HydraulicControlBoard_LIGHT_GJ - eeprom_test

Users » GiJeongKim » Code » HydraulicControlBoard_LIGHT_GJ

Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

main.cpp@48:889798ff9329, 2020-01-29 (annotated)

Committer:: Lightvalve
Date:: Wed Jan 29 13:50:24 2020 +0000
Revision:: 48:889798ff9329
Parent:: 47:fdcb8bd86fd6
Child:: 49:e7bcfc244d40

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
Lightvalve	31:66738bfecec5	12	///191008////
Lightvalve	31:66738bfecec5	13
jobuuu	7:e9086c72bb22	14	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	15	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	16	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	17	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	18	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	19	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	20	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	21	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	22
Lightvalve	24:ef6e1092e9e6	23
jobuuu	7:e9086c72bb22	24	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	25	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	26	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	30	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	31	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	32
jobuuu	7:e9086c72bb22	33	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	34	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	35	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	36	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	37	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	38	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	39	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	43
jobuuu	7:e9086c72bb22	44	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	45	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	46	CANMessage msg;
Lightvalve	11:82d8768d7351	47	void onMsgReceived()
Lightvalve	11:82d8768d7351	48	{
Lightvalve	11:82d8768d7351	49	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
jobuuu	7:e9086c72bb22	52	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	53	State pos;
jobuuu	7:e9086c72bb22	54	State vel;
jobuuu	7:e9086c72bb22	55	State Vout;
jobuuu	7:e9086c72bb22	56	State torq;
jobuuu	7:e9086c72bb22	57	State pres_A;
jobuuu	7:e9086c72bb22	58	State pres_B;
jobuuu	7:e9086c72bb22	59	State cur;
Lightvalve	14:8e7590227d22	60	State valve_pos;
Lightvalve	14:8e7590227d22	61
Lightvalve	14:8e7590227d22	62	State INIT_Vout;
Lightvalve	14:8e7590227d22	63	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	64	State INIT_Pos;
Lightvalve	14:8e7590227d22	65	State INIT_torq;
jobuuu	5:a4319f79457b	66
Lightvalve	30:8d561f16383b	67	float V_out=0.0f;
Lightvalve	30:8d561f16383b	68	float V_rem=0.0f; // for anti-windup
Lightvalve	30:8d561f16383b	69	float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu	5:a4319f79457b	70
Lightvalve	30:8d561f16383b	71	float PWM_out=0.0f;
Lightvalve	12:6f2531038ea4	72
Lightvalve	17:1865016ca2e7	73	int timer_while = 0;
Lightvalve	17:1865016ca2e7	74	int while_index = 0;
Lightvalve	17:1865016ca2e7	75
Lightvalve	19:23b7c1ad8683	76	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	77	extern int CID_RX_REF_POSITION;
Lightvalve	45:35fa6884d0c6	78	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	79
Lightvalve	19:23b7c1ad8683	80	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	81	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	82	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	83	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	84	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	86
jobuuu	7:e9086c72bb22	87	// =============================================================================
jobuuu	7:e9086c72bb22	88	// =============================================================================
jobuuu	7:e9086c72bb22	89	// =============================================================================
jobuuu	7:e9086c72bb22	90
Lightvalve	12:6f2531038ea4	91	/*******************************************************************************
Lightvalve	12:6f2531038ea4	92	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	93	******************************************************************************/
Lightvalve	13:747daba9cf59	94	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	95	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	96	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	97	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	98	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	99	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	100	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	101	};
Lightvalve	12:6f2531038ea4	102
Lightvalve	12:6f2531038ea4	103	/*******************************************************************************
Lightvalve	12:6f2531038ea4	104	* CONTROL MODE
Lightvalve	12:6f2531038ea4	105	******************************************************************************/
Lightvalve	13:747daba9cf59	106	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	107	//control mode
Lightvalve	12:6f2531038ea4	108	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	109	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	110	MODE_JOINT_CONTROL, //2
