Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

main.cpp@49:e7bcfc244d40, 2020-02-05 (annotated)

Committer:
Lightvalve
Date:
Wed Feb 05 08:35:58 2020 +0000
Revision:
49:e7bcfc244d40
Parent:
48:889798ff9329
Child:
50:3c630b5eba9f
20200205

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 11
Lightvalve 31:66738bfecec5 12 ///191008////
Lightvalve 31:66738bfecec5 13
jobuuu 7:e9086c72bb22 14 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 15 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 16 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 17 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 18 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 19 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 20 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 21 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 22
Lightvalve 24:ef6e1092e9e6 23
jobuuu 7:e9086c72bb22 24 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 25 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 26 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 27
jobuuu 7:e9086c72bb22 28 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 29 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 30 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 31 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 32
jobuuu 7:e9086c72bb22 33 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 34 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 35 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 36 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 37 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 38 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 39 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 43
jobuuu 7:e9086c72bb22 44 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 45 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 46 CANMessage msg;
Lightvalve 11:82d8768d7351 47 void onMsgReceived()
Lightvalve 11:82d8768d7351 48 {
Lightvalve 11:82d8768d7351 49 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 50 }
jobuuu 2:a1c0a37df760 51
jobuuu 7:e9086c72bb22 52 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 53 State pos;
jobuuu 7:e9086c72bb22 54 State vel;
jobuuu 7:e9086c72bb22 55 State Vout;
jobuuu 7:e9086c72bb22 56 State torq;
jobuuu 7:e9086c72bb22 57 State pres_A;
jobuuu 7:e9086c72bb22 58 State pres_B;
jobuuu 7:e9086c72bb22 59 State cur;
Lightvalve 14:8e7590227d22 60 State valve_pos;
Lightvalve 14:8e7590227d22 61
Lightvalve 14:8e7590227d22 62 State INIT_Vout;
Lightvalve 14:8e7590227d22 63 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 64 State INIT_Pos;
Lightvalve 14:8e7590227d22 65 State INIT_torq;
jobuuu 5:a4319f79457b 66
Lightvalve 30:8d561f16383b 67 float V_out=0.0f;
Lightvalve 30:8d561f16383b 68 float V_rem=0.0f; // for anti-windup
Lightvalve 30:8d561f16383b 69 float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 70
Lightvalve 30:8d561f16383b 71 float PWM_out=0.0f;
Lightvalve 12:6f2531038ea4 72
Lightvalve 17:1865016ca2e7 73 int timer_while = 0;
Lightvalve 17:1865016ca2e7 74 int while_index = 0;
Lightvalve 17:1865016ca2e7 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 78 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 79 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 80
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 87
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89 // =============================================================================
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91
Lightvalve 12:6f2531038ea4 92 /*******************************************************************************
Lightvalve 12:6f2531038ea4 93 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 94 ******************************************************************************/
Lightvalve 13:747daba9cf59 95 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 96 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 97 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 98 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 99 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 100 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 101 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 102 };
Lightvalve 12:6f2531038ea4 103
Lightvalve 12:6f2531038ea4 104 /*******************************************************************************
Lightvalve 12:6f2531038ea4 105 * CONTROL MODE
Lightvalve 12:6f2531038ea4 106 ******************************************************************************/
Lightvalve 13:747daba9cf59 107 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 108 //control mode
Lightvalve 12:6f2531038ea4 109 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 110 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 111 MODE_JOINT_CONTROL, //2
Lightvalve 47:fdcb8bd86fd6 112
Lightvalve 47:fdcb8bd86fd6 113 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 114 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 122 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 123
Lightvalve 14:8e7590227d22 124 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 125 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 //utility
Lightvalve 12:6f2531038ea4 129 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 130 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 131 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 132 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 133 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 134 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 135 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 136
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 138 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 139 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 140 };
Lightvalve 12:6f2531038ea4 141
GiJeongKim 0:51c43836c1d7 142 int main()
GiJeongKim 0:51c43836c1d7 143 {
jobuuu 6:df07d3491e3a 144 /*********************************
jobuuu 1:e04e563be5ce 145 *** Initialization
jobuuu 6:df07d3491e3a 146 *********************************/
Lightvalve 19:23b7c1ad8683 147 //LED = 1;
Lightvalve 19:23b7c1ad8683 148 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 149
GiJeongKim 0:51c43836c1d7 150 // i2c init
Lightvalve 8:5d2eebdad025 151 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 152 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 153 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 154 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 155 make_delay();
jobuuu 2:a1c0a37df760 156
GiJeongKim 0:51c43836c1d7 157 // // spi init
Lightvalve 16:903b5a4433b4 158 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 159 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 160 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 161 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 162 make_delay();
Lightvalve 21:e5f1a43ea6f9 163
Lightvalve 16:903b5a4433b4 164 //rom
Lightvalve 19:23b7c1ad8683 165 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 166 make_delay();
Lightvalve 13:747daba9cf59 167
GiJeongKim 0:51c43836c1d7 168 // ADC init
jobuuu 5:a4319f79457b 169 Init_ADC();
Lightvalve 11:82d8768d7351 170 make_delay();
jobuuu 2:a1c0a37df760 171
GiJeongKim 0:51c43836c1d7 172 // Pwm init
GiJeongKim 0:51c43836c1d7 173 Init_PWM();
GiJeongKim 0:51c43836c1d7 174 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 175 make_delay();
Lightvalve 13:747daba9cf59 176
Lightvalve 11:82d8768d7351 177 // TMR3 init
Lightvalve 11:82d8768d7351 178 Init_TMR3();
Lightvalve 11:82d8768d7351 179 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 180 make_delay();
Lightvalve 21:e5f1a43ea6f9 181
Lightvalve 20:806196fda269 182 // TMR5 init
Lightvalve 23:59218d4a256d 183 Init_TMR2();
Lightvalve 23:59218d4a256d 184 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 20:806196fda269 185 make_delay();
Lightvalve 21:e5f1a43ea6f9 186
GiJeongKim 0:51c43836c1d7 187 // CAN
jobuuu 2:a1c0a37df760 188 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 189 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 190 make_delay();
Lightvalve 34:bb2ca2fc2a8e 191
Lightvalve 23:59218d4a256d 192 //Timer priority
Lightvalve 23:59218d4a256d 193 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 23:59218d4a256d 194 NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 195 NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve 34:bb2ca2fc2a8e 196
Lightvalve 23:59218d4a256d 197 //can.reset();
Lightvalve 19:23b7c1ad8683 198 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 199
GiJeongKim 0:51c43836c1d7 200 // spi _ enc
GiJeongKim 0:51c43836c1d7 201 spi_enc_set_init();
Lightvalve 11:82d8768d7351 202 make_delay();
Lightvalve 13:747daba9cf59 203
Lightvalve 11:82d8768d7351 204 //DAC init
Lightvalve 43:b084e5f5d0d5 205 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 206 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 207 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 208 dac_2 = 0.0f;
Lightvalve 11:82d8768d7351 209 make_delay();
Lightvalve 13:747daba9cf59 210
Lightvalve 19:23b7c1ad8683 211 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 212 if(i%2==0)
Lightvalve 38:118df027d851 213 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 214 else
Lightvalve 38:118df027d851 215 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 216 }
Lightvalve 13:747daba9cf59 217
jobuuu 6:df07d3491e3a 218 /************************************
jobuuu 1:e04e563be5ce 219 *** Program is operating!
