Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

main.cpp@60:8855962234b0, 2020-04-08 (annotated)

Committer:
Lightvalve
Date:
Wed Apr 08 05:36:22 2020 +0000
Revision:
60:8855962234b0
Parent:
59:0ad14153b58f
Child:
61:7572762e3837
200408

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 59:0ad14153b58f 67 float V_out=0.0f;
Lightvalve 59:0ad14153b58f 68 float V_rem=0.0f; // for anti-windup
Lightvalve 59:0ad14153b58f 69 float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 59:0ad14153b58f 70
Lightvalve 59:0ad14153b58f 71 float PWM_out=0.0f;
Lightvalve 59:0ad14153b58f 72
Lightvalve 59:0ad14153b58f 73 int timer_while = 0;
Lightvalve 59:0ad14153b58f 74 int while_index = 0;
Lightvalve 59:0ad14153b58f 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 78 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 79 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 80
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 87
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89 // =============================================================================
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91
Lightvalve 12:6f2531038ea4 92 /*******************************************************************************
Lightvalve 12:6f2531038ea4 93 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 94 ******************************************************************************/
Lightvalve 13:747daba9cf59 95 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 96 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 97 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 98 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 99 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 100 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 101 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 102 };
Lightvalve 12:6f2531038ea4 103
Lightvalve 12:6f2531038ea4 104 /*******************************************************************************
Lightvalve 12:6f2531038ea4 105 * CONTROL MODE
Lightvalve 12:6f2531038ea4 106 ******************************************************************************/
Lightvalve 13:747daba9cf59 107 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 108 //control mode
Lightvalve 12:6f2531038ea4 109 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 110 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 111 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 112
Lightvalve 47:fdcb8bd86fd6 113 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 114 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 122 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 123
Lightvalve 14:8e7590227d22 124 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 125 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 //utility
Lightvalve 12:6f2531038ea4 129 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 130 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 131 MODE_FIND_HOME, //22
Lightvalve 59:0ad14153b58f 132 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 133 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 134 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 135 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 136
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 138 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 139 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 140 };
Lightvalve 12:6f2531038ea4 141
GiJeongKim 0:51c43836c1d7 142 int main()
GiJeongKim 0:51c43836c1d7 143 {
jobuuu 6:df07d3491e3a 144 /*********************************
jobuuu 1:e04e563be5ce 145 *** Initialization
jobuuu 6:df07d3491e3a 146 *********************************/
Lightvalve 59:0ad14153b58f 147 //LED = 1;
Lightvalve 19:23b7c1ad8683 148 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 149
GiJeongKim 0:51c43836c1d7 150 // i2c init
Lightvalve 8:5d2eebdad025 151 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 152 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 153 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 154 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 155 make_delay();
jobuuu 2:a1c0a37df760 156
GiJeongKim 0:51c43836c1d7 157 // // spi init
Lightvalve 16:903b5a4433b4 158 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 159 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 160 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 161 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 162 make_delay();
Lightvalve 21:e5f1a43ea6f9 163
Lightvalve 16:903b5a4433b4 164 //rom
Lightvalve 19:23b7c1ad8683 165 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 166 make_delay();
Lightvalve 13:747daba9cf59 167
GiJeongKim 0:51c43836c1d7 168 // ADC init
jobuuu 5:a4319f79457b 169 Init_ADC();
Lightvalve 11:82d8768d7351 170 make_delay();
jobuuu 2:a1c0a37df760 171
GiJeongKim 0:51c43836c1d7 172 // Pwm init
GiJeongKim 0:51c43836c1d7 173 Init_PWM();
GiJeongKim 0:51c43836c1d7 174 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 175 make_delay();
Lightvalve 13:747daba9cf59 176
Lightvalve 11:82d8768d7351 177 // TMR3 init
Lightvalve 11:82d8768d7351 178 Init_TMR3();
Lightvalve 11:82d8768d7351 179 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 180 make_delay();
Lightvalve 21:e5f1a43ea6f9 181
Lightvalve 50:3c630b5eba9f 182 // TMR2 init
Lightvalve 56:6f50d9d3bfee 183 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 184 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 185 // make_delay();
Lightvalve 21:e5f1a43ea6f9 186
GiJeongKim 0:51c43836c1d7 187 // CAN
jobuuu 2:a1c0a37df760 188 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 189 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 190 make_delay();
Lightvalve 34:bb2ca2fc2a8e 191
Lightvalve 23:59218d4a256d 192 //Timer priority
Lightvalve 23:59218d4a256d 193 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 59:0ad14153b58f 194 // NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 195 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 196
Lightvalve 23:59218d4a256d 197 //can.reset();
Lightvalve 19:23b7c1ad8683 198 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 199
GiJeongKim 0:51c43836c1d7 200 // spi _ enc
GiJeongKim 0:51c43836c1d7 201 spi_enc_set_init();
Lightvalve 11:82d8768d7351 202 make_delay();
Lightvalve 13:747daba9cf59 203
Lightvalve 11:82d8768d7351 204 //DAC init
Lightvalve 59:0ad14153b58f 205 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 59:0ad14153b58f 206 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 59:0ad14153b58f 207 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 59:0ad14153b58f 208 dac_2 = 0.0f;
Lightvalve 60:8855962234b0 209 dac_1 = 0.0f;
Lightvalve 11:82d8768d7351 210 make_delay();
Lightvalve 13:747daba9cf59 211
Lightvalve 19:23b7c1ad8683 212 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 213 if(i%2==0)
Lightvalve 38:118df027d851 214 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 215 else
Lightvalve 38:118df027d851 216 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 217 }
Lightvalve 58:2eade98630e2 218
jobuuu 6:df07d3491e3a 219 /************************************
jobuuu 1:e04e563be5ce 220 *** Program is operating!
jobuuu 6:df07d3491e3a 221 *************************************/
GiJeongKim 0:51c43836c1d7 222 while(1) {
Lightvalve 59:0ad14153b58f 223 if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 224 //i2c
Lightvalve 17:1865016ca2e7 225 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 226 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 59:0ad14153b58f 227 // if(LED==1) {
Lightvalve 59:0ad14153b58f 228 // LED=0;
Lightvalve 59:0ad14153b58f 229 // } else
Lightvalve 59:0ad14153b58f 230 // LED = 1;
Lightvalve 17:1865016ca2e7 231 timer_while = 0;
Lightvalve 17:1865016ca2e7 232 }
Lightvalve 17:1865016ca2e7 233 timer_while ++;
GiJeongKim 0:51c43836c1d7 234 }
jobuuu 1:e04e563be5ce 235 }
jobuuu 1:e04e563be5ce 236
Lightvalve 33:91b17819ec30 237 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 238 {
Lightvalve 14:8e7590227d22 239
Lightvalve 13:747daba9cf59 240 int i = 0;
Lightvalve 48:889798ff9329 241 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 242 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 243 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 244 if(i==0) {
Lightvalve 50:3c630b5eba9f 245 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 59:0ad14153b58f 246 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 50:3c630b5eba9f 247 } else {
Lightvalve 59:0ad14153b58f 248 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 38:118df027d851 249 }
Lightvalve 14:8e7590227d22 250 } else {
Lightvalve 50:3c630b5eba9f 251 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 59:0ad14153b58f 252 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 50:3c630b5eba9f 253 } else {
Lightvalve 59:0ad14153b58f 254 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 255 }
Lightvalve 13:747daba9cf59 256 }
Lightvalve 13:747daba9cf59 257 break;
Lightvalve 13:747daba9cf59 258 }
Lightvalve 13:747daba9cf59 259 }
Lightvalve 14:8e7590227d22 260 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 261 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 262 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 263 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 264 }
Lightvalve 36:a46e63505ed8 265
Lightvalve 59:0ad14153b58f 266 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER);
Lightvalve 13:747daba9cf59 267 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 268
Lightvalve 13:747daba9cf59 269 }
jobuuu 6:df07d3491e3a 270
jobuuu 6:df07d3491e3a 271
Lightvalve 30:8d561f16383b 272 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 273 {
Lightvalve 13:747daba9cf59 274 int i = 0;
Lightvalve 13:747daba9cf59 275
Lightvalve 38:118df027d851 276 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 277 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 278 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 279 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 280 }
Lightvalve 38:118df027d851 281
Lightvalve 13:747daba9cf59 282 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 283 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 284 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 285 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 286 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 287 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 288
Lightvalve 13:747daba9cf59 289 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 290
Lightvalve 18:b8adf1582ea3 291 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 292 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 293 if(i==0) {
Lightvalve 48:889798ff9329 294 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 295 } else {
Lightvalve 48:889798ff9329 296 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 297 }
Lightvalve 13:747daba9cf59 298 break;
Lightvalve 13:747daba9cf59 299 }
Lightvalve 13:747daba9cf59 300 }
Lightvalve 50:3c630b5eba9f 301 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 302 }
Lightvalve 13:747daba9cf59 303
Lightvalve 14:8e7590227d22 304 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 305 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 306 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 307 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 308 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 309 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 310 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 311 }; // duty