Lightvalve	47:fdcb8bd86fd6	111
Lightvalve	47:fdcb8bd86fd6	112	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	12:6f2531038ea4	113	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	114	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	115
Lightvalve	12:6f2531038ea4	116	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	117	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	118	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	119
Lightvalve	12:6f2531038ea4	120	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	121	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	122
Lightvalve	14:8e7590227d22	123	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	124	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	125	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	126
Lightvalve	12:6f2531038ea4	127	//utility
Lightvalve	12:6f2531038ea4	128	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	129	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	130	MODE_FIND_HOME, //22
Lightvalve	12:6f2531038ea4	131	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	132	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	133	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	134	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	135
Lightvalve	12:6f2531038ea4	136	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	137	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	138	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	12:6f2531038ea4	139	};
Lightvalve	12:6f2531038ea4	140
GiJeongKim	0:51c43836c1d7	141	int main()
GiJeongKim	0:51c43836c1d7	142	{
jobuuu	6:df07d3491e3a	143	/*********************************
jobuuu	1:e04e563be5ce	144	*** Initialization
jobuuu	6:df07d3491e3a	145	*********************************/
Lightvalve	19:23b7c1ad8683	146	//LED = 1;
Lightvalve	19:23b7c1ad8683	147	//pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	148
GiJeongKim	0:51c43836c1d7	149	// i2c init
Lightvalve	8:5d2eebdad025	150	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	151	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	152	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	153	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	154	make_delay();
jobuuu	2:a1c0a37df760	155
GiJeongKim	0:51c43836c1d7	156	// // spi init
Lightvalve	16:903b5a4433b4	157	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	158	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	159	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	160	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	161	make_delay();
Lightvalve	21:e5f1a43ea6f9	162
Lightvalve	16:903b5a4433b4	163	//rom
Lightvalve	19:23b7c1ad8683	164	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	165	make_delay();
Lightvalve	13:747daba9cf59	166
GiJeongKim	0:51c43836c1d7	167	// ADC init
jobuuu	5:a4319f79457b	168	Init_ADC();
Lightvalve	11:82d8768d7351	169	make_delay();
jobuuu	2:a1c0a37df760	170
GiJeongKim	0:51c43836c1d7	171	// Pwm init
GiJeongKim	0:51c43836c1d7	172	Init_PWM();
GiJeongKim	0:51c43836c1d7	173	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	174	make_delay();
Lightvalve	13:747daba9cf59	175
Lightvalve	11:82d8768d7351	176	// TMR3 init
Lightvalve	11:82d8768d7351	177	Init_TMR3();
Lightvalve	11:82d8768d7351	178	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	179	make_delay();
Lightvalve	21:e5f1a43ea6f9	180
Lightvalve	20:806196fda269	181	// TMR5 init
Lightvalve	23:59218d4a256d	182	Init_TMR2();
Lightvalve	23:59218d4a256d	183	TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	20:806196fda269	184	make_delay();
Lightvalve	21:e5f1a43ea6f9	185
GiJeongKim	0:51c43836c1d7	186	// CAN
jobuuu	2:a1c0a37df760	187	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	188	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	189	make_delay();
Lightvalve	34:bb2ca2fc2a8e	190
Lightvalve	23:59218d4a256d	191	//Timer priority
Lightvalve	23:59218d4a256d	192	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	23:59218d4a256d	193	NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	23:59218d4a256d	194	NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve	34:bb2ca2fc2a8e	195
Lightvalve	23:59218d4a256d	196	//can.reset();
Lightvalve	19:23b7c1ad8683	197	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	198
GiJeongKim	0:51c43836c1d7	199	// spi _ enc
GiJeongKim	0:51c43836c1d7	200	spi_enc_set_init();
Lightvalve	11:82d8768d7351	201	make_delay();
Lightvalve	13:747daba9cf59	202
Lightvalve	11:82d8768d7351	203	//DAC init
Lightvalve	43:b084e5f5d0d5	204	// dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	205	// dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	206	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	207	dac_2 = 0.0f;
Lightvalve	11:82d8768d7351	208	make_delay();
Lightvalve	13:747daba9cf59	209
Lightvalve	19:23b7c1ad8683	210	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	211	if(i%2==0)
Lightvalve	38:118df027d851	212	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	213	else
Lightvalve	38:118df027d851	214	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	215	}
Lightvalve	13:747daba9cf59	216
jobuuu	6:df07d3491e3a	217	/************************************
jobuuu	1:e04e563be5ce	218	*** Program is operating!