jobuuu 6:df07d3491e3a 220 *************************************/
GiJeongKim 0:51c43836c1d7 221 while(1) {
Lightvalve 21:e5f1a43ea6f9 222 if(timer_while==1000) {
Lightvalve 28:2a62d73e3dd0 223 //pc.printf("cmd %d\n ");
Lightvalve 17:1865016ca2e7 224 //i2c
Lightvalve 17:1865016ca2e7 225 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 226 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 21:e5f1a43ea6f9 227
Lightvalve 19:23b7c1ad8683 228 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 229 // LED=0;
Lightvalve 19:23b7c1ad8683 230 // } else
Lightvalve 19:23b7c1ad8683 231 // LED = 1;
Lightvalve 17:1865016ca2e7 232 timer_while = 0;
Lightvalve 21:e5f1a43ea6f9 233
Lightvalve 17:1865016ca2e7 234 }
Lightvalve 17:1865016ca2e7 235 timer_while ++;
GiJeongKim 0:51c43836c1d7 236 }
jobuuu 1:e04e563be5ce 237 }
jobuuu 1:e04e563be5ce 238
Lightvalve 33:91b17819ec30 239 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 240 {
Lightvalve 14:8e7590227d22 241
Lightvalve 13:747daba9cf59 242 int i = 0;
Lightvalve 48:889798ff9329 243 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 244 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 245 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 246 if(i==0) {
Lightvalve 38:118df027d851 247 if(JOINT_VEL[i+1] == JOINT_VEL[i]){
Lightvalve 38:118df027d851 248 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 38:118df027d851 249 }else{
Lightvalve 38:118df027d851 250 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 38:118df027d851 251 }
Lightvalve 14:8e7590227d22 252 } else {
Lightvalve 38:118df027d851 253 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]){
Lightvalve 38:118df027d851 254 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 38:118df027d851 255 }else{
Lightvalve 38:118df027d851 256 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 257 }
Lightvalve 13:747daba9cf59 258 }
Lightvalve 13:747daba9cf59 259 break;
Lightvalve 13:747daba9cf59 260 }
Lightvalve 13:747daba9cf59 261 }
Lightvalve 14:8e7590227d22 262 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 263 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 264 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 265 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 266 }
Lightvalve 36:a46e63505ed8 267
Lightvalve 45:35fa6884d0c6 268 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER);
Lightvalve 13:747daba9cf59 269 return Ref_Valve_Pos_FF;
Lightvalve 48:889798ff9329 270
Lightvalve 13:747daba9cf59 271 }
jobuuu 6:df07d3491e3a 272
jobuuu 6:df07d3491e3a 273
Lightvalve 30:8d561f16383b 274 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 275 {
Lightvalve 13:747daba9cf59 276 int i = 0;
Lightvalve 13:747daba9cf59 277
Lightvalve 38:118df027d851 278 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 279 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 280 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 281 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 282 }
Lightvalve 38:118df027d851 283
Lightvalve 13:747daba9cf59 284 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 285 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 286 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 287 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 288 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 289 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 290
Lightvalve 13:747daba9cf59 291 VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve 14:8e7590227d22 292
Lightvalve 38:118df027d851 293
Lightvalve 34:bb2ca2fc2a8e 294
Lightvalve 34:bb2ca2fc2a8e 295
Lightvalve 23:59218d4a256d 296 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve 23:59218d4a256d 297 // {
Lightvalve 23:59218d4a256d 298 // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve 30:8d561f16383b 299 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve 23:59218d4a256d 300 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve 30:8d561f16383b 301 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1];
Lightvalve 23:59218d4a256d 302 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve 30:8d561f16383b 303 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3];
Lightvalve 23:59218d4a256d 304 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve 30:8d561f16383b 305 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5];
Lightvalve 23:59218d4a256d 306 // }else
Lightvalve 23:59218d4a256d 307 // VALVE_PWM_RAW_FF = 12000.0;
Lightvalve 23:59218d4a256d 308 // }
Lightvalve 23:59218d4a256d 309 // else
Lightvalve 23:59218d4a256d 310 // {
Lightvalve 23:59218d4a256d 311 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve 30:8d561f16383b 312 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2];
Lightvalve 23:59218d4a256d 313 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve 30:8d561f16383b 314 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4];
Lightvalve 23:59218d4a256d 315 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve 30:8d561f16383b 316 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6];
Lightvalve 23:59218d4a256d 317 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve 30:8d561f16383b 318 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8];
Lightvalve 23:59218d4a256d 319 // }else
Lightvalve 23:59218d4a256d 320 // VALVE_PWM_RAW_FF = -12000.0;
Lightvalve 23:59218d4a256d 321 // }
Lightvalve 14:8e7590227d22 322
Lightvalve 18:b8adf1582ea3 323 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 324 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 325 if(i==0) {
Lightvalve 48:889798ff9329 326 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 327 } else {
Lightvalve 48:889798ff9329 328 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 329 }
Lightvalve 13:747daba9cf59 330 break;
Lightvalve 13:747daba9cf59 331 }
Lightvalve 13:747daba9cf59 332 }
Lightvalve 49:e7bcfc244d40 333 if(vel.sen>=0.0f)
Lightvalve 49:e7bcfc244d40 334 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 49:e7bcfc244d40 335 else
Lightvalve 49:e7bcfc244d40 336 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; // - (float) FLOWFORCE_GAIN * 0.01f * vel.sen / 30.0f;
Lightvalve 27:a2254a485f23 337 //V_out = VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 338 }
Lightvalve 13:747daba9cf59 339
Lightvalve 14:8e7590227d22 340 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 341 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 342 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 343 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 344 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 345 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 346 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 347 }; // duty
Lightvalve 30:8d561f16383b 348 float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve 34:bb2ca2fc2a8e 349 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 350 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 351 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 352 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 353 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 354 }; // mV
Lightvalve 13:747daba9cf59 355
Lightvalve 30:8d561f16383b 356 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 357 {
Lightvalve 30:8d561f16383b 358 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 359 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 360 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 361 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 362 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 363 } else {
Lightvalve 13:747daba9cf59 364 int idx = 0;
Lightvalve 13:747daba9cf59 365 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 366 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 367 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 368 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 369 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 370 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 371 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 372 break;
Lightvalve 13:747daba9cf59 373 }
Lightvalve 13:747daba9cf59 374 }
Lightvalve 13:747daba9cf59 375 }
Lightvalve 14:8e7590227d22 376
Lightvalve 13:747daba9cf59 377 return PWM_duty;
Lightvalve 13:747daba9cf59 378 }
jobuuu 6:df07d3491e3a 379
jobuuu 2:a1c0a37df760 380 /*******************************************************************************
jobuuu 2:a1c0a37df760 381 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 382 *******************************************************************************/
jobuuu 2:a1c0a37df760 383
Lightvalve 19:23b7c1ad8683 384 //unsigned long CNT_TMR4 = 0;
Lightvalve 30:8d561f16383b 385 float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve 30:8d561f16383b 386 float DT_TMR4 = (float)DT_10k;
jobuuu 1:e04e563be5ce 387 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 388 {
Lightvalve 23:59218d4a256d 389
Lightvalve 19:23b7c1ad8683 390 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 391
Lightvalve 21:e5f1a43ea6f9 392 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 393 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 394 ********************************************************/
Lightvalve 13:747daba9cf59 395
Lightvalve 19:23b7c1ad8683 396
Lightvalve 21:e5f1a43ea6f9 397 //Using LoadCell
Lightvalve 15:bd0d12728506 398 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 399 // //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 400 // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 401 // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve 30:8d561f16383b 402 // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 403
Lightvalve 19:23b7c1ad8683 404
Lightvalve 17:1865016ca2e7 405
Lightvalve 21:e5f1a43ea6f9 406 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 407 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 408 //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 409 float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 410 // float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 38:118df027d851 411 float pres_A_new = ((float)ADC1->DR);
Lightvalve 30:8d561f16383b 412 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 43:b084e5f5d0d5 413 torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 38:118df027d851 414
Lightvalve 19:23b7c1ad8683 415
Lightvalve 21:e5f1a43ea6f9 416 //Pressure sensor 1B
Lightvalve 38:118df027d851 417 //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 418 //float pres_B_new = ((float)ADC2->DR);
Lightvalve 38:118df027d851 419 //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 38:118df027d851 420 //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 421
Lightvalve 17:1865016ca2e7 422
Lightvalve 17:1865016ca2e7 423
Lightvalve 21:e5f1a43ea6f9 424 //Current
Lightvalve 21:e5f1a43ea6f9 425 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 426 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 427 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 428 //while((ADC3->SR & 0b10));
Lightvalve 30:8d561f16383b 429 float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 430 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 431 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 432 //cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 433
Lightvalve 21:e5f1a43ea6f9 434 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 435 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 436 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 437 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 438 }
Lightvalve 11:82d8768d7351 439 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 440 }
Lightvalve 19:23b7c1ad8683 441
Lightvalve 19:23b7c1ad8683 442
Lightvalve 18:b8adf1582ea3 443 int j =0;
