df027d851 275 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 276 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 277 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 278 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 279 }
Lightvalve 38:118df027d851 280
Lightvalve 13:747daba9cf59 281 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 282 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 283 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 284 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 285 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 286 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 287
Lightvalve 13:747daba9cf59 288 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 289
Lightvalve 18:b8adf1582ea3 290 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 291 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 292 if(i==0) {
Lightvalve 48:889798ff9329 293 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 294 } else {
Lightvalve 48:889798ff9329 295 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 296 }
Lightvalve 13:747daba9cf59 297 break;
Lightvalve 13:747daba9cf59 298 }
Lightvalve 13:747daba9cf59 299 }
Lightvalve 50:3c630b5eba9f 300 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 301 }
Lightvalve 13:747daba9cf59 302
Lightvalve 14:8e7590227d22 303 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 304 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 305 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 306 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 307 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 308 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 309 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 310 }; // duty
Lightvalve 30:8d561f16383b 311 float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve 34:bb2ca2fc2a8e 312 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 313 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 314 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 315 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 316 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 317 }; // mV
Lightvalve 13:747daba9cf59 318
Lightvalve 30:8d561f16383b 319 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 320 {
Lightvalve 30:8d561f16383b 321 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 322 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 323 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 324 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 325 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 326 } else {
Lightvalve 13:747daba9cf59 327 int idx = 0;
Lightvalve 13:747daba9cf59 328 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 329 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 330 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 331 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 332 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 333 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 334 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 335 break;
Lightvalve 13:747daba9cf59 336 }
Lightvalve 13:747daba9cf59 337 }
Lightvalve 13:747daba9cf59 338 }
Lightvalve 14:8e7590227d22 339
Lightvalve 13:747daba9cf59 340 return PWM_duty;
Lightvalve 13:747daba9cf59 341 }
jobuuu 6:df07d3491e3a 342
jobuuu 2:a1c0a37df760 343 /*******************************************************************************
jobuuu 2:a1c0a37df760 344 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 345 *******************************************************************************/
jobuuu 2:a1c0a37df760 346
Lightvalve 51:b46bed7fec80 347 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 348 float DT_TMR4 = (float)DT_20k;
jobuuu 1:e04e563be5ce 349 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 350 {
Lightvalve 23:59218d4a256d 351
Lightvalve 19:23b7c1ad8683 352 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 353
Lightvalve 21:e5f1a43ea6f9 354 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 355 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 356 ********************************************************/
Lightvalve 13:747daba9cf59 357
Lightvalve 19:23b7c1ad8683 358
Lightvalve 21:e5f1a43ea6f9 359 //Using LoadCell
Lightvalve 15:bd0d12728506 360 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 361 // //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 362 // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 363 // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve 30:8d561f16383b 364 // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 365
Lightvalve 19:23b7c1ad8683 366
Lightvalve 17:1865016ca2e7 367
Lightvalve 21:e5f1a43ea6f9 368 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 369 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 370 //while((ADC1->SR & 0b10));
Lightvalve 51:b46bed7fec80 371 float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 38:118df027d851 372 // float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 38:118df027d851 373 float pres_A_new = ((float)ADC1->DR);
Lightvalve 30:8d561f16383b 374 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 43:b084e5f5d0d5 375 torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 50:3c630b5eba9f 376
Lightvalve 19:23b7c1ad8683 377
Lightvalve 21:e5f1a43ea6f9 378 //Pressure sensor 1B
Lightvalve 38:118df027d851 379 //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 380 //float pres_B_new = ((float)ADC2->DR);
Lightvalve 38:118df027d851 381 //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 38:118df027d851 382 //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 383
Lightvalve 17:1865016ca2e7 384
Lightvalve 17:1865016ca2e7 385
Lightvalve 21:e5f1a43ea6f9 386 //Current
Lightvalve 21:e5f1a43ea6f9 387 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 388 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 389 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 390 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 391 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 392 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 393 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 394 //cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 395
Lightvalve 21:e5f1a43ea6f9 396 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 397 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 398 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 399 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 400 }
Lightvalve 11:82d8768d7351 401 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 402 }
Lightvalve 19:23b7c1ad8683 403
Lightvalve 19:23b7c1ad8683 404
Lightvalve 18:b8adf1582ea3 405 int j =0;
Lightvalve 19:23b7c1ad8683 406 //unsigned long CNT_TMR3 = 0;
Lightvalve 30:8d561f16383b 407 //float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 30:8d561f16383b 408 float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve 48:889798ff9329 409 float DT_TMR3 = (float)DT_5k;
Lightvalve 48:889798ff9329 410 //float DT_TMR3 = (float)DT_1k;
Lightvalve 45:35fa6884d0c6 411 int cnt_trans = 0;
Lightvalve 48:889798ff9329 412 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 48:889798ff9329 413
Lightvalve 11:82d8768d7351 414 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 415 {
Lightvalve 19:23b7c1ad8683 416 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 417 ENC_UPDATE();
Lightvalve 50:3c630b5eba9f 418
Lightvalve 50:3c630b5eba9f 419 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 420 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 421 cnt_trans++;
Lightvalve 46:2694daea349b 422 torq.err_sum = 0;
Lightvalve 48:889798ff9329 423 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 424 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 425 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 426 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 427 cnt_trans++;
Lightvalve 46:2694daea349b 428 torq.err_sum = 0;
Lightvalve 48:889798ff9329 429 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 430 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 431 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 45:35fa6884d0c6 432 alpha_trans = 1.0;
Lightvalve 45:35fa6884d0c6 433 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 434 } else {
Lightvalve 45:35fa6884d0c6 435 alpha_trans = 0.0;
Lightvalve 45:35fa6884d0c6 436 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 437 }
Lightvalve 45:35fa6884d0c6 438
Lightvalve 50:3c630b5eba9f 439
Lightvalve 13:747daba9cf59 440
Lightvalve 19:23b7c1ad8683 441 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 442
Lightvalve 14:8e7590227d22 443 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 444 case MODE_NO_ACT: {
Lightvalve 30:8d561f16383b 445 V_out = 0.0f;
Lightvalve 13:747daba9cf59 446 break;
Lightvalve 13:747daba9cf59 447 }
Lightvalve 14:8e7590227d22 448
Lightvalve 14:8e7590227d22 449 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 450 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 451 break;
Lightvalve 14:8e7590227d22 452 }
Lightvalve 14:8e7590227d22 453
Lightvalve 45:35fa6884d0c6 454 case MODE_JOINT_CONTROL: {
Lightvalve 50:3c630b5eba9f 455
Lightvalve 45:35fa6884d0c6 456 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 457
Lightvalve 45:35fa6884d0c6 458 pos.err = pos.ref - pos.sen; //[pulse]
Lightvalve 45:35fa6884d0c6 459 vel.err = vel.ref - vel.sen; //[pulse/s]
Lightvalve 48:889798ff9329 460 double torq_ref = 0.0f;
Lightvalve 48:889798ff9329 461 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 50:3c630b5eba9f 462
Lightvalve 45:35fa6884d0c6 463 // torque feedback
Lightvalve 48:889798ff9329 464 torq.err = torq_ref - torq.sen; //[pulse]
Lightvalve 45:35fa6884d0c6 465 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
Lightvalve 51:b46bed7fec80 466 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 51:b46bed7fec80 467 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 468
Lightvalve 14:8e7590227d22 469
Lightvalve 48:889798ff9329 470 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f
Lightvalve 50:3c630b5eba9f 471 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 14:8e7590227d22 472