jobuuu	6:df07d3491e3a	219	*************************************/
GiJeongKim	0:51c43836c1d7	220	while(1) {
Lightvalve	21:e5f1a43ea6f9	221	if(timer_while==1000) {
Lightvalve	28:2a62d73e3dd0	222	//pc.printf("cmd %d\n ");
Lightvalve	17:1865016ca2e7	223	//i2c
Lightvalve	17:1865016ca2e7	224	read_field(i2c_slave_addr1);
Lightvalve	17:1865016ca2e7	225	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	21:e5f1a43ea6f9	226
Lightvalve	19:23b7c1ad8683	227	// if(LED==1) {
Lightvalve	19:23b7c1ad8683	228	// LED=0;
Lightvalve	19:23b7c1ad8683	229	// } else
Lightvalve	19:23b7c1ad8683	230	// LED = 1;
Lightvalve	17:1865016ca2e7	231	timer_while = 0;
Lightvalve	21:e5f1a43ea6f9	232
Lightvalve	17:1865016ca2e7	233	}
Lightvalve	17:1865016ca2e7	234	timer_while ++;
GiJeongKim	0:51c43836c1d7	235	}
jobuuu	1:e04e563be5ce	236	}
jobuuu	1:e04e563be5ce	237
Lightvalve	33:91b17819ec30	238	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	239	{
Lightvalve	14:8e7590227d22	240
Lightvalve	13:747daba9cf59	241	int i = 0;
Lightvalve	48:889798ff9329	242	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	243	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	244	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	245	if(i==0) {
Lightvalve	38:118df027d851	246	if(JOINT_VEL[i+1] == JOINT_VEL[i]){
Lightvalve	38:118df027d851	247	Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	38:118df027d851	248	}else{
Lightvalve	38:118df027d851	249	Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve	38:118df027d851	250	}
Lightvalve	14:8e7590227d22	251	} else {
Lightvalve	38:118df027d851	252	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]){
Lightvalve	38:118df027d851	253	Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	38:118df027d851	254	}else{
Lightvalve	38:118df027d851	255	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	256	}
Lightvalve	13:747daba9cf59	257	}
Lightvalve	13:747daba9cf59	258	break;
Lightvalve	13:747daba9cf59	259	}
Lightvalve	13:747daba9cf59	260	}
Lightvalve	14:8e7590227d22	261	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	262	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	263	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	264	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	265	}
Lightvalve	36:a46e63505ed8	266
Lightvalve	45:35fa6884d0c6	267	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER);
Lightvalve	48:889798ff9329	268	// Ref_Valve_Pos_FF = 0.0;
Lightvalve	13:747daba9cf59	269	return Ref_Valve_Pos_FF;
Lightvalve	48:889798ff9329	270
Lightvalve	13:747daba9cf59	271	}
jobuuu	6:df07d3491e3a	272
jobuuu	6:df07d3491e3a	273
Lightvalve	30:8d561f16383b	274	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	275	{
Lightvalve	13:747daba9cf59	276	int i = 0;
Lightvalve	13:747daba9cf59	277
Lightvalve	38:118df027d851	278	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	279	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	280	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	281	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	282	}
Lightvalve	38:118df027d851	283
Lightvalve	13:747daba9cf59	284	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	285	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	286	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	287	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	288	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	289	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	290
Lightvalve	13:747daba9cf59	291	VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve	14:8e7590227d22	292
Lightvalve	38:118df027d851	293
Lightvalve	34:bb2ca2fc2a8e	294
Lightvalve	34:bb2ca2fc2a8e	295
Lightvalve	23:59218d4a256d	296	// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve	23:59218d4a256d	297	// {
Lightvalve	23:59218d4a256d	298	// if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve	30:8d561f16383b	299	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve	23:59218d4a256d	300	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve	30:8d561f16383b	301	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1];
Lightvalve	23:59218d4a256d	302	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve	30:8d561f16383b	303	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3];
Lightvalve	23:59218d4a256d	304	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve	30:8d561f16383b	305	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5];
Lightvalve	23:59218d4a256d	306	// }else
Lightvalve	23:59218d4a256d	307	// VALVE_PWM_RAW_FF = 12000.0;
Lightvalve	23:59218d4a256d	308	// }
Lightvalve	23:59218d4a256d	309	// else
Lightvalve	23:59218d4a256d	310	// {
Lightvalve	23:59218d4a256d	311	// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve	30:8d561f16383b	312	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2];
Lightvalve	23:59218d4a256d	313	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve	30:8d561f16383b	314	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4];
Lightvalve	23:59218d4a256d	315	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve	30:8d561f16383b	316	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6];
