eeprom_test

Dependencies:   mbed FastPWM

Committer:
Lightvalve
Date:
Tue Feb 25 12:56:39 2020 +0000
Revision:
54:647072f5307a
Parent:
52:8ea76864368a
Child:
55:b25725257569
200225

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 19:23b7c1ad8683 67 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 68 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 69 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 70 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 71
Lightvalve 19:23b7c1ad8683 72 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 73 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 74 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 75 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 78
jobuuu 7:e9086c72bb22 79 // =============================================================================
jobuuu 7:e9086c72bb22 80 // =============================================================================
jobuuu 7:e9086c72bb22 81 // =============================================================================
jobuuu 7:e9086c72bb22 82
Lightvalve 12:6f2531038ea4 83 /*******************************************************************************
Lightvalve 12:6f2531038ea4 84 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 85 ******************************************************************************/
Lightvalve 13:747daba9cf59 86 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 87 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 88 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 89 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 90 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 91 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 92 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 93 };
Lightvalve 12:6f2531038ea4 94
Lightvalve 12:6f2531038ea4 95 /*******************************************************************************
Lightvalve 12:6f2531038ea4 96 * CONTROL MODE
Lightvalve 12:6f2531038ea4 97 ******************************************************************************/
Lightvalve 13:747daba9cf59 98 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 99 //control mode
Lightvalve 12:6f2531038ea4 100 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 101 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 102 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 103
Lightvalve 47:fdcb8bd86fd6 104 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 105 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 106 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 107
Lightvalve 12:6f2531038ea4 108 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 109 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 110 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 111
Lightvalve 12:6f2531038ea4 112 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 113 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 114
Lightvalve 14:8e7590227d22 115 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 116 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 117 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 //utility
Lightvalve 12:6f2531038ea4 120 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 121 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 122 MODE_FIND_HOME, //22
Lightvalve 54:647072f5307a 123 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 124 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 125 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 126 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 129 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 130 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 54:647072f5307a 131 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 132 };
Lightvalve 12:6f2531038ea4 133
GiJeongKim 0:51c43836c1d7 134 int main()
GiJeongKim 0:51c43836c1d7 135 {
jobuuu 6:df07d3491e3a 136 /*********************************
jobuuu 1:e04e563be5ce 137 *** Initialization
jobuuu 6:df07d3491e3a 138 *********************************/
Lightvalve 19:23b7c1ad8683 139 //LED = 1;
Lightvalve 19:23b7c1ad8683 140 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 141
GiJeongKim 0:51c43836c1d7 142 // i2c init
Lightvalve 8:5d2eebdad025 143 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 144 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 145 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 146 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 147 make_delay();
jobuuu 2:a1c0a37df760 148
GiJeongKim 0:51c43836c1d7 149 // // spi init
Lightvalve 16:903b5a4433b4 150 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 151 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 152 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 153 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 154 make_delay();
Lightvalve 21:e5f1a43ea6f9 155
Lightvalve 16:903b5a4433b4 156 //rom
Lightvalve 19:23b7c1ad8683 157 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 158 make_delay();
Lightvalve 13:747daba9cf59 159
GiJeongKim 0:51c43836c1d7 160 // ADC init
jobuuu 5:a4319f79457b 161 Init_ADC();
Lightvalve 11:82d8768d7351 162 make_delay();
jobuuu 2:a1c0a37df760 163
GiJeongKim 0:51c43836c1d7 164 // Pwm init
GiJeongKim 0:51c43836c1d7 165 Init_PWM();
GiJeongKim 0:51c43836c1d7 166 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 167 make_delay();
Lightvalve 13:747daba9cf59 168
Lightvalve 11:82d8768d7351 169 // TMR3 init
Lightvalve 11:82d8768d7351 170 Init_TMR3();
Lightvalve 11:82d8768d7351 171 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 172 make_delay();
Lightvalve 21:e5f1a43ea6f9 173
Lightvalve 50:3c630b5eba9f 174 // TMR2 init
Lightvalve 52:8ea76864368a 175 // Init_TMR2();
Lightvalve 52:8ea76864368a 176 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 52:8ea76864368a 177 // make_delay();
Lightvalve 21:e5f1a43ea6f9 178
GiJeongKim 0:51c43836c1d7 179 // CAN
jobuuu 2:a1c0a37df760 180 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 181 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 182 make_delay();
Lightvalve 34:bb2ca2fc2a8e 183
Lightvalve 23:59218d4a256d 184 //Timer priority
Lightvalve 23:59218d4a256d 185 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 52:8ea76864368a 186 // NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 187 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 188
Lightvalve 23:59218d4a256d 189 //can.reset();
Lightvalve 19:23b7c1ad8683 190 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 191
GiJeongKim 0:51c43836c1d7 192 // spi _ enc
GiJeongKim 0:51c43836c1d7 193 spi_enc_set_init();
Lightvalve 11:82d8768d7351 194 make_delay();
Lightvalve 13:747daba9cf59 195
Lightvalve 11:82d8768d7351 196 //DAC init
Lightvalve 43:b084e5f5d0d5 197 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 198 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 199 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 200 dac_2 = 0.0f;
Lightvalve 11:82d8768d7351 201 make_delay();
Lightvalve 13:747daba9cf59 202
Lightvalve 19:23b7c1ad8683 203 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 204 if(i%2==0)
Lightvalve 38:118df027d851 205 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 206 else
Lightvalve 38:118df027d851 207 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 208 }
Lightvalve 13:747daba9cf59 209
jobuuu 6:df07d3491e3a 210 /************************************
jobuuu 1:e04e563be5ce 211 *** Program is operating!