Lightvalve 30:8d561f16383b 312 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 313 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 314 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 315 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 316 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 317 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 318 }; // mV
Lightvalve 13:747daba9cf59 319
Lightvalve 30:8d561f16383b 320 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 321 {
Lightvalve 30:8d561f16383b 322 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 323 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 324 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 325 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 326 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 327 } else {
Lightvalve 13:747daba9cf59 328 int idx = 0;
Lightvalve 13:747daba9cf59 329 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 330 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 331 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 332 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 333 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 334 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 335 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 336 break;
Lightvalve 13:747daba9cf59 337 }
Lightvalve 13:747daba9cf59 338 }
Lightvalve 13:747daba9cf59 339 }
Lightvalve 14:8e7590227d22 340
Lightvalve 13:747daba9cf59 341 return PWM_duty;
Lightvalve 13:747daba9cf59 342 }
jobuuu 6:df07d3491e3a 343
jobuuu 2:a1c0a37df760 344 /*******************************************************************************
jobuuu 2:a1c0a37df760 345 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 346 *******************************************************************************/
jobuuu 2:a1c0a37df760 347
Lightvalve 51:b46bed7fec80 348 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 349 float DT_TMR4 = (float)DT_20k;
jobuuu 1:e04e563be5ce 350 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 351 {
Lightvalve 59:0ad14153b58f 352
Lightvalve 19:23b7c1ad8683 353 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 354
Lightvalve 21:e5f1a43ea6f9 355 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 356 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 357 ********************************************************/
Lightvalve 13:747daba9cf59 358
Lightvalve 59:0ad14153b58f 359
Lightvalve 59:0ad14153b58f 360 //Using LoadCell
Lightvalve 59:0ad14153b58f 361 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 59:0ad14153b58f 362 // //while((ADC1->SR & 0b10));
Lightvalve 59:0ad14153b58f 363 // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 59:0ad14153b58f 364 // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve 59:0ad14153b58f 365 // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 59:0ad14153b58f 366
Lightvalve 59:0ad14153b58f 367
Lightvalve 17:1865016ca2e7 368
Lightvalve 59:0ad14153b58f 369 //Pressure sensor A
Lightvalve 59:0ad14153b58f 370 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 59:0ad14153b58f 371 //while((ADC1->SR & 0b10));
Lightvalve 59:0ad14153b58f 372 float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 59:0ad14153b58f 373 // float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 59:0ad14153b58f 374 float pres_A_new = ((float)ADC1->DR);
Lightvalve 59:0ad14153b58f 375 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 59:0ad14153b58f 376 torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 50:3c630b5eba9f 377
Lightvalve 59:0ad14153b58f 378
Lightvalve 59:0ad14153b58f 379 //Pressure sensor 1B
Lightvalve 59:0ad14153b58f 380 //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 59:0ad14153b58f 381 //float pres_B_new = ((float)ADC2->DR);
Lightvalve 59:0ad14153b58f 382 //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 59:0ad14153b58f 383 //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 59:0ad14153b58f 384
Lightvalve 17:1865016ca2e7 385
Lightvalve 17:1865016ca2e7 386
Lightvalve 21:e5f1a43ea6f9 387 //Current
Lightvalve 21:e5f1a43ea6f9 388 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 59:0ad14153b58f 389 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 390 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 391 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 392 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 393 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 394 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 395 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 396
Lightvalve 59:0ad14153b58f 397 /*******************************************************
Lightvalve 59:0ad14153b58f 398 *** Timer Counting & etc.
Lightvalve 59:0ad14153b58f 399 ********************************************************/
Lightvalve 59:0ad14153b58f 400 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 401 }
Lightvalve 11:82d8768d7351 402 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 403 }
Lightvalve 19:23b7c1ad8683 404
Lightvalve 19:23b7c1ad8683 405
Lightvalve 18:b8adf1582ea3 406 int j =0;
Lightvalve 59:0ad14153b58f 407 //unsigned long CNT_TMR3 = 0;
Lightvalve 59:0ad14153b58f 408 //float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 54:647072f5307a 409 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 410 float DT_TMR3 = (float)DT_5k;
Lightvalve 59:0ad14153b58f 411 //float DT_TMR3 = (float)DT_1k;
Lightvalve 45:35fa6884d0c6 412 int cnt_trans = 0;
Lightvalve 48:889798ff9329 413 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 59:0ad14153b58f 414 int canfreq = CAN_FREQUENCY;
Lightvalve 48:889798ff9329 415
Lightvalve 11:82d8768d7351 416 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 417 {
Lightvalve 19:23b7c1ad8683 418 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 59:0ad14153b58f 419 ENC_UPDATE();
Lightvalve 50:3c630b5eba9f 420
Lightvalve 50:3c630b5eba9f 421 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 422 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 423 cnt_trans++;
Lightvalve 46:2694daea349b 424 torq.err_sum = 0;
Lightvalve 48:889798ff9329 425 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 426 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 427 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 428 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 429 cnt_trans++;
Lightvalve 46:2694daea349b 430 torq.err_sum = 0;
Lightvalve 48:889798ff9329 431 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 432 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 433 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 59:0ad14153b58f 434 alpha_trans = 1.0;
Lightvalve 45:35fa6884d0c6 435 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 436 } else {
Lightvalve 59:0ad14153b58f 437 alpha_trans = 0.0;
Lightvalve 45:35fa6884d0c6 438 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 439 }
Lightvalve 45:35fa6884d0c6 440
Lightvalve 50:3c630b5eba9f 441
Lightvalve 59:0ad14153b58f 442
Lightvalve 59:0ad14153b58f 443 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 59:0ad14153b58f 444
Lightvalve 59:0ad14153b58f 445 switch (CONTROL_MODE) {
Lightvalve 59:0ad14153b58f 446 case MODE_NO_ACT: {
Lightvalve 59:0ad14153b58f 447 V_out = 0.0f;
Lightvalve 59:0ad14153b58f 448 break;
Lightvalve 59:0ad14153b58f 449 }
Lightvalve 59:0ad14153b58f 450
Lightvalve 59:0ad14153b58f 451 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 59:0ad14153b58f 452 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:0ad14153b58f 453 break;
Lightvalve 59:0ad14153b58f 454 }
Lightvalve 59:0ad14153b58f 455
Lightvalve 59:0ad14153b58f 456 case MODE_JOINT_CONTROL: {
Lightvalve 59:0ad14153b58f 457
Lightvalve 59:0ad14153b58f 458 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 59:0ad14153b58f 459
Lightvalve 59:0ad14153b58f 460
Lightvalve 59:0ad14153b58f 461 double torq_ref = 0.0f;
Lightvalve 59:0ad14153b58f 462 //if(TMR3_COUNT_TEST % (int) (50) == 0){
Lightvalve 59:0ad14153b58f 463 pos.err = pos.ref - pos.sen; //[pulse]
Lightvalve 59:0ad14153b58f 464 vel.err = vel.ref - vel.sen; //[pulse/s]
Lightvalve 59:0ad14153b58f 465 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 59:0ad14153b58f 466 //torq_ref_logging = torq_ref
Lightvalve 59:0ad14153b58f 467 //}
Lightvalve 59:0ad14153b58f 468
Lightvalve 59:0ad14153b58f 469 // torque feedback
Lightvalve 59:0ad14153b58f 470 torq.err = torq_ref - torq.sen; //[pulse]
Lightvalve 59:0ad14153b58f 471 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
Lightvalve 59:0ad14153b58f 472 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 59:0ad14153b58f 473 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 59:0ad14153b58f 474
Lightvalve 59:0ad14153b58f 475
Lightvalve 59:0ad14153b58f 476 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 59:0ad14153b58f 477 + 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 58:2eade98630e2 478
Lightvalve 59:0ad14153b58f 479 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 59:0ad14153b58f 480 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 59:0ad14153b58f 481 } else {
Lightvalve 59:0ad14153b58f 482 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 59:0ad14153b58f 483 }
Lightvalve 59:0ad14153b58f 484
Lightvalve 59:0ad14153b58f 485 if(I_GAIN_JOINT_TORQUE != 0){
Lightvalve 59:0ad14153b58f 486 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * (float) TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f;
Lightvalve 59:0ad14153b58f 487 if(valve_pos.ref>VALVE_MAX_POS){
Lightvalve 59:0ad14153b58f 488 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 59:0ad14153b58f 489 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 59:0ad14153b58f 490 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 59:0ad14153b58f 491 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 59:0ad14153b58f 492 }
Lightvalve 59:0ad14153b58f 493 else if(valve_pos.ref < VALVE_MIN_POS){
Lightvalve 59:0ad14153b58f 494 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 59:0ad14153b58f 495 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 59:0ad14153b58f 496 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 59:0ad14153b58f 497 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 59:0ad14153b58f 498 }
Lightvalve 59:0ad14153b58f 499 }
Lightvalve 59:0ad14153b58f 500
Lightvalve 59:0ad14153b58f 501 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:0ad14153b58f 502
Lightvalve 59:0ad14153b58f 503 //TMR3_COUNT_TEST++;
Lightvalve 59:0ad14153b58f 504
Lightvalve 59:0ad14153b58f 505 break;
Lightvalve 59:0ad14153b58f 506 }
Lightvalve 59:0ad14153b58f 507
Lightvalve 59:0ad14153b58f 508
Lightvalve 59:0ad14153b58f 509 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 59:0ad14153b58f 510 V_out = (float) Vout.ref;
Lightvalve 59:0ad14153b58f 511 break;
Lightvalve 59:0ad14153b58f 512 }
Lightvalve 59:0ad14153b58f 513
Lightvalve 59:0ad14153b58f 514 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 59:0ad14153b58f 515 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 59:0ad14153b58f 516 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 59:0ad14153b58f 517 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 59:0ad14153b58f 518 //int DDV_JOINT_CAN = 0;
Lightvalve 59:0ad14153b58f 519 // feedback input for position control
Lightvalve 59:0ad14153b58f 520 pos.err = pos.ref - (float) pos.sen;
Lightvalve 59:0ad14153b58f 521 pos.err_diff = pos.err - pos.err_old;
Lightvalve 59:0ad14153b58f 522 pos.err_old = pos.err;
Lightvalve 59:0ad14153b58f 523 pos.err_sum += pos.err;
Lightvalve 59:0ad14153b58f 524 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 59:0ad14153b58f 525 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 59:0ad14153b58f 526 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum/(float) ENC_PULSE_PER_POSITION + (float) D_GAIN_JOINT_POSITION * pos.err_diff/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:0ad14153b58f 527
