Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

main.cpp@39:e961db3b93f8, 2019-12-05 (annotated)

Committer:
Lightvalve
Date:
Thu Dec 05 14:29:22 2019 +0000
Revision:
39:e961db3b93f8
Parent:
38:118df027d851 
191205

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
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 78 extern int CID_RX_REF_POSITION;
Lightvalve 19:23b7c1ad8683 79 extern int CID_RX_REF_TORQUE;
Lightvalve 19:23b7c1ad8683 80 extern int CID_RX_REF_PRES_DIFF;
Lightvalve 19:23b7c1ad8683 81 extern int CID_RX_REF_VOUT;
Lightvalve 19:23b7c1ad8683 82 extern int CID_RX_REF_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 83 extern int CID_RX_REF_CURRENT;
Lightvalve 19:23b7c1ad8683 84
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 87 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 88 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 89 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 90 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 91
jobuuu 7:e9086c72bb22 92 // =============================================================================
jobuuu 7:e9086c72bb22 93 // =============================================================================
jobuuu 7:e9086c72bb22 94 // =============================================================================
jobuuu 7:e9086c72bb22 95
Lightvalve 12:6f2531038ea4 96 /*******************************************************************************
Lightvalve 12:6f2531038ea4 97 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 98 ******************************************************************************/
Lightvalve 13:747daba9cf59 99 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 100 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 101 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 102 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 103 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 104 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 105 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 106 };
Lightvalve 12:6f2531038ea4 107
Lightvalve 12:6f2531038ea4 108 /*******************************************************************************
Lightvalve 12:6f2531038ea4 109 * CONTROL MODE
Lightvalve 12:6f2531038ea4 110 ******************************************************************************/
Lightvalve 13:747daba9cf59 111 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 112 //control mode
Lightvalve 12:6f2531038ea4 113 MODE_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 114 MODE_VALVE_OPEN_LOOP, //1
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_CONTROL, //2
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 122 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 123 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 124
Lightvalve 12:6f2531038ea4 125 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 126 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 127
Lightvalve 14:8e7590227d22 128 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 129 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 130 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 131
Lightvalve 12:6f2531038ea4 132 //utility
Lightvalve 12:6f2531038ea4 133 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 134 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 135 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 136 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 137 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 138 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 139 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 140
Lightvalve 12:6f2531038ea4 141 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 142 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 143 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 144 };
Lightvalve 12:6f2531038ea4 145
Lightvalve 39:e961db3b93f8 146 int messi = 0;
Lightvalve 39:e961db3b93f8 147 float end_pos = 0.0f;
Lightvalve 39:e961db3b93f8 148
GiJeongKim 0:51c43836c1d7 149 int main()
GiJeongKim 0:51c43836c1d7 150 {
jobuuu 6:df07d3491e3a 151 /*********************************
jobuuu 1:e04e563be5ce 152 *** Initialization
jobuuu 6:df07d3491e3a 153 *********************************/
Lightvalve 19:23b7c1ad8683 154 //LED = 1;
Lightvalve 19:23b7c1ad8683 155 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 156
GiJeongKim 0:51c43836c1d7 157 // i2c init
Lightvalve 39:e961db3b93f8 158 //i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 39:e961db3b93f8 159 // wait_ms(2); // Power Up wait
Lightvalve 39:e961db3b93f8 160 // look_for_hardware_i2c(); // Hardware present
Lightvalve 39:e961db3b93f8 161 // init_as5510(i2c_slave_addr1);
Lightvalve 39:e961db3b93f8 162 // make_delay();
jobuuu 2:a1c0a37df760 163
GiJeongKim 0:51c43836c1d7 164 // // spi init
Lightvalve 16:903b5a4433b4 165 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 166 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 167 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 168 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 169 make_delay();
Lightvalve 21:e5f1a43ea6f9 170
Lightvalve 16:903b5a4433b4 171 //rom
Lightvalve 19:23b7c1ad8683 172 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 173 make_delay();
Lightvalve 13:747daba9cf59 174
Lightvalve 39:e961db3b93f8 175 // // ADC init
Lightvalve 39:e961db3b93f8 176 // Init_ADC();
Lightvalve 39:e961db3b93f8 177 // make_delay();
jobuuu 2:a1c0a37df760 178
GiJeongKim 0:51c43836c1d7 179 // Pwm init
GiJeongKim 0:51c43836c1d7 180 Init_PWM();
GiJeongKim 0:51c43836c1d7 181 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 182 make_delay();
Lightvalve 13:747daba9cf59 183
Lightvalve 11:82d8768d7351 184 // TMR3 init
Lightvalve 11:82d8768d7351 185 Init_TMR3();
Lightvalve 11:82d8768d7351 186 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 187 make_delay();
Lightvalve 21:e5f1a43ea6f9 188
Lightvalve 20:806196fda269 189 // TMR5 init
Lightvalve 23:59218d4a256d 190 Init_TMR2();
Lightvalve 23:59218d4a256d 191 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 20:806196fda269 192 make_delay();
Lightvalve 21:e5f1a43ea6f9 193
GiJeongKim 0:51c43836c1d7 194 // CAN
jobuuu 2:a1c0a37df760 195 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 196 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 197 make_delay();
Lightvalve 34:bb2ca2fc2a8e 198
Lightvalve 23:59218d4a256d 199 //Timer priority
Lightvalve 23:59218d4a256d 200 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 23:59218d4a256d 201 NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 202 NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve 34:bb2ca2fc2a8e 203
Lightvalve 23:59218d4a256d 204 //can.reset();
Lightvalve 19:23b7c1ad8683 205 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 206
GiJeongKim 0:51c43836c1d7 207 // spi _ enc
GiJeongKim 0:51c43836c1d7 208 spi_enc_set_init();
Lightvalve 11:82d8768d7351 209 make_delay();
Lightvalve 13:747daba9cf59 210
Lightvalve 11:82d8768d7351 211 //DAC init
Lightvalve 39:e961db3b93f8 212 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 39:e961db3b93f8 213 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 39:e961db3b93f8 214 // make_delay();
Lightvalve 13:747daba9cf59 215
Lightvalve 39:e961db3b93f8 216 // for (int i=0; i<50; i++) {
Lightvalve 39:e961db3b93f8 217 // if(i%2==0)
Lightvalve 39:e961db3b93f8 218 // ID_index_array[i] = - i * 0.5f;
Lightvalve 39:e961db3b93f8 219 // else
Lightvalve 39:e961db3b93f8 220 // ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 39:e961db3b93f8 221 // }
Lightvalve 39:e961db3b93f8 222
Lightvalve 39:e961db3b93f8 223 ENC_UPDATE();
Lightvalve 39:e961db3b93f8 224 pos.ref = pos.sen;
Lightvalve 39:e961db3b93f8 225
Lightvalve 13:747daba9cf59 226
jobuuu 6:df07d3491e3a 227 /************************************
jobuuu 1:e04e563be5ce 228 *** Program is operating!