Lightvalve 19:23b7c1ad8683 444 //unsigned long CNT_TMR3 = 0;
Lightvalve 30:8d561f16383b 445 //float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 30:8d561f16383b 446 float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve 48:889798ff9329 447 float DT_TMR3 = (float)DT_5k;
Lightvalve 48:889798ff9329 448 //float DT_TMR3 = (float)DT_1k;
Lightvalve 45:35fa6884d0c6 449 int cnt_trans = 0;
Lightvalve 48:889798ff9329 450 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
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 12:6f2531038ea4 455 ENC_UPDATE();
Lightvalve 45:35fa6884d0c6 456
Lightvalve 45:35fa6884d0c6 457 if(MODE_POS_FT_TRANS == 1){
Lightvalve 48:889798ff9329 458 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 459 cnt_trans++;
Lightvalve 46:2694daea349b 460 torq.err_sum = 0;
Lightvalve 48:889798ff9329 461 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 462 MODE_POS_FT_TRANS = 2;
Lightvalve 45:35fa6884d0c6 463 }
Lightvalve 48:889798ff9329 464 else if(MODE_POS_FT_TRANS == 3){
Lightvalve 48:889798ff9329 465 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 466 cnt_trans++;
Lightvalve 46:2694daea349b 467 torq.err_sum = 0;
Lightvalve 48:889798ff9329 468 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 469 MODE_POS_FT_TRANS = 0;
Lightvalve 45:35fa6884d0c6 470 }
Lightvalve 45:35fa6884d0c6 471 else if(MODE_POS_FT_TRANS == 2){
Lightvalve 45:35fa6884d0c6 472 alpha_trans = 1.0;
Lightvalve 45:35fa6884d0c6 473 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 474 }
Lightvalve 45:35fa6884d0c6 475 else{
Lightvalve 45:35fa6884d0c6 476 alpha_trans = 0.0;
Lightvalve 45:35fa6884d0c6 477 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 478 }
Lightvalve 45:35fa6884d0c6 479
Lightvalve 45:35fa6884d0c6 480
Lightvalve 13:747daba9cf59 481
Lightvalve 19:23b7c1ad8683 482 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 483
Lightvalve 14:8e7590227d22 484 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 485 case MODE_NO_ACT: {
Lightvalve 30:8d561f16383b 486 V_out = 0.0f;
Lightvalve 13:747daba9cf59 487 break;
Lightvalve 13:747daba9cf59 488 }
Lightvalve 14:8e7590227d22 489
Lightvalve 14:8e7590227d22 490 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 491 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 492 break;
Lightvalve 14:8e7590227d22 493 }
Lightvalve 14:8e7590227d22 494
Lightvalve 45:35fa6884d0c6 495 case MODE_JOINT_CONTROL: {
Lightvalve 45:35fa6884d0c6 496
Lightvalve 45:35fa6884d0c6 497 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 45:35fa6884d0c6 498
Lightvalve 45:35fa6884d0c6 499 pos.err = pos.ref - pos.sen; //[pulse]
Lightvalve 45:35fa6884d0c6 500 vel.err = vel.ref - vel.sen; //[pulse/s]
Lightvalve 48:889798ff9329 501 double torq_ref = 0.0f;
Lightvalve 48:889798ff9329 502 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 45:35fa6884d0c6 503
Lightvalve 45:35fa6884d0c6 504 // torque feedback
Lightvalve 48:889798ff9329 505 torq.err = torq_ref - torq.sen; //[pulse]
Lightvalve 45:35fa6884d0c6 506 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
Lightvalve 45:35fa6884d0c6 507 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 45:35fa6884d0c6 508 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 45:35fa6884d0c6 509
Lightvalve 14:8e7590227d22 510
Lightvalve 48:889798ff9329 511 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f
Lightvalve 48:889798ff9329 512 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 14:8e7590227d22 513
Lightvalve 45:35fa6884d0c6 514 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 45:35fa6884d0c6 515 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 45:35fa6884d0c6 516 } else{
Lightvalve 45:35fa6884d0c6 517 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 45:35fa6884d0c6 518 }
Lightvalve 45:35fa6884d0c6 519 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 520
Lightvalve 13:747daba9cf59 521 break;
Lightvalve 13:747daba9cf59 522 }
Lightvalve 47:fdcb8bd86fd6 523
Lightvalve 47:fdcb8bd86fd6 524 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 47:fdcb8bd86fd6 525 V_out = (float) Vout.ref;
Lightvalve 47:fdcb8bd86fd6 526 break;
Lightvalve 47:fdcb8bd86fd6 527 }
Lightvalve 14:8e7590227d22 528
Lightvalve 14:8e7590227d22 529 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 530 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 30:8d561f16383b 531 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 30:8d561f16383b 532 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 533 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 534 // feedback input for position control
Lightvalve 30:8d561f16383b 535 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 536 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 537 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 538 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 539 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 540 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 32:4b8c0fedaf2c 541 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 30:8d561f16383b 542 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 543
Lightvalve 14:8e7590227d22 544
Lightvalve 13:747daba9cf59 545 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 546 // feedforward input for position control
Lightvalve 30:8d561f16383b 547 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 548 // float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 549 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 550 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 551 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 552
Lightvalve 38:118df027d851 553 //torque feedback
Lightvalve 38:118df027d851 554 torq.err = - torq.ref + torq.sen;
Lightvalve 38:118df027d851 555 torq.err_diff = torq.err - torq.err_old;
Lightvalve 38:118df027d851 556 torq.err_old = torq.err;
Lightvalve 38:118df027d851 557 torq.err_sum += torq.err;
Lightvalve 38:118df027d851 558 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 38:118df027d851 559 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 38:118df027d851 560 VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 38:118df027d851 561 VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve 14:8e7590227d22 562
Lightvalve 48:889798ff9329 563 // valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 48:889798ff9329 564 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref);
Lightvalve 34:bb2ca2fc2a8e 565
Lightvalve 45:35fa6884d0c6 566 if (valve_pos.ref >= 0) {
Lightvalve 45:35fa6884d0c6 567 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS;
Lightvalve 45:35fa6884d0c6 568 } else if(valve_pos.ref < 0) {
Lightvalve 45:35fa6884d0c6 569 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS;
Lightvalve 32:4b8c0fedaf2c 570 }
Lightvalve 14:8e7590227d22 571 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 572
Lightvalve 34:bb2ca2fc2a8e 573
Lightvalve 13:747daba9cf59 574 break;
Lightvalve 13:747daba9cf59 575 }
Lightvalve 14:8e7590227d22 576
Lightvalve 14:8e7590227d22 577 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 578
Lightvalve 13:747daba9cf59 579 break;
Lightvalve 13:747daba9cf59 580 }
Lightvalve 14:8e7590227d22 581
Lightvalve 14:8e7590227d22 582 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 583 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 584 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 585 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 586 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 587 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 588 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 589 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 590
Lightvalve 14:8e7590227d22 591 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 592 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 593 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 594 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 595 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 596 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 597 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 598
Lightvalve 30:8d561f16383b 599 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 14:8e7590227d22 600
Lightvalve 30:8d561f16383b 601 V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 602
Lightvalve 30:8d561f16383b 603 CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 30:8d561f16383b 604 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 605 if (DIR_VALVE > 0) {
Lightvalve 30:8d561f16383b 606 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 607 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve 30:8d561f16383b 608 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve 30:8d561f16383b 609 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve 30:8d561f16383b 610 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve 30:8d561f16383b 611 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 612 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve 30:8d561f16383b 613 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve 30:8d561f16383b 614 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve 30:8d561f16383b 615 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve 30:8d561f16383b 616 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve 30:8d561f16383b 617 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 618 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 619 } else {
Lightvalve 30:8d561f16383b 620 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 621 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve 30:8d561f16383b 622 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve 30:8d561f16383b 623 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve 30:8d561f16383b 624 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve 30:8d561f16383b 625 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 626 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve 30:8d561f16383b 627 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve 30:8d561f16383b 628 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve 30:8d561f16383b 629 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve 30:8d561f16383b 630 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve 30:8d561f16383b 631 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 632 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 633 }
Lightvalve 30:8d561f16383b 634 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 14:8e7590227d22 635
Lightvalve 30:8d561f16383b 636 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve 30:8d561f16383b 637 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve 14:8e7590227d22 638
Lightvalve 18:b8adf1582ea3 639 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 640 break;
Lightvalve 14:8e7590227d22 641 }
Lightvalve 14:8e7590227d22 642
Lightvalve 14:8e7590227d22 643 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 44:fe7d5cfd2eea 644
Lightvalve 30:8d561f16383b 645 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 646 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 647 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 648 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 649 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 650 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 651 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 652
Lightvalve 15:bd0d12728506 653 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 654 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 655 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 656 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 657 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 658 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 659 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 660