Lightvalve 59:0ad14153b58f 528
Lightvalve 59:0ad14153b58f 529 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 59:0ad14153b58f 530 // feedforward input for position control
Lightvalve 59:0ad14153b58f 531 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 59:0ad14153b58f 532 // float K_ff = 0.9f;
Lightvalve 59:0ad14153b58f 533 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 59:0ad14153b58f 534 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 59:0ad14153b58f 535 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 59:0ad14153b58f 536
Lightvalve 59:0ad14153b58f 537 //torque feedback
Lightvalve 59:0ad14153b58f 538 torq.err = - torq.ref + torq.sen;
Lightvalve 59:0ad14153b58f 539 torq.err_diff = torq.err - torq.err_old;
Lightvalve 59:0ad14153b58f 540 torq.err_old = torq.err;
Lightvalve 59:0ad14153b58f 541 torq.err_sum += torq.err;
Lightvalve 59:0ad14153b58f 542 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 59:0ad14153b58f 543 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 59:0ad14153b58f 544 VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 59:0ad14153b58f 545 VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve 59:0ad14153b58f 546
Lightvalve 59:0ad14153b58f 547 // valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 59:0ad14153b58f 548 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref);
Lightvalve 59:0ad14153b58f 549
Lightvalve 59:0ad14153b58f 550 if (valve_pos.ref >= 0) {
Lightvalve 59:0ad14153b58f 551 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS;
Lightvalve 59:0ad14153b58f 552 } else if(valve_pos.ref < 0) {
Lightvalve 59:0ad14153b58f 553 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS;
Lightvalve 59:0ad14153b58f 554 }
Lightvalve 59:0ad14153b58f 555 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 56:6f50d9d3bfee 556
Lightvalve 56:6f50d9d3bfee 557
Lightvalve 13:747daba9cf59 558 break;
Lightvalve 13:747daba9cf59 559 }
Lightvalve 14:8e7590227d22 560
Lightvalve 59:0ad14153b58f 561 // case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 59:0ad14153b58f 562 //
Lightvalve 59:0ad14153b58f 563 // break;
Lightvalve 59:0ad14153b58f 564 // }
Lightvalve 59:0ad14153b58f 565
Lightvalve 59:0ad14153b58f 566 // case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 59:0ad14153b58f 567 // pos.err = pos.ref - (float) pos.sen;
Lightvalve 59:0ad14153b58f 568 // pos.err_diff = pos.err - pos.err_old;
Lightvalve 59:0ad14153b58f 569 // pos.err_old = pos.err;
Lightvalve 59:0ad14153b58f 570 // pos.err_sum += pos.err;
Lightvalve 59:0ad14153b58f 571 // if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 59:0ad14153b58f 572 // if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 59:0ad14153b58f 573 // VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:0ad14153b58f 574 //
Lightvalve 59:0ad14153b58f 575 // torq.err = torq.ref - torq.sen;
Lightvalve 59:0ad14153b58f 576 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 59:0ad14153b58f 577 // torq.err_old = torq.err;
Lightvalve 59:0ad14153b58f 578 // torq.err_sum += torq.err;
Lightvalve 59:0ad14153b58f 579 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 59:0ad14153b58f 580 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 59:0ad14153b58f 581 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 59:0ad14153b58f 582 //
Lightvalve 59:0ad14153b58f 583 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 59:0ad14153b58f 584 //
Lightvalve 59:0ad14153b58f 585 // V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 59:0ad14153b58f 586 //
Lightvalve 59:0ad14153b58f 587 // CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 59:0ad14153b58f 588 // CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 59:0ad14153b58f 589 // if (DIR_VALVE > 0) {
Lightvalve 59:0ad14153b58f 590 // if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 59:0ad14153b58f 591 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve 59:0ad14153b58f 592 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve 59:0ad14153b58f 593 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve 59:0ad14153b58f 594 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve 59:0ad14153b58f 595 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 59:0ad14153b58f 596 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve 59:0ad14153b58f 597 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve 59:0ad14153b58f 598 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve 59:0ad14153b58f 599 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve 59:0ad14153b58f 600 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve 59:0ad14153b58f 601 // else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 59:0ad14153b58f 602 // else VALVE_FF_VOLTAGE = 0;
Lightvalve 59:0ad14153b58f 603 // } else {
Lightvalve 59:0ad14153b58f 604 // if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 59:0ad14153b58f 605 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve 59:0ad14153b58f 606 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve 59:0ad14153b58f 607 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve 59:0ad14153b58f 608 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve 59:0ad14153b58f 609 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 59:0ad14153b58f 610 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve 59:0ad14153b58f 611 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve 59:0ad14153b58f 612 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve 59:0ad14153b58f 613 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve 59:0ad14153b58f 614 // else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve 59:0ad14153b58f 615 // else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 59:0ad14153b58f 616 // else VALVE_FF_VOLTAGE = 0;
Lightvalve 59:0ad14153b58f 617 // }
Lightvalve 59:0ad14153b58f 618 // // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 59:0ad14153b58f 619 //
Lightvalve 59:0ad14153b58f 620 // if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve 59:0ad14153b58f 621 // else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve 59:0ad14153b58f 622 //
Lightvalve 59:0ad14153b58f 623 // V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 59:0ad14153b58f 624 // break;
Lightvalve 59:0ad14153b58f 625 // }
Lightvalve 59:0ad14153b58f 626
Lightvalve 59:0ad14153b58f 627 // case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 59:0ad14153b58f 628 //
Lightvalve 59:0ad14153b58f 629 // pos.err = pos.ref - (float) pos.sen;
Lightvalve 59:0ad14153b58f 630 // pos.err_diff = pos.err - pos.err_old;
Lightvalve 59:0ad14153b58f 631 // pos.err_old = pos.err;
Lightvalve 59:0ad14153b58f 632 // pos.err_sum += pos.err;
Lightvalve 59:0ad14153b58f 633 // if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 59:0ad14153b58f 634 // if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 59:0ad14153b58f 635 // VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 59:0ad14153b58f 636 //
Lightvalve 59:0ad14153b58f 637 // torq.err = torq.ref - torq.sen;
Lightvalve 59:0ad14153b58f 638 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 59:0ad14153b58f 639 // torq.err_old = torq.err;
Lightvalve 59:0ad14153b58f 640 // torq.err_sum += torq.err;
Lightvalve 59:0ad14153b58f 641 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 59:0ad14153b58f 642 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 59:0ad14153b58f 643 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 59:0ad14153b58f 644 //
Lightvalve 59:0ad14153b58f 645 // valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 59:0ad14153b58f 646 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:0ad14153b58f 647 //
Lightvalve 59:0ad14153b58f 648 // break;
Lightvalve 59:0ad14153b58f 649 // }
Lightvalve 59:0ad14153b58f 650
Lightvalve 59:0ad14153b58f 651 // case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 59:0ad14153b58f 652 //
Lightvalve 59:0ad14153b58f 653 // break;
Lightvalve 59:0ad14153b58f 654 // }
Lightvalve 59:0ad14153b58f 655
Lightvalve 59:0ad14153b58f 656
Lightvalve 59:0ad14153b58f 657 // case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 59:0ad14153b58f 658 // if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 59:0ad14153b58f 659 // TMR3_COUNT_IREF = 0;
Lightvalve 59:0ad14153b58f 660 // }
Lightvalve 59:0ad14153b58f 661 // TMR3_COUNT_IREF++;
Lightvalve 59:0ad14153b58f 662 //
Lightvalve 59:0ad14153b58f 663 // // Set Current Reference
Lightvalve 59:0ad14153b58f 664 // float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 59:0ad14153b58f 665 // float I_REF_MID = 0.0f;
Lightvalve 59:0ad14153b58f 666 // if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 59:0ad14153b58f 667 // I_REF = I_REF_MID + 1.0f;
Lightvalve 59:0ad14153b58f 668 // } else {
Lightvalve 59:0ad14153b58f 669 // I_REF = I_REF_MID - 1.0f;
Lightvalve 59:0ad14153b58f 670 // }
Lightvalve 59:0ad14153b58f 671 //// float T = 1.0; // wave period
Lightvalve 59:0ad14153b58f 672 //// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 59:0ad14153b58f 673 //// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 59:0ad14153b58f 674 //
Lightvalve 59:0ad14153b58f 675 // if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 59:0ad14153b58f 676 // //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 59:0ad14153b58f 677 // }
Lightvalve 59:0ad14153b58f 678 // break;
Lightvalve 59:0ad14153b58f 679 // }
Lightvalve 59:0ad14153b58f 680
Lightvalve 59:0ad14153b58f 681 // case MODE_TEST_PWM_CONTROL: {
Lightvalve 59:0ad14153b58f 682 // if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 59:0ad14153b58f 683 // TMR3_COUNT_IREF = 0;
Lightvalve 59:0ad14153b58f 684 // }
Lightvalve 59:0ad14153b58f 685 // TMR3_COUNT_IREF++;
Lightvalve 59:0ad14153b58f 686 //
Lightvalve 59:0ad14153b58f 687 // // Set PWM reference
Lightvalve 59:0ad14153b58f 688 // float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 59:0ad14153b58f 689 // //float I_REF_MID = 0.0f;
Lightvalve 59:0ad14153b58f 690 // if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 59:0ad14153b58f 691 // CUR_PWM = 1000;
Lightvalve 59:0ad14153b58f 692 // } else {
Lightvalve 59:0ad14153b58f 693 // CUR_PWM = -1000;
Lightvalve 59:0ad14153b58f 694 // }
Lightvalve 59:0ad14153b58f 695 //
Lightvalve 59:0ad14153b58f 696 // if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 59:0ad14153b58f 697 // //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 59:0ad14153b58f 698 // }
Lightvalve 59:0ad14153b58f 699 // break;
Lightvalve 59:0ad14153b58f 700 // }
Lightvalve 59:0ad14153b58f 701
Lightvalve 59:0ad14153b58f 702
Lightvalve 59:0ad14153b58f 703 // case MODE_CURRENT_CONTROL: {
Lightvalve 59:0ad14153b58f 704 //
Lightvalve 59:0ad14153b58f 705 // cur.ref = cur.ref; // Unit : mA
Lightvalve 59:0ad14153b58f 706 // CurrentControl();
Lightvalve 59:0ad14153b58f 707 // break;
Lightvalve 59:0ad14153b58f 708 // }
Lightvalve 59:0ad14153b58f 709
Lightvalve 59:0ad14153b58f 710 // case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 59:0ad14153b58f 711 // float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 59:0ad14153b58f 712 // float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 59:0ad14153b58f 713 // float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 59:0ad14153b58f 714 // float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 59:0ad14153b58f 715 //
Lightvalve 59:0ad14153b58f 716 // // feedback input for position control
Lightvalve 59:0ad14153b58f 717 // pos.err = pos.ref - pos.sen;
Lightvalve 59:0ad14153b58f 718 // float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 59:0ad14153b58f 719 // float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 59:0ad14153b58f 720 // pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 59:0ad14153b58f 721 // pos.err_old = pos.err;