Lightvalve 45:35fa6884d0c6 473 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 45:35fa6884d0c6 474 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 50:3c630b5eba9f 475 } else {
Lightvalve 45:35fa6884d0c6 476 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 45:35fa6884d0c6 477 }
Lightvalve 51:b46bed7fec80 478
Lightvalve 51:b46bed7fec80 479 if(I_GAIN_JOINT_TORQUE != 0){
Lightvalve 51:b46bed7fec80 480 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f;
Lightvalve 51:b46bed7fec80 481 if(valve_pos.ref>VALVE_MAX_POS){
Lightvalve 51:b46bed7fec80 482 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 51:b46bed7fec80 483 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 51:b46bed7fec80 484 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 51:b46bed7fec80 485 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 51:b46bed7fec80 486 }
Lightvalve 51:b46bed7fec80 487 else if(valve_pos.ref < VALVE_MIN_POS){
Lightvalve 51:b46bed7fec80 488 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 51:b46bed7fec80 489 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 51:b46bed7fec80 490 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 51:b46bed7fec80 491 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 51:b46bed7fec80 492 }
Lightvalve 51:b46bed7fec80 493 }
Lightvalve 51:b46bed7fec80 494
Lightvalve 45:35fa6884d0c6 495 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 496
Lightvalve 13:747daba9cf59 497 break;
Lightvalve 13:747daba9cf59 498 }
Lightvalve 50:3c630b5eba9f 499
Lightvalve 47:fdcb8bd86fd6 500 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 47:fdcb8bd86fd6 501 V_out = (float) Vout.ref;
Lightvalve 47:fdcb8bd86fd6 502 break;
Lightvalve 47:fdcb8bd86fd6 503 }
Lightvalve 14:8e7590227d22 504
Lightvalve 14:8e7590227d22 505 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 506 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 30:8d561f16383b 507 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 30:8d561f16383b 508 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 509 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 510 // feedback input for position control
Lightvalve 30:8d561f16383b 511 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 512 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 513 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 514 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 515 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 516 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 517 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum/(float) ENC_PULSE_PER_POSITION + (float) D_GAIN_JOINT_POSITION * pos.err_diff/(float) ENC_PULSE_PER_POSITION;
Lightvalve 14:8e7590227d22 518
Lightvalve 14:8e7590227d22 519
Lightvalve 13:747daba9cf59 520 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 521 // feedforward input for position control
Lightvalve 30:8d561f16383b 522 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 523 // float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 524 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 525 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 526 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 527
Lightvalve 38:118df027d851 528 //torque feedback
Lightvalve 38:118df027d851 529 torq.err = - torq.ref + torq.sen;
Lightvalve 38:118df027d851 530 torq.err_diff = torq.err - torq.err_old;
Lightvalve 38:118df027d851 531 torq.err_old = torq.err;
Lightvalve 38:118df027d851 532 torq.err_sum += torq.err;
Lightvalve 38:118df027d851 533 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 38:118df027d851 534 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 38:118df027d851 535 VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 38:118df027d851 536 VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve 14:8e7590227d22 537
Lightvalve 48:889798ff9329 538 // valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 48:889798ff9329 539 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref);
Lightvalve 34:bb2ca2fc2a8e 540
Lightvalve 45:35fa6884d0c6 541 if (valve_pos.ref >= 0) {
Lightvalve 45:35fa6884d0c6 542 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS;
Lightvalve 45:35fa6884d0c6 543 } else if(valve_pos.ref < 0) {
Lightvalve 45:35fa6884d0c6 544 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS;
Lightvalve 32:4b8c0fedaf2c 545 }
Lightvalve 14:8e7590227d22 546 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 547
Lightvalve 34:bb2ca2fc2a8e 548
Lightvalve 13:747daba9cf59 549 break;
Lightvalve 13:747daba9cf59 550 }
Lightvalve 14:8e7590227d22 551
Lightvalve 50:3c630b5eba9f 552 // case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 50:3c630b5eba9f 553 //
Lightvalve 50:3c630b5eba9f 554 // break;
Lightvalve 50:3c630b5eba9f 555 // }
Lightvalve 14:8e7590227d22 556
Lightvalve 50:3c630b5eba9f 557 // case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 50:3c630b5eba9f 558 // pos.err = pos.ref - (float) pos.sen;
Lightvalve 50:3c630b5eba9f 559 // pos.err_diff = pos.err - pos.err_old;
Lightvalve 50:3c630b5eba9f 560 // pos.err_old = pos.err;
Lightvalve 50:3c630b5eba9f 561 // pos.err_sum += pos.err;
Lightvalve 50:3c630b5eba9f 562 // if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 50:3c630b5eba9f 563 // if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 564 // VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 50:3c630b5eba9f 565 //
Lightvalve 50:3c630b5eba9f 566 // torq.err = torq.ref - torq.sen;
Lightvalve 50:3c630b5eba9f 567 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 50:3c630b5eba9f 568 // torq.err_old = torq.err;
Lightvalve 50:3c630b5eba9f 569 // torq.err_sum += torq.err;
Lightvalve 50:3c630b5eba9f 570 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 50:3c630b5eba9f 571 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 572 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 50:3c630b5eba9f 573 //
Lightvalve 50:3c630b5eba9f 574 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 50:3c630b5eba9f 575 //
Lightvalve 50:3c630b5eba9f 576 // V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 50:3c630b5eba9f 577 //
Lightvalve 50:3c630b5eba9f 578 // CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 50:3c630b5eba9f 579 // CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 50:3c630b5eba9f 580 // if (DIR_VALVE > 0) {
Lightvalve 50:3c630b5eba9f 581 // if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 50:3c630b5eba9f 582 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve 50:3c630b5eba9f 583 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve 50:3c630b5eba9f 584 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve 50:3c630b5eba9f 585 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve 50:3c630b5eba9f 586 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 50:3c630b5eba9f 587 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve 50:3c630b5eba9f 588 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve 50:3c630b5eba9f 589 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve 50:3c630b5eba9f 590 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve 50:3c630b5eba9f 591 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve 50:3c630b5eba9f 592 // else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 50:3c630b5eba9f 593 // else VALVE_FF_VOLTAGE = 0;
Lightvalve 50:3c630b5eba9f 594 // } else {
Lightvalve 50:3c630b5eba9f 595 // if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 50:3c630b5eba9f 596 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve 50:3c630b5eba9f 597 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve 50:3c630b5eba9f 598 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve 50:3c630b5eba9f 599 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve 50:3c630b5eba9f 600 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 50:3c630b5eba9f 601 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve 50:3c630b5eba9f 602 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve 50:3c630b5eba9f 603 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve 50:3c630b5eba9f 604 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve 50:3c630b5eba9f 605 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve 50:3c630b5eba9f 606 // else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 50:3c630b5eba9f 607 // else VALVE_FF_VOLTAGE = 0;
Lightvalve 50:3c630b5eba9f 608 // }
Lightvalve 50:3c630b5eba9f 609 // // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 50:3c630b5eba9f 610 //
Lightvalve 50:3c630b5eba9f 611 // if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve 50:3c630b5eba9f 612 // else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve 50:3c630b5eba9f 613 //
Lightvalve 50:3c630b5eba9f 614 // V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 50:3c630b5eba9f 615 // break;
Lightvalve 50:3c630b5eba9f 616 // }
Lightvalve 14:8e7590227d22 617
Lightvalve 50:3c630b5eba9f 618 // case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 50:3c630b5eba9f 619 //
Lightvalve 50:3c630b5eba9f 620 // pos.err = pos.ref - (float) pos.sen;
Lightvalve 50:3c630b5eba9f 621 // pos.err_diff = pos.err - pos.err_old;
Lightvalve 50:3c630b5eba9f 622 // pos.err_old = pos.err;
Lightvalve 50:3c630b5eba9f 623 // pos.err_sum += pos.err;
Lightvalve 50:3c630b5eba9f 624 // if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 50:3c630b5eba9f 625 // if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 626 // VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 50:3c630b5eba9f 627 //
Lightvalve 50:3c630b5eba9f 628 // torq.err = torq.ref - torq.sen;
Lightvalve 50:3c630b5eba9f 629 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 50:3c630b5eba9f 630 // torq.err_old = torq.err;
Lightvalve 50:3c630b5eba9f 631 // torq.err_sum += torq.err;
Lightvalve 50:3c630b5eba9f 632 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 50:3c630b5eba9f 633 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 50:3c630b5eba9f 634 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 50:3c630b5eba9f 635 //
Lightvalve 50:3c630b5eba9f 636 // valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 50:3c630b5eba9f 637 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 50:3c630b5eba9f 638 //
Lightvalve 50:3c630b5eba9f 639 // break;
Lightvalve 50:3c630b5eba9f 640 // }
Lightvalve 14:8e7590227d22 641
Lightvalve 50:3c630b5eba9f 642 // case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 50:3c630b5eba9f 643 //