Lightvalve 14:8e7590227d22 661 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 662 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 19:23b7c1ad8683 663
Lightvalve 14:8e7590227d22 664 break;
Lightvalve 14:8e7590227d22 665 }
Lightvalve 14:8e7590227d22 666
Lightvalve 14:8e7590227d22 667 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 668
Lightvalve 14:8e7590227d22 669 break;
Lightvalve 14:8e7590227d22 670 }
Lightvalve 14:8e7590227d22 671
Lightvalve 19:23b7c1ad8683 672
Lightvalve 19:23b7c1ad8683 673 case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 674 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 675 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 676 }
Lightvalve 19:23b7c1ad8683 677 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 678
Lightvalve 19:23b7c1ad8683 679 // Set Current Reference
Lightvalve 30:8d561f16383b 680 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 681 float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 682 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 30:8d561f16383b 683 I_REF = I_REF_MID + 1.0f;
Lightvalve 14:8e7590227d22 684 } else {
Lightvalve 30:8d561f16383b 685 I_REF = I_REF_MID - 1.0f;
Lightvalve 19:23b7c1ad8683 686 }
Lightvalve 30:8d561f16383b 687 // float T = 1.0; // wave period
Lightvalve 30:8d561f16383b 688 // I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 30:8d561f16383b 689 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 19:23b7c1ad8683 690
Lightvalve 14:8e7590227d22 691 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 692 //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 693 }
Lightvalve 14:8e7590227d22 694 break;
Lightvalve 14:8e7590227d22 695 }
Lightvalve 19:23b7c1ad8683 696
Lightvalve 19:23b7c1ad8683 697 case MODE_TEST_PWM_CONTROL: {
Lightvalve 14:8e7590227d22 698 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 699 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 700 }
Lightvalve 19:23b7c1ad8683 701 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 702
Lightvalve 14:8e7590227d22 703 // Set PWM reference
Lightvalve 30:8d561f16383b 704 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 705 //float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 706 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 707 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 708 } else {
Lightvalve 14:8e7590227d22 709 CUR_PWM = -1000;
Lightvalve 19:23b7c1ad8683 710 }
Lightvalve 19:23b7c1ad8683 711
Lightvalve 14:8e7590227d22 712 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 30:8d561f16383b 713 //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 14:8e7590227d22 714 }
Lightvalve 13:747daba9cf59 715 break;
Lightvalve 13:747daba9cf59 716 }
Lightvalve 19:23b7c1ad8683 717
Lightvalve 19:23b7c1ad8683 718
Lightvalve 14:8e7590227d22 719 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 720
Lightvalve 14:8e7590227d22 721 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 722 CurrentControl();
Lightvalve 14:8e7590227d22 723 break;
Lightvalve 14:8e7590227d22 724 }
Lightvalve 19:23b7c1ad8683 725
Lightvalve 14:8e7590227d22 726 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 727 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 728 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 729 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 730 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 731
Lightvalve 14:8e7590227d22 732 // feedback input for position control
Lightvalve 14:8e7590227d22 733 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 734 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 735 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 736 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 737 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 738 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 739
Lightvalve 14:8e7590227d22 740 // feedforward input for position control
Lightvalve 30:8d561f16383b 741 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 742 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 743 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 744 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 745 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 746 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 747
Lightvalve 14:8e7590227d22 748 // feedback input for position control
Lightvalve 30:8d561f16383b 749 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 750
Lightvalve 14:8e7590227d22 751 // feedforward input for position control
Lightvalve 30:8d561f16383b 752 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 753
Lightvalve 14:8e7590227d22 754 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 755
Lightvalve 14:8e7590227d22 756 CurrentControl();
Lightvalve 19:23b7c1ad8683 757
Lightvalve 13:747daba9cf59 758 break;
Lightvalve 13:747daba9cf59 759 }
Lightvalve 19:23b7c1ad8683 760
Lightvalve 14:8e7590227d22 761 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 762 //float T_REF = 0.0; // Torque Reference
Lightvalve 30:8d561f16383b 763 float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 764 float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 19:23b7c1ad8683 765
Lightvalve 14:8e7590227d22 766 // feedback input for position control
Lightvalve 30:8d561f16383b 767 //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 768 //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 769 //float K_spring = 0.7f;
Lightvalve 30:8d561f16383b 770 //float D_damper = 0.02f;
Lightvalve 14:8e7590227d22 771 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 19:23b7c1ad8683 772
Lightvalve 14:8e7590227d22 773 // torque feedback
Lightvalve 15:bd0d12728506 774 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 775 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 776 // torq.err_old = torq.err;
Lightvalve 30:8d561f16383b 777 torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 778 I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 19:23b7c1ad8683 779
Lightvalve 14:8e7590227d22 780 // velocity compensation for torque control
Lightvalve 30:8d561f16383b 781 float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 782 float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 30:8d561f16383b 783 float K_v = 0.0f; // Valve gain
Lightvalve 30:8d561f16383b 784 if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 30:8d561f16383b 785 if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 14:8e7590227d22 786 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 19:23b7c1ad8683 787
Lightvalve 14:8e7590227d22 788 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 789 // cur.ref = I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 790
Lightvalve 30:8d561f16383b 791 float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 30:8d561f16383b 792 float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 793 if(cur.ref > I_MAX) {
Lightvalve 30:8d561f16383b 794 float I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 795 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 796 cur.ref = I_MAX;
Lightvalve 30:8d561f16383b 797 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 798 } else if(cur.ref < -I_MAX) {
Lightvalve 30:8d561f16383b 799 float I_rem = cur.ref-(-I_MAX);
Lightvalve 19:23b7c1ad8683 800 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 801 cur.ref = -I_MAX;
Lightvalve 30:8d561f16383b 802 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 803 }
Lightvalve 19:23b7c1ad8683 804
Lightvalve 14:8e7590227d22 805 CurrentControl();
Lightvalve 19:23b7c1ad8683 806
Lightvalve 19:23b7c1ad8683 807
Lightvalve 14:8e7590227d22 808 /*
Lightvalve 30:8d561f16383b 809 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 810 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 811 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 812 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 813
Lightvalve 14:8e7590227d22 814 // feedback input for position control
Lightvalve 14:8e7590227d22 815 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 816 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 817 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 818 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 819 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 820 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 821
Lightvalve 14:8e7590227d22 822 // feedforward input for position control
Lightvalve 30:8d561f16383b 823 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 824 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 825 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 826 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 827 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 828 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 829
Lightvalve 14:8e7590227d22 830 // feedback input for position control
Lightvalve 30:8d561f16383b 831 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 832
Lightvalve 14:8e7590227d22 833 // feedforward input for position control
Lightvalve 30:8d561f16383b 834 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 835
Lightvalve 14:8e7590227d22 836 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 837
Lightvalve 14:8e7590227d22 838 CurrentControl();
Lightvalve 14:8e7590227d22 839 */
Lightvalve 19:23b7c1ad8683 840
Lightvalve 13:747daba9cf59 841 break;
Lightvalve 13:747daba9cf59 842 }
Lightvalve 14:8e7590227d22 843
Lightvalve 14:8e7590227d22 844 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 845 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 846 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 847 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 848
Lightvalve 14:8e7590227d22 849 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 850 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 851 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 852
Lightvalve 43:b084e5f5d0d5 853 TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 854
Lightvalve 30:8d561f16383b 855 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 856 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 43:b084e5f5d0d5 857
Lightvalve 16:903b5a4433b4 858 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 859 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 860 }
Lightvalve 13:747daba9cf59 861 } else {
Lightvalve 13:747daba9cf59 862 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 863 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 864 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 865 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 866
Lightvalve 16:903b5a4433b4 867 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 868
Lightvalve 16:903b5a4433b4 869 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 870
Lightvalve 17:1865016ca2e7 871 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 872 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 873
Lightvalve 13:747daba9cf59 874 }
Lightvalve 14:8e7590227d22 875 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 876 break;
Lightvalve 43:b084e5f5d0d5 877
Lightvalve 43:b084e5f5d0d5 878
Lightvalve 43:b084e5f5d0d5 879
Lightvalve 43:b084e5f5d0d5 880 // // DAC Voltage reference set
Lightvalve 43:b084e5f5d0d5 881 // if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 43:b084e5f5d0d5 882 // CUR_PRES_A_sum += pres_A.sen;
Lightvalve 43:b084e5f5d0d5 883 // CUR_PRES_B_sum += pres_B.sen;
Lightvalve 43:b084e5f5d0d5 884 //
Lightvalve 43:b084e5f5d0d5 885 // if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 43:b084e5f5d0d5 886 // CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 887 // CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 888 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 889 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 890 //