Lightvalve	23:59218d4a256d	317	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve	30:8d561f16383b	318	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8];
Lightvalve	23:59218d4a256d	319	// }else
Lightvalve	23:59218d4a256d	320	// VALVE_PWM_RAW_FF = -12000.0;
Lightvalve	23:59218d4a256d	321	// }
Lightvalve	14:8e7590227d22	322
Lightvalve	18:b8adf1582ea3	323	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	324	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	325	if(i==0) {
Lightvalve	48:889798ff9329	326	VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	327	} else {
Lightvalve	48:889798ff9329	328	VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	329	}
Lightvalve	13:747daba9cf59	330	break;
Lightvalve	13:747daba9cf59	331	}
Lightvalve	13:747daba9cf59	332	}
Lightvalve	19:23b7c1ad8683	333
Lightvalve	14:8e7590227d22	334	V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	27:a2254a485f23	335	//V_out = VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	336	}
Lightvalve	13:747daba9cf59	337
Lightvalve	14:8e7590227d22	338	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	339	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	340	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	341	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	342	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	343	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	344	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	345	}; // duty
Lightvalve	30:8d561f16383b	346	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	347	-196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve	34:bb2ca2fc2a8e	348	-156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	349	12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve	34:bb2ca2fc2a8e	350	173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve	34:bb2ca2fc2a8e	351	214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve	34:bb2ca2fc2a8e	352	}; // mV
Lightvalve	13:747daba9cf59	353
Lightvalve	30:8d561f16383b	354	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	355	{
Lightvalve	30:8d561f16383b	356	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	357	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	358	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	359	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	360	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	361	} else {
Lightvalve	13:747daba9cf59	362	int idx = 0;
Lightvalve	13:747daba9cf59	363	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	364	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	365	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	366	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	367	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	368	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	369	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	370	break;
Lightvalve	13:747daba9cf59	371	}
Lightvalve	13:747daba9cf59	372	}
Lightvalve	13:747daba9cf59	373	}
Lightvalve	14:8e7590227d22	374
Lightvalve	13:747daba9cf59	375	return PWM_duty;
Lightvalve	13:747daba9cf59	376	}
jobuuu	6:df07d3491e3a	377
jobuuu	2:a1c0a37df760	378	/*******************************************************************************
jobuuu	2:a1c0a37df760	379	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	380	*******************************************************************************/
jobuuu	2:a1c0a37df760	381
Lightvalve	19:23b7c1ad8683	382	//unsigned long CNT_TMR4 = 0;
Lightvalve	30:8d561f16383b	383	float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve	30:8d561f16383b	384	float DT_TMR4 = (float)DT_10k;
jobuuu	1:e04e563be5ce	385	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	386	{
Lightvalve	23:59218d4a256d	387
Lightvalve	19:23b7c1ad8683	388	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	389
Lightvalve	21:e5f1a43ea6f9	390	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	391	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	392	********************************************************/
Lightvalve	13:747daba9cf59	393
Lightvalve	19:23b7c1ad8683	394
Lightvalve	21:e5f1a43ea6f9	395	//Using LoadCell
Lightvalve	15:bd0d12728506	396	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	15:bd0d12728506	397	// //while((ADC1->SR & 0b10));
Lightvalve	30:8d561f16383b	398	// float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	30:8d561f16383b	399	// float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve	30:8d561f16383b	400	// torq.sen = torq.sen(1.0f-alpha_update_torque)+torque_new(alpha_update_torque);
Lightvalve	17:1865016ca2e7	401
Lightvalve	19:23b7c1ad8683	402
Lightvalve	17:1865016ca2e7	403
Lightvalve	21:e5f1a43ea6f9	404	//Pressure sensor A
Lightvalve	21:e5f1a43ea6f9	405	ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	21:e5f1a43ea6f9	406	//while((ADC1->SR & 0b10));
Lightvalve	30:8d561f16383b	407	float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	38:118df027d851	408	// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	38:118df027d851	409	float pres_A_new = ((float)ADC1->DR);