Lightvalve 50:3c630b5eba9f 644 // break;
Lightvalve 50:3c630b5eba9f 645 // }
Lightvalve 14:8e7590227d22 646
Lightvalve 19:23b7c1ad8683 647
Lightvalve 50:3c630b5eba9f 648 // case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 50:3c630b5eba9f 649 // if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 650 // TMR3_COUNT_IREF = 0;
Lightvalve 50:3c630b5eba9f 651 // }
Lightvalve 50:3c630b5eba9f 652 // TMR3_COUNT_IREF++;
Lightvalve 50:3c630b5eba9f 653 //
Lightvalve 50:3c630b5eba9f 654 // // Set Current Reference
Lightvalve 50:3c630b5eba9f 655 // float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 50:3c630b5eba9f 656 // float I_REF_MID = 0.0f;
Lightvalve 50:3c630b5eba9f 657 // if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 50:3c630b5eba9f 658 // I_REF = I_REF_MID + 1.0f;
Lightvalve 50:3c630b5eba9f 659 // } else {
Lightvalve 50:3c630b5eba9f 660 // I_REF = I_REF_MID - 1.0f;
Lightvalve 50:3c630b5eba9f 661 // }
Lightvalve 50:3c630b5eba9f 662 //// float T = 1.0; // wave period
Lightvalve 50:3c630b5eba9f 663 //// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 50:3c630b5eba9f 664 //// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 50:3c630b5eba9f 665 //
Lightvalve 50:3c630b5eba9f 666 // if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 50:3c630b5eba9f 667 // //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 50:3c630b5eba9f 668 // }
Lightvalve 50:3c630b5eba9f 669 // break;
Lightvalve 50:3c630b5eba9f 670 // }
Lightvalve 19:23b7c1ad8683 671
Lightvalve 50:3c630b5eba9f 672 // case MODE_TEST_PWM_CONTROL: {
Lightvalve 50:3c630b5eba9f 673 // if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 674 // TMR3_COUNT_IREF = 0;
Lightvalve 50:3c630b5eba9f 675 // }
Lightvalve 50:3c630b5eba9f 676 // TMR3_COUNT_IREF++;
Lightvalve 50:3c630b5eba9f 677 //
Lightvalve 50:3c630b5eba9f 678 // // Set PWM reference
Lightvalve 50:3c630b5eba9f 679 // float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 50:3c630b5eba9f 680 // //float I_REF_MID = 0.0f;
Lightvalve 50:3c630b5eba9f 681 // if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 50:3c630b5eba9f 682 // CUR_PWM = 1000;
Lightvalve 50:3c630b5eba9f 683 // } else {
Lightvalve 50:3c630b5eba9f 684 // CUR_PWM = -1000;
Lightvalve 50:3c630b5eba9f 685 // }
Lightvalve 50:3c630b5eba9f 686 //
Lightvalve 50:3c630b5eba9f 687 // if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 50:3c630b5eba9f 688 // //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 50:3c630b5eba9f 689 // }
Lightvalve 50:3c630b5eba9f 690 // break;
Lightvalve 50:3c630b5eba9f 691 // }
Lightvalve 19:23b7c1ad8683 692
Lightvalve 19:23b7c1ad8683 693
Lightvalve 50:3c630b5eba9f 694 // case MODE_CURRENT_CONTROL: {
Lightvalve 50:3c630b5eba9f 695 //
Lightvalve 50:3c630b5eba9f 696 // cur.ref = cur.ref; // Unit : mA
Lightvalve 50:3c630b5eba9f 697 // CurrentControl();
Lightvalve 50:3c630b5eba9f 698 // break;
Lightvalve 50:3c630b5eba9f 699 // }
Lightvalve 19:23b7c1ad8683 700
Lightvalve 50:3c630b5eba9f 701 // case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 50:3c630b5eba9f 702 // float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 50:3c630b5eba9f 703 // float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 50:3c630b5eba9f 704 // float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 50:3c630b5eba9f 705 // float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 50:3c630b5eba9f 706 //
Lightvalve 50:3c630b5eba9f 707 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 708 // pos.err = pos.ref - pos.sen;
Lightvalve 50:3c630b5eba9f 709 // float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 50:3c630b5eba9f 710 // float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 50:3c630b5eba9f 711 // pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 50:3c630b5eba9f 712 // pos.err_old = pos.err;
Lightvalve 50:3c630b5eba9f 713 // I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 50:3c630b5eba9f 714 //
Lightvalve 50:3c630b5eba9f 715 // // feedforward input for position control
Lightvalve 50:3c630b5eba9f 716 // float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 717 // float K_ff = 1.3f;
Lightvalve 50:3c630b5eba9f 718 // float K_v = 0.0f;
Lightvalve 50:3c630b5eba9f 719 // if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 50:3c630b5eba9f 720 // if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 50:3c630b5eba9f 721 // I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 50:3c630b5eba9f 722 //
Lightvalve 50:3c630b5eba9f 723 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 724 // I_REF_FORCE_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 725 //
Lightvalve 50:3c630b5eba9f 726 // // feedforward input for position control
Lightvalve 50:3c630b5eba9f 727 // I_REF_FORCE_FF = 0.0f;
Lightvalve 50:3c630b5eba9f 728 //
Lightvalve 50:3c630b5eba9f 729 // cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 50:3c630b5eba9f 730 //
Lightvalve 50:3c630b5eba9f 731 // CurrentControl();
Lightvalve 50:3c630b5eba9f 732 //
Lightvalve 50:3c630b5eba9f 733 // break;
Lightvalve 50:3c630b5eba9f 734 // }
Lightvalve 19:23b7c1ad8683 735
Lightvalve 50:3c630b5eba9f 736 // case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 50:3c630b5eba9f 737 // //float T_REF = 0.0; // Torque Reference
Lightvalve 50:3c630b5eba9f 738 // float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 50:3c630b5eba9f 739 // float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 50:3c630b5eba9f 740 //
Lightvalve 50:3c630b5eba9f 741 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 742 // //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 743 // //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 744 // //float K_spring = 0.7f;
Lightvalve 50:3c630b5eba9f 745 // //float D_damper = 0.02f;
Lightvalve 50:3c630b5eba9f 746 //// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 50:3c630b5eba9f 747 //
Lightvalve 50:3c630b5eba9f 748 // // torque feedback
Lightvalve 50:3c630b5eba9f 749 // torq.err = torq.ref - torq.sen;
Lightvalve 50:3c630b5eba9f 750 // // torq.err_diff = torq.err - torq.err_old;
Lightvalve 50:3c630b5eba9f 751 // // torq.err_old = torq.err;
Lightvalve 50:3c630b5eba9f 752 // torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 753 // I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 50:3c630b5eba9f 754 //
Lightvalve 50:3c630b5eba9f 755 // // velocity compensation for torque control
Lightvalve 50:3c630b5eba9f 756 // float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 757 // float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 50:3c630b5eba9f 758 // float K_v = 0.0f; // Valve gain
Lightvalve 50:3c630b5eba9f 759 // if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 50:3c630b5eba9f 760 // if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 50:3c630b5eba9f 761 // I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 50:3c630b5eba9f 762 //
Lightvalve 50:3c630b5eba9f 763 // cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 50:3c630b5eba9f 764 // // cur.ref = I_REF_FORCE_FB;
Lightvalve 50:3c630b5eba9f 765 //
Lightvalve 50:3c630b5eba9f 766 // float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 50:3c630b5eba9f 767 // float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 50:3c630b5eba9f 768 // if(cur.ref > I_MAX) {
Lightvalve 50:3c630b5eba9f 769 // float I_rem = cur.ref-I_MAX;
Lightvalve 50:3c630b5eba9f 770 // I_rem = Ka*I_rem;
Lightvalve 50:3c630b5eba9f 771 // cur.ref = I_MAX;
Lightvalve 50:3c630b5eba9f 772 // torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 773 // } else if(cur.ref < -I_MAX) {
Lightvalve 50:3c630b5eba9f 774 // float I_rem = cur.ref-(-I_MAX);
Lightvalve 50:3c630b5eba9f 775 // I_rem = Ka*I_rem;
Lightvalve 50:3c630b5eba9f 776 // cur.ref = -I_MAX;
Lightvalve 50:3c630b5eba9f 777 // torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 778 // }
Lightvalve 50:3c630b5eba9f 779 //
Lightvalve 50:3c630b5eba9f 780 // CurrentControl();
Lightvalve 50:3c630b5eba9f 781 //
Lightvalve 50:3c630b5eba9f 782 //
Lightvalve 50:3c630b5eba9f 783 // /*
Lightvalve 50:3c630b5eba9f 784 // float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 50:3c630b5eba9f 785 // float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 50:3c630b5eba9f 786 // float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 50:3c630b5eba9f 787 // float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 50:3c630b5eba9f 788 //
Lightvalve 50:3c630b5eba9f 789 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 790 // pos.err = pos.ref - pos.sen;
Lightvalve 50:3c630b5eba9f 791 // float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 50:3c630b5eba9f 792 // float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 50:3c630b5eba9f 793 // pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 50:3c630b5eba9f 794 // pos.err_old = pos.err;
Lightvalve 50:3c630b5eba9f 795 // I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 50:3c630b5eba9f 796 //
Lightvalve 50:3c630b5eba9f 797 // // feedforward input for position control
Lightvalve 50:3c630b5eba9f 798 // float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 50:3c630b5eba9f 799 // float K_ff = 1.3f;
Lightvalve 50:3c630b5eba9f 800 // float K_v = 0.0f;
Lightvalve 50:3c630b5eba9f 801 // if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 50:3c630b5eba9f 802 // if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 50:3c630b5eba9f 803 // I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 50:3c630b5eba9f 804 //
Lightvalve 50:3c630b5eba9f 805 // // feedback input for position control
Lightvalve 50:3c630b5eba9f 806 // I_REF_FORCE_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 807 //
Lightvalve 50:3c630b5eba9f 808 // // feedforward input for position control
Lightvalve 50:3c630b5eba9f 809 // I_REF_FORCE_FF = 0.0f;
Lightvalve 50:3c630b5eba9f 810 //
Lightvalve 50:3c630b5eba9f 811 // cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 50:3c630b5eba9f 812 //
Lightvalve 50:3c630b5eba9f 813 // CurrentControl();
Lightvalve 50:3c630b5eba9f 814 // */
Lightvalve 50:3c630b5eba9f 815 //
Lightvalve 50:3c630b5eba9f 816 // break;
Lightvalve 50:3c630b5eba9f 817 // }
Lightvalve 14:8e7590227d22 818
Lightvalve 14:8e7590227d22 819 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 820 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 821 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 822 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 823