Lightvalve 59:0ad14153b58f 722 // I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 59:0ad14153b58f 723 //
Lightvalve 59:0ad14153b58f 724 // // feedforward input for position control
Lightvalve 59:0ad14153b58f 725 // float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 59:0ad14153b58f 726 // float K_ff = 1.3f;
Lightvalve 59:0ad14153b58f 727 // float K_v = 0.0f;
Lightvalve 59:0ad14153b58f 728 // if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 59:0ad14153b58f 729 // if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 59:0ad14153b58f 730 // I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 59:0ad14153b58f 731 //
Lightvalve 59:0ad14153b58f 732 // // feedback input for position control
Lightvalve 59:0ad14153b58f 733 // I_REF_FORCE_FB = 0.0f;
Lightvalve 59:0ad14153b58f 734 //
Lightvalve 59:0ad14153b58f 735 // // feedforward input for position control
Lightvalve 59:0ad14153b58f 736 // I_REF_FORCE_FF = 0.0f;
Lightvalve 59:0ad14153b58f 737 //
Lightvalve 59:0ad14153b58f 738 // cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 59:0ad14153b58f 739 //
Lightvalve 59:0ad14153b58f 740 // CurrentControl();
Lightvalve 59:0ad14153b58f 741 //
Lightvalve 59:0ad14153b58f 742 // break;
Lightvalve 59:0ad14153b58f 743 // }
Lightvalve 59:0ad14153b58f 744
Lightvalve 59:0ad14153b58f 745 // case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 59:0ad14153b58f 746 // //float T_REF = 0.0; // Torque Reference
Lightvalve 59:0ad14153b58f 747 // float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 59:0ad14153b58f 748 // float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 59:0ad14153b58f 749 //
Lightvalve 59:0ad14153b58f 750 // // feedback input for position control
Lightvalve 59:0ad14153b58f 751 // //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 59:0ad14153b58f 752 // //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 59:0ad14153b58f 753 // //float K_spring = 0.7f;
Lightvalve 59:0ad14153b58f 754 // //float D_damper = 0.02f;
Lightvalve 59:0ad14153b58f 755 //// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 59:0ad14153b58f 756 //
Lightvalve 59:0ad14153b58f 757 // // torque feedback
Lightvalve 59:0ad14153b58f 758 // torq.err = torq.ref - torq.sen;
Lightvalve 59:0ad14153b58f 759 // // torq.err_diff = torq.err - torq.err_old;
Lightvalve 59:0ad14153b58f 760 // // torq.err_old = torq.err;
Lightvalve 59:0ad14153b58f 761 // torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 59:0ad14153b58f 762 // I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 59:0ad14153b58f 763 //
Lightvalve 59:0ad14153b58f 764 // // velocity compensation for torque control
Lightvalve 59:0ad14153b58f 765 // float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 59:0ad14153b58f 766 // float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 59:0ad14153b58f 767 // float K_v = 0.0f; // Valve gain
Lightvalve 59:0ad14153b58f 768 // if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 59:0ad14153b58f 769 // if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 59:0ad14153b58f 770 // I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 59:0ad14153b58f 771 //
Lightvalve 59:0ad14153b58f 772 // cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 59:0ad14153b58f 773 // // cur.ref = I_REF_FORCE_FB;
Lightvalve 59:0ad14153b58f 774 //
Lightvalve 59:0ad14153b58f 775 // float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 59:0ad14153b58f 776 // float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 59:0ad14153b58f 777 // if(cur.ref > I_MAX) {
Lightvalve 59:0ad14153b58f 778 // float I_rem = cur.ref-I_MAX;
Lightvalve 59:0ad14153b58f 779 // I_rem = Ka*I_rem;
Lightvalve 59:0ad14153b58f 780 // cur.ref = I_MAX;
Lightvalve 59:0ad14153b58f 781 // torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 59:0ad14153b58f 782 // } else if(cur.ref < -I_MAX) {
Lightvalve 59:0ad14153b58f 783 // float I_rem = cur.ref-(-I_MAX);
Lightvalve 59:0ad14153b58f 784 // I_rem = Ka*I_rem;
Lightvalve 59:0ad14153b58f 785 // cur.ref = -I_MAX;
Lightvalve 59:0ad14153b58f 786 // torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 59:0ad14153b58f 787 // }
Lightvalve 59:0ad14153b58f 788 //
Lightvalve 59:0ad14153b58f 789 // CurrentControl();
Lightvalve 59:0ad14153b58f 790 //
Lightvalve 59:0ad14153b58f 791 //
Lightvalve 59:0ad14153b58f 792 // /*
Lightvalve 59:0ad14153b58f 793 // float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 59:0ad14153b58f 794 // float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 59:0ad14153b58f 795 // float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 59:0ad14153b58f 796 // float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 59:0ad14153b58f 797 //
Lightvalve 59:0ad14153b58f 798 // // feedback input for position control
Lightvalve 59:0ad14153b58f 799 // pos.err = pos.ref - pos.sen;
Lightvalve 59:0ad14153b58f 800 // float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 59:0ad14153b58f 801 // float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 59:0ad14153b58f 802 // pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 59:0ad14153b58f 803 // pos.err_old = pos.err;
Lightvalve 59:0ad14153b58f 804 // I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 59:0ad14153b58f 805 //
Lightvalve 59:0ad14153b58f 806 // // feedforward input for position control
Lightvalve 59:0ad14153b58f 807 // float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 59:0ad14153b58f 808 // float K_ff = 1.3f;
Lightvalve 59:0ad14153b58f 809 // float K_v = 0.0f;
Lightvalve 59:0ad14153b58f 810 // if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 59:0ad14153b58f 811 // if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 59:0ad14153b58f 812 // I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 59:0ad14153b58f 813 //
Lightvalve 59:0ad14153b58f 814 // // feedback input for position control
Lightvalve 59:0ad14153b58f 815 // I_REF_FORCE_FB = 0.0f;
Lightvalve 59:0ad14153b58f 816 //
Lightvalve 59:0ad14153b58f 817 // // feedforward input for position control
Lightvalve 59:0ad14153b58f 818 // I_REF_FORCE_FF = 0.0f;
Lightvalve 59:0ad14153b58f 819 //
Lightvalve 59:0ad14153b58f 820 // cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 59:0ad14153b58f 821 //
Lightvalve 59:0ad14153b58f 822 // CurrentControl();
Lightvalve 59:0ad14153b58f 823 // */
Lightvalve 59:0ad14153b58f 824 //
Lightvalve 59:0ad14153b58f 825 // break;
Lightvalve 59:0ad14153b58f 826 // }
Lightvalve 59:0ad14153b58f 827
Lightvalve 14:8e7590227d22 828 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 829 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 830 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 831 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 832
Lightvalve 14:8e7590227d22 833 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 834 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 835 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 836
Lightvalve 43:b084e5f5d0d5 837 TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 838
Lightvalve 30:8d561f16383b 839 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 840 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 50:3c630b5eba9f 841
Lightvalve 16:903b5a4433b4 842 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 843 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 844 }
Lightvalve 13:747daba9cf59 845 } else {
Lightvalve 59:0ad14153b58f 846 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 847 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 848 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 849 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 850
Lightvalve 16:903b5a4433b4 851 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 852
Lightvalve 59:0ad14153b58f 853 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 59:0ad14153b58f 854
Lightvalve 59:0ad14153b58f 855 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 856 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 857
Lightvalve 13:747daba9cf59 858 }
Lightvalve 14:8e7590227d22 859 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 860 break;
Lightvalve 59:0ad14153b58f 861
Lightvalve 59:0ad14153b58f 862
Lightvalve 59:0ad14153b58f 863
Lightvalve 59:0ad14153b58f 864 // // DAC Voltage reference set
Lightvalve 59:0ad14153b58f 865 // if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 59:0ad14153b58f 866 // CUR_PRES_A_sum += pres_A.sen;
Lightvalve 59:0ad14153b58f 867 // CUR_PRES_B_sum += pres_B.sen;
Lightvalve 59:0ad14153b58f 868 //
Lightvalve 59:0ad14153b58f 869 // if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 59:0ad14153b58f 870 // CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 59:0ad14153b58f 871 // CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 59:0ad14153b58f 872 // CUR_PRES_A_sum = 0;
Lightvalve 59:0ad14153b58f 873 // CUR_PRES_B_sum = 0;
Lightvalve 59:0ad14153b58f 874 //
Lightvalve 59:0ad14153b58f 875 // float VREF_NullingGain = 0.0003f;
Lightvalve 59:0ad14153b58f 876 // PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 59:0ad14153b58f 877 // PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 59:0ad14153b58f 878 //
Lightvalve 59:0ad14153b58f 879 // if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 59:0ad14153b58f 880 // if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 59:0ad14153b58f 881 // if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 59:0ad14153b58f 882 // if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 59:0ad14153b58f 883 //
Lightvalve 59:0ad14153b58f 884 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 59:0ad14153b58f 885 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 59:0ad14153b58f 886 // }
Lightvalve 59:0ad14153b58f 887 // } else {
Lightvalve 59:0ad14153b58f 888 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 59:0ad14153b58f 889 // TMR3_COUNT_PRES_NULL = 0;
Lightvalve 59:0ad14153b58f 890 // CUR_PRES_A_sum = 0;
Lightvalve 59:0ad14153b58f 891 // CUR_PRES_B_sum = 0;
Lightvalve 59:0ad14153b58f 892 // CUR_PRES_A_mean = 0;
Lightvalve 59:0ad14153b58f 893 // CUR_PRES_B_mean = 0;
Lightvalve 59:0ad14153b58f 894 //
Lightvalve 59:0ad14153b58f 895 // ROM_RESET_DATA();
Lightvalve 59:0ad14153b58f 896 //
Lightvalve 59:0ad14153b58f 897 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 59:0ad14153b58f 898 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 59:0ad14153b58f 899 // //pc.printf("nulling end");
Lightvalve 59:0ad14153b58f 900 // }
Lightvalve 59:0ad14153b58f 901 // TMR3_COUNT_PRES_NULL++;
Lightvalve 59:0ad14153b58f 902 // break;
Lightvalve 59:0ad14153b58f 903
Lightvalve 59:0ad14153b58f 904
Lightvalve 59:0ad14153b58f 905
Lightvalve 59:0ad14153b58f 906
Lightvalve 59:0ad14153b58f 907
Lightvalve 19:23b7c1ad8683 908 }
Lightvalve 14:8e7590227d22 909
Lightvalve 50:3c630b5eba9f 910 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 911 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 912 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 913 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 914 // }
Lightvalve 50:3c630b5eba9f 915 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 916 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 917 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 918 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 919 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 920 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 921 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 922 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 923 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 924 // }
Lightvalve 50:3c630b5eba9f 925 //
Lightvalve 50:3c630b5eba9f 926 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 927 // 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 928 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 929 //