Lightvalve	30:8d561f16383b	410	pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	43:b084e5f5d0d5	411	torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	38:118df027d851	412
Lightvalve	19:23b7c1ad8683	413
Lightvalve	21:e5f1a43ea6f9	414	//Pressure sensor 1B
Lightvalve	38:118df027d851	415	//float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	38:118df027d851	416	//float pres_B_new = ((float)ADC2->DR);
Lightvalve	38:118df027d851	417	//pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	38:118df027d851	418	//torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	419
Lightvalve	17:1865016ca2e7	420
Lightvalve	17:1865016ca2e7	421
Lightvalve	21:e5f1a43ea6f9	422	//Current
Lightvalve	21:e5f1a43ea6f9	423	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	11:82d8768d7351	424	// a1=ADC2->DR;
Lightvalve	25:3e6b574cab5c	425	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	426	//while((ADC3->SR & 0b10));
Lightvalve	30:8d561f16383b	427	float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	428	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	429	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	430	//cur.sen = raw_cur;
Lightvalve	17:1865016ca2e7	431
Lightvalve	21:e5f1a43ea6f9	432	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	433	*** Timer Counting & etc.
Lightvalve	21:e5f1a43ea6f9	434	********************************************************/
Lightvalve	21:e5f1a43ea6f9	435	//CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	436	}
Lightvalve	11:82d8768d7351	437	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	438	}
Lightvalve	19:23b7c1ad8683	439
Lightvalve	19:23b7c1ad8683	440
Lightvalve	18:b8adf1582ea3	441	int j =0;
Lightvalve	19:23b7c1ad8683	442	//unsigned long CNT_TMR3 = 0;
Lightvalve	30:8d561f16383b	443	//float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	30:8d561f16383b	444	float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve	48:889798ff9329	445	float DT_TMR3 = (float)DT_5k;
Lightvalve	48:889798ff9329	446	//float DT_TMR3 = (float)DT_1k;
Lightvalve	45:35fa6884d0c6	447	int cnt_trans = 0;
Lightvalve	48:889798ff9329	448	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	48:889798ff9329	449
Lightvalve	11:82d8768d7351	450	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	451	{
Lightvalve	19:23b7c1ad8683	452	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	12:6f2531038ea4	453	ENC_UPDATE();
Lightvalve	45:35fa6884d0c6	454
Lightvalve	45:35fa6884d0c6	455	if(MODE_POS_FT_TRANS == 1){
Lightvalve	48:889798ff9329	456	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	457	cnt_trans++;
Lightvalve	46:2694daea349b	458	torq.err_sum = 0;
Lightvalve	48:889798ff9329	459	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	460	MODE_POS_FT_TRANS = 2;
Lightvalve	45:35fa6884d0c6	461	}
Lightvalve	48:889798ff9329	462	else if(MODE_POS_FT_TRANS == 3){
Lightvalve	48:889798ff9329	463	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	464	cnt_trans++;
Lightvalve	46:2694daea349b	465	torq.err_sum = 0;
Lightvalve	48:889798ff9329	466	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	467	MODE_POS_FT_TRANS = 0;
Lightvalve	45:35fa6884d0c6	468	}
Lightvalve	45:35fa6884d0c6	469	else if(MODE_POS_FT_TRANS == 2){
Lightvalve	45:35fa6884d0c6	470	alpha_trans = 1.0;
Lightvalve	45:35fa6884d0c6	471	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	472	}
Lightvalve	45:35fa6884d0c6	473	else{
Lightvalve	45:35fa6884d0c6	474	alpha_trans = 0.0;
Lightvalve	45:35fa6884d0c6	475	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	476	}
Lightvalve	45:35fa6884d0c6	477
Lightvalve	45:35fa6884d0c6	478
Lightvalve	13:747daba9cf59	479
Lightvalve	19:23b7c1ad8683	480	// CONTROL LOOP ------------------------------------------------------------
Lightvalve	13:747daba9cf59	481
Lightvalve	14:8e7590227d22	482	switch (CONTROL_MODE) {
Lightvalve	14:8e7590227d22	483	case MODE_NO_ACT: {
Lightvalve	30:8d561f16383b	484	V_out = 0.0f;
Lightvalve	13:747daba9cf59	485	break;
Lightvalve	13:747daba9cf59	486	}
Lightvalve	14:8e7590227d22	487
Lightvalve	14:8e7590227d22	488	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	14:8e7590227d22	489	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	490	break;
Lightvalve	14:8e7590227d22	491	}
Lightvalve	14:8e7590227d22	492
Lightvalve	45:35fa6884d0c6	493	case MODE_JOINT_CONTROL: {
Lightvalve	45:35fa6884d0c6	494
Lightvalve	45:35fa6884d0c6	495	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	45:35fa6884d0c6	496
Lightvalve	45:35fa6884d0c6	497	pos.err = pos.ref - pos.sen; //[pulse]
Lightvalve	45:35fa6884d0c6	498	vel.err = vel.ref - vel.sen; //[pulse/s]
Lightvalve	48:889798ff9329	499	double torq_ref = 0.0f;
Lightvalve	48:889798ff9329	500	torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	45:35fa6884d0c6	501
Lightvalve	45:35fa6884d0c6	502	// torque feedback
Lightvalve	48:889798ff9329	503	torq.err = torq_ref - torq.sen; //[pulse]
Lightvalve	45:35fa6884d0c6	504	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[pulse]
Lightvalve	45:35fa6884d0c6	505	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	45:35fa6884d0c6	506	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	45:35fa6884d0c6	507