Lightvalve 43:b084e5f5d0d5 891 // float VREF_NullingGain = 0.0003f;
Lightvalve 43:b084e5f5d0d5 892 // PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 43:b084e5f5d0d5 893 // PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 43:b084e5f5d0d5 894 //
Lightvalve 43:b084e5f5d0d5 895 // if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 896 // if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 897 // if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 898 // if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 899 //
Lightvalve 43:b084e5f5d0d5 900 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 901 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 902 // }
Lightvalve 43:b084e5f5d0d5 903 // } else {
Lightvalve 43:b084e5f5d0d5 904 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 43:b084e5f5d0d5 905 // TMR3_COUNT_PRES_NULL = 0;
Lightvalve 43:b084e5f5d0d5 906 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 907 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 908 // CUR_PRES_A_mean = 0;
Lightvalve 43:b084e5f5d0d5 909 // CUR_PRES_B_mean = 0;
Lightvalve 43:b084e5f5d0d5 910 //
Lightvalve 43:b084e5f5d0d5 911 // ROM_RESET_DATA();
Lightvalve 43:b084e5f5d0d5 912 //
Lightvalve 43:b084e5f5d0d5 913 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 914 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 915 // //pc.printf("nulling end");
Lightvalve 43:b084e5f5d0d5 916 // }
Lightvalve 43:b084e5f5d0d5 917 // TMR3_COUNT_PRES_NULL++;
Lightvalve 43:b084e5f5d0d5 918 // break;
Lightvalve 43:b084e5f5d0d5 919
Lightvalve 43:b084e5f5d0d5 920
Lightvalve 43:b084e5f5d0d5 921
Lightvalve 43:b084e5f5d0d5 922
Lightvalve 43:b084e5f5d0d5 923
Lightvalve 19:23b7c1ad8683 924 }
Lightvalve 14:8e7590227d22 925
Lightvalve 14:8e7590227d22 926 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 927 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 928 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 929 else temp_time = 0;
Lightvalve 13:747daba9cf59 930 }
Lightvalve 13:747daba9cf59 931 if (need_enc_init) {
Lightvalve 30:8d561f16383b 932 if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 933 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 934 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 935 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 49:e7bcfc244d40 936 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 937 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 938 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 939 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 940 }
Lightvalve 14:8e7590227d22 941
Lightvalve 14:8e7590227d22 942 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 943 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 944 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 945
Lightvalve 30:8d561f16383b 946 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 947 V_out = 0;
Lightvalve 13:747daba9cf59 948 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 949 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 950 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 951 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 952 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 953 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 954 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 955 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 956 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 957
Lightvalve 13:747daba9cf59 958 // Position of Dead Zone
Lightvalve 13:747daba9cf59 959 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 960 // | / | / |/
Lightvalve 13:747daba9cf59 961 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 962 // |/ / | / |
Lightvalve 13:747daba9cf59 963 // /| / | / |
Lightvalve 13:747daba9cf59 964 // 0V 0V 0V
Lightvalve 14:8e7590227d22 965
Lightvalve 13:747daba9cf59 966 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 967 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 968 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 969 } else {
Lightvalve 18:b8adf1582ea3 970 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 971 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 972 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 973 }
Lightvalve 13:747daba9cf59 974 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 975 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 976 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 977 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 978 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 979 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 980 }
Lightvalve 13:747daba9cf59 981 } else {
Lightvalve 14:8e7590227d22 982 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 983 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 984 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 985 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 986 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 987 }
Lightvalve 18:b8adf1582ea3 988 V_out = 0;
Lightvalve 19:23b7c1ad8683 989
Lightvalve 16:903b5a4433b4 990 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 991
Lightvalve 16:903b5a4433b4 992 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 993 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 994
Lightvalve 13:747daba9cf59 995 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 996 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 997 }
Lightvalve 13:747daba9cf59 998 }
Lightvalve 14:8e7590227d22 999 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 1000 break;
Lightvalve 13:747daba9cf59 1001 }
Lightvalve 14:8e7590227d22 1002
Lightvalve 14:8e7590227d22 1003 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 1004 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 1005 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1006 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1007 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 1008 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 1009 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1010 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 40:3f2c0619c8c4 1011 CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
Lightvalve 29:69f3f5445d6d 1012 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 1013 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 1014 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1015 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1016 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1017 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1018 }
Lightvalve 29:69f3f5445d6d 1019 cnt_findhome++;
Lightvalve 30:8d561f16383b 1020 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1021
Lightvalve 29:69f3f5445d6d 1022 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1023 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1024 } else {
Lightvalve 29:69f3f5445d6d 1025 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1026 }
Lightvalve 19:23b7c1ad8683 1027
Lightvalve 30:8d561f16383b 1028 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1029 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 1030 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 1031 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 1032 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 1033 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 1034 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 1035 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 1036 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1037 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 1038
Lightvalve 30:8d561f16383b 1039 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1040 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 1041 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 1042 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 1043 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 1044 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 1045 } else {
Lightvalve 29:69f3f5445d6d 1046 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 1047 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1048 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1049 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1050 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1051 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1052 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1053 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1054 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1055 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 1056 }
Lightvalve 29:69f3f5445d6d 1057 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1058 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 1059 pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 30:8d561f16383b 1060 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 1061
Lightvalve 29:69f3f5445d6d 1062 // input for position control
Lightvalve 40:3f2c0619c8c4 1063 pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve 30:8d561f16383b 1064 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 1065 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 1066 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 1067 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1068 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1069
Lightvalve 19:23b7c1ad8683 1070
Lightvalve 29:69f3f5445d6d 1071 // if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 30:8d561f16383b 1072 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1073 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve 29:69f3f5445d6d 1074 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1075 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1076 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1077 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1078 // // L thetadot(rad/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1079 // } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve 30:8d561f16383b 1080 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1081 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 29:69f3f5445d6d 1082 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1083 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1084 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1085 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1086 // // L xdot(mm/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1087 // }
Lightvalve 29:69f3f5445d6d 1088
Lightvalve 29:69f3f5445d6d 1089 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1090 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1091 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1092 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1093 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1094 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1095 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1096 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1097 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 48:889798ff9329 1098 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1099 }
Lightvalve 13:747daba9cf59 1100 }
Lightvalve 19:23b7c1ad8683 1101
Lightvalve 13:747daba9cf59 1102 break;
Lightvalve 13:747daba9cf59 1103 }
Lightvalve 14:8e7590227d22 1104
Lightvalve 14:8e7590227d22 1105 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1106 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1107 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1108 else {
Lightvalve 49:e7bcfc244d40 1109 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1110 temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1111 }