jobuuu 6:df07d3491e3a 229 *************************************/
GiJeongKim 0:51c43836c1d7 230 while(1) {
Lightvalve 39:e961db3b93f8 231 if(timer_while==100000) {
Lightvalve 39:e961db3b93f8 232 messi = 1;
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 33:91b17819ec30 243 float Ref_Valve_Pos_FF = DDV_CENTER;
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 35:34ce7b0347b8 268 //VELOCITY_COMP_GAIN = 20;
Lightvalve 35:34ce7b0347b8 269 //CAN_TX_PRES((int16_t)(Ref_Valve_Pos_FF), (int16_t) (7));
Lightvalve 33:91b17819ec30 270 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + DDV_CENTER;
Lightvalve 34:bb2ca2fc2a8e 271
Lightvalve 13:747daba9cf59 272 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 273 }
jobuuu 6:df07d3491e3a 274
jobuuu 6:df07d3491e3a 275
Lightvalve 30:8d561f16383b 276 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 277 {
Lightvalve 13:747daba9cf59 278 int i = 0;
Lightvalve 13:747daba9cf59 279
Lightvalve 38:118df027d851 280 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 281 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 282 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 283 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 284 }
Lightvalve 38:118df027d851 285
Lightvalve 13:747daba9cf59 286 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 287 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 288 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 289 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 290 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 291 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 292
Lightvalve 13:747daba9cf59 293 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 294
Lightvalve 38:118df027d851 295
Lightvalve 34:bb2ca2fc2a8e 296
Lightvalve 34:bb2ca2fc2a8e 297
Lightvalve 23:59218d4a256d 298 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve 23:59218d4a256d 299 // {
Lightvalve 23:59218d4a256d 300 // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve 30:8d561f16383b 301 // 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 302 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve 30:8d561f16383b 303 // 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 304 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve 30:8d561f16383b 305 // 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 306 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve 30:8d561f16383b 307 // 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 308 // }else
Lightvalve 23:59218d4a256d 309 // VALVE_PWM_RAW_FF = 12000.0;
Lightvalve 23:59218d4a256d 310 // }
Lightvalve 23:59218d4a256d 311 // else
Lightvalve 23:59218d4a256d 312 // {
Lightvalve 23:59218d4a256d 313 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve 30:8d561f16383b 314 // 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 315 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve 30:8d561f16383b 316 // 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 317 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve 30:8d561f16383b 318 // 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 319 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve 30:8d561f16383b 320 // 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 321 // }else
Lightvalve 23:59218d4a256d 322 // VALVE_PWM_RAW_FF = -12000.0;
Lightvalve 23:59218d4a256d 323 // }
Lightvalve 14:8e7590227d22 324
Lightvalve 18:b8adf1582ea3 325 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 326 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 327 if(i==0) {
Lightvalve 30:8d561f16383b 328 VALVE_PWM_RAW_FF = (float) 1000.0 / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 329 } else {
Lightvalve 30:8d561f16383b 330 VALVE_PWM_RAW_FF = (float) 1000.0* (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]) + 1000.0* (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 331 }
Lightvalve 13:747daba9cf59 332 break;
Lightvalve 13:747daba9cf59 333 }
Lightvalve 13:747daba9cf59 334 }
Lightvalve 19:23b7c1ad8683 335
Lightvalve 14:8e7590227d22 336 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
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 38:118df027d851 413 torq.sen = - (pres_A.sen-2048.0f)*10000.0f / 2048.0f; //N
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 30:8d561f16383b 447 //float DT_TMR3 = (float)DT_5k;
Lightvalve 30:8d561f16383b 448 float DT_TMR3 = (float)DT_1k;
Lightvalve 11:82d8768d7351 449 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 450 {
Lightvalve 19:23b7c1ad8683 451 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 452 ENC_UPDATE();
Lightvalve 39:e961db3b93f8 453
Lightvalve 39:e961db3b93f8 454 if(messi == 1){
Lightvalve 39:e961db3b93f8 455 pos.ref = pos.ref + 0.007f;//0.009 -> 10ml/30min
Lightvalve 39:e961db3b93f8 456 pos.err = pos.ref - (float) pos.sen;
Lightvalve 39:e961db3b93f8 457 pos.err_diff = pos.err - pos.err_old;
Lightvalve 39:e961db3b93f8 458 pos.err_old = pos.err;
Lightvalve 39:e961db3b93f8 459 pos.err_sum += pos.err;
Lightvalve 39:e961db3b93f8 460 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 39:e961db3b93f8 461 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 39:e961db3b93f8 462 V_out = (float) 500.0f + (float) 3000.0f * 0.01f * pos.err + (float) 0.0f * 0.01f * pos.err_sum + (float) 0.0f * pos.err_diff;
Lightvalve 39:e961db3b93f8 463
Lightvalve 39:e961db3b93f8 464 if (abs(pos.ref-pos.sen) > 1000){
Lightvalve 39:e961db3b93f8 465 V_out = 0;
Lightvalve 39:e961db3b93f8 466 pos.ref = pos.sen;
Lightvalve 39:e961db3b93f8 467 end_pos = pos.sen;
Lightvalve 39:e961db3b93f8 468 messi = 2;
Lightvalve 39:e961db3b93f8 469 }
Lightvalve 39:e961db3b93f8 470 }
Lightvalve 39:e961db3b93f8 471 if(messi ==2){
Lightvalve 39:e961db3b93f8 472 pos.ref = pos.ref - 2.0f;
Lightvalve 39:e961db3b93f8 473 pos.err = pos.ref - (float) pos.sen;
Lightvalve 39:e961db3b93f8 474 pos.err_diff = pos.err - pos.err_old;
Lightvalve 39:e961db3b93f8 475 pos.err_old = pos.err;
Lightvalve 39:e961db3b93f8 476 pos.err_sum += pos.err;
Lightvalve 39:e961db3b93f8 477 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 39:e961db3b93f8 478 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 39:e961db3b93f8 479 V_out = (float) 3000.0f * 0.01f * pos.err + (float) 0.0f * 0.01f * pos.err_sum + (float) 0.0f * pos.err_diff;
Lightvalve 39:e961db3b93f8 480
Lightvalve 39:e961db3b93f8 481 // if (abs(pos.ref-pos.sen) > 2000){
Lightvalve 39:e961db3b93f8 482 // V_out = 0;
Lightvalve 39:e961db3b93f8 483 // messi = 0;
Lightvalve 39:e961db3b93f8 484 // }
Lightvalve 39:e961db3b93f8 485
Lightvalve 39:e961db3b93f8 486 if (abs(end_pos-pos.sen) > 81920){
Lightvalve 39:e961db3b93f8 487 V_out = 0;
Lightvalve 39:e961db3b93f8 488 messi = 0;
Lightvalve 39:e961db3b93f8 489 }
Lightvalve 39:e961db3b93f8 490 }
Lightvalve 39:e961db3b93f8 491
Lightvalve 13:747daba9cf59 492
Lightvalve 19:23b7c1ad8683 493 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 494
Lightvalve 14:8e7590227d22 495 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 496 case MODE_NO_ACT: {
Lightvalve 39:e961db3b93f8 497 V_out = V_out;
Lightvalve 13:747daba9cf59 498 break;
Lightvalve 13:747daba9cf59 499 }
Lightvalve 14:8e7590227d22 500
Lightvalve 14:8e7590227d22 501 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 30:8d561f16383b 502 V_out = (float) Vout.ref;
Lightvalve 14:8e7590227d22 503 break;
Lightvalve 14:8e7590227d22 504 }
Lightvalve 14:8e7590227d22 505
Lightvalve 14:8e7590227d22 506 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 507 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 508 break;
Lightvalve 14:8e7590227d22 509 }
Lightvalve 14:8e7590227d22 510
Lightvalve 14:8e7590227d22 511 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 512 float PWM_RAW_POS_FB = 0.0f; // PWM by Position Feedback
Lightvalve 30:8d561f16383b 513 float PWM_RAW_POS_FF = 0.0f; // PWM by Position Feedforward
Lightvalve 30:8d561f16383b 514 float PWM_RAW_FORCE_FB = 0.0f; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 515
Lightvalve 13:747daba9cf59 516 // feedback input for position control
Lightvalve 30:8d561f16383b 517 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 518 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 519 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 520 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 521 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 522 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 523 // PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 30:8d561f16383b 524 PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 30:8d561f16383b 525 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 526
Lightvalve 13:747daba9cf59 527 // feedforward input for position control
Lightvalve 30:8d561f16383b 528 float Ref_Vel_Act = vel.ref/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 529 float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 530 if(Ref_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 531 if(Ref_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 532 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 533
Lightvalve 13:747daba9cf59 534 // torque feedback
Lightvalve 15:bd0d12728506 535 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 536 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 537 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 538 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 539 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 540 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 541 // 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 30:8d561f16383b 542 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 19:23b7c1ad8683 543
Lightvalve 30:8d561f16383b 544 PWM_RAW_FORCE_FB = 0.0f;
Lightvalve 14:8e7590227d22 545
Lightvalve 14:8e7590227d22 546 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 547
Lightvalve 13:747daba9cf59 548 break;
Lightvalve 13:747daba9cf59 549 }
Lightvalve 14:8e7590227d22 550
Lightvalve 14:8e7590227d22 551 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 34:bb2ca2fc2a8e 552
Lightvalve 34:bb2ca2fc2a8e 553
Lightvalve 30:8d561f16383b 554 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 30:8d561f16383b 555 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 30:8d561f16383b 556 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 557 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 558 // feedback input for position control
Lightvalve 30:8d561f16383b 559 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 560 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 561 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 562 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 563 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 564 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 32:4b8c0fedaf2c 565 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 566 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 567