jobuuu 6:df07d3491e3a 212 *************************************/
GiJeongKim 0:51c43836c1d7 213 while(1) {
Lightvalve 21:e5f1a43ea6f9 214 if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 215 //i2c
Lightvalve 17:1865016ca2e7 216 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 217 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 19:23b7c1ad8683 218 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 219 // LED=0;
Lightvalve 19:23b7c1ad8683 220 // } else
Lightvalve 19:23b7c1ad8683 221 // LED = 1;
Lightvalve 17:1865016ca2e7 222 timer_while = 0;
Lightvalve 17:1865016ca2e7 223 }
Lightvalve 17:1865016ca2e7 224 timer_while ++;
GiJeongKim 0:51c43836c1d7 225 }
jobuuu 1:e04e563be5ce 226 }
jobuuu 1:e04e563be5ce 227
Lightvalve 33:91b17819ec30 228 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 229 {
Lightvalve 14:8e7590227d22 230
Lightvalve 13:747daba9cf59 231 int i = 0;
Lightvalve 48:889798ff9329 232 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 233 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 234 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 235 if(i==0) {
Lightvalve 50:3c630b5eba9f 236 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 38:118df027d851 237 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 50:3c630b5eba9f 238 } else {
Lightvalve 38:118df027d851 239 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 38:118df027d851 240 }
Lightvalve 14:8e7590227d22 241 } else {
Lightvalve 50:3c630b5eba9f 242 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 50:3c630b5eba9f 243 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 50:3c630b5eba9f 244 } else {
Lightvalve 38:118df027d851 245 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 246 }
Lightvalve 13:747daba9cf59 247 }
Lightvalve 13:747daba9cf59 248 break;
Lightvalve 13:747daba9cf59 249 }
Lightvalve 13:747daba9cf59 250 }
Lightvalve 14:8e7590227d22 251 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 252 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 253 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 254 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 255 }
Lightvalve 36:a46e63505ed8 256
Lightvalve 45:35fa6884d0c6 257 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER);
Lightvalve 13:747daba9cf59 258 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 259
Lightvalve 13:747daba9cf59 260 }
jobuuu 6:df07d3491e3a 261
jobuuu 6:df07d3491e3a 262
Lightvalve 30:8d561f16383b 263 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 264 {
Lightvalve 13:747daba9cf59 265 int i = 0;
Lightvalve 13:747daba9cf59 266
Lightvalve 38:118df027d851 267 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 268 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 269 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 270 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 271 }
Lightvalve 38:118df027d851 272
Lightvalve 13:747daba9cf59 273 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 274 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 275 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 276 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 277 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 278 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 279
Lightvalve 13:747daba9cf59 280 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 281
Lightvalve 18:b8adf1582ea3 282 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 283 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 284 if(i==0) {
Lightvalve 48:889798ff9329 285 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 286 } else {
Lightvalve 48:889798ff9329 287 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 288 }
Lightvalve 13:747daba9cf59 289 break;
Lightvalve 13:747daba9cf59 290 }
Lightvalve 13:747daba9cf59 291 }
Lightvalve 50:3c630b5eba9f 292 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 293 }
Lightvalve 13:747daba9cf59 294
Lightvalve 14:8e7590227d22 295 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 296 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 297 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 298 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 299 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 300 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 301 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 302 }; // duty
Lightvalve 30:8d561f16383b 303 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 304 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 305 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 306 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 307 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 308 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 309 }; // mV
Lightvalve 13:747daba9cf59 310
Lightvalve 30:8d561f16383b 311 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 312 {
Lightvalve 30:8d561f16383b 313 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 314 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 315 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 316 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 317 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 318 } else {
Lightvalve 13:747daba9cf59 319 int idx = 0;
Lightvalve 13:747daba9cf59 320 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 321 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 322 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 323 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 324 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 325 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 326 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 327 break;
Lightvalve 13:747daba9cf59 328 }
Lightvalve 13:747daba9cf59 329 }
Lightvalve 13:747daba9cf59 330 }
Lightvalve 14:8e7590227d22 331
Lightvalve 13:747daba9cf59 332 return PWM_duty;
Lightvalve 13:747daba9cf59 333 }
jobuuu 6:df07d3491e3a 334
Lightvalve 54:647072f5307a 335
Lightvalve 54:647072f5307a 336
Lightvalve 54:647072f5307a 337
Lightvalve 54:647072f5307a 338
jobuuu 2:a1c0a37df760 339 /*******************************************************************************
jobuuu 2:a1c0a37df760 340 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 341 *******************************************************************************/
jobuuu 2:a1c0a37df760 342
Lightvalve 51:b46bed7fec80 343 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 344 float DT_TMR4 = (float)DT_20k;
Lightvalve 54:647072f5307a 345 long CNT_TMR4 = 0;
Lightvalve 54:647072f5307a 346 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 347 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 348 {
Lightvalve 19:23b7c1ad8683 349 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 350
Lightvalve 21:e5f1a43ea6f9 351 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 352 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 353 ********************************************************/
Lightvalve 13:747daba9cf59 354
Lightvalve 54:647072f5307a 355 //Encoder
Lightvalve 54:647072f5307a 356 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 54:647072f5307a 357 ENC_UPDATE();
Lightvalve 54:647072f5307a 358 }
Lightvalve 17:1865016ca2e7 359
Lightvalve 21:e5f1a43ea6f9 360 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 361 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 362 //while((ADC1->SR & 0b10));
Lightvalve 51:b46bed7fec80 363 float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 38:118df027d851 364 float pres_A_new = ((float)ADC1->DR);
Lightvalve 30:8d561f16383b 365 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 54:647072f5307a 366 torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 50:3c630b5eba9f 367
Lightvalve 19:23b7c1ad8683 368
Lightvalve 54:647072f5307a 369 //Pressure sensor B
Lightvalve 54:647072f5307a 370 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 54:647072f5307a 371 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 54:647072f5307a 372 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 54:647072f5307a 373 // torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 374
Lightvalve 17:1865016ca2e7 375
Lightvalve 21:e5f1a43ea6f9 376 //Current
Lightvalve 21:e5f1a43ea6f9 377 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 378 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 379 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 380 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 381 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 382 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 383 //cur.sen = raw_cur;
Lightvalve 54:647072f5307a 384
Lightvalve 54:647072f5307a 385 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 386 }
Lightvalve 11:82d8768d7351 387 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 388 }
Lightvalve 19:23b7c1ad8683 389
Lightvalve 19:23b7c1ad8683 390
Lightvalve 18:b8adf1582ea3 391 int j =0;
Lightvalve 54:647072f5307a 392 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 393 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 394 int cnt_trans = 0;
Lightvalve 48:889798ff9329 395 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 54:647072f5307a 396 int canfreq = CAN_FREQUENCY;
Lightvalve 48:889798ff9329 397
Lightvalve 11:82d8768d7351 398 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 399 {
Lightvalve 19:23b7c1ad8683 400 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 54:647072f5307a 401
Lightvalve 54:647072f5307a 402 if ((OPERATING_MODE&0b110) == 0) {
Lightvalve 54:647072f5307a 403 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 54:647072f5307a 404 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 54:647072f5307a 405 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 54:647072f5307a 406 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 54:647072f5307a 407 } else if ((OPERATING_MODE&0b110) == 1) {