Lightvalve 13:747daba9cf59 1112 }
Lightvalve 13:747daba9cf59 1113 if (need_enc_init) {
Lightvalve 30:8d561f16383b 1114 if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1115 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1116 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1117 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 49:e7bcfc244d40 1118 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1119 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1120 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1121 need_enc_init = false;
Lightvalve 30:8d561f16383b 1122 check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 30:8d561f16383b 1123 check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1124 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1125 }
Lightvalve 13:747daba9cf59 1126 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1127 }
Lightvalve 14:8e7590227d22 1128 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1129 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1130 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 30:8d561f16383b 1131 VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1132 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1133 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1134 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1135 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1136 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 30:8d561f16383b 1137 // 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 13:747daba9cf59 1138 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1139 }
Lightvalve 13:747daba9cf59 1140 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 30:8d561f16383b 1141 VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1142 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1143 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1144 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1145 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1146 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 30:8d561f16383b 1147 // 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 13:747daba9cf59 1148 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1149 }
Lightvalve 13:747daba9cf59 1150 }
Lightvalve 13:747daba9cf59 1151 if (fl_temp_cnt2 == 100) {
Lightvalve 19:23b7c1ad8683 1152
Lightvalve 16:903b5a4433b4 1153 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1154
Lightvalve 30:8d561f16383b 1155 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 13:747daba9cf59 1156 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1157 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1158 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1159 flag_flowrate++;
Lightvalve 13:747daba9cf59 1160 }
Lightvalve 13:747daba9cf59 1161 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1162 V_out = 0;
Lightvalve 13:747daba9cf59 1163 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1164 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1165 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1166 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1167 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1168 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1169 }
Lightvalve 14:8e7590227d22 1170
Lightvalve 13:747daba9cf59 1171 }
Lightvalve 13:747daba9cf59 1172 break;
Lightvalve 13:747daba9cf59 1173 }
Lightvalve 14:8e7590227d22 1174
Lightvalve 13:747daba9cf59 1175 }
Lightvalve 14:8e7590227d22 1176
Lightvalve 14:8e7590227d22 1177 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1178 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1179 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1180 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1181 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1182
Lightvalve 14:8e7590227d22 1183 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1184 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1185 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1186 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1187 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1188
Lightvalve 38:118df027d851 1189 float VREF_NullingGain = 0.0003f;
Lightvalve 38:118df027d851 1190 PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 38:118df027d851 1191 PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1192
Lightvalve 30:8d561f16383b 1193 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1194 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1195 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1196 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1197
Lightvalve 30:8d561f16383b 1198 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1199 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1200 }
Lightvalve 13:747daba9cf59 1201 } else {
Lightvalve 13:747daba9cf59 1202 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1203 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1204 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1205 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1206 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1207 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1208
Lightvalve 16:903b5a4433b4 1209 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1210
Lightvalve 30:8d561f16383b 1211 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1212 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1213 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1214 }
Lightvalve 14:8e7590227d22 1215 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1216 break;
Lightvalve 13:747daba9cf59 1217 }
Lightvalve 14:8e7590227d22 1218
Lightvalve 14:8e7590227d22 1219 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1220 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 49:e7bcfc244d40 1221 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1222 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1223 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1224 }
Lightvalve 14:8e7590227d22 1225 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 49:e7bcfc244d40 1226 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1227 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1228 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1229 }
Lightvalve 13:747daba9cf59 1230 } else {
Lightvalve 13:747daba9cf59 1231 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1232 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1233 V_out = 0;
Lightvalve 30:8d561f16383b 1234 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 30:8d561f16383b 1235 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 30:8d561f16383b 1236 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 30:8d561f16383b 1237 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 13:747daba9cf59 1238 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1239 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1240 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1241 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 1242
Lightvalve 16:903b5a4433b4 1243 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1244
Lightvalve 30:8d561f16383b 1245 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 30:8d561f16383b 1246 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 13:747daba9cf59 1247 }
Lightvalve 14:8e7590227d22 1248 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1249 break;
Lightvalve 13:747daba9cf59 1250 }
Lightvalve 14:8e7590227d22 1251
Lightvalve 14:8e7590227d22 1252 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 30:8d561f16383b 1253 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 30:8d561f16383b 1254 V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 49:e7bcfc244d40 1255 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:e7bcfc244d40 1256 else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1257 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1258 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1259 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 30:8d561f16383b 1260 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1261 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1262 }
Lightvalve 13:747daba9cf59 1263 break;
Lightvalve 13:747daba9cf59 1264 }
Lightvalve 14:8e7590227d22 1265
Lightvalve 14:8e7590227d22 1266 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1267 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1268
Lightvalve 14:8e7590227d22 1269 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1270 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1271 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1272 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1273 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1274 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1275 data_num = 0;
Lightvalve 14:8e7590227d22 1276 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1277 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1278 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1279 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1280 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1281 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1282 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1283 }
Lightvalve 14:8e7590227d22 1284
Lightvalve 17:1865016ca2e7 1285 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1286 int i;
Lightvalve 13:747daba9cf59 1287 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1288 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1289 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1290 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1291 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1292 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1293 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1294 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1295 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1296 }
Lightvalve 13:747daba9cf59 1297 }
Lightvalve 27:a2254a485f23 1298 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1299 ID_index = 0;
Lightvalve 13:747daba9cf59 1300 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1301 }
Lightvalve 14:8e7590227d22 1302
Lightvalve 14:8e7590227d22 1303
Lightvalve 13:747daba9cf59 1304 break;
Lightvalve 13:747daba9cf59 1305 }
Lightvalve 14:8e7590227d22 1306
Lightvalve 14:8e7590227d22 1307 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1308
Lightvalve 13:747daba9cf59 1309 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1310 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1311 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1312 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1313 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1314 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1315 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1316 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1317 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1318 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1319 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1320 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1321 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1322 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1323 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1324 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1325 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1326 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1327 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1328 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1329 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1330 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1331 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1332 data_num = 0;