Lightvalve 14:8e7590227d22 568
Lightvalve 13:747daba9cf59 569 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 570 // feedforward input for position control
Lightvalve 30:8d561f16383b 571 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 572 // float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 573 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 574 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 575 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 576
Lightvalve 38:118df027d851 577 //torque feedback
Lightvalve 38:118df027d851 578 torq.err = - torq.ref + torq.sen;
Lightvalve 38:118df027d851 579 torq.err_diff = torq.err - torq.err_old;
Lightvalve 38:118df027d851 580 torq.err_old = torq.err;
Lightvalve 38:118df027d851 581 torq.err_sum += torq.err;
Lightvalve 38:118df027d851 582 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 38:118df027d851 583 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 38:118df027d851 584 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 585 VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve 14:8e7590227d22 586
Lightvalve 33:91b17819ec30 587 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 34:bb2ca2fc2a8e 588
Lightvalve 34:bb2ca2fc2a8e 589 if (valve_pos.ref > DDV_CENTER) {
Lightvalve 32:4b8c0fedaf2c 590 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS - DDV_CENTER;
Lightvalve 34:bb2ca2fc2a8e 591 } else if(valve_pos.ref < DDV_CENTER) {
Lightvalve 32:4b8c0fedaf2c 592 valve_pos.ref = valve_pos.ref - DDV_CENTER + VALVE_DEADZONE_MINUS;
Lightvalve 32:4b8c0fedaf2c 593 }
Lightvalve 14:8e7590227d22 594 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 595
Lightvalve 34:bb2ca2fc2a8e 596
Lightvalve 13:747daba9cf59 597 break;
Lightvalve 13:747daba9cf59 598 }
Lightvalve 14:8e7590227d22 599
Lightvalve 14:8e7590227d22 600 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 601
Lightvalve 13:747daba9cf59 602 break;
Lightvalve 13:747daba9cf59 603 }
Lightvalve 14:8e7590227d22 604
Lightvalve 14:8e7590227d22 605 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 606 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 607 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 608 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 609 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 610 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 611 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 612 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 613
Lightvalve 14:8e7590227d22 614 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 615 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 616 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 617 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 618 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 619 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 620 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 621
Lightvalve 30:8d561f16383b 622 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 14:8e7590227d22 623
Lightvalve 30:8d561f16383b 624 V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 625
Lightvalve 30:8d561f16383b 626 CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 30:8d561f16383b 627 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 628 if (DIR_VALVE > 0) {
Lightvalve 30:8d561f16383b 629 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 630 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 631 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 632 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 633 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 634 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 635 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 636 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 637 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 638 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 639 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 640 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 641 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 642 } else {
Lightvalve 30:8d561f16383b 643 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 644 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 645 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 646 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 647 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 648 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 649 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 650 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 651 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 652 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 653 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 654 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 655 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 656 }
Lightvalve 30:8d561f16383b 657 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 14:8e7590227d22 658
Lightvalve 30:8d561f16383b 659 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 660 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 661
Lightvalve 18:b8adf1582ea3 662 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 663 break;
Lightvalve 14:8e7590227d22 664 }
Lightvalve 14:8e7590227d22 665
Lightvalve 14:8e7590227d22 666 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 667 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 668 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 669 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 670 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 671 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 672 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 673 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 674
Lightvalve 15:bd0d12728506 675 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 676 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 677 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 678 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 679 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 680 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 681 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 682
Lightvalve 14:8e7590227d22 683 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 684 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 19:23b7c1ad8683 685
Lightvalve 14:8e7590227d22 686 break;
Lightvalve 14:8e7590227d22 687 }
Lightvalve 14:8e7590227d22 688
Lightvalve 14:8e7590227d22 689 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 690
Lightvalve 14:8e7590227d22 691 break;
Lightvalve 14:8e7590227d22 692 }
Lightvalve 14:8e7590227d22 693
Lightvalve 19:23b7c1ad8683 694
Lightvalve 19:23b7c1ad8683 695 case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 696 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 697 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 698 }
Lightvalve 19:23b7c1ad8683 699 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 700
Lightvalve 19:23b7c1ad8683 701 // Set Current Reference
Lightvalve 30:8d561f16383b 702 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 703 float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 704 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 30:8d561f16383b 705 I_REF = I_REF_MID + 1.0f;
Lightvalve 14:8e7590227d22 706 } else {
Lightvalve 30:8d561f16383b 707 I_REF = I_REF_MID - 1.0f;
Lightvalve 19:23b7c1ad8683 708 }
Lightvalve 30:8d561f16383b 709 // float T = 1.0; // wave period
Lightvalve 30:8d561f16383b 710 // I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 30:8d561f16383b 711 // 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 712
Lightvalve 14:8e7590227d22 713 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 714 //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 715 }
Lightvalve 14:8e7590227d22 716 break;
Lightvalve 14:8e7590227d22 717 }
Lightvalve 19:23b7c1ad8683 718
Lightvalve 19:23b7c1ad8683 719 case MODE_TEST_PWM_CONTROL: {
Lightvalve 14:8e7590227d22 720 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 721 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 722 }
Lightvalve 19:23b7c1ad8683 723 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 724
Lightvalve 14:8e7590227d22 725 // Set PWM reference
Lightvalve 30:8d561f16383b 726 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 727 //float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 728 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 729 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 730 } else {
Lightvalve 14:8e7590227d22 731 CUR_PWM = -1000;
Lightvalve 19:23b7c1ad8683 732 }
Lightvalve 19:23b7c1ad8683 733
Lightvalve 14:8e7590227d22 734 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 30:8d561f16383b 735 //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 14:8e7590227d22 736 }
Lightvalve 13:747daba9cf59 737 break;
Lightvalve 13:747daba9cf59 738 }
Lightvalve 19:23b7c1ad8683 739
Lightvalve 19:23b7c1ad8683 740
Lightvalve 14:8e7590227d22 741 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 742
Lightvalve 14:8e7590227d22 743 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 744 CurrentControl();
Lightvalve 14:8e7590227d22 745 break;
Lightvalve 14:8e7590227d22 746 }
Lightvalve 19:23b7c1ad8683 747
Lightvalve 14:8e7590227d22 748 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 749 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 750 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 751 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 752 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 753
Lightvalve 14:8e7590227d22 754 // feedback input for position control
Lightvalve 14:8e7590227d22 755 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 756 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 757 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 758 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 759 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 760 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 761
Lightvalve 14:8e7590227d22 762 // feedforward input for position control
Lightvalve 30:8d561f16383b 763 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 764 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 765 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 766 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 767 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 768 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 769
Lightvalve 14:8e7590227d22 770 // feedback input for position control