Lightvalve 14:8e7590227d22 824 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 825 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 826 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 827
Lightvalve 43:b084e5f5d0d5 828 TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 829
Lightvalve 30:8d561f16383b 830 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 831 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 50:3c630b5eba9f 832
Lightvalve 16:903b5a4433b4 833 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 834 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 835 }
Lightvalve 13:747daba9cf59 836 } else {
Lightvalve 13:747daba9cf59 837 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 838 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 839 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 840 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 841
Lightvalve 16:903b5a4433b4 842 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 843
Lightvalve 16:903b5a4433b4 844 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 845
Lightvalve 17:1865016ca2e7 846 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 847 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 848
Lightvalve 13:747daba9cf59 849 }
Lightvalve 14:8e7590227d22 850 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 851 break;
Lightvalve 50:3c630b5eba9f 852
Lightvalve 50:3c630b5eba9f 853
Lightvalve 50:3c630b5eba9f 854
Lightvalve 50:3c630b5eba9f 855 // // DAC Voltage reference set
Lightvalve 43:b084e5f5d0d5 856 // if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 43:b084e5f5d0d5 857 // CUR_PRES_A_sum += pres_A.sen;
Lightvalve 43:b084e5f5d0d5 858 // CUR_PRES_B_sum += pres_B.sen;
Lightvalve 43:b084e5f5d0d5 859 //
Lightvalve 43:b084e5f5d0d5 860 // if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 43:b084e5f5d0d5 861 // CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 862 // CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 863 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 864 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 865 //
Lightvalve 43:b084e5f5d0d5 866 // float VREF_NullingGain = 0.0003f;
Lightvalve 43:b084e5f5d0d5 867 // PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 43:b084e5f5d0d5 868 // PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 43:b084e5f5d0d5 869 //
Lightvalve 43:b084e5f5d0d5 870 // if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 871 // if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 872 // if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 873 // if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 874 //
Lightvalve 43:b084e5f5d0d5 875 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 876 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 877 // }
Lightvalve 43:b084e5f5d0d5 878 // } else {
Lightvalve 43:b084e5f5d0d5 879 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 43:b084e5f5d0d5 880 // TMR3_COUNT_PRES_NULL = 0;
Lightvalve 43:b084e5f5d0d5 881 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 882 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 883 // CUR_PRES_A_mean = 0;
Lightvalve 43:b084e5f5d0d5 884 // CUR_PRES_B_mean = 0;
Lightvalve 43:b084e5f5d0d5 885 //
Lightvalve 43:b084e5f5d0d5 886 // ROM_RESET_DATA();
Lightvalve 43:b084e5f5d0d5 887 //
Lightvalve 43:b084e5f5d0d5 888 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 889 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 890 // //pc.printf("nulling end");
Lightvalve 43:b084e5f5d0d5 891 // }
Lightvalve 43:b084e5f5d0d5 892 // TMR3_COUNT_PRES_NULL++;
Lightvalve 43:b084e5f5d0d5 893 // break;
Lightvalve 50:3c630b5eba9f 894
Lightvalve 50:3c630b5eba9f 895
Lightvalve 50:3c630b5eba9f 896
Lightvalve 50:3c630b5eba9f 897
Lightvalve 50:3c630b5eba9f 898
Lightvalve 19:23b7c1ad8683 899 }
Lightvalve 14:8e7590227d22 900
Lightvalve 50:3c630b5eba9f 901 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 902 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 903 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 904 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 905 // }
Lightvalve 50:3c630b5eba9f 906 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 907 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 908 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 909 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 910 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 911 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 912 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 913 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 914 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 915 // }
Lightvalve 50:3c630b5eba9f 916 //
Lightvalve 50:3c630b5eba9f 917 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 918 // 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 919 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 920 //
Lightvalve 50:3c630b5eba9f 921 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 922 // V_out = 0;
Lightvalve 50:3c630b5eba9f 923 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 924 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 925 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 926 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 927 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 928 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 929 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 930 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 931 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 932 //
Lightvalve 50:3c630b5eba9f 933 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 934 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 935 // // | / | / |/
Lightvalve 50:3c630b5eba9f 936 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 937 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 938 // // /| / | / |
Lightvalve 50:3c630b5eba9f 939 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 940 //
Lightvalve 50:3c630b5eba9f 941 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 942 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 943 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 944 // } else {
Lightvalve 50:3c630b5eba9f 945 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 946 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 947 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 948 // }
Lightvalve 50:3c630b5eba9f 949 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 950 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 951 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 952 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 953 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 954 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 955 // }
Lightvalve 50:3c630b5eba9f 956 // } else {
Lightvalve 50:3c630b5eba9f 957 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 958 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 959 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 960 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 961 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 962 // }
Lightvalve 50:3c630b5eba9f 963 // V_out = 0;
Lightvalve 50:3c630b5eba9f 964 //
Lightvalve 50:3c630b5eba9f 965 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 966 //
Lightvalve 50:3c630b5eba9f 967 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 968 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 969 //
Lightvalve 50:3c630b5eba9f 970 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 971 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 972 // }
Lightvalve 50:3c630b5eba9f 973 // }
Lightvalve 50:3c630b5eba9f 974 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 975 // break;
Lightvalve 50:3c630b5eba9f 976 // }
Lightvalve 14:8e7590227d22 977
Lightvalve 14:8e7590227d22 978 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 979 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 980 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 981 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 982 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 983 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 984 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 985 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 40:3f2c0619c8c4 986 CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
Lightvalve 29:69f3f5445d6d 987 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 988 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 989 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 990 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 991 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 992 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 993 }
Lightvalve 29:69f3f5445d6d 994 cnt_findhome++;
Lightvalve 30:8d561f16383b 995 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 996
Lightvalve 29:69f3f5445d6d 997 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 998 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 999 } else {
Lightvalve 29:69f3f5445d6d 1000 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1001 }
Lightvalve 19:23b7c1ad8683 1002
Lightvalve 30:8d561f16383b 1003 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1004 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 1005 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 1006 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 1007 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 1008 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 1009 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 29:69f3f5445d6d 1010 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1011 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 1012
Lightvalve 30:8d561f16383b 1013 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1014 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 1015 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 1016 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 1017 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 1018 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 1019 } else {