Lightvalve 14:8e7590227d22 1333
Lightvalve 30:8d561f16383b 1334 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1335 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1336 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1337
Lightvalve 30:8d561f16383b 1338 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1339 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1340 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1341 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1342 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1343 else
Lightvalve 13:747daba9cf59 1344 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1345 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1346 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1347 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1348 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1349
Lightvalve 14:8e7590227d22 1350 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1351 DZ_case = 1;
Lightvalve 14:8e7590227d22 1352 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1353 DZ_case = -1;
Lightvalve 14:8e7590227d22 1354 } else {
Lightvalve 13:747daba9cf59 1355 DZ_case = 0;
Lightvalve 13:747daba9cf59 1356 }
Lightvalve 14:8e7590227d22 1357
Lightvalve 49:e7bcfc244d40 1358 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 49:e7bcfc244d40 1359
Lightvalve 14:8e7590227d22 1360 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1361 first_check = 1;
Lightvalve 13:747daba9cf59 1362 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1363 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1364 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1365 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1366 DZ_index = 1;
Lightvalve 14:8e7590227d22 1367
Lightvalve 13:747daba9cf59 1368 }
Lightvalve 19:23b7c1ad8683 1369 } else {
Lightvalve 14:8e7590227d22 1370 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1371 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1372 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1373 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1374 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1375 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1376 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1377 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1378 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1379 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1380 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1381 }
Lightvalve 14:8e7590227d22 1382 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1383 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1384 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1385 else
Lightvalve 13:747daba9cf59 1386 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1387 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1388 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1389 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1390
Lightvalve 14:8e7590227d22 1391 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1392 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1393 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1394 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1395 } else {
Lightvalve 13:747daba9cf59 1396 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1397 }
Lightvalve 14:8e7590227d22 1398
Lightvalve 14:8e7590227d22 1399 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1400
Lightvalve 13:747daba9cf59 1401 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1402 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1403 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1404 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1405 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1406 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1407 DZ_index = 1;
Lightvalve 13:747daba9cf59 1408 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1409 }
Lightvalve 13:747daba9cf59 1410 }
Lightvalve 14:8e7590227d22 1411 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1412 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1413 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1414 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1415 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1416 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1417 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1418 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1419 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1420 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1421 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1422 }
Lightvalve 14:8e7590227d22 1423 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1424 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1425 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1426 else
Lightvalve 13:747daba9cf59 1427 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1428 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1429 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1430 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1431
Lightvalve 14:8e7590227d22 1432 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1433 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1434 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1435 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1436 } else {
Lightvalve 13:747daba9cf59 1437 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1438 }
Lightvalve 14:8e7590227d22 1439
Lightvalve 14:8e7590227d22 1440 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1441
Lightvalve 14:8e7590227d22 1442
Lightvalve 13:747daba9cf59 1443 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1444 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1445 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1446 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1447 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1448 first_check = 0;
Lightvalve 33:91b17819ec30 1449 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1450 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1451
Lightvalve 16:903b5a4433b4 1452 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1453
Lightvalve 13:747daba9cf59 1454 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1455 DZ_index = 1;
Lightvalve 13:747daba9cf59 1456 }
Lightvalve 13:747daba9cf59 1457 }
Lightvalve 14:8e7590227d22 1458 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1459 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1460 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1461 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1462 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1463 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1464 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1465 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1466 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1467 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1468 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1469 }
Lightvalve 14:8e7590227d22 1470 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1471 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1472 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1473 else
Lightvalve 13:747daba9cf59 1474 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1475 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1476 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1477 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1478
Lightvalve 14:8e7590227d22 1479 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1480 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1481 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1482 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1483 } else {
Lightvalve 13:747daba9cf59 1484 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1485 }
Lightvalve 14:8e7590227d22 1486
Lightvalve 14:8e7590227d22 1487 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1488 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1489 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1490 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1491 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1492 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1493 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1494 DZ_index = 1;
Lightvalve 13:747daba9cf59 1495 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1496 }
Lightvalve 13:747daba9cf59 1497 }
Lightvalve 14:8e7590227d22 1498 } else {
Lightvalve 30:8d561f16383b 1499 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1500 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1501 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1502 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1503 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1504 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1505 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1506 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1507 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1508 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1509 }
Lightvalve 14:8e7590227d22 1510 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1511 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1512 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1513 else
Lightvalve 13:747daba9cf59 1514 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1515 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1516 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1517 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1518 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1519 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1520 else
Lightvalve 13:747daba9cf59 1521 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1522 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1523 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1524
Lightvalve 14:8e7590227d22 1525 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1526
Lightvalve 14:8e7590227d22 1527
Lightvalve 13:747daba9cf59 1528 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1529 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1530 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1531 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1532 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1533 first_check = 0;
Lightvalve 33:91b17819ec30 1534 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1535 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1536
Lightvalve 13:747daba9cf59 1537 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1538 DZ_index = 1;
Lightvalve 13:747daba9cf59 1539 }
Lightvalve 13:747daba9cf59 1540 }
Lightvalve 13:747daba9cf59 1541 }
Lightvalve 14:8e7590227d22 1542 }
Lightvalve 13:747daba9cf59 1543 break;
Lightvalve 13:747daba9cf59 1544 }
Lightvalve 14:8e7590227d22 1545
Lightvalve 14:8e7590227d22 1546 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1547 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1548 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1549 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1550 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1551 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1552 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1553 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1554 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1555 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1556 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1557 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1558 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1559 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 49:e7bcfc244d40 1560 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1561 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1562 first_check = 1;