Lightvalve 30:8d561f16383b 771 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 772
Lightvalve 14:8e7590227d22 773 // feedforward input for position control
Lightvalve 30:8d561f16383b 774 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 775
Lightvalve 14:8e7590227d22 776 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 777
Lightvalve 14:8e7590227d22 778 CurrentControl();
Lightvalve 19:23b7c1ad8683 779
Lightvalve 13:747daba9cf59 780 break;
Lightvalve 13:747daba9cf59 781 }
Lightvalve 19:23b7c1ad8683 782
Lightvalve 14:8e7590227d22 783 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 784 //float T_REF = 0.0; // Torque Reference
Lightvalve 30:8d561f16383b 785 float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 786 float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 19:23b7c1ad8683 787
Lightvalve 14:8e7590227d22 788 // feedback input for position control
Lightvalve 30:8d561f16383b 789 //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 790 //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 791 //float K_spring = 0.7f;
Lightvalve 30:8d561f16383b 792 //float D_damper = 0.02f;
Lightvalve 14:8e7590227d22 793 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 19:23b7c1ad8683 794
Lightvalve 14:8e7590227d22 795 // torque feedback
Lightvalve 15:bd0d12728506 796 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 797 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 798 // torq.err_old = torq.err;
Lightvalve 30:8d561f16383b 799 torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 800 I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 19:23b7c1ad8683 801
Lightvalve 14:8e7590227d22 802 // velocity compensation for torque control
Lightvalve 30:8d561f16383b 803 float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 804 float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 30:8d561f16383b 805 float K_v = 0.0f; // Valve gain
Lightvalve 30:8d561f16383b 806 if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 30:8d561f16383b 807 if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 14:8e7590227d22 808 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 19:23b7c1ad8683 809
Lightvalve 14:8e7590227d22 810 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 811 // cur.ref = I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 812
Lightvalve 30:8d561f16383b 813 float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 30:8d561f16383b 814 float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 815 if(cur.ref > I_MAX) {
Lightvalve 30:8d561f16383b 816 float I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 817 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 818 cur.ref = I_MAX;
Lightvalve 30:8d561f16383b 819 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 820 } else if(cur.ref < -I_MAX) {
Lightvalve 30:8d561f16383b 821 float I_rem = cur.ref-(-I_MAX);
Lightvalve 19:23b7c1ad8683 822 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 823 cur.ref = -I_MAX;
Lightvalve 30:8d561f16383b 824 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 825 }
Lightvalve 19:23b7c1ad8683 826
Lightvalve 14:8e7590227d22 827 CurrentControl();
Lightvalve 19:23b7c1ad8683 828
Lightvalve 19:23b7c1ad8683 829
Lightvalve 14:8e7590227d22 830 /*
Lightvalve 30:8d561f16383b 831 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 832 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 833 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 834 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 835
Lightvalve 14:8e7590227d22 836 // feedback input for position control
Lightvalve 14:8e7590227d22 837 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 838 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 839 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 840 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 841 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 842 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 843
Lightvalve 14:8e7590227d22 844 // feedforward input for position control
Lightvalve 30:8d561f16383b 845 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 846 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 847 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 848 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 849 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 850 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 851
Lightvalve 14:8e7590227d22 852 // feedback input for position control
Lightvalve 30:8d561f16383b 853 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 854
Lightvalve 14:8e7590227d22 855 // feedforward input for position control
Lightvalve 30:8d561f16383b 856 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 857
Lightvalve 14:8e7590227d22 858 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 859
Lightvalve 14:8e7590227d22 860 CurrentControl();
Lightvalve 14:8e7590227d22 861 */
Lightvalve 19:23b7c1ad8683 862
Lightvalve 13:747daba9cf59 863 break;
Lightvalve 13:747daba9cf59 864 }
Lightvalve 14:8e7590227d22 865
Lightvalve 14:8e7590227d22 866 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 867 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 868 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 869 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 870
Lightvalve 14:8e7590227d22 871 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 872 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 873 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 874
Lightvalve 30:8d561f16383b 875 TORQUE_VREF += 0.0001f * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 876
Lightvalve 30:8d561f16383b 877 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 878 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 19:23b7c1ad8683 879
Lightvalve 16:903b5a4433b4 880 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 881
Lightvalve 16:903b5a4433b4 882 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 883 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 884 }
Lightvalve 13:747daba9cf59 885 } else {
Lightvalve 13:747daba9cf59 886 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 887 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 888 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 889 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 890
Lightvalve 16:903b5a4433b4 891 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 892
Lightvalve 16:903b5a4433b4 893 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 894
Lightvalve 17:1865016ca2e7 895 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 896 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 897
Lightvalve 13:747daba9cf59 898 }
Lightvalve 14:8e7590227d22 899 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 900 break;
Lightvalve 19:23b7c1ad8683 901 }
Lightvalve 14:8e7590227d22 902
Lightvalve 14:8e7590227d22 903 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 904 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 905 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 906 else temp_time = 0;
Lightvalve 13:747daba9cf59 907 }
Lightvalve 13:747daba9cf59 908 if (need_enc_init) {
Lightvalve 30:8d561f16383b 909 if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 910 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 911 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 912 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 913 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 914 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 915 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 916 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 917 }
Lightvalve 14:8e7590227d22 918
Lightvalve 14:8e7590227d22 919 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 920 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 921 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 922
Lightvalve 30:8d561f16383b 923 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 924 V_out = 0;
Lightvalve 13:747daba9cf59 925 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 926 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 927 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 928 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 929 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 930 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 931 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 932 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 933 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 934
Lightvalve 13:747daba9cf59 935 // Position of Dead Zone
Lightvalve 13:747daba9cf59 936 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 937 // | / | / |/
Lightvalve 13:747daba9cf59 938 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 939 // |/ / | / |
Lightvalve 13:747daba9cf59 940 // /| / | / |
Lightvalve 13:747daba9cf59 941 // 0V 0V 0V
Lightvalve 14:8e7590227d22 942
Lightvalve 13:747daba9cf59 943 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 944 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 945 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 946 } else {
Lightvalve 18:b8adf1582ea3 947 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 948 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 949 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 950 }
Lightvalve 13:747daba9cf59 951 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 952 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 953 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 954 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 955 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 956 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 957 }
Lightvalve 13:747daba9cf59 958 } else {
Lightvalve 14:8e7590227d22 959 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 960 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 961 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 962 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 963 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 964 }
Lightvalve 18:b8adf1582ea3 965 V_out = 0;
Lightvalve 19:23b7c1ad8683 966
Lightvalve 16:903b5a4433b4 967 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 968
Lightvalve 16:903b5a4433b4 969 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 970 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 971
Lightvalve 13:747daba9cf59 972 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 973 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 974 }
Lightvalve 13:747daba9cf59 975 }
Lightvalve 14:8e7590227d22 976 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 977 break;
Lightvalve 13:747daba9cf59 978 }
Lightvalve 14:8e7590227d22 979