Lightvalve 29:69f3f5445d6d 1020 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 1021 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1022 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1023 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1024 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1025 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1026 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1027 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1028 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1029 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 1030 }
Lightvalve 29:69f3f5445d6d 1031 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1032 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 1033 pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 30:8d561f16383b 1034 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 1035
Lightvalve 29:69f3f5445d6d 1036 // input for position control
Lightvalve 40:3f2c0619c8c4 1037 pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve 30:8d561f16383b 1038 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 1039 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 29:69f3f5445d6d 1040 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1041 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1042
Lightvalve 29:69f3f5445d6d 1043 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1044 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1045 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1046 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1047 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1048 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1049 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1050 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1051 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 48:889798ff9329 1052 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1053 }
Lightvalve 13:747daba9cf59 1054 }
Lightvalve 19:23b7c1ad8683 1055
Lightvalve 13:747daba9cf59 1056 break;
Lightvalve 13:747daba9cf59 1057 }
Lightvalve 14:8e7590227d22 1058
Lightvalve 50:3c630b5eba9f 1059 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1060 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1061 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1062 // else {
Lightvalve 50:3c630b5eba9f 1063 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1064 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1065 // }
Lightvalve 50:3c630b5eba9f 1066 // }
Lightvalve 50:3c630b5eba9f 1067 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1068 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1069 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1070 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1071 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1072 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1073 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1074 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1075 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1076 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1077 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1078 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1079 // }
Lightvalve 50:3c630b5eba9f 1080 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1081 // }
Lightvalve 50:3c630b5eba9f 1082 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1083 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1084 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1085 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1086 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1087 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1088 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1089 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1090 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1091 // // 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 1092 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1093 // }
Lightvalve 50:3c630b5eba9f 1094 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1095 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1096 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1097 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1098 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1099 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1100 // 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 1101 // // 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 1102 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1103 // }
Lightvalve 50:3c630b5eba9f 1104 // }
Lightvalve 50:3c630b5eba9f 1105 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1106 //
Lightvalve 50:3c630b5eba9f 1107 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1108 //
Lightvalve 50:3c630b5eba9f 1109 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1110 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1111 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1112 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1113 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1114 // }
Lightvalve 50:3c630b5eba9f 1115 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1116 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1117 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1118 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1119 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1120 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1121 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1122 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1123 // }
Lightvalve 50:3c630b5eba9f 1124 //
Lightvalve 50:3c630b5eba9f 1125 // }
Lightvalve 50:3c630b5eba9f 1126 // break;
Lightvalve 50:3c630b5eba9f 1127 // }
Lightvalve 50:3c630b5eba9f 1128 //
Lightvalve 50:3c630b5eba9f 1129 // }
Lightvalve 14:8e7590227d22 1130
Lightvalve 14:8e7590227d22 1131 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1132 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1133 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1134 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1135 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1136
Lightvalve 14:8e7590227d22 1137 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1138 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1139 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1140 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1141 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1142
Lightvalve 38:118df027d851 1143 float VREF_NullingGain = 0.0003f;
Lightvalve 38:118df027d851 1144 PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 38:118df027d851 1145 PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1146
Lightvalve 30:8d561f16383b 1147 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1148 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1149 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1150 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1151
Lightvalve 30:8d561f16383b 1152 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1153 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1154 }
Lightvalve 13:747daba9cf59 1155 } else {
Lightvalve 13:747daba9cf59 1156 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1157 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1158 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1159 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1160 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1161 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1162
Lightvalve 16:903b5a4433b4 1163 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1164
Lightvalve 30:8d561f16383b 1165 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1166 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1167 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1168 }
Lightvalve 14:8e7590227d22 1169 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1170 break;
Lightvalve 13:747daba9cf59 1171 }
Lightvalve 14:8e7590227d22 1172
Lightvalve 50:3c630b5eba9f 1173 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1174 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1175 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1176 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1177 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1178 // }
Lightvalve 50:3c630b5eba9f 1179 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1180 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1181 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1182 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1183 // }
Lightvalve 50:3c630b5eba9f 1184 // } else {
Lightvalve 50:3c630b5eba9f 1185 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1186 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1187 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1188 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1189 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1190 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1191 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1192 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1193 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1194 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1195 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1196 //
Lightvalve 50:3c630b5eba9f 1197 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1198 //
Lightvalve 50:3c630b5eba9f 1199 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1200 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1201 // }
Lightvalve 50:3c630b5eba9f 1202 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1203 // break;
Lightvalve 50:3c630b5eba9f 1204 // }
Lightvalve 19:23b7c1ad8683 1205
Lightvalve 50:3c630b5eba9f 1206 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1207 // 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 1208 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1209 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1210 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1211 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1212 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1213 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1214 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1215 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1216 // }