Lightvalve	14:8e7590227d22	508
Lightvalve	48:889798ff9329	509	VALVE_POS_RAW_FORCE_FB = alpha_trans(((float) P_GAIN_JOINT_TORQUE torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) /(float) TORQUE_SENSOR_PULSE_PER_TORQUE * 0.01f
Lightvalve	48:889798ff9329	510	+ DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err /(float) ENC_PULSE_PER_POSITION + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	14:8e7590227d22	511
Lightvalve	45:35fa6884d0c6	512	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	45:35fa6884d0c6	513	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	45:35fa6884d0c6	514	} else{
Lightvalve	45:35fa6884d0c6	515	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	45:35fa6884d0c6	516	}
Lightvalve	45:35fa6884d0c6	517	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	518
Lightvalve	13:747daba9cf59	519	break;
Lightvalve	13:747daba9cf59	520	}
Lightvalve	47:fdcb8bd86fd6	521
Lightvalve	47:fdcb8bd86fd6	522	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	47:fdcb8bd86fd6	523	V_out = (float) Vout.ref;
Lightvalve	47:fdcb8bd86fd6	524	break;
Lightvalve	47:fdcb8bd86fd6	525	}
Lightvalve	14:8e7590227d22	526
Lightvalve	14:8e7590227d22	527	case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve	30:8d561f16383b	528	float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve	30:8d561f16383b	529	//float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve	30:8d561f16383b	530	float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve	19:23b7c1ad8683	531	//int DDV_JOINT_CAN = 0;
Lightvalve	13:747daba9cf59	532	// feedback input for position control
Lightvalve	30:8d561f16383b	533	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	534	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	535	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	536	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	537	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	538	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	32:4b8c0fedaf2c	539	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	30:8d561f16383b	540	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	14:8e7590227d22	541
Lightvalve	14:8e7590227d22	542
Lightvalve	13:747daba9cf59	543	//Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve	13:747daba9cf59	544	// feedforward input for position control
Lightvalve	30:8d561f16383b	545	// float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	546	// float K_ff = 0.9f;
Lightvalve	30:8d561f16383b	547	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve	30:8d561f16383b	548	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve	30:8d561f16383b	549	// VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve	14:8e7590227d22	550
Lightvalve	38:118df027d851	551	//torque feedback
Lightvalve	38:118df027d851	552	torq.err = - torq.ref + torq.sen;
Lightvalve	38:118df027d851	553	torq.err_diff = torq.err - torq.err_old;
Lightvalve	38:118df027d851	554	torq.err_old = torq.err;
Lightvalve	38:118df027d851	555	torq.err_sum += torq.err;
Lightvalve	38:118df027d851	556	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	38:118df027d851	557	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	38:118df027d851	558	VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	38:118df027d851	559	VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve	14:8e7590227d22	560
Lightvalve	48:889798ff9329	561	// valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve	48:889798ff9329	562	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref);
Lightvalve	34:bb2ca2fc2a8e	563
Lightvalve	45:35fa6884d0c6	564	if (valve_pos.ref >= 0) {
Lightvalve	45:35fa6884d0c6	565	valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS;
Lightvalve	45:35fa6884d0c6	566	} else if(valve_pos.ref < 0) {
Lightvalve	45:35fa6884d0c6	567	valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_MINUS;
Lightvalve	32:4b8c0fedaf2c	568	}
Lightvalve	14:8e7590227d22	569	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	570
Lightvalve	34:bb2ca2fc2a8e	571
Lightvalve	13:747daba9cf59	572	break;
Lightvalve	13:747daba9cf59	573	}
Lightvalve	14:8e7590227d22	574
Lightvalve	14:8e7590227d22	575	case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	576
Lightvalve	13:747daba9cf59	577	break;
Lightvalve	13:747daba9cf59	578	}
Lightvalve	14:8e7590227d22	579
Lightvalve	14:8e7590227d22	580	case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve	30:8d561f16383b	581	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	582	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	583	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	584	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	585	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	586	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	587	VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve	14:8e7590227d22	588