Lightvalve 14:8e7590227d22 980 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 981 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 982 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 983 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 984 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 985 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 986 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 987 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 988 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 989 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 990 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 991 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 992 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 993 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 994 }
Lightvalve 29:69f3f5445d6d 995 cnt_findhome++;
Lightvalve 30:8d561f16383b 996 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 997
Lightvalve 29:69f3f5445d6d 998 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 999 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1000 } else {
Lightvalve 29:69f3f5445d6d 1001 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1002 }
Lightvalve 19:23b7c1ad8683 1003
Lightvalve 30:8d561f16383b 1004 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1005 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 1006 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 1007 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 1008 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 1009 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 1010 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 1011 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 1012 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1013 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 1014
Lightvalve 30:8d561f16383b 1015 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1016 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 1017 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 1018 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 1019 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 1020 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 1021 } else {
Lightvalve 29:69f3f5445d6d 1022 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 1023 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1024 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1025 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1026 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1027 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1028 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1029 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1030 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1031 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 1032 }
Lightvalve 29:69f3f5445d6d 1033 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1034 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 1035 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 1036 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 1037
Lightvalve 29:69f3f5445d6d 1038 // input for position control
Lightvalve 30:8d561f16383b 1039 pos.err = (pos.ref_home_pos - (float)pos.sen) / ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1040 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 1041 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 1042 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 1043 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1044 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1045
Lightvalve 19:23b7c1ad8683 1046
Lightvalve 29:69f3f5445d6d 1047 // if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 30:8d561f16383b 1048 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1049 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve 29:69f3f5445d6d 1050 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1051 // 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 1052 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1053 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1054 // // L thetadot(rad/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1055 // } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve 30:8d561f16383b 1056 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1057 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 29:69f3f5445d6d 1058 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1059 // 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 1060 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1061 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1062 // // L xdot(mm/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1063 // }
Lightvalve 29:69f3f5445d6d 1064
Lightvalve 29:69f3f5445d6d 1065 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1066 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1067 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1068 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1069 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1070 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1071 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1072 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1073 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 1074 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 29:69f3f5445d6d 1075 }
Lightvalve 13:747daba9cf59 1076 }
Lightvalve 19:23b7c1ad8683 1077
Lightvalve 13:747daba9cf59 1078 break;
Lightvalve 13:747daba9cf59 1079 }
Lightvalve 14:8e7590227d22 1080
Lightvalve 14:8e7590227d22 1081 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1082 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1083 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1084 else {
Lightvalve 18:b8adf1582ea3 1085 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1086 temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1087 }
Lightvalve 13:747daba9cf59 1088 }
Lightvalve 13:747daba9cf59 1089 if (need_enc_init) {
Lightvalve 30:8d561f16383b 1090 if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1091 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1092 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1093 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1094 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1095 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1096 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1097 need_enc_init = false;
Lightvalve 30:8d561f16383b 1098 check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 30:8d561f16383b 1099 check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1100 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1101 }
Lightvalve 13:747daba9cf59 1102 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1103 }
Lightvalve 14:8e7590227d22 1104 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1105 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1106 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 30:8d561f16383b 1107 VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1108 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1109 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1110 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1111 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1112 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 1113 // 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 1114 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1115 }
Lightvalve 13:747daba9cf59 1116 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 30:8d561f16383b 1117 VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1118 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1119 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1120 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1121 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1122 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 1123 // 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 1124 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1125 }
Lightvalve 13:747daba9cf59 1126 }
Lightvalve 13:747daba9cf59 1127 if (fl_temp_cnt2 == 100) {
Lightvalve 19:23b7c1ad8683 1128
Lightvalve 16:903b5a4433b4 1129 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1130
Lightvalve 30:8d561f16383b 1131 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 13:747daba9cf59 1132 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1133 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1134 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1135 flag_flowrate++;
Lightvalve 13:747daba9cf59 1136 }
Lightvalve 13:747daba9cf59 1137 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1138 V_out = 0;
Lightvalve 13:747daba9cf59 1139 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1140 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1141 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1142 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1143 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1144 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1145 }
Lightvalve 14:8e7590227d22 1146
Lightvalve 13:747daba9cf59 1147 }
Lightvalve 13:747daba9cf59 1148 break;
Lightvalve 13:747daba9cf59 1149 }
Lightvalve 14:8e7590227d22 1150
Lightvalve 13:747daba9cf59 1151 }
Lightvalve 14:8e7590227d22 1152
Lightvalve 14:8e7590227d22 1153 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1154 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1155 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1156 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1157 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1158
Lightvalve 14:8e7590227d22 1159 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1160 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1161 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1162 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1163 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1164
Lightvalve 38:118df027d851 1165 float VREF_NullingGain = 0.0003f;
Lightvalve 38:118df027d851 1166 PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 38:118df027d851 1167 PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1168
Lightvalve 30:8d561f16383b 1169 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1170 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1171 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1172 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1173
Lightvalve 30:8d561f16383b 1174 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1175 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1176 }
Lightvalve 13:747daba9cf59 1177 } else {