Lightvalve 54:647072f5307a 408 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 54:647072f5307a 409 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 54:647072f5307a 410 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 54:647072f5307a 411 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 54:647072f5307a 412 }
Lightvalve 50:3c630b5eba9f 413
Lightvalve 50:3c630b5eba9f 414 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 415 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 416 cnt_trans++;
Lightvalve 46:2694daea349b 417 torq.err_sum = 0;
Lightvalve 48:889798ff9329 418 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 419 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 420 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 421 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 422 cnt_trans++;
Lightvalve 46:2694daea349b 423 torq.err_sum = 0;
Lightvalve 48:889798ff9329 424 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 425 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 426 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 45:35fa6884d0c6 427 alpha_trans = 1.0;
Lightvalve 45:35fa6884d0c6 428 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 429 } else {
Lightvalve 45:35fa6884d0c6 430 alpha_trans = 0.0;
Lightvalve 45:35fa6884d0c6 431 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 432 }
Lightvalve 45:35fa6884d0c6 433
Lightvalve 50:3c630b5eba9f 434
Lightvalve 54:647072f5307a 435 int UTILITY_MODE = 0;
Lightvalve 54:647072f5307a 436 int CONTROL_MODE = 0;
Lightvalve 54:647072f5307a 437
Lightvalve 54:647072f5307a 438 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 54:647072f5307a 439 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 54:647072f5307a 440 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 54:647072f5307a 441 } else {
Lightvalve 54:647072f5307a 442 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 54:647072f5307a 443 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 54:647072f5307a 444 }
Lightvalve 50:3c630b5eba9f 445
Lightvalve 14:8e7590227d22 446
Lightvalve 14:8e7590227d22 447
Lightvalve 54:647072f5307a 448 // UTILITY MODE ------------------------------------------------------------
Lightvalve 14:8e7590227d22 449
Lightvalve 54:647072f5307a 450 switch (UTILITY_MODE) {
Lightvalve 54:647072f5307a 451 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 452 break;
Lightvalve 13:747daba9cf59 453 }
Lightvalve 14:8e7590227d22 454
Lightvalve 14:8e7590227d22 455 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 456 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 457 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 458 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 459
Lightvalve 14:8e7590227d22 460 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 461 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 462 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 463
Lightvalve 43:b084e5f5d0d5 464 TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 465
Lightvalve 30:8d561f16383b 466 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 467 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 50:3c630b5eba9f 468
Lightvalve 16:903b5a4433b4 469 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 470 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 471 }
Lightvalve 13:747daba9cf59 472 } else {
Lightvalve 13:747daba9cf59 473 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 474 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 475 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 476 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 477
Lightvalve 16:903b5a4433b4 478 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 479
Lightvalve 30:8d561f16383b 480 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 481
Lightvalve 13:747daba9cf59 482 }
Lightvalve 14:8e7590227d22 483 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 484 break;
Lightvalve 19:23b7c1ad8683 485 }
Lightvalve 14:8e7590227d22 486
Lightvalve 50:3c630b5eba9f 487 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 488 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 489 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 490 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 491 // }
Lightvalve 50:3c630b5eba9f 492 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 493 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 494 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 495 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 496 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 497 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 498 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 499 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 500 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 501 // }
Lightvalve 50:3c630b5eba9f 502 //
Lightvalve 50:3c630b5eba9f 503 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 504 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 505 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 506 //
Lightvalve 50:3c630b5eba9f 507 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 508 // V_out = 0;
Lightvalve 50:3c630b5eba9f 509 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 510 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 511 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 512 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 513 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 514 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 515 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 516 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 517 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 518 //
Lightvalve 50:3c630b5eba9f 519 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 520 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 521 // // | / | / |/
Lightvalve 50:3c630b5eba9f 522 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 523 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 524 // // /| / | / |
Lightvalve 50:3c630b5eba9f 525 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 526 //
Lightvalve 50:3c630b5eba9f 527 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 528 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 529 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 530 // } else {
Lightvalve 50:3c630b5eba9f 531 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 532 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 533 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 534 // }
Lightvalve 50:3c630b5eba9f 535 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 536 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 537 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 538 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 539 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 540 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 541 // }
Lightvalve 50:3c630b5eba9f 542 // } else {
Lightvalve 50:3c630b5eba9f 543 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 544 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 545 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 546 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 547 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 548 // }
Lightvalve 50:3c630b5eba9f 549 // V_out = 0;
Lightvalve 50:3c630b5eba9f 550 //
Lightvalve 50:3c630b5eba9f 551 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 552 //
Lightvalve 50:3c630b5eba9f 553 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 554 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 555 //
Lightvalve 50:3c630b5eba9f 556 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 557 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 558 // }
Lightvalve 50:3c630b5eba9f 559 // }
Lightvalve 50:3c630b5eba9f 560 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 561 // break;
Lightvalve 50:3c630b5eba9f 562 // }
Lightvalve 14:8e7590227d22 563
Lightvalve 14:8e7590227d22 564 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 565 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 566 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 567 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 568 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 569 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 570 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 571 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 572 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 573 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 574 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 575 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 576 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 577 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 578 }
Lightvalve 29:69f3f5445d6d 579 cnt_findhome++;
Lightvalve 14:8e7590227d22 580
Lightvalve 29:69f3f5445d6d 581 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 582 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 583 } else {
Lightvalve 29:69f3f5445d6d 584 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 585 }
Lightvalve 19:23b7c1ad8683 586
Lightvalve 54:647072f5307a 587 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 588 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 589 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 590 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 591 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 592 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 593 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 29:69f3f5445d6d 594 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 595 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 596
Lightvalve 30:8d561f16383b 597 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 598 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 599 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 600 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 601 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 602 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 603 } else {