Lightvalve 50:3c630b5eba9f 1217 // break;
Lightvalve 50:3c630b5eba9f 1218 // }
Lightvalve 14:8e7590227d22 1219
Lightvalve 14:8e7590227d22 1220 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1221 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1222
Lightvalve 14:8e7590227d22 1223 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1224 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1225 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1226 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1227 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1228 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1229 data_num = 0;
Lightvalve 14:8e7590227d22 1230 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1231 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1232 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1233 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1234 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1235 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1236 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1237 }
Lightvalve 14:8e7590227d22 1238
Lightvalve 17:1865016ca2e7 1239 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1240 int i;
Lightvalve 13:747daba9cf59 1241 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1242 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1243 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1244 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1245 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1246 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1247 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1248 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1249 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1250 }
Lightvalve 13:747daba9cf59 1251 }
Lightvalve 27:a2254a485f23 1252 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1253 ID_index = 0;
Lightvalve 13:747daba9cf59 1254 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1255 }
Lightvalve 14:8e7590227d22 1256
Lightvalve 14:8e7590227d22 1257
Lightvalve 13:747daba9cf59 1258 break;
Lightvalve 13:747daba9cf59 1259 }
Lightvalve 14:8e7590227d22 1260
Lightvalve 14:8e7590227d22 1261 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1262
Lightvalve 13:747daba9cf59 1263 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1264 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1265 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1266 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1267 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1268 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1269 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1270 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1271 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1272 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1273 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1274 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1275 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1276 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 30:8d561f16383b 1277 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1278 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 13:747daba9cf59 1279 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1280 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1281 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1282 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 13:747daba9cf59 1283 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1284 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1285 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1286 data_num = 0;
Lightvalve 14:8e7590227d22 1287
Lightvalve 30:8d561f16383b 1288 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1289 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1290 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1291
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1293 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1294 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1295 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1296 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1297 else
Lightvalve 13:747daba9cf59 1298 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1299 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1300 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1301 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1302 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1303
Lightvalve 14:8e7590227d22 1304 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1305 DZ_case = 1;
Lightvalve 14:8e7590227d22 1306 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1307 DZ_case = -1;
Lightvalve 14:8e7590227d22 1308 } else {
Lightvalve 13:747daba9cf59 1309 DZ_case = 0;
Lightvalve 13:747daba9cf59 1310 }
Lightvalve 14:8e7590227d22 1311
Lightvalve 49:e7bcfc244d40 1312 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1313
Lightvalve 14:8e7590227d22 1314 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1315 first_check = 1;
Lightvalve 13:747daba9cf59 1316 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1317 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1318 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1319 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1320 DZ_index = 1;
Lightvalve 14:8e7590227d22 1321
Lightvalve 13:747daba9cf59 1322 }
Lightvalve 19:23b7c1ad8683 1323 } else {
Lightvalve 14:8e7590227d22 1324 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1325 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1326 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 30:8d561f16383b 1327 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1328 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1329 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1330 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1331 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1332 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1333 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1334 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1335 }
Lightvalve 14:8e7590227d22 1336 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1337 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1338 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1339 else
Lightvalve 13:747daba9cf59 1340 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1341 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1342 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1343 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1344
Lightvalve 14:8e7590227d22 1345 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1346 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1347 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1348 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1349 } else {
Lightvalve 13:747daba9cf59 1350 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1351 }
Lightvalve 14:8e7590227d22 1352
Lightvalve 14:8e7590227d22 1353 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1354
Lightvalve 13:747daba9cf59 1355 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1356 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1357 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1358 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1359 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1360 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1361 DZ_index = 1;
Lightvalve 13:747daba9cf59 1362 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1363 }
Lightvalve 13:747daba9cf59 1364 }
Lightvalve 14:8e7590227d22 1365 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1366 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1367 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 30:8d561f16383b 1368 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1369 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1370 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1371 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1372 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1373 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1374 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1375 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1376 }
Lightvalve 14:8e7590227d22 1377 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1378 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1379 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1380 else
Lightvalve 13:747daba9cf59 1381 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1382 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1383 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1384 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1385
Lightvalve 14:8e7590227d22 1386 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1387 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1388 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1389 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1390 } else {
Lightvalve 13:747daba9cf59 1391 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1392 }
Lightvalve 14:8e7590227d22 1393
Lightvalve 14:8e7590227d22 1394 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1395
Lightvalve 14:8e7590227d22 1396
Lightvalve 13:747daba9cf59 1397 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1398 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1399 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1400 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1401 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1402 first_check = 0;
Lightvalve 33:91b17819ec30 1403 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1404 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1405
Lightvalve 16:903b5a4433b4 1406 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1407
Lightvalve 13:747daba9cf59 1408 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1409 DZ_index = 1;
Lightvalve 13:747daba9cf59 1410 }
Lightvalve 13:747daba9cf59 1411 }