Lightvalve 50:3c630b5eba9f 930 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 931 // V_out = 0;
Lightvalve 50:3c630b5eba9f 932 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 933 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 934 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 935 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 936 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 937 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 938 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 939 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 940 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 941 //
Lightvalve 50:3c630b5eba9f 942 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 943 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 944 // // | / | / |/
Lightvalve 50:3c630b5eba9f 945 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 946 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 947 // // /| / | / |
Lightvalve 50:3c630b5eba9f 948 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 949 //
Lightvalve 50:3c630b5eba9f 950 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 951 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 952 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 953 // } else {
Lightvalve 50:3c630b5eba9f 954 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 955 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 956 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 957 // }
Lightvalve 50:3c630b5eba9f 958 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 959 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 960 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 961 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 962 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 963 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 964 // }
Lightvalve 50:3c630b5eba9f 965 // } else {
Lightvalve 50:3c630b5eba9f 966 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 967 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 968 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 969 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 970 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 971 // }
Lightvalve 50:3c630b5eba9f 972 // V_out = 0;
Lightvalve 50:3c630b5eba9f 973 //
Lightvalve 50:3c630b5eba9f 974 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 975 //
Lightvalve 50:3c630b5eba9f 976 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 977 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 978 //
Lightvalve 50:3c630b5eba9f 979 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 980 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 981 // }
Lightvalve 50:3c630b5eba9f 982 // }
Lightvalve 50:3c630b5eba9f 983 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 984 // break;
Lightvalve 50:3c630b5eba9f 985 // }
Lightvalve 14:8e7590227d22 986
Lightvalve 14:8e7590227d22 987 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 988 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 989 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 990 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 991 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 992 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 993 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 994 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 59:0ad14153b58f 995 CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
Lightvalve 29:69f3f5445d6d 996 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 997 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 998 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 999 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1000 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1001 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1002 }
Lightvalve 29:69f3f5445d6d 1003 cnt_findhome++;
Lightvalve 59:0ad14153b58f 1004 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1005
Lightvalve 29:69f3f5445d6d 1006 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1007 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1008 } else {
Lightvalve 29:69f3f5445d6d 1009 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1010 }
Lightvalve 19:23b7c1ad8683 1011
Lightvalve 59:0ad14153b58f 1012 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1013 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 60:8855962234b0 1014 //if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + (float) ENC_PULSE_PER_POSITION / (float) 512.0f;
Lightvalve 60:8855962234b0 1015 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 8.0f;
Lightvalve 60:8855962234b0 1016 // else pos.ref_home_pos = pos.ref_home_pos - (float) ENC_PULSE_PER_POSITION / (float) 512.0f;
Lightvalve 60:8855962234b0 1017 else pos.ref_home_pos = pos.ref_home_pos - 8.0f;
Lightvalve 29:69f3f5445d6d 1018 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 1019 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 1020 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:0ad14153b58f 1021 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1022 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 1023
Lightvalve 30:8d561f16383b 1024 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1025 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 1026 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 1027 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 1028 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 1029 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 1030 } else {
Lightvalve 29:69f3f5445d6d 1031 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 1032 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1033 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1034 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1035 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1036 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1037 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1038 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1039 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1040 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 1041 }
Lightvalve 29:69f3f5445d6d 1042 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1043 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 1044 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 1045 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 1046
Lightvalve 29:69f3f5445d6d 1047 // input for position control
Lightvalve 40:3f2c0619c8c4 1048 pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve 30:8d561f16383b 1049 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 50:3c630b5eba9f 1050 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:0ad14153b58f 1051 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1052 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1053
Lightvalve 29:69f3f5445d6d 1054 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1055 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1056 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1057 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1058 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1059 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1060 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1061 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1062 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 59:0ad14153b58f 1063 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1064 }
Lightvalve 13:747daba9cf59 1065 }
Lightvalve 19:23b7c1ad8683 1066
Lightvalve 13:747daba9cf59 1067 break;
Lightvalve 13:747daba9cf59 1068 }
Lightvalve 14:8e7590227d22 1069
Lightvalve 50:3c630b5eba9f 1070 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1071 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1072 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1073 // else {
Lightvalve 50:3c630b5eba9f 1074 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1075 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1076 // }
Lightvalve 50:3c630b5eba9f 1077 // }
Lightvalve 50:3c630b5eba9f 1078 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1079 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1080 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1081 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1082 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1083 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1084 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1085 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1086 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1087 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1088 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1089 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1090 // }
Lightvalve 50:3c630b5eba9f 1091 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1092 // }
Lightvalve 50:3c630b5eba9f 1093 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1094 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1095 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1096 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1097 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1098 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1099 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1100 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1101 // 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 1102 // // 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 1103 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1104 // }
Lightvalve 50:3c630b5eba9f 1105 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1106 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1107 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1108 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1109 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1110 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1111 // 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 1112 // // 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 1113 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1114 // }
Lightvalve 50:3c630b5eba9f 1115 // }
Lightvalve 50:3c630b5eba9f 1116 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1117 //
Lightvalve 50:3c630b5eba9f 1118 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1119 //
Lightvalve 50:3c630b5eba9f 1120 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1121 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1122 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1123 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1124 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1125 // }
Lightvalve 50:3c630b5eba9f 1126 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1127 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1128 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1129 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1130 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1131 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1132 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1133 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1134 // }
Lightvalve 50:3c630b5eba9f 1135 //
Lightvalve 50:3c630b5eba9f 1136 // }
Lightvalve 50:3c630b5eba9f 1137 // break;
Lightvalve 50:3c630b5eba9f 1138 // }
Lightvalve 50:3c630b5eba9f 1139 //
Lightvalve 50:3c630b5eba9f 1140 // }
Lightvalve 59:0ad14153b58f 1141