Lightvalve 29:69f3f5445d6d 604 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 605 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 606 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 607 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 608 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 609 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 610 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 611 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 612 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 613 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 614 }
Lightvalve 29:69f3f5445d6d 615 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 616 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 617 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 618 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 619
Lightvalve 29:69f3f5445d6d 620 // input for position control
Lightvalve 40:3f2c0619c8c4 621 pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve 30:8d561f16383b 622 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 623 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 29:69f3f5445d6d 624 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 625 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 626
Lightvalve 29:69f3f5445d6d 627 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 628 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 629 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 630 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 631 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 632 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 633 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 634 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 635 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 54:647072f5307a 636 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 637 }
Lightvalve 13:747daba9cf59 638 }
Lightvalve 19:23b7c1ad8683 639
Lightvalve 13:747daba9cf59 640 break;
Lightvalve 13:747daba9cf59 641 }
Lightvalve 14:8e7590227d22 642
Lightvalve 50:3c630b5eba9f 643 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 644 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 645 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 646 // else {
Lightvalve 50:3c630b5eba9f 647 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 648 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 649 // }
Lightvalve 50:3c630b5eba9f 650 // }
Lightvalve 50:3c630b5eba9f 651 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 652 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 653 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 654 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 655 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 656 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 657 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 658 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 659 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 660 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 661 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 662 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 663 // }
Lightvalve 50:3c630b5eba9f 664 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 665 // }
Lightvalve 50:3c630b5eba9f 666 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 667 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 668 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 669 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 670 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 671 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 672 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 673 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 674 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 675 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 676 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 677 // }
Lightvalve 50:3c630b5eba9f 678 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 679 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 680 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 681 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 682 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 683 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 684 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 685 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 686 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 687 // }
Lightvalve 50:3c630b5eba9f 688 // }
Lightvalve 50:3c630b5eba9f 689 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 690 //
Lightvalve 50:3c630b5eba9f 691 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 692 //
Lightvalve 50:3c630b5eba9f 693 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 694 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 695 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 696 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 697 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 698 // }
Lightvalve 50:3c630b5eba9f 699 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 700 // V_out = 0;
Lightvalve 50:3c630b5eba9f 701 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 702 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 703 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 704 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 705 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 706 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 707 // }
Lightvalve 50:3c630b5eba9f 708 //
Lightvalve 50:3c630b5eba9f 709 // }
Lightvalve 50:3c630b5eba9f 710 // break;
Lightvalve 50:3c630b5eba9f 711 // }
Lightvalve 50:3c630b5eba9f 712 //
Lightvalve 50:3c630b5eba9f 713 // }
Lightvalve 14:8e7590227d22 714
Lightvalve 14:8e7590227d22 715 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 716 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 717 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 718 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 719 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 720
Lightvalve 14:8e7590227d22 721 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 722 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 723 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 724 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 725 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 726
Lightvalve 38:118df027d851 727 float VREF_NullingGain = 0.0003f;
Lightvalve 38:118df027d851 728 PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 38:118df027d851 729 PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 730
Lightvalve 30:8d561f16383b 731 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 732 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 733 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 734 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 735
Lightvalve 30:8d561f16383b 736 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 737 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 738 }
Lightvalve 13:747daba9cf59 739 } else {
Lightvalve 54:647072f5307a 740 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 741 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 742 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 743 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 744 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 745 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 746
Lightvalve 16:903b5a4433b4 747 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 748
Lightvalve 30:8d561f16383b 749 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 750 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 751 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 752 }
Lightvalve 14:8e7590227d22 753 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 754 break;
Lightvalve 13:747daba9cf59 755 }
Lightvalve 14:8e7590227d22 756
Lightvalve 50:3c630b5eba9f 757 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 758 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 759 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 760 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 761 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 762 // }
Lightvalve 50:3c630b5eba9f 763 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 764 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 765 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 766 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 767 // }
Lightvalve 50:3c630b5eba9f 768 // } else {
Lightvalve 50:3c630b5eba9f 769 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 770 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 771 // V_out = 0;
Lightvalve 50:3c630b5eba9f 772 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 773 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 774 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 775 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 776 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 777 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 778 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 779 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 780 //
Lightvalve 50:3c630b5eba9f 781 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 782 //
Lightvalve 50:3c630b5eba9f 783 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 784 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 785 // }
Lightvalve 50:3c630b5eba9f 786 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 787 // break;
Lightvalve 50:3c630b5eba9f 788 // }
Lightvalve 19:23b7c1ad8683 789