Lightvalve 13:747daba9cf59 1178 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1179 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1180 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1181 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1182 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1183 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1184
Lightvalve 16:903b5a4433b4 1185 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1186
Lightvalve 30:8d561f16383b 1187 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1188 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1189 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1190 }
Lightvalve 14:8e7590227d22 1191 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1192 break;
Lightvalve 13:747daba9cf59 1193 }
Lightvalve 14:8e7590227d22 1194
Lightvalve 14:8e7590227d22 1195 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1196 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1197 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1198 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1199 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1200 }
Lightvalve 14:8e7590227d22 1201 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1202 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1203 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1204 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1205 }
Lightvalve 13:747daba9cf59 1206 } else {
Lightvalve 13:747daba9cf59 1207 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1208 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1209 V_out = 0;
Lightvalve 30:8d561f16383b 1210 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 30:8d561f16383b 1211 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 30:8d561f16383b 1212 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 30:8d561f16383b 1213 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 13:747daba9cf59 1214 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1215 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1216 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1217 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 1218
Lightvalve 16:903b5a4433b4 1219 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1220
Lightvalve 30:8d561f16383b 1221 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 30:8d561f16383b 1222 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 13:747daba9cf59 1223 }
Lightvalve 14:8e7590227d22 1224 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1225 break;
Lightvalve 13:747daba9cf59 1226 }
Lightvalve 14:8e7590227d22 1227
Lightvalve 14:8e7590227d22 1228 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 30:8d561f16383b 1229 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 1230 V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 18:b8adf1582ea3 1231 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 18:b8adf1582ea3 1232 else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1233 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1234 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1235 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 30:8d561f16383b 1236 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1237 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1238 }
Lightvalve 13:747daba9cf59 1239 break;
Lightvalve 13:747daba9cf59 1240 }
Lightvalve 14:8e7590227d22 1241
Lightvalve 14:8e7590227d22 1242 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1243 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1244
Lightvalve 14:8e7590227d22 1245 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1246 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1247 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1248 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1249 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1250 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1251 data_num = 0;
Lightvalve 14:8e7590227d22 1252 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1253 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1254 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1255 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1256 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1257 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1258 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1259 }
Lightvalve 14:8e7590227d22 1260
Lightvalve 17:1865016ca2e7 1261 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1262 int i;
Lightvalve 13:747daba9cf59 1263 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1264 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1265 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1266 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1267 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1268 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1269 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1270 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1271 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1272 }
Lightvalve 13:747daba9cf59 1273 }
Lightvalve 27:a2254a485f23 1274 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1275 ID_index = 0;
Lightvalve 13:747daba9cf59 1276 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1277 }
Lightvalve 14:8e7590227d22 1278
Lightvalve 14:8e7590227d22 1279
Lightvalve 13:747daba9cf59 1280 break;
Lightvalve 13:747daba9cf59 1281 }
Lightvalve 14:8e7590227d22 1282
Lightvalve 14:8e7590227d22 1283 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1284
Lightvalve 13:747daba9cf59 1285 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1286 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1287 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1288 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1289 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1290 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1291 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1293 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1294 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1295 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1296 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1297 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1298 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1299 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1300 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1301 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1302 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1303 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1304 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1305 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1306 START_POS = pos.sen;
Lightvalve 23:59218d4a256d 1307 //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1308 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1309 data_num = 0;
Lightvalve 14:8e7590227d22 1310
Lightvalve 30:8d561f16383b 1311 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1312 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1313 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1314 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1315
Lightvalve 30:8d561f16383b 1316 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1317 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1318 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1319 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1320 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1321 else
Lightvalve 13:747daba9cf59 1322 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1323 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1324 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1325 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1326 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1327 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1328 // {
Lightvalve 14:8e7590227d22 1329 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1330 // }
Lightvalve 14:8e7590227d22 1331 // else
Lightvalve 14:8e7590227d22 1332 // {
Lightvalve 14:8e7590227d22 1333 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1334 // }
Lightvalve 14:8e7590227d22 1335 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1336 // {
Lightvalve 14:8e7590227d22 1337 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1338 // }
Lightvalve 14:8e7590227d22 1339
Lightvalve 14:8e7590227d22 1340 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1341 DZ_case = 1;
Lightvalve 14:8e7590227d22 1342 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1343 DZ_case = -1;
Lightvalve 14:8e7590227d22 1344 } else {
Lightvalve 13:747daba9cf59 1345 DZ_case = 0;
Lightvalve 13:747daba9cf59 1346 }
Lightvalve 14:8e7590227d22 1347
Lightvalve 14:8e7590227d22 1348 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1349 first_check = 1;
Lightvalve 13:747daba9cf59 1350 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1351 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1352 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1353 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1354 DZ_index = 1;
Lightvalve 18:b8adf1582ea3 1355 //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1356
Lightvalve 13:747daba9cf59 1357 }
Lightvalve 19:23b7c1ad8683 1358 } else {
Lightvalve 14:8e7590227d22 1359 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1360 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1361 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1362 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1363 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1364 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1365 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1366 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1367 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1368 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1369 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1370 }
Lightvalve 14:8e7590227d22 1371 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1372 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1373 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1374 else
Lightvalve 13:747daba9cf59 1375 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1376 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1377 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1378 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1379 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1380 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1381 // else
Lightvalve 14:8e7590227d22 1382 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1383 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1384 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1385