Lightvalve 14:8e7590227d22 1142 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1143 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1144 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1145 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1146 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1147
Lightvalve 14:8e7590227d22 1148 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1149 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1150 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1151 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1152 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1153
Lightvalve 38:118df027d851 1154 float VREF_NullingGain = 0.0003f;
Lightvalve 59:0ad14153b58f 1155 PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 59:0ad14153b58f 1156 PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1157
Lightvalve 30:8d561f16383b 1158 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1159 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1160 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1161 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1162
Lightvalve 30:8d561f16383b 1163 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1164 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1165 }
Lightvalve 13:747daba9cf59 1166 } else {
Lightvalve 59:0ad14153b58f 1167 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1168 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1169 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1170 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1171 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1172 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1173
Lightvalve 16:903b5a4433b4 1174 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1175
Lightvalve 30:8d561f16383b 1176 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1177 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1178 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1179 }
Lightvalve 14:8e7590227d22 1180 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1181 break;
Lightvalve 13:747daba9cf59 1182 }
Lightvalve 14:8e7590227d22 1183
Lightvalve 50:3c630b5eba9f 1184 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1185 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1186 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1187 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1188 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1189 // }
Lightvalve 50:3c630b5eba9f 1190 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1191 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1192 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1193 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1194 // }
Lightvalve 50:3c630b5eba9f 1195 // } else {
Lightvalve 50:3c630b5eba9f 1196 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1197 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1198 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1199 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1200 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1201 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1202 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1203 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1204 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1205 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1206 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1207 //
Lightvalve 50:3c630b5eba9f 1208 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1209 //
Lightvalve 50:3c630b5eba9f 1210 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1211 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1212 // }
Lightvalve 50:3c630b5eba9f 1213 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1214 // break;
Lightvalve 50:3c630b5eba9f 1215 // }
Lightvalve 19:23b7c1ad8683 1216
Lightvalve 50:3c630b5eba9f 1217 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1218 // 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 1219 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1220 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1221 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1222 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1223 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1224 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1225 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1226 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1227 // }
Lightvalve 50:3c630b5eba9f 1228 // break;
Lightvalve 50:3c630b5eba9f 1229 // }
Lightvalve 14:8e7590227d22 1230
Lightvalve 14:8e7590227d22 1231 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1232 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1233
Lightvalve 14:8e7590227d22 1234 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1235 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1236 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1237 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1238 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1239 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1240 data_num = 0;
Lightvalve 14:8e7590227d22 1241 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1242 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1243 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1244 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1245 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1246 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1247 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1248 }
Lightvalve 14:8e7590227d22 1249
Lightvalve 17:1865016ca2e7 1250 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1251 int i;
Lightvalve 13:747daba9cf59 1252 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1253 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1254 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1255 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1256 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1257 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1258 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1259 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1260 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 13:747daba9cf59 1262 }
Lightvalve 27:a2254a485f23 1263 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1264 ID_index = 0;
Lightvalve 59:0ad14153b58f 1265 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1266 }
Lightvalve 14:8e7590227d22 1267
Lightvalve 14:8e7590227d22 1268
Lightvalve 13:747daba9cf59 1269 break;
Lightvalve 13:747daba9cf59 1270 }
Lightvalve 14:8e7590227d22 1271
Lightvalve 14:8e7590227d22 1272 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1273
Lightvalve 13:747daba9cf59 1274 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1275 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1276 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1277 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1278 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1279 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1280 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1281 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1282 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1283 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1284 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1285 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1286 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1287 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 1288 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1289 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 1290 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1291 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1293 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 1294 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1295 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1296 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1297 data_num = 0;
Lightvalve 14:8e7590227d22 1298
Lightvalve 30:8d561f16383b 1299 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1300 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1301 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1302
Lightvalve 30:8d561f16383b 1303 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1304 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1305 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1306 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1307 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1308 else
Lightvalve 13:747daba9cf59 1309 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1310 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1311 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1312 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1313 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1314
Lightvalve 14:8e7590227d22 1315 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1316 DZ_case = 1;
Lightvalve 14:8e7590227d22 1317 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1318 DZ_case = -1;
Lightvalve 14:8e7590227d22 1319 } else {
Lightvalve 13:747daba9cf59 1320 DZ_case = 0;
Lightvalve 13:747daba9cf59 1321 }
Lightvalve 14:8e7590227d22 1322
Lightvalve 49:e7bcfc244d40 1323 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1324
Lightvalve 14:8e7590227d22 1325 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1326 first_check = 1;
Lightvalve 13:747daba9cf59 1327 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1328 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1329 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1330 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1331 DZ_index = 1;
Lightvalve 14:8e7590227d22 1332
Lightvalve 13:747daba9cf59 1333 }
Lightvalve 19:23b7c1ad8683 1334 } else {
Lightvalve 14:8e7590227d22 1335 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1336 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1337 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 1338 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1339 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1340 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1341 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1342 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1343 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1344 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1345 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1346 }
Lightvalve 14:8e7590227d22 1347 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1348 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1349 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1350 else
Lightvalve 13:747daba9cf59 1351 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1352 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1353 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1354 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1355
Lightvalve 14:8e7590227d22 1356 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1357 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1358 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1359 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1360 } else {
Lightvalve 13:747daba9cf59 1361 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1362 }
Lightvalve 14:8e7590227d22 1363
Lightvalve 14:8e7590227d22 1364 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1365
Lightvalve 13:747daba9cf59 1366 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1367 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1368 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1369 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1370 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1371 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1372 DZ_index = 1;