Lightvalve 14:8e7590227d22 1412 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1413 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1414 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 30:8d561f16383b 1415 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1416 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1417 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1418 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1419 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1420 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1421 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1422 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1423 }
Lightvalve 14:8e7590227d22 1424 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1425 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1426 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1427 else
Lightvalve 13:747daba9cf59 1428 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1429 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1430 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1431 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1432
Lightvalve 14:8e7590227d22 1433 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1434 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1435 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1436 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1437 } else {
Lightvalve 13:747daba9cf59 1438 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1439 }
Lightvalve 14:8e7590227d22 1440
Lightvalve 14:8e7590227d22 1441 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1442 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1443 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1444 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1445 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1446 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1447 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1448 DZ_index = 1;
Lightvalve 13:747daba9cf59 1449 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1450 }
Lightvalve 13:747daba9cf59 1451 }
Lightvalve 14:8e7590227d22 1452 } else {
Lightvalve 30:8d561f16383b 1453 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1454 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 30:8d561f16383b 1455 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1456 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1457 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1458 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1459 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1460 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1461 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1462 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1463 }
Lightvalve 14:8e7590227d22 1464 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1465 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1466 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1467 else
Lightvalve 13:747daba9cf59 1468 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1469 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1470 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1471 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1472 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1473 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1474 else
Lightvalve 13:747daba9cf59 1475 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1476 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1477 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1478
Lightvalve 14:8e7590227d22 1479 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1480
Lightvalve 14:8e7590227d22 1481
Lightvalve 13:747daba9cf59 1482 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1483 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1484 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1485 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1486 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1487 first_check = 0;
Lightvalve 33:91b17819ec30 1488 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1489 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1490
Lightvalve 13:747daba9cf59 1491 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1492 DZ_index = 1;
Lightvalve 13:747daba9cf59 1493 }
Lightvalve 13:747daba9cf59 1494 }
Lightvalve 13:747daba9cf59 1495 }
Lightvalve 14:8e7590227d22 1496 }
Lightvalve 13:747daba9cf59 1497 break;
Lightvalve 13:747daba9cf59 1498 }
Lightvalve 14:8e7590227d22 1499
Lightvalve 14:8e7590227d22 1500 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1501 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1502 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1503 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1504 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1505 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1506 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1507 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1508 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1509 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1510 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1511 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1512 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1513 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 49:e7bcfc244d40 1514 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1515 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1516 first_check = 1;
Lightvalve 13:747daba9cf59 1517 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1518 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1519 ID_index = 0;
Lightvalve 13:747daba9cf59 1520 max_check = 0;
Lightvalve 13:747daba9cf59 1521 min_check = 0;
Lightvalve 13:747daba9cf59 1522 }
Lightvalve 14:8e7590227d22 1523 } else {
Lightvalve 30:8d561f16383b 1524 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1525 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 30:8d561f16383b 1526 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1527 data_num = 0;
Lightvalve 33:91b17819ec30 1528 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1529
Lightvalve 14:8e7590227d22 1530 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1531 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1532 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 33:91b17819ec30 1533 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1534 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1535 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1536 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1537 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1538 one_period_end = 1;
Lightvalve 13:747daba9cf59 1539 }
Lightvalve 30:8d561f16383b 1540 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1541 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1542 one_period_end = 1;
Lightvalve 13:747daba9cf59 1543 }
Lightvalve 14:8e7590227d22 1544
Lightvalve 14:8e7590227d22 1545 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1546 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1547 max_check = 1;
Lightvalve 14:8e7590227d22 1548 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1549 min_check = 1;
Lightvalve 13:747daba9cf59 1550 }
Lightvalve 13:747daba9cf59 1551 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1552
Lightvalve 19:23b7c1ad8683 1553 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1554 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1555 one_period_end = 0;
Lightvalve 13:747daba9cf59 1556 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1557 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1558 }
Lightvalve 14:8e7590227d22 1559
Lightvalve 14:8e7590227d22 1560 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1561
Lightvalve 13:747daba9cf59 1562 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1563 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1564 ID_index = 0;
Lightvalve 13:747daba9cf59 1565 first_check = 0;
Lightvalve 13:747daba9cf59 1566 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1567 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1568 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1569 }
Lightvalve 13:747daba9cf59 1570 }
Lightvalve 13:747daba9cf59 1571 break;
Lightvalve 13:747daba9cf59 1572 }
Lightvalve 14:8e7590227d22 1573
Lightvalve 12:6f2531038ea4 1574 default:
Lightvalve 12:6f2531038ea4 1575 break;
Lightvalve 12:6f2531038ea4 1576 }
Lightvalve 14:8e7590227d22 1577
Lightvalve 50:3c630b5eba9f 1578 // if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 50:3c630b5eba9f 1579 // // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 50:3c630b5eba9f 1580 // // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 50:3c630b5eba9f 1581 // // if (V_out > 0.) {
Lightvalve 50:3c630b5eba9f 1582 // // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 50:3c630b5eba9f 1583 // // } else if (V_out < 0.) {
Lightvalve 50:3c630b5eba9f 1584 // // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 50:3c630b5eba9f 1585 // // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1586 // // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 50:3c630b5eba9f 1587 //
Lightvalve 50:3c630b5eba9f 1588 // if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 50:3c630b5eba9f 1589 // else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 50:3c630b5eba9f 1590 //
Lightvalve 50:3c630b5eba9f 1591 // VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 1592 //
Lightvalve 50:3c630b5eba9f 1593 // // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 50:3c630b5eba9f 1594 // float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 50:3c630b5eba9f 1595 // float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 50:3c630b5eba9f 1596 //
Lightvalve 50:3c630b5eba9f 1597 // if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 50:3c630b5eba9f 1598 // else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 50:3c630b5eba9f 1599 // else V_out = CUR_PWM_DZ;
Lightvalve 50:3c630b5eba9f 1600 // } else {
Lightvalve 50:3c630b5eba9f 1601 // V_out = V_out;
Lightvalve 50:3c630b5eba9f 1602 // }
Lightvalve 14:8e7590227d22 1603
jobuuu 7:e9086c72bb22 1604 /*******************************************************
