Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

main.cpp@67:cfc88fd0591e, 2020-06-03 (annotated)

Committer:
Lightvalve
Date:
Wed Jun 03 08:46:45 2020 +0000
Revision:
67:cfc88fd0591e
Parent:
66:d385a08132d7
Child:
68:135a2d087198
new ankle

Who changed what in which revision?

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