Lightvalve 50:3c630b5eba9f 790 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 791 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 792 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 793 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 794 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 795 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 796 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 797 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 798 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 799 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 800 // }
Lightvalve 50:3c630b5eba9f 801 // break;
Lightvalve 50:3c630b5eba9f 802 // }
Lightvalve 14:8e7590227d22 803
Lightvalve 14:8e7590227d22 804 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 805 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 806
Lightvalve 14:8e7590227d22 807 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 808 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 809 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 810 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 811 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 812 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 813 data_num = 0;
Lightvalve 14:8e7590227d22 814 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 815 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 816 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 817 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 818 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 819 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 820 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 821 }
Lightvalve 14:8e7590227d22 822
Lightvalve 17:1865016ca2e7 823 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 824 int i;
Lightvalve 13:747daba9cf59 825 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 826 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 827 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 828 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 829 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 830 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 831 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 832 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 833 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 834 }
Lightvalve 13:747daba9cf59 835 }
Lightvalve 27:a2254a485f23 836 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 837 ID_index = 0;
Lightvalve 54:647072f5307a 838 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 839 }
Lightvalve 14:8e7590227d22 840
Lightvalve 14:8e7590227d22 841
Lightvalve 13:747daba9cf59 842 break;
Lightvalve 13:747daba9cf59 843 }
Lightvalve 14:8e7590227d22 844
Lightvalve 14:8e7590227d22 845 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 846
Lightvalve 13:747daba9cf59 847 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 848 if(first_check == 0) {
Lightvalve 30:8d561f16383b 849 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 850 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 851 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 852 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 853 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 854 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 855 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 856 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 857 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 858 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 859 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 860 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 861 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 862 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 863 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 864 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 865 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 866 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 867 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 868 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 869 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 870 data_num = 0;
Lightvalve 14:8e7590227d22 871
Lightvalve 30:8d561f16383b 872 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 873 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 874 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 875
Lightvalve 30:8d561f16383b 876 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 877 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 878 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 879 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 880 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 881 else
Lightvalve 13:747daba9cf59 882 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 883 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 884 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 885 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 886 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 887
Lightvalve 14:8e7590227d22 888 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 889 DZ_case = 1;
Lightvalve 14:8e7590227d22 890 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 891 DZ_case = -1;
Lightvalve 14:8e7590227d22 892 } else {
Lightvalve 13:747daba9cf59 893 DZ_case = 0;
Lightvalve 13:747daba9cf59 894 }
Lightvalve 14:8e7590227d22 895
Lightvalve 49:e7bcfc244d40 896 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 897
Lightvalve 14:8e7590227d22 898 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 899 first_check = 1;
Lightvalve 13:747daba9cf59 900 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 901 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 902 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 903 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 904 DZ_index = 1;
Lightvalve 14:8e7590227d22 905
Lightvalve 13:747daba9cf59 906 }
Lightvalve 19:23b7c1ad8683 907 } else {
Lightvalve 14:8e7590227d22 908 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 909 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 910 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 911 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 912 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 913 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 914 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 915 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 916 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 917 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 918 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 919 }
Lightvalve 14:8e7590227d22 920 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 921 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 922 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 923 else
Lightvalve 13:747daba9cf59 924 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 925 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 926 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 927 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 928
Lightvalve 14:8e7590227d22 929 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 930 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 931 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 932 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 933 } else {
Lightvalve 13:747daba9cf59 934 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 935 }
Lightvalve 14:8e7590227d22 936
Lightvalve 14:8e7590227d22 937 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 938
Lightvalve 13:747daba9cf59 939 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 940 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 941 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 942 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 943 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 944 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 945 DZ_index = 1;
Lightvalve 13:747daba9cf59 946 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 947 }
Lightvalve 13:747daba9cf59 948 }
Lightvalve 14:8e7590227d22 949 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 950 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 951 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 952 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 953 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 954 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 955 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 956 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 957 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 958 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 959 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 960 }
Lightvalve 14:8e7590227d22 961 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 962 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 963 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 964 else
Lightvalve 13:747daba9cf59 965 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 966 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 967 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 968 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 969
Lightvalve 14:8e7590227d22 970 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 971 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 972 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 973 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 974 } else {
Lightvalve 13:747daba9cf59 975 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 976 }
Lightvalve 14:8e7590227d22 977
Lightvalve 14:8e7590227d22 978 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 979
Lightvalve 14:8e7590227d22 980
Lightvalve 13:747daba9cf59 981 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 982 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 983 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 984 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 985 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 986 first_check = 0;