Lightvalve 14:8e7590227d22 1386 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1387 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1388 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1389 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1390 } else {
Lightvalve 13:747daba9cf59 1391 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1392 }
Lightvalve 14:8e7590227d22 1393
Lightvalve 14:8e7590227d22 1394 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1395
Lightvalve 13:747daba9cf59 1396 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1397 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1398 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1399 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1400 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1401 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1402 DZ_index = 1;
Lightvalve 13:747daba9cf59 1403 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1404 }
Lightvalve 14:8e7590227d22 1405
Lightvalve 13:747daba9cf59 1406 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1407 }
Lightvalve 14:8e7590227d22 1408 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1409 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1410 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1411 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1412 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1413 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1414 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1415 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1416 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1417 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1418 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1419 }
Lightvalve 14:8e7590227d22 1420 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1421 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1422 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1423 else
Lightvalve 13:747daba9cf59 1424 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1425 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1426 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1427 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1428 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1429 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1430 // else
Lightvalve 14:8e7590227d22 1431 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1432 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1433 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1434
Lightvalve 14:8e7590227d22 1435 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1436 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1437 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1438 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1439 } else {
Lightvalve 13:747daba9cf59 1440 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1441 }
Lightvalve 14:8e7590227d22 1442
Lightvalve 14:8e7590227d22 1443 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1444
Lightvalve 14:8e7590227d22 1445
Lightvalve 13:747daba9cf59 1446 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1447 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1448 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1449 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1450 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1451 first_check = 0;
Lightvalve 33:91b17819ec30 1452 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1453 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1454
Lightvalve 16:903b5a4433b4 1455 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1456
Lightvalve 13:747daba9cf59 1457 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1458 DZ_index = 1;
Lightvalve 13:747daba9cf59 1459 }
Lightvalve 14:8e7590227d22 1460
Lightvalve 23:59218d4a256d 1461 //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1462 }
Lightvalve 14:8e7590227d22 1463 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1464 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1465 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1466 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1467 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1468 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1469 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1470 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1471 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1472 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1473 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1474 }
Lightvalve 14:8e7590227d22 1475 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1476 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1477 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1478 else
Lightvalve 13:747daba9cf59 1479 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1480 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1481 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1482 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1483 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1484 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1485 // else
Lightvalve 14:8e7590227d22 1486 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1487 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1488 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1489
Lightvalve 14:8e7590227d22 1490 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1491 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1492 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1493 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1494 } else {
Lightvalve 13:747daba9cf59 1495 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1496 }
Lightvalve 14:8e7590227d22 1497
Lightvalve 14:8e7590227d22 1498 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1499 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1500 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1501 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1502 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1503 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1504 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1505 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1506 DZ_index = 1;
Lightvalve 13:747daba9cf59 1507 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1508 }
Lightvalve 13:747daba9cf59 1509 }
Lightvalve 14:8e7590227d22 1510 } else {
Lightvalve 30:8d561f16383b 1511 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1512 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1513 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1514 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1515 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1516 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1517 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1518 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1519 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1520 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1521 }
Lightvalve 14:8e7590227d22 1522 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1523 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1524 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1525 else
Lightvalve 13:747daba9cf59 1526 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1527 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1528 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1529 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1530 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1531 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1532 else
Lightvalve 13:747daba9cf59 1533 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1534 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1535 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1536
Lightvalve 14:8e7590227d22 1537 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1538
Lightvalve 14:8e7590227d22 1539
Lightvalve 13:747daba9cf59 1540 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1541 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1542 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1543 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1544 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1545 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1546 first_check = 0;
Lightvalve 33:91b17819ec30 1547 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1548 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1549
Lightvalve 13:747daba9cf59 1550 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1551 DZ_index = 1;
Lightvalve 13:747daba9cf59 1552 }
Lightvalve 14:8e7590227d22 1553
Lightvalve 13:747daba9cf59 1554 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1555 }
Lightvalve 13:747daba9cf59 1556 }
Lightvalve 14:8e7590227d22 1557 }
Lightvalve 13:747daba9cf59 1558 break;
Lightvalve 13:747daba9cf59 1559 }
Lightvalve 14:8e7590227d22 1560
Lightvalve 14:8e7590227d22 1561 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1562 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1563 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1564 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1565 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 23:59218d4a256d 1566 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1567 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1568 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1569 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1570 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1571 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1572 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1573 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1574 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 18:b8adf1582ea3 1575 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1576 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1577 first_check = 1;
Lightvalve 13:747daba9cf59 1578 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1579 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1580 ID_index = 0;
Lightvalve 13:747daba9cf59 1581 max_check = 0;
Lightvalve 13:747daba9cf59 1582 min_check = 0;
Lightvalve 13:747daba9cf59 1583 }
Lightvalve 14:8e7590227d22 1584 } else {
Lightvalve 30:8d561f16383b 1585 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1586 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1587 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1588 data_num = 0;
Lightvalve 33:91b17819ec30 1589 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1590