Lightvalve 13:747daba9cf59 1563 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1564 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1565 ID_index = 0;
Lightvalve 13:747daba9cf59 1566 max_check = 0;
Lightvalve 13:747daba9cf59 1567 min_check = 0;
Lightvalve 13:747daba9cf59 1568 }
Lightvalve 14:8e7590227d22 1569 } else {
Lightvalve 30:8d561f16383b 1570 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1571 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1572 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1573 data_num = 0;
Lightvalve 33:91b17819ec30 1574 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1575
Lightvalve 14:8e7590227d22 1576 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1577 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1578 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 33:91b17819ec30 1579 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1580 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1581 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1582 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1583 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1584 one_period_end = 1;
Lightvalve 13:747daba9cf59 1585 }
Lightvalve 30:8d561f16383b 1586 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1587 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1588 one_period_end = 1;
Lightvalve 13:747daba9cf59 1589 }
Lightvalve 14:8e7590227d22 1590
Lightvalve 14:8e7590227d22 1591 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1592 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1593 max_check = 1;
Lightvalve 14:8e7590227d22 1594 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1595 min_check = 1;
Lightvalve 13:747daba9cf59 1596 }
Lightvalve 13:747daba9cf59 1597 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1598
Lightvalve 19:23b7c1ad8683 1599 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1600 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1601 one_period_end = 0;
Lightvalve 13:747daba9cf59 1602 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1603 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1604 }
Lightvalve 14:8e7590227d22 1605
Lightvalve 14:8e7590227d22 1606 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1607
Lightvalve 13:747daba9cf59 1608 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1609 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1610 ID_index = 0;
Lightvalve 13:747daba9cf59 1611 first_check = 0;
Lightvalve 13:747daba9cf59 1612 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1613 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1614 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1615 }
Lightvalve 13:747daba9cf59 1616 }
Lightvalve 13:747daba9cf59 1617 break;
Lightvalve 13:747daba9cf59 1618 }
Lightvalve 14:8e7590227d22 1619
Lightvalve 12:6f2531038ea4 1620 default:
Lightvalve 12:6f2531038ea4 1621 break;
Lightvalve 12:6f2531038ea4 1622 }
Lightvalve 14:8e7590227d22 1623
Lightvalve 13:747daba9cf59 1624 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1625 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1626 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1627 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1628 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1629 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1630 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1631 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1632 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1633
Lightvalve 14:8e7590227d22 1634 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1635 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1636
Lightvalve 14:8e7590227d22 1637 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1638
Lightvalve 13:747daba9cf59 1639 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 30:8d561f16383b 1640 float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 30:8d561f16383b 1641 float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1642
Lightvalve 14:8e7590227d22 1643 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1644 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1645 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1646 } else {
Lightvalve 17:1865016ca2e7 1647 V_out = V_out;
Lightvalve 13:747daba9cf59 1648 }
Lightvalve 14:8e7590227d22 1649
jobuuu 7:e9086c72bb22 1650 /*******************************************************
jobuuu 7:e9086c72bb22 1651 *** PWM
jobuuu 7:e9086c72bb22 1652 ********************************************************/
Lightvalve 49:e7bcfc244d40 1653 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1654 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1655 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1656 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1657 }
Lightvalve 49:e7bcfc244d40 1658 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1659
jobuuu 2:a1c0a37df760 1660 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1661 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1662 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1663
Lightvalve 19:23b7c1ad8683 1664 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1665 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1666 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1667
Lightvalve 30:8d561f16383b 1668 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1669 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1670 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1671 } else {
jobuuu 2:a1c0a37df760 1672 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1673 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1674 }
Lightvalve 13:747daba9cf59 1675
jobuuu 1:e04e563be5ce 1676 //pwm
Lightvalve 30:8d561f16383b 1677 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1678 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1679
jobuuu 1:e04e563be5ce 1680 }
Lightvalve 11:82d8768d7351 1681 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1682
jobuuu 7:e9086c72bb22 1683 }
jobuuu 7:e9086c72bb22 1684
Lightvalve 20:806196fda269 1685
Lightvalve 20:806196fda269 1686
Lightvalve 20:806196fda269 1687 //unsigned long CNT_TMR5 = 0;
Lightvalve 30:8d561f16383b 1688 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 30:8d561f16383b 1689 //float DT_TMR5 = (float)DT_500;
Lightvalve 23:59218d4a256d 1690 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1691 {
Lightvalve 23:59218d4a256d 1692 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1693
Lightvalve 20:806196fda269 1694 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1695 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1696 //position+velocity
Lightvalve 41:abbd4e2af68b 1697 //CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 49:e7bcfc244d40 1698 CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (V_out/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 20:806196fda269 1699 }
Lightvalve 20:806196fda269 1700
Lightvalve 20:806196fda269 1701 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1702 //torque
Lightvalve 20:806196fda269 1703 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1704 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 48:889798ff9329 1705 double t_value = 0;
Lightvalve 48:889798ff9329 1706 if(value>=DDV_CENTER){
Lightvalve 48:889798ff9329 1707 t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 48:889798ff9329 1708 }else{
Lightvalve 48:889798ff9329 1709 t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 48:889798ff9329 1710 }
Lightvalve 48:889798ff9329 1711 CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve 20:806196fda269 1712 }
Lightvalve 20:806196fda269 1713
Lightvalve 20:806196fda269 1714 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1715 //pressure A and B
Lightvalve 49:e7bcfc244d40 1716 CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (PRES_A_VREF * 1000.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 38:118df027d851 1717 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1718 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1719 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1720 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1721
Lightvalve 20:806196fda269 1722 }
Lightvalve 20:806196fda269 1723
Lightvalve 20:806196fda269 1724 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1725 //PWM
Lightvalve 48:889798ff9329 1726 CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 20:806196fda269 1727 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1728 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1729 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1730
Lightvalve 20:806196fda269 1731 }
Lightvalve 20:806196fda269 1732
Lightvalve 20:806196fda269 1733 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1734 //valve position
Lightvalve 48:889798ff9329 1735 CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve 33:91b17819ec30 1736 //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 20:806196fda269 1737
Lightvalve 20:806196fda269 1738 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 1739 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 1740 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 1741 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 1742 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 1743 }
Lightvalve 48:889798ff9329 1744
Lightvalve 20:806196fda269 1745
Lightvalve 20:806196fda269 1746 }
Lightvalve 23:59218d4a256d 1747 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 1748 }
Lightvalve 20:806196fda269 1749
Lightvalve 20:806196fda269 1750
Lightvalve 20:806196fda269 1751
Lightvalve 13:747daba9cf59 1752 void CurrentControl()
Lightvalve 13:747daba9cf59 1753 {
jobuuu 7:e9086c72bb22 1754 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1755 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1756 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1757 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1758
Lightvalve 30:8d561f16383b 1759 float R_model = 150.0f; // ohm
Lightvalve 30:8d561f16383b 1760 float L_model = 0.3f;
Lightvalve 30:8d561f16383b 1761 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 30:8d561f16383b 1762 float KP_I = L_model*w0;
Lightvalve 30:8d561f16383b 1763 float KI_I = R_model*w0;
Lightvalve 30:8d561f16383b 1764 float KD_I = 0.0f;
jobuuu 7:e9086c72bb22 1765
Lightvalve 30:8d561f16383b 1766 float FF_gain = 0.0f;
jobuuu 7:e9086c72bb22 1767 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1768 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1769 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1770
Lightvalve 30:8d561f16383b 1771 float Ka = 5.0f/KP_I;
jobuuu 7:e9086c72bb22 1772 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1773 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1774 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1775 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1776 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1777 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1778 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1779 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1780 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1781 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1782 }
Lightvalve 21:e5f1a43ea6f9 1783 }
Lightvalve 23:59218d4a256d 1784
Lightvalve 28:2a62d73e3dd0 1785
Lightvalve 30:8d561f16383b 1786
Lightvalve 32:4b8c0fedaf2c 1787
Lightvalve 36:a46e63505ed8 1788
Lightvalve 42:1cf66990ccab 1789
Lightvalve 44:fe7d5cfd2eea 1790