jobuuu 7:e9086c72bb22 1605 *** PWM
jobuuu 7:e9086c72bb22 1606 ********************************************************/
Lightvalve 49:e7bcfc244d40 1607 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1608 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1609 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1610 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1611 }
Lightvalve 49:e7bcfc244d40 1612 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1613
jobuuu 2:a1c0a37df760 1614 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1615 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1616 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1617
Lightvalve 19:23b7c1ad8683 1618 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1619 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1620 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1621
Lightvalve 30:8d561f16383b 1622 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1623 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1624 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1625 } else {
jobuuu 2:a1c0a37df760 1626 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1627 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1628 }
Lightvalve 13:747daba9cf59 1629
jobuuu 1:e04e563be5ce 1630 //pwm
Lightvalve 30:8d561f16383b 1631 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1632 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1633
Lightvalve 20:806196fda269 1634
Lightvalve 20:806196fda269 1635
Lightvalve 52:8ea76864368a 1636
Lightvalve 52:8ea76864368a 1637 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 21:e5f1a43ea6f9 1638
Lightvalve 52:8ea76864368a 1639 // Position, Velocity, and Torque (ID:1200)
Lightvalve 20:806196fda269 1640 if (flag_data_request[0] == HIGH) {
Lightvalve 52:8ea76864368a 1641 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 52:8ea76864368a 1642 if (SENSING_MODE == 0) {
Lightvalve 52:8ea76864368a 1643 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 52:8ea76864368a 1644 } else if (SENSING_MODE == 1) {
Lightvalve 52:8ea76864368a 1645 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
Lightvalve 52:8ea76864368a 1646 }
Lightvalve 52:8ea76864368a 1647 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 52:8ea76864368a 1648 if (SENSING_MODE == 0) {
Lightvalve 52:8ea76864368a 1649 CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 52:8ea76864368a 1650 } else if (SENSING_MODE == 1) {
Lightvalve 52:8ea76864368a 1651 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
Lightvalve 52:8ea76864368a 1652 }
Lightvalve 52:8ea76864368a 1653 }
Lightvalve 20:806196fda269 1654 }
Lightvalve 20:806196fda269 1655 if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1656 //valve position
Lightvalve 48:889798ff9329 1657 double t_value = 0;
Lightvalve 50:3c630b5eba9f 1658 if(value>=DDV_CENTER) {
Lightvalve 48:889798ff9329 1659 t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 50:3c630b5eba9f 1660 } else {
Lightvalve 48:889798ff9329 1661 t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 48:889798ff9329 1662 }
Lightvalve 48:889798ff9329 1663 CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve 20:806196fda269 1664 }
Lightvalve 20:806196fda269 1665
Lightvalve 20:806196fda269 1666 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1667 //pressure A and B
Lightvalve 50:3c630b5eba9f 1668 CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1669 }
Lightvalve 20:806196fda269 1670
Lightvalve 20:806196fda269 1671 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1672 //PWM
Lightvalve 48:889798ff9329 1673 CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 20:806196fda269 1674 }
Lightvalve 20:806196fda269 1675
Lightvalve 20:806196fda269 1676 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1677 //valve position
Lightvalve 48:889798ff9329 1678 CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve 52:8ea76864368a 1679 }
Lightvalve 20:806196fda269 1680
Lightvalve 52:8ea76864368a 1681 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1682 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1683 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1684 // }
Lightvalve 52:8ea76864368a 1685
Lightvalve 52:8ea76864368a 1686 TMR2_COUNT_CAN_TX = 0;
Lightvalve 52:8ea76864368a 1687 }
Lightvalve 52:8ea76864368a 1688
Lightvalve 50:3c630b5eba9f 1689
Lightvalve 20:806196fda269 1690
Lightvalve 20:806196fda269 1691 }
Lightvalve 52:8ea76864368a 1692 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1693
Lightvalve 20:806196fda269 1694 }
Lightvalve 20:806196fda269 1695
Lightvalve 20:806196fda269 1696
Lightvalve 20:806196fda269 1697
Lightvalve 52:8ea76864368a 1698 //unsigned long CNT_TMR5 = 0;
Lightvalve 52:8ea76864368a 1699 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 52:8ea76864368a 1700 //float DT_TMR5 = (float)DT_500;
Lightvalve 52:8ea76864368a 1701 //extern "C" void TIM2_IRQHandler(void)
Lightvalve 52:8ea76864368a 1702 //{
Lightvalve 52:8ea76864368a 1703 // LED = 1;
Lightvalve 52:8ea76864368a 1704 // if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 52:8ea76864368a 1705 //
Lightvalve 52:8ea76864368a 1706 // //CAN ----------------------------------------------------------------------
Lightvalve 52:8ea76864368a 1707 // if (flag_data_request[0] == HIGH) {
Lightvalve 52:8ea76864368a 1708 // //position+velocity
Lightvalve 52:8ea76864368a 1709 // CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 52:8ea76864368a 1710 // }
Lightvalve 52:8ea76864368a 1711 //
Lightvalve 52:8ea76864368a 1712 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1713 // //valve position
Lightvalve 52:8ea76864368a 1714 // double t_value = 0;
Lightvalve 52:8ea76864368a 1715 // if(value>=DDV_CENTER) {
Lightvalve 52:8ea76864368a 1716 // t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 52:8ea76864368a 1717 // } else {
Lightvalve 52:8ea76864368a 1718 // t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 52:8ea76864368a 1719 // }
Lightvalve 52:8ea76864368a 1720 // CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve 52:8ea76864368a 1721 // }
Lightvalve 52:8ea76864368a 1722 //
Lightvalve 52:8ea76864368a 1723 // if (flag_data_request[2] == HIGH) {
Lightvalve 52:8ea76864368a 1724 // //pressure A and B
Lightvalve 52:8ea76864368a 1725 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 52:8ea76864368a 1726 // //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 52:8ea76864368a 1727 // // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 52:8ea76864368a 1728 // // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 52:8ea76864368a 1729 // // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 52:8ea76864368a 1730 //
Lightvalve 52:8ea76864368a 1731 // }
Lightvalve 52:8ea76864368a 1732 //
Lightvalve 52:8ea76864368a 1733 // if (flag_data_request[3] == HIGH) {
Lightvalve 52:8ea76864368a 1734 // //PWM
Lightvalve 52:8ea76864368a 1735 // CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 52:8ea76864368a 1736 // // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 52:8ea76864368a 1737 // // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 52:8ea76864368a 1738 // // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 52:8ea76864368a 1739 //
Lightvalve 52:8ea76864368a 1740 // }
Lightvalve 52:8ea76864368a 1741 //
Lightvalve 52:8ea76864368a 1742 // if (flag_data_request[4] == HIGH) {
Lightvalve 52:8ea76864368a 1743 // //valve position
Lightvalve 52:8ea76864368a 1744 // CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve 52:8ea76864368a 1745 // //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 52:8ea76864368a 1746 //
Lightvalve 52:8ea76864368a 1747 // //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 52:8ea76864368a 1748 // // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 52:8ea76864368a 1749 // // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 52:8ea76864368a 1750 // // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 52:8ea76864368a 1751 // // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 52:8ea76864368a 1752 // }
Lightvalve 52:8ea76864368a 1753 //
Lightvalve 52:8ea76864368a 1754 //
Lightvalve 52:8ea76864368a 1755 // }
Lightvalve 52:8ea76864368a 1756 // TIM2->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1757 //}
Lightvalve 52:8ea76864368a 1758
Lightvalve 52:8ea76864368a 1759
Lightvalve 52:8ea76864368a 1760
Lightvalve 13:747daba9cf59 1761 void CurrentControl()
Lightvalve 13:747daba9cf59 1762 {
jobuuu 7:e9086c72bb22 1763 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1764 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1765 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1766 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1767
Lightvalve 30:8d561f16383b 1768 float R_model = 150.0f; // ohm
Lightvalve 30:8d561f16383b 1769 float L_model = 0.3f;
Lightvalve 30:8d561f16383b 1770 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 30:8d561f16383b 1771 float KP_I = L_model*w0;
Lightvalve 30:8d561f16383b 1772 float KI_I = R_model*w0;
Lightvalve 30:8d561f16383b 1773 float KD_I = 0.0f;
jobuuu 7:e9086c72bb22 1774
Lightvalve 30:8d561f16383b 1775 float FF_gain = 0.0f;
jobuuu 7:e9086c72bb22 1776 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1777 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1778 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1779
Lightvalve 30:8d561f16383b 1780 float Ka = 5.0f/KP_I;
jobuuu 7:e9086c72bb22 1781 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1782 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1783 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1784 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1785 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1786 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1787 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1788 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1789 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1790 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1791 }
Lightvalve 21:e5f1a43ea6f9 1792 }
Lightvalve 23:59218d4a256d 1793
Lightvalve 28:2a62d73e3dd0 1794
Lightvalve 30:8d561f16383b 1795
Lightvalve 32:4b8c0fedaf2c 1796
Lightvalve 36:a46e63505ed8 1797
Lightvalve 42:1cf66990ccab 1798
Lightvalve 44:fe7d5cfd2eea 1799
Lightvalve 50:3c630b5eba9f 1800