Lightvalve 13:747daba9cf59 1373 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1374 }
Lightvalve 13:747daba9cf59 1375 }
Lightvalve 14:8e7590227d22 1376 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1377 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1378 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 1379 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1380 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1381 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1382 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1383 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1384 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1385 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1386 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1387 }
Lightvalve 14:8e7590227d22 1388 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1389 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1390 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1391 else
Lightvalve 13:747daba9cf59 1392 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1393 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1394 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1395 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1396
Lightvalve 14:8e7590227d22 1397 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1398 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1399 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1400 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1401 } else {
Lightvalve 13:747daba9cf59 1402 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1403 }
Lightvalve 14:8e7590227d22 1404
Lightvalve 14:8e7590227d22 1405 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1406
Lightvalve 14:8e7590227d22 1407
Lightvalve 13:747daba9cf59 1408 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1409 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1410 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1411 SECOND_DZ = valve_pos.ref;
Lightvalve 59:0ad14153b58f 1412 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1413 first_check = 0;
Lightvalve 33:91b17819ec30 1414 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1415 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1416
Lightvalve 16:903b5a4433b4 1417 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1418
Lightvalve 13:747daba9cf59 1419 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1420 DZ_index = 1;
Lightvalve 13:747daba9cf59 1421 }
Lightvalve 13:747daba9cf59 1422 }
Lightvalve 14:8e7590227d22 1423 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1424 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1425 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 1426 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1427 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1428 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1429 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1430 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1431 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1432 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1433 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1434 }
Lightvalve 14:8e7590227d22 1435 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1436 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1437 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1438 else
Lightvalve 13:747daba9cf59 1439 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1440 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1441 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1442 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1443
Lightvalve 14:8e7590227d22 1444 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1445 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1446 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1447 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1448 } else {
Lightvalve 13:747daba9cf59 1449 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1450 }
Lightvalve 14:8e7590227d22 1451
Lightvalve 14:8e7590227d22 1452 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1453 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1454 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1455 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1456 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1457 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1458 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1459 DZ_index = 1;
Lightvalve 13:747daba9cf59 1460 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1461 }
Lightvalve 13:747daba9cf59 1462 }
Lightvalve 14:8e7590227d22 1463 } else {
Lightvalve 30:8d561f16383b 1464 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1465 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 1466 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1467 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1468 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1469 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1470 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1471 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1472 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1473 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1474 }
Lightvalve 14:8e7590227d22 1475 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1476 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1477 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1478 else
Lightvalve 13:747daba9cf59 1479 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1480 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1481 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1482 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1483 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1484 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1485 else
Lightvalve 13:747daba9cf59 1486 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1487 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1488 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1489
Lightvalve 14:8e7590227d22 1490 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1491
Lightvalve 14:8e7590227d22 1492
Lightvalve 13:747daba9cf59 1493 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1494 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1495 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1496 SECOND_DZ = valve_pos.ref;
Lightvalve 59:0ad14153b58f 1497 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1498 first_check = 0;
Lightvalve 33:91b17819ec30 1499 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1500 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1501
Lightvalve 59:0ad14153b58f 1502 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1503 DZ_index = 1;
Lightvalve 13:747daba9cf59 1504 }
Lightvalve 13:747daba9cf59 1505 }
Lightvalve 13:747daba9cf59 1506 }
Lightvalve 14:8e7590227d22 1507 }
Lightvalve 13:747daba9cf59 1508 break;
Lightvalve 13:747daba9cf59 1509 }
Lightvalve 14:8e7590227d22 1510
Lightvalve 14:8e7590227d22 1511 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1512 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1513 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1514 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1515 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1516 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1517 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1518 V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1519 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1520 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1521 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1522 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1523 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1524 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 49:e7bcfc244d40 1525 V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1526 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1527 first_check = 1;
Lightvalve 13:747daba9cf59 1528 VALVE_FR_timer = 0;
Lightvalve 59:0ad14153b58f 1529 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1530 ID_index = 0;
Lightvalve 13:747daba9cf59 1531 max_check = 0;
Lightvalve 13:747daba9cf59 1532 min_check = 0;
Lightvalve 13:747daba9cf59 1533 }
Lightvalve 14:8e7590227d22 1534 } else {
Lightvalve 30:8d561f16383b 1535 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 49:e7bcfc244d40 1536 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 1537 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1538 data_num = 0;
Lightvalve 59:0ad14153b58f 1539 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1540
Lightvalve 14:8e7590227d22 1541 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1542 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1543 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:0ad14153b58f 1544 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1545 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1546 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1547 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1548 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1549 one_period_end = 1;
Lightvalve 13:747daba9cf59 1550 }
Lightvalve 30:8d561f16383b 1551 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1552 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1553 one_period_end = 1;
Lightvalve 13:747daba9cf59 1554 }
Lightvalve 14:8e7590227d22 1555
Lightvalve 14:8e7590227d22 1556 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1557 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1558 max_check = 1;
Lightvalve 14:8e7590227d22 1559 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1560 min_check = 1;
Lightvalve 13:747daba9cf59 1561 }
Lightvalve 13:747daba9cf59 1562 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1563
Lightvalve 19:23b7c1ad8683 1564 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1565 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1566 one_period_end = 0;
Lightvalve 13:747daba9cf59 1567 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1568 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1569 }
Lightvalve 14:8e7590227d22 1570
Lightvalve 14:8e7590227d22 1571 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1572
Lightvalve 13:747daba9cf59 1573 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1574 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1575 ID_index = 0;
Lightvalve 13:747daba9cf59 1576 first_check = 0;
Lightvalve 13:747daba9cf59 1577 VALVE_FR_timer = 0;
Lightvalve 59:0ad14153b58f 1578 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1579 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1580 }
Lightvalve 13:747daba9cf59 1581 }
Lightvalve 13:747daba9cf59 1582 break;
Lightvalve 13:747daba9cf59 1583 }
Lightvalve 58:2eade98630e2 1584
Lightvalve 12:6f2531038ea4 1585 default:
Lightvalve 12:6f2531038ea4 1586 break;
Lightvalve 12:6f2531038ea4 1587 }
Lightvalve 14:8e7590227d22 1588
Lightvalve 59:0ad14153b58f 1589 // if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 59:0ad14153b58f 1590 // // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 59:0ad14153b58f 1591 // // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 59:0ad14153b58f 1592 // // if (V_out > 0.) {
Lightvalve 59:0ad14153b58f 1593 // // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 59:0ad14153b58f 1594 // // } else if (V_out < 0.) {