Lightvalve 14:8e7590227d22 1591 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1592 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1593 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 33:91b17819ec30 1594 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1595 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1596 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1597 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1598 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1599 one_period_end = 1;
Lightvalve 13:747daba9cf59 1600 }
Lightvalve 30:8d561f16383b 1601 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1602 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1603 one_period_end = 1;
Lightvalve 13:747daba9cf59 1604 }
Lightvalve 14:8e7590227d22 1605
Lightvalve 14:8e7590227d22 1606 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1607 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1608 max_check = 1;
Lightvalve 14:8e7590227d22 1609 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1610 min_check = 1;
Lightvalve 13:747daba9cf59 1611 }
Lightvalve 13:747daba9cf59 1612 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1613
Lightvalve 19:23b7c1ad8683 1614 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1615
Lightvalve 16:903b5a4433b4 1616 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1617 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1618 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1619 one_period_end = 0;
Lightvalve 13:747daba9cf59 1620 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1621 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 30:8d561f16383b 1622 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1623 }
Lightvalve 14:8e7590227d22 1624
Lightvalve 14:8e7590227d22 1625 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1626
Lightvalve 16:903b5a4433b4 1627 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1628 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1629 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1630 ID_index = 0;
Lightvalve 13:747daba9cf59 1631 first_check = 0;
Lightvalve 13:747daba9cf59 1632 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1633 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1634 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1635 }
Lightvalve 13:747daba9cf59 1636 }
Lightvalve 13:747daba9cf59 1637 break;
Lightvalve 13:747daba9cf59 1638 }
Lightvalve 14:8e7590227d22 1639
Lightvalve 12:6f2531038ea4 1640 default:
Lightvalve 12:6f2531038ea4 1641 break;
Lightvalve 12:6f2531038ea4 1642 }
Lightvalve 14:8e7590227d22 1643
Lightvalve 13:747daba9cf59 1644 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1645 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1646 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1647 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1648 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1649 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1650 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1651 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1652 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1653
Lightvalve 14:8e7590227d22 1654 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1655 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1656
Lightvalve 14:8e7590227d22 1657 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1658
Lightvalve 13:747daba9cf59 1659 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 30:8d561f16383b 1660 float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 30:8d561f16383b 1661 float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1662
Lightvalve 14:8e7590227d22 1663 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1664 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1665 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1666 } else {
Lightvalve 17:1865016ca2e7 1667 V_out = V_out;
Lightvalve 13:747daba9cf59 1668 }
Lightvalve 14:8e7590227d22 1669
jobuuu 7:e9086c72bb22 1670 /*******************************************************
jobuuu 7:e9086c72bb22 1671 *** PWM
jobuuu 7:e9086c72bb22 1672 ********************************************************/
Lightvalve 34:bb2ca2fc2a8e 1673 if (V_out >= 12000.0f) {
Lightvalve 30:8d561f16383b 1674 V_out = 12000.0f;
Lightvalve 34:bb2ca2fc2a8e 1675 } else if(V_out<=-12000.0f) {
Lightvalve 30:8d561f16383b 1676 V_out = -12000.0f;
Lightvalve 27:a2254a485f23 1677 }
Lightvalve 18:b8adf1582ea3 1678 PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1679
jobuuu 2:a1c0a37df760 1680 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1681 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1682 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1683
Lightvalve 19:23b7c1ad8683 1684 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1685 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1686 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1687
Lightvalve 30:8d561f16383b 1688 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1689 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1690 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1691 } else {
jobuuu 2:a1c0a37df760 1692 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1693 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1694 }
Lightvalve 13:747daba9cf59 1695
jobuuu 1:e04e563be5ce 1696 //pwm
Lightvalve 30:8d561f16383b 1697 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1698 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1699
jobuuu 1:e04e563be5ce 1700 }
Lightvalve 11:82d8768d7351 1701 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1702
jobuuu 7:e9086c72bb22 1703 }
jobuuu 7:e9086c72bb22 1704
Lightvalve 20:806196fda269 1705
Lightvalve 20:806196fda269 1706
Lightvalve 20:806196fda269 1707 //unsigned long CNT_TMR5 = 0;
Lightvalve 30:8d561f16383b 1708 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 30:8d561f16383b 1709 //float DT_TMR5 = (float)DT_500;
Lightvalve 23:59218d4a256d 1710 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1711 {
Lightvalve 23:59218d4a256d 1712 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1713
Lightvalve 20:806196fda269 1714 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1715 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1716 //position+velocity
Lightvalve 20:806196fda269 1717 CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 20:806196fda269 1718 //CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve 20:806196fda269 1719 //CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve 20:806196fda269 1720 //pc.printf("can good");
Lightvalve 20:806196fda269 1721 // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve 20:806196fda269 1722 }
Lightvalve 20:806196fda269 1723
Lightvalve 20:806196fda269 1724 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1725 //torque
Lightvalve 20:806196fda269 1726 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1727 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 20:806196fda269 1728 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 20:806196fda269 1729 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 20:806196fda269 1730 }
Lightvalve 20:806196fda269 1731
Lightvalve 20:806196fda269 1732 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1733 //pressure A and B
Lightvalve 38:118df027d851 1734 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF * 1000.0)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 38:118df027d851 1735 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1736 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1737 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1738 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1739
Lightvalve 20:806196fda269 1740 }
Lightvalve 20:806196fda269 1741
Lightvalve 20:806196fda269 1742 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1743 //PWM
Lightvalve 20:806196fda269 1744 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 20:806196fda269 1745 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1746 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1747 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1748
Lightvalve 20:806196fda269 1749 }
Lightvalve 20:806196fda269 1750
Lightvalve 20:806196fda269 1751 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1752 //valve position
Lightvalve 27:a2254a485f23 1753 CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 33:91b17819ec30 1754 //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 20:806196fda269 1755
Lightvalve 20:806196fda269 1756 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 1757 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 1758 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 1759 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 1760 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 1761 }
Lightvalve 20:806196fda269 1762
Lightvalve 20:806196fda269 1763 }
Lightvalve 23:59218d4a256d 1764 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 1765 }
Lightvalve 20:806196fda269 1766
Lightvalve 20:806196fda269 1767
Lightvalve 20:806196fda269 1768
Lightvalve 13:747daba9cf59 1769 void CurrentControl()
Lightvalve 13:747daba9cf59 1770 {
jobuuu 7:e9086c72bb22 1771 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1772 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1773 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1774 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1775
Lightvalve 30:8d561f16383b 1776 float R_model = 150.0f; // ohm
Lightvalve 30:8d561f16383b 1777 float L_model = 0.3f;
Lightvalve 30:8d561f16383b 1778 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 30:8d561f16383b 1779 float KP_I = L_model*w0;
Lightvalve 30:8d561f16383b 1780 float KI_I = R_model*w0;
Lightvalve 30:8d561f16383b 1781 float KD_I = 0.0f;
jobuuu 7:e9086c72bb22 1782
Lightvalve 30:8d561f16383b 1783 float FF_gain = 0.0f;
jobuuu 7:e9086c72bb22 1784 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1785 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1786 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1787
Lightvalve 30:8d561f16383b 1788 float Ka = 5.0f/KP_I;
jobuuu 7:e9086c72bb22 1789 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1790 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1791 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1792 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1793 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1794 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1795 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1796 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1797 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1798 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1799 }
Lightvalve 21:e5f1a43ea6f9 1800 }
Lightvalve 23:59218d4a256d 1801
Lightvalve 28:2a62d73e3dd0 1802
Lightvalve 30:8d561f16383b 1803
Lightvalve 32:4b8c0fedaf2c 1804
Lightvalve 36:a46e63505ed8 1805