Lightvalve 33:91b17819ec30 987 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 988 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 989
Lightvalve 16:903b5a4433b4 990 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 991
Lightvalve 13:747daba9cf59 992 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 993 DZ_index = 1;
Lightvalve 13:747daba9cf59 994 }
Lightvalve 13:747daba9cf59 995 }
Lightvalve 14:8e7590227d22 996 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 997 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 998 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 999 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1000 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1001 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1002 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1003 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1004 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1005 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1006 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1007 }
Lightvalve 14:8e7590227d22 1008 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1009 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1010 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1011 else
Lightvalve 13:747daba9cf59 1012 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1013 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1014 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1015 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1016
Lightvalve 14:8e7590227d22 1017 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1018 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1019 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1020 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1021 } else {
Lightvalve 13:747daba9cf59 1022 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1023 }
Lightvalve 14:8e7590227d22 1024
Lightvalve 14:8e7590227d22 1025 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1026 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1027 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1028 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1029 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1030 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1031 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1032 DZ_index = 1;
Lightvalve 13:747daba9cf59 1033 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1034 }
Lightvalve 13:747daba9cf59 1035 }
Lightvalve 14:8e7590227d22 1036 } else {
Lightvalve 30:8d561f16383b 1037 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1038 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1039 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1040 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1041 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1042 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1043 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1044 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1045 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1046 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1047 }
Lightvalve 14:8e7590227d22 1048 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1049 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1050 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1051 else
Lightvalve 13:747daba9cf59 1052 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1053 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1054 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1055 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1056 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1057 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1058 else
Lightvalve 13:747daba9cf59 1059 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1060 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1061 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1062
Lightvalve 14:8e7590227d22 1063 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1064
Lightvalve 14:8e7590227d22 1065
Lightvalve 13:747daba9cf59 1066 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1067 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1068 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1069 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1070 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1071 first_check = 0;
Lightvalve 33:91b17819ec30 1072 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1073 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1074
Lightvalve 54:647072f5307a 1075 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1076 DZ_index = 1;
Lightvalve 13:747daba9cf59 1077 }
Lightvalve 13:747daba9cf59 1078 }
Lightvalve 13:747daba9cf59 1079 }
Lightvalve 14:8e7590227d22 1080 }
Lightvalve 13:747daba9cf59 1081 break;
Lightvalve 13:747daba9cf59 1082 }
Lightvalve 14:8e7590227d22 1083
Lightvalve 14:8e7590227d22 1084 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1085 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1086 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1087 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1088 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1089 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1090 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1091 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1092 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1093 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1094 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1095 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1096 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1097 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 49:e7bcfc244d40 1098 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1099 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1100 first_check = 1;
Lightvalve 13:747daba9cf59 1101 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1102 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1103 ID_index = 0;
Lightvalve 13:747daba9cf59 1104 max_check = 0;
Lightvalve 13:747daba9cf59 1105 min_check = 0;
Lightvalve 13:747daba9cf59 1106 }
Lightvalve 14:8e7590227d22 1107 } else {
Lightvalve 30:8d561f16383b 1108 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1109 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1110 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1111 data_num = 0;
Lightvalve 33:91b17819ec30 1112 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1113
Lightvalve 14:8e7590227d22 1114 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1115 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1116 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 33:91b17819ec30 1117 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1118 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1119 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1120 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1121 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1122 one_period_end = 1;
Lightvalve 13:747daba9cf59 1123 }
Lightvalve 30:8d561f16383b 1124 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1125 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1126 one_period_end = 1;
Lightvalve 13:747daba9cf59 1127 }
Lightvalve 14:8e7590227d22 1128
Lightvalve 14:8e7590227d22 1129 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1130 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1131 max_check = 1;
Lightvalve 14:8e7590227d22 1132 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1133 min_check = 1;
Lightvalve 13:747daba9cf59 1134 }
Lightvalve 13:747daba9cf59 1135 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1136
Lightvalve 19:23b7c1ad8683 1137 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1138 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1139 one_period_end = 0;
Lightvalve 13:747daba9cf59 1140 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1141 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1142 }
Lightvalve 14:8e7590227d22 1143
Lightvalve 14:8e7590227d22 1144 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1145
Lightvalve 13:747daba9cf59 1146 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1147 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1148 ID_index = 0;
Lightvalve 13:747daba9cf59 1149 first_check = 0;
Lightvalve 13:747daba9cf59 1150 VALVE_FR_timer = 0;
Lightvalve 54:647072f5307a 1151 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1152 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1153 }
Lightvalve 13:747daba9cf59 1154 }
Lightvalve 13:747daba9cf59 1155 break;
Lightvalve 13:747daba9cf59 1156 }
Lightvalve 54:647072f5307a 1157
Lightvalve 54:647072f5307a 1158 case MODE_SYSTEM_ID: {
Lightvalve 54:647072f5307a 1159 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 54:647072f5307a 1160 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 54:647072f5307a 1161 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 54:647072f5307a 1162 cnt_sysid++;
Lightvalve 54:647072f5307a 1163 if (freq_sysid_Iref >= 300) {
Lightvalve 54:647072f5307a 1164 cnt_sysid = 0;
Lightvalve 54:647072f5307a 1165 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 54:647072f5307a 1166 }
Lightvalve 54:647072f5307a 1167 break;
Lightvalve 54:647072f5307a 1168 }
Lightvalve 54:647072f5307a 1169
Lightvalve 54:647072f5307a 1170
Lightvalve 54:647072f5307a 1171
Lightvalve 54:647072f5307a 1172 default:
Lightvalve 54:647072f5307a 1173 break;
Lightvalve 54:647072f5307a 1174 }
Lightvalve 54:647072f5307a 1175
Lightvalve 54:647072f5307a 1176 // CONTROL MODE ------------------------------------------------------------
Lightvalve 54:647072f5307a 1177
Lightvalve 54:647072f5307a 1178 switch (CONTROL_MODE) {
Lightvalve 54:647072f5307a 1179 case MODE_NO_ACT: {