Lightvalve 59:0ad14153b58f 1595 // // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 59:0ad14153b58f 1596 // // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 59:0ad14153b58f 1597 // // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 59:0ad14153b58f 1598 //
Lightvalve 59:0ad14153b58f 1599 // if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 59:0ad14153b58f 1600 // else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 59:0ad14153b58f 1601 //
Lightvalve 59:0ad14153b58f 1602 // VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 59:0ad14153b58f 1603 //
Lightvalve 59:0ad14153b58f 1604 // // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 59:0ad14153b58f 1605 // float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 59:0ad14153b58f 1606 // float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 59:0ad14153b58f 1607 //
Lightvalve 59:0ad14153b58f 1608 // if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 59:0ad14153b58f 1609 // else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 59:0ad14153b58f 1610 // else V_out = CUR_PWM_DZ;
Lightvalve 59:0ad14153b58f 1611 // } else {
Lightvalve 59:0ad14153b58f 1612 // V_out = V_out;
Lightvalve 59:0ad14153b58f 1613 // }
Lightvalve 14:8e7590227d22 1614
jobuuu 7:e9086c72bb22 1615 /*******************************************************
jobuuu 7:e9086c72bb22 1616 *** PWM
jobuuu 7:e9086c72bb22 1617 ********************************************************/
Lightvalve 49:e7bcfc244d40 1618 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1619 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1620 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1621 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1622 }
Lightvalve 49:e7bcfc244d40 1623 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1624
Lightvalve 59:0ad14153b58f 1625 // Saturation of output voltage to 5.0V
Lightvalve 59:0ad14153b58f 1626 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 59:0ad14153b58f 1627 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 59:0ad14153b58f 1628
Lightvalve 19:23b7c1ad8683 1629 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1630 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1631 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1632
Lightvalve 30:8d561f16383b 1633 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1634 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1635 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1636 } else {
jobuuu 2:a1c0a37df760 1637 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1638 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1639 }
Lightvalve 13:747daba9cf59 1640
jobuuu 1:e04e563be5ce 1641 //pwm
Lightvalve 30:8d561f16383b 1642 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1643 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1644
Lightvalve 20:806196fda269 1645
Lightvalve 20:806196fda269 1646
Lightvalve 59:0ad14153b58f 1647
Lightvalve 59:0ad14153b58f 1648 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/canfreq) == 0) {
Lightvalve 59:0ad14153b58f 1649 // if (TMR2_COUNT_CAN_TX % 10 == 0) {
Lightvalve 54:647072f5307a 1650 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1651 if (flag_data_request[0] == HIGH) {
Lightvalve 59:0ad14153b58f 1652 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1653 if (SENSING_MODE == 0) {
Lightvalve 59:0ad14153b58f 1654 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1655 } else if (SENSING_MODE == 1) {
Lightvalve 59:0ad14153b58f 1656 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 1657 }
Lightvalve 59:0ad14153b58f 1658 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1659 if (SENSING_MODE == 0) {
Lightvalve 60:8855962234b0 1660 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1661 } else if (SENSING_MODE == 1) {
Lightvalve 60:8855962234b0 1662 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (pres_A.sen*10.0f), (int16_t) (pres_B.sen*10.0f));
Lightvalve 54:647072f5307a 1663 }
Lightvalve 52:8ea76864368a 1664 }
Lightvalve 52:8ea76864368a 1665 }
Lightvalve 56:6f50d9d3bfee 1666 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1667 //valve position
Lightvalve 54:647072f5307a 1668 double t_value = 0;
Lightvalve 59:0ad14153b58f 1669 if(value>=DDV_CENTER) {
Lightvalve 59:0ad14153b58f 1670 t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 58:2eade98630e2 1671 } else {
Lightvalve 59:0ad14153b58f 1672 t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 54:647072f5307a 1673 }
Lightvalve 59:0ad14153b58f 1674 CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve 54:647072f5307a 1675 }
Lightvalve 58:2eade98630e2 1676
Lightvalve 56:6f50d9d3bfee 1677 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1678 //pressure A and B
Lightvalve 59:0ad14153b58f 1679 CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 57:f4819de54e7a 1680 }
Lightvalve 58:2eade98630e2 1681
Lightvalve 56:6f50d9d3bfee 1682 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1683 //PWM
Lightvalve 59:0ad14153b58f 1684 CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 54:647072f5307a 1685 }
Lightvalve 59:0ad14153b58f 1686
Lightvalve 56:6f50d9d3bfee 1687 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1688 //valve position
Lightvalve 59:0ad14153b58f 1689 CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve 54:647072f5307a 1690 }
Lightvalve 20:806196fda269 1691
Lightvalve 54:647072f5307a 1692 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1693 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1694 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1695 // }
Lightvalve 54:647072f5307a 1696 //if (flag_delay_test == 1){
Lightvalve 59:0ad14153b58f 1697 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1698 //}
Lightvalve 52:8ea76864368a 1699
Lightvalve 54:647072f5307a 1700 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1701 }
Lightvalve 54:647072f5307a 1702 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1703
Lightvalve 59:0ad14153b58f 1704
Lightvalve 59:0ad14153b58f 1705
Lightvalve 20:806196fda269 1706 }
Lightvalve 52:8ea76864368a 1707 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1708
Lightvalve 59:0ad14153b58f 1709 }
Lightvalve 59:0ad14153b58f 1710
Lightvalve 59:0ad14153b58f 1711
Lightvalve 59:0ad14153b58f 1712
Lightvalve 59:0ad14153b58f 1713 //unsigned long CNT_TMR5 = 0;
Lightvalve 59:0ad14153b58f 1714 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 59:0ad14153b58f 1715 //float DT_TMR5 = (float)DT_500;
Lightvalve 59:0ad14153b58f 1716 //extern "C" void TIM2_IRQHandler(void)
Lightvalve 59:0ad14153b58f 1717 //{
Lightvalve 59:0ad14153b58f 1718 // LED = 1;
Lightvalve 59:0ad14153b58f 1719 // if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 59:0ad14153b58f 1720 //
Lightvalve 59:0ad14153b58f 1721 // //CAN ----------------------------------------------------------------------
Lightvalve 59:0ad14153b58f 1722 // if (flag_data_request[0] == HIGH) {
Lightvalve 59:0ad14153b58f 1723 // //position+velocity
Lightvalve 59:0ad14153b58f 1724 // CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 59:0ad14153b58f 1725 // }
Lightvalve 59:0ad14153b58f 1726 //
Lightvalve 59:0ad14153b58f 1727 // if (flag_data_request[1] == HIGH) {
Lightvalve 59:0ad14153b58f 1728 // //valve position
Lightvalve 59:0ad14153b58f 1729 // double t_value = 0;
Lightvalve 59:0ad14153b58f 1730 // if(value>=DDV_CENTER) {
Lightvalve 59:0ad14153b58f 1731 // t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve 59:0ad14153b58f 1732 // } else {
Lightvalve 59:0ad14153b58f 1733 // t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve 59:0ad14153b58f 1734 // }
Lightvalve 59:0ad14153b58f 1735 // CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve 59:0ad14153b58f 1736 // }
Lightvalve 59:0ad14153b58f 1737 //
Lightvalve 59:0ad14153b58f 1738 // if (flag_data_request[2] == HIGH) {
Lightvalve 59:0ad14153b58f 1739 // //pressure A and B
Lightvalve 59:0ad14153b58f 1740 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 59:0ad14153b58f 1741 // //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 59:0ad14153b58f 1742 // // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 59:0ad14153b58f 1743 // // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 59:0ad14153b58f 1744 // // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 59:0ad14153b58f 1745 //
Lightvalve 59:0ad14153b58f 1746 // }
Lightvalve 59:0ad14153b58f 1747 //
Lightvalve 59:0ad14153b58f 1748 // if (flag_data_request[3] == HIGH) {
Lightvalve 59:0ad14153b58f 1749 // //PWM
Lightvalve 59:0ad14153b58f 1750 // CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 59:0ad14153b58f 1751 // // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 59:0ad14153b58f 1752 // // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 59:0ad14153b58f 1753 // // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 59:0ad14153b58f 1754 //
Lightvalve 59:0ad14153b58f 1755 // }
Lightvalve 59:0ad14153b58f 1756 //
Lightvalve 59:0ad14153b58f 1757 // if (flag_data_request[4] == HIGH) {
Lightvalve 59:0ad14153b58f 1758 // //valve position
Lightvalve 59:0ad14153b58f 1759 // CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve 59:0ad14153b58f 1760 // //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 59:0ad14153b58f 1761 //
Lightvalve 59:0ad14153b58f 1762 // //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 59:0ad14153b58f 1763 // // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 59:0ad14153b58f 1764 // // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 59:0ad14153b58f 1765 // // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 59:0ad14153b58f 1766 // // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 59:0ad14153b58f 1767 // }
Lightvalve 59:0ad14153b58f 1768 //
Lightvalve 59:0ad14153b58f 1769 //
Lightvalve 59:0ad14153b58f 1770 // }
Lightvalve 59:0ad14153b58f 1771 // TIM2->SR = 0x0; // reset the status register
Lightvalve 59:0ad14153b58f 1772 //}
Lightvalve 59:0ad14153b58f 1773
Lightvalve 59:0ad14153b58f 1774
Lightvalve 59:0ad14153b58f 1775
Lightvalve 59:0ad14153b58f 1776 void CurrentControl()
Lightvalve 59:0ad14153b58f 1777 {
Lightvalve 59:0ad14153b58f 1778 cur.err = cur.ref - cur.sen;
Lightvalve 59:0ad14153b58f 1779 cur.err_int = cur.err_int + cur.err*DT_TMR4;
Lightvalve 59:0ad14153b58f 1780 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
Lightvalve 59:0ad14153b58f 1781 cur.err_old = cur.err;
Lightvalve 59:0ad14153b58f 1782
Lightvalve 59:0ad14153b58f 1783 float R_model = 150.0f; // ohm
Lightvalve 59:0ad14153b58f 1784 float L_model = 0.3f;
Lightvalve 59:0ad14153b58f 1785 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 59:0ad14153b58f 1786 float KP_I = L_model*w0;
Lightvalve 59:0ad14153b58f 1787 float KI_I = R_model*w0;
Lightvalve 59:0ad14153b58f 1788 float KD_I = 0.0f;
Lightvalve 59:0ad14153b58f 1789
Lightvalve 59:0ad14153b58f 1790 float FF_gain = 0.0f;
Lightvalve 59:0ad14153b58f 1791 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
Lightvalve 59:0ad14153b58f 1792 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 59:0ad14153b58f 1793 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 59:0ad14153b58f 1794
Lightvalve 59:0ad14153b58f 1795 float Ka = 5.0f/KP_I;
Lightvalve 59:0ad14153b58f 1796 if(V_out > V_MAX) {
Lightvalve 59:0ad14153b58f 1797 V_rem = V_out-V_MAX;
Lightvalve 59:0ad14153b58f 1798 V_rem = Ka*V_rem;
Lightvalve 59:0ad14153b58f 1799 V_out = V_MAX;
Lightvalve 59:0ad14153b58f 1800 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 59:0ad14153b58f 1801 } else if(V_out < -V_MAX) {
Lightvalve 59:0ad14153b58f 1802 V_rem = V_out-(-V_MAX);
Lightvalve 59:0ad14153b58f 1803 V_rem = Ka*V_rem;
Lightvalve 59:0ad14153b58f 1804 V_out = -V_MAX;
Lightvalve 59:0ad14153b58f 1805 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 59:0ad14153b58f 1806 }
Lightvalve 59:0ad14153b58f 1807 }
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