Lightvalve 54:647072f5307a 1180 V_out = 0.0f;
Lightvalve 54:647072f5307a 1181 break;
Lightvalve 54:647072f5307a 1182 }
Lightvalve 54:647072f5307a 1183
Lightvalve 54:647072f5307a 1184 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 54:647072f5307a 1185 if ((OPERATING_MODE&0b110) == 0) { //Moog Valve
Lightvalve 54:647072f5307a 1186 I_REF = valve_pos.ref;
Lightvalve 54:647072f5307a 1187 } else if ((OPERATING_MODE&0b110) == 1) { //KNR Valve
Lightvalve 54:647072f5307a 1188 V_out = valve_pos.ref;
Lightvalve 54:647072f5307a 1189 } else { //SW Valve
Lightvalve 54:647072f5307a 1190 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 54:647072f5307a 1191 }
Lightvalve 54:647072f5307a 1192
Lightvalve 54:647072f5307a 1193 break;
Lightvalve 54:647072f5307a 1194 }
Lightvalve 54:647072f5307a 1195
Lightvalve 54:647072f5307a 1196 case MODE_JOINT_CONTROL: {
Lightvalve 54:647072f5307a 1197
Lightvalve 54:647072f5307a 1198 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 54:647072f5307a 1199
Lightvalve 54:647072f5307a 1200
Lightvalve 54:647072f5307a 1201 double torq_ref = 0.0f;
Lightvalve 54:647072f5307a 1202 //if(TMR3_COUNT_TEST % (int) (50) == 0){
Lightvalve 54:647072f5307a 1203 pos.err = pos.ref - pos.sen; //[pulse]
Lightvalve 54:647072f5307a 1204 vel.err = vel.ref - vel.sen; //[pulse/s]
Lightvalve 54:647072f5307a 1205 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 54:647072f5307a 1206 //torq_ref_logging = torq_ref
Lightvalve 54:647072f5307a 1207 //}
Lightvalve 54:647072f5307a 1208
Lightvalve 54:647072f5307a 1209 // torque feedback
Lightvalve 54:647072f5307a 1210 torq.err = torq_ref - torq.sen; //[pulse]
Lightvalve 54:647072f5307a 1211 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
Lightvalve 54:647072f5307a 1212 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 54:647072f5307a 1213 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 54:647072f5307a 1214
Lightvalve 54:647072f5307a 1215
Lightvalve 54:647072f5307a 1216 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f
Lightvalve 54:647072f5307a 1217 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 54:647072f5307a 1218
Lightvalve 54:647072f5307a 1219 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 54:647072f5307a 1220 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 54:647072f5307a 1221 } else {
Lightvalve 54:647072f5307a 1222 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 54:647072f5307a 1223 }
Lightvalve 54:647072f5307a 1224
Lightvalve 54:647072f5307a 1225 if(I_GAIN_JOINT_TORQUE != 0){
Lightvalve 54:647072f5307a 1226 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f;
Lightvalve 54:647072f5307a 1227 if(valve_pos.ref>VALVE_MAX_POS){
Lightvalve 54:647072f5307a 1228 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 54:647072f5307a 1229 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 54:647072f5307a 1230 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 54:647072f5307a 1231 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 54:647072f5307a 1232 }
Lightvalve 54:647072f5307a 1233 else if(valve_pos.ref < VALVE_MIN_POS){
Lightvalve 54:647072f5307a 1234 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 54:647072f5307a 1235 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 54:647072f5307a 1236 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 54:647072f5307a 1237 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 54:647072f5307a 1238 }
Lightvalve 54:647072f5307a 1239 }
Lightvalve 54:647072f5307a 1240
Lightvalve 54:647072f5307a 1241 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 54:647072f5307a 1242
Lightvalve 54:647072f5307a 1243 //TMR3_COUNT_TEST++;
Lightvalve 54:647072f5307a 1244
Lightvalve 54:647072f5307a 1245 break;
Lightvalve 54:647072f5307a 1246 }
Lightvalve 54:647072f5307a 1247
Lightvalve 54:647072f5307a 1248 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 54:647072f5307a 1249 V_out = (float) Vout.ref;
Lightvalve 54:647072f5307a 1250 break;
Lightvalve 54:647072f5307a 1251 }
Lightvalve 14:8e7590227d22 1252
Lightvalve 12:6f2531038ea4 1253 default:
Lightvalve 12:6f2531038ea4 1254 break;
Lightvalve 12:6f2531038ea4 1255 }
Lightvalve 14:8e7590227d22 1256
Lightvalve 54:647072f5307a 1257
Lightvalve 54:647072f5307a 1258 if ((OPERATING_MODE&0b110) == 0 || (OPERATING_MODE&0b110) == 1) { //Moog Valve or KNR Valve
Lightvalve 54:647072f5307a 1259
Lightvalve 54:647072f5307a 1260 ////////////////////////////////////////////////////////////////////////////
Lightvalve 54:647072f5307a 1261 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 54:647072f5307a 1262 ////////////////////////////////////////////////////////////////////////////
Lightvalve 54:647072f5307a 1263 if (CURRENT_CONTROL_MODE) {
Lightvalve 54:647072f5307a 1264 double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 54:647072f5307a 1265 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 54:647072f5307a 1266
Lightvalve 54:647072f5307a 1267 I_ERR = I_REF_fil - CUR_CURRENT_mA;
Lightvalve 54:647072f5307a 1268 I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
Lightvalve 54:647072f5307a 1269
Lightvalve 54:647072f5307a 1270
Lightvalve 54:647072f5307a 1271 // Moog Valve Current Control Gain
Lightvalve 54:647072f5307a 1272 double R_model = 539.0f; // ohm
Lightvalve 54:647072f5307a 1273 double L_model = 1.2f;
Lightvalve 54:647072f5307a 1274 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 54:647072f5307a 1275 double KP_I = 0.1f * L_model*w0;
Lightvalve 54:647072f5307a 1276 double KI_I = 0.1f * R_model*w0;
Lightvalve 54:647072f5307a 1277
Lightvalve 54:647072f5307a 1278 // KNR Valve Current Control Gain
Lightvalve 54:647072f5307a 1279 if ((OPERATING_MODE & 0x02) == 1) { // KNR Valve
Lightvalve 54:647072f5307a 1280 R_model = 163.0f; // ohm
Lightvalve 54:647072f5307a 1281 L_model = 1.0f;
Lightvalve 54:647072f5307a 1282 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 54:647072f5307a 1283 KP_I = 1.0f * L_model*w0;
Lightvalve 54:647072f5307a 1284 KI_I = 0.08f * R_model*w0;
Lightvalve 54:647072f5307a 1285 }
Lightvalve 54:647072f5307a 1286
Lightvalve 54:647072f5307a 1287 double FF_gain = 1.0f;
Lightvalve 54:647072f5307a 1288
Lightvalve 54:647072f5307a 1289 VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
Lightvalve 54:647072f5307a 1290 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 54:647072f5307a 1291 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 54:647072f5307a 1292 I_REF_fil_old = I_REF_fil;
Lightvalve 54:647072f5307a 1293 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
Lightvalve 54:647072f5307a 1294 double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
Lightvalve 54:647072f5307a 1295
Lightvalve 54:647072f5307a 1296 double Ka = 3.0f / KP_I;
Lightvalve 54:647072f5307a 1297 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 54:647072f5307a 1298 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 54:647072f5307a 1299 V_rem = Ka*V_rem;
Lightvalve 54:647072f5307a 1300 VALVE_PWM_RAW = V_MAX;
Lightvalve 54:647072f5307a 1301 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 54:647072f5307a 1302 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 54:647072f5307a 1303 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 54:647072f5307a 1304 V_rem = Ka*V_rem;
Lightvalve 54:647072f5307a 1305 VALVE_PWM_RAW = -V_MAX;
Lightvalve 54:647072f5307a 1306 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 54:647072f5307a 1307 }
Lightvalve 54:647072f5307a 1308 Cur_Valve_Open_pulse = CUR_CURRENT_mA / mA_PER_pulse;
Lightvalve 54:647072f5307a 1309 } else {
Lightvalve 54:647072f5307a 1310 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 54:647072f5307a 1311 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 54:647072f5307a 1312 }
Lightvalve 54:647072f5307a 1313
Lightvalve 54:647072f5307a 1314 ////////////////////////////////////////////////////////////////////////////
Lightvalve 54:647072f5307a 1315 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 54:647072f5307a 1316 ////////////////////////////////////////////////////////////////////////////
Lightvalve 54:647072f5307a 1317 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 54:647072f5307a 1318 if (FLAG_VALVE_DEADZONE) {
Lightvalve 54:647072f5307a 1319 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 54:647072f5307a 1320 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 54:647072f5307a 1321
Lightvalve 54:647072f5307a 1322 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 54:647072f5307a 1323
Lightvalve 54:647072f5307a 1324 } else {
Lightvalve 54:647072f5307a 1325 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 54:647072f5307a 1326 }
Lightvalve 54:647072f5307a 1327
Lightvalve 54:647072f5307a 1328 // Output Voltage Linearization
Lightvalve 54:647072f5307a 1329 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 54:647072f5307a 1330 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 54:647072f5307a 1331
Lightvalve 54:647072f5307a 1332 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 54:647072f5307a 1333 if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
Lightvalve 54:647072f5307a 1334 else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
Lightvalve 54:647072f5307a 1335 else V_out = CUR_PWM_lin;
Lightvalve 54:647072f5307a 1336 }
Lightvalve 54:647072f5307a 1337
Lightvalve 54:647072f5307a 1338
Lightvalve 14:8e7590227d22 1339
jobuuu 7:e9086c72bb22 1340 /*******************************************************
jobuuu 7:e9086c72bb22 1341 *** PWM
jobuuu 7:e9086c72bb22 1342 ********************************************************/
Lightvalve 49:e7bcfc244d40 1343 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1344 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1345 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1346 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1347 }
Lightvalve 49:e7bcfc244d40 1348 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1349
Lightvalve 19:23b7c1ad8683 1350 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1351 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1352 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1353
Lightvalve 30:8d561f16383b 1354 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1355 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1356 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1357 } else {
jobuuu 2:a1c0a37df760 1358 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1359 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1360 }
Lightvalve 13:747daba9cf59 1361
jobuuu 1:e04e563be5ce 1362 //pwm
Lightvalve 30:8d561f16383b 1363 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1364 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1365
Lightvalve 20:806196fda269 1366
Lightvalve 20:806196fda269 1367
Lightvalve 52:8ea76864368a 1368
Lightvalve 54:647072f5307a 1369 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/canfreq) == 0) {
Lightvalve 54:647072f5307a 1370 // if (TMR2_COUNT_CAN_TX % 10 == 0) {
Lightvalve 54:647072f5307a 1371 // Position, Velocity, and Torque (ID:1200)
Lightvalve 54:647072f5307a 1372 if (flag_data_request[0] == HIGH) {
Lightvalve 54:647072f5307a 1373 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1374 if (SENSING_MODE == 0) {
Lightvalve 54:647072f5307a 1375 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1376 } else if (SENSING_MODE == 1) {
Lightvalve 54:647072f5307a 1377 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
Lightvalve 54:647072f5307a 1378 }
Lightvalve 54:647072f5307a 1379 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1380 if (SENSING_MODE == 0) {
Lightvalve 54:647072f5307a 1381 CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1382 } else if (SENSING_MODE == 1) {
Lightvalve 54:647072f5307a 1383 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
Lightvalve 54:647072f5307a 1384 }
Lightvalve 52:8ea76864368a 1385 }
Lightvalve 52:8ea76864368a 1386 }
Lightvalve 54:647072f5307a 1387 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1388 //valve position
Lightvalve 54:647072f5307a 1389 double t_value = 0;
Lightvalve 54:647072f5307a 1390 if(value>=DDV_CENTER) {
Lightvalve 54:647072f5307a 1391 t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 54:647072f5307a 1392 } else {
Lightvalve 54:647072f5307a 1393 t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 54:647072f5307a 1394 }
Lightvalve 54:647072f5307a 1395 CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve 48:889798ff9329 1396 }
Lightvalve 20:806196fda269 1397
Lightvalve 54:647072f5307a 1398 if (flag_data_request[2] == HIGH) {
Lightvalve 54:647072f5307a 1399 //pressure A and B
Lightvalve 54:647072f5307a 1400 CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 54:647072f5307a 1401 }
Lightvalve 20:806196fda269 1402
Lightvalve 54:647072f5307a 1403 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1404 //PWM
Lightvalve 54:647072f5307a 1405 CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 54:647072f5307a 1406 }
Lightvalve 20:806196fda269 1407
Lightvalve 54:647072f5307a 1408 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1409 //valve position
Lightvalve 54:647072f5307a 1410 CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve 54:647072f5307a 1411 }
Lightvalve 20:806196fda269 1412
Lightvalve 54:647072f5307a 1413 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1414 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1415 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1416 // }
Lightvalve 54:647072f5307a 1417 //if (flag_delay_test == 1){
Lightvalve 54:647072f5307a 1418 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1419 //}
Lightvalve 52:8ea76864368a 1420
Lightvalve 54:647072f5307a 1421 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1422 }
Lightvalve 54:647072f5307a 1423 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1424
Lightvalve 50:3c630b5eba9f 1425
Lightvalve 20:806196fda269 1426
Lightvalve 20:806196fda269 1427 }
Lightvalve 52:8ea76864368a 1428 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1429
Lightvalve 20:806196fda269 1430 }
Lightvalve 20:806196fda269 1431
Lightvalve 20:806196fda269 1432
Lightvalve 20:806196fda269 1433
Lightvalve 52:8ea76864368a 1434 //unsigned long CNT_TMR5 = 0;
Lightvalve 52:8ea76864368a 1435 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 52:8ea76864368a 1436 //float DT_TMR5 = (float)DT_500;
Lightvalve 52:8ea76864368a 1437 //extern "C" void TIM2_IRQHandler(void)
Lightvalve 52:8ea76864368a 1438 //{
Lightvalve 52:8ea76864368a 1439 // LED = 1;
Lightvalve 52:8ea76864368a 1440 // if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 52:8ea76864368a 1441 //
Lightvalve 52:8ea76864368a 1442 // //CAN ----------------------------------------------------------------------
Lightvalve 52:8ea76864368a 1443 // if (flag_data_request[0] == HIGH) {
Lightvalve 52:8ea76864368a 1444 // //position+velocity
Lightvalve 52:8ea76864368a 1445 // CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 52:8ea76864368a 1446 // }
Lightvalve 52:8ea76864368a 1447 //
Lightvalve 52:8ea76864368a 1448 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1449 // //valve position
Lightvalve 52:8ea76864368a 1450 // double t_value = 0;
Lightvalve 52:8ea76864368a 1451 // if(value>=DDV_CENTER) {
Lightvalve 52:8ea76864368a 1452 // t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 52:8ea76864368a 1453 // } else {
Lightvalve 52:8ea76864368a 1454 // t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 52:8ea76864368a 1455 // }
Lightvalve 52:8ea76864368a 1456 // CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve 52:8ea76864368a 1457 // }
Lightvalve 52:8ea76864368a 1458 //
Lightvalve 52:8ea76864368a 1459 // if (flag_data_request[2] == HIGH) {
Lightvalve 52:8ea76864368a 1460 // //pressure A and B
Lightvalve 52:8ea76864368a 1461 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 52:8ea76864368a 1462 // //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 52:8ea76864368a 1463 // // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 52:8ea76864368a 1464 // // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 52:8ea76864368a 1465 // // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 52:8ea76864368a 1466 //
Lightvalve 52:8ea76864368a 1467 // }
Lightvalve 52:8ea76864368a 1468 //
Lightvalve 52:8ea76864368a 1469 // if (flag_data_request[3] == HIGH) {
Lightvalve 52:8ea76864368a 1470 // //PWM
Lightvalve 52:8ea76864368a 1471 // CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 52:8ea76864368a 1472 // // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 52:8ea76864368a 1473 // // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 52:8ea76864368a 1474 // // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 52:8ea76864368a 1475 //
Lightvalve 52:8ea76864368a 1476 // }
Lightvalve 52:8ea76864368a 1477 //
Lightvalve 52:8ea76864368a 1478 // if (flag_data_request[4] == HIGH) {
Lightvalve 52:8ea76864368a 1479 // //valve position
Lightvalve 52:8ea76864368a 1480 // CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve 52:8ea76864368a 1481 // //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 52:8ea76864368a 1482 //
Lightvalve 52:8ea76864368a 1483 // //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 52:8ea76864368a 1484 // // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 52:8ea76864368a 1485 // // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 52:8ea76864368a 1486 // // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 52:8ea76864368a 1487 // // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 52:8ea76864368a 1488 // }
Lightvalve 52:8ea76864368a 1489 //
Lightvalve 52:8ea76864368a 1490 //
Lightvalve 52:8ea76864368a 1491 // }
Lightvalve 52:8ea76864368a 1492 // TIM2->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1493 //}
Lightvalve 52:8ea76864368a 1494
Lightvalve 52:8ea76864368a 1495
Lightvalve 54:647072f5307a 1496 //
Lightvalve 54:647072f5307a 1497 //void CurrentControl()
Lightvalve 54:647072f5307a 1498 //{
Lightvalve 54:647072f5307a 1499 // cur.err = cur.ref - cur.sen;
Lightvalve 54:647072f5307a 1500 // cur.err_int = cur.err_int + cur.err*DT_TMR4;
Lightvalve 54:647072f5307a 1501 // cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
Lightvalve 54:647072f5307a 1502 // cur.err_old = cur.err;
Lightvalve 54:647072f5307a 1503 //
Lightvalve 54:647072f5307a 1504 // float R_model = 150.0f; // ohm
Lightvalve 54:647072f5307a 1505 // float L_model = 0.3f;
Lightvalve 54:647072f5307a 1506 // float w0 = 2.0f*3.14f*90.0f;
Lightvalve 54:647072f5307a 1507 // float KP_I = L_model*w0;
Lightvalve 54:647072f5307a 1508 // float KI_I = R_model*w0;
Lightvalve 54:647072f5307a 1509 // float KD_I = 0.0f;
Lightvalve 54:647072f5307a 1510 //
Lightvalve 54:647072f5307a 1511 // float FF_gain = 0.0f;
Lightvalve 54:647072f5307a 1512 // V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
Lightvalve 54:647072f5307a 1513 // // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 54:647072f5307a 1514 // V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 54:647072f5307a 1515 //
Lightvalve 54:647072f5307a 1516 // float Ka = 5.0f/KP_I;
Lightvalve 54:647072f5307a 1517 // if(V_out > V_MAX) {
Lightvalve 54:647072f5307a 1518 // V_rem = V_out-V_MAX;
Lightvalve 54:647072f5307a 1519 // V_rem = Ka*V_rem;
Lightvalve 54:647072f5307a 1520 // V_out = V_MAX;
Lightvalve 54:647072f5307a 1521 // cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 54:647072f5307a 1522 // } else if(V_out < -V_MAX) {
Lightvalve 54:647072f5307a 1523 // V_rem = V_out-(-V_MAX);
Lightvalve 54:647072f5307a 1524 // V_rem = Ka*V_rem;
Lightvalve 54:647072f5307a 1525 // V_out = -V_MAX;
Lightvalve 54:647072f5307a 1526 // cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 54:647072f5307a 1527 // }
Lightvalve 54:647072f5307a 1528 //}
Lightvalve 23:59218d4a256d 1529
Lightvalve 28:2a62d73e3dd0 1530
Lightvalve 30:8d561f16383b 1531
Lightvalve 32:4b8c0fedaf2c 1532
Lightvalve 36:a46e63505ed8 1533
Lightvalve 42:1cf66990ccab 1534
Lightvalve 44:fe7d5cfd2eea 1535
Lightvalve 50:3c630b5eba9f 1536