Lightvalve	14:8e7590227d22	589	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	590	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	591	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	592	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	593	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	594	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	595	VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	596
Lightvalve	30:8d561f16383b	597	VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve	14:8e7590227d22	598
Lightvalve	30:8d561f16383b	599	V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	600
Lightvalve	30:8d561f16383b	601	CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve	30:8d561f16383b	602	CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2pi/655365000(pulse/tic to rad/s) 0.5757=0.025250.020.00952601000 (radius area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve	13:747daba9cf59	603	if (DIR_VALVE > 0) {
Lightvalve	30:8d561f16383b	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	30:8d561f16383b	605	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0f) / (VALVE_GAIN_LPM_PER_V[2]2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve	30:8d561f16383b	606	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0f) / (VALVE_GAIN_LPM_PER_V[4]3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve	30:8d561f16383b	607	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0f) / (VALVE_GAIN_LPM_PER_V[6]4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve	30:8d561f16383b	608	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0f) / (VALVE_GAIN_LPM_PER_V[8]5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve	30:8d561f16383b	609	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve	30:8d561f16383b	610	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1](-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve	30:8d561f16383b	611	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3](-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve	30:8d561f16383b	612	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5](-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve	30:8d561f16383b	613	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7](-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve	30:8d561f16383b	614	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9](-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve	30:8d561f16383b	615	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	616	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	617	} else {
Lightvalve	30:8d561f16383b	618	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]1.0f - 0.0f) + 0.0f;
Lightvalve	30:8d561f16383b	619	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0f) / (VALVE_GAIN_LPM_PER_V[2]2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve	30:8d561f16383b	620	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0f) / (VALVE_GAIN_LPM_PER_V[4]3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve	30:8d561f16383b	621	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0f) / (VALVE_GAIN_LPM_PER_V[6]4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve	30:8d561f16383b	622	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0f) / (VALVE_GAIN_LPM_PER_V[8]5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve	30:8d561f16383b	623	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve	30:8d561f16383b	624	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0](-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve	30:8d561f16383b	625	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2](-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve	30:8d561f16383b	626	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4](-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve	30:8d561f16383b	627	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6](-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve	30:8d561f16383b	628	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8](-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve	30:8d561f16383b	629	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	630	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	631	}
Lightvalve	30:8d561f16383b	632	// VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve	14:8e7590227d22	633
Lightvalve	30:8d561f16383b	634	if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve	30:8d561f16383b	635	else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve	14:8e7590227d22	636
Lightvalve	18:b8adf1582ea3	637	V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve	14:8e7590227d22	638	break;
Lightvalve	14:8e7590227d22	639	}
Lightvalve	14:8e7590227d22	640
Lightvalve	14:8e7590227d22	641	case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve	44:fe7d5cfd2eea	642
Lightvalve	30:8d561f16383b	643	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	644	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	645	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	646	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	647	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	648	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	649	VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve	14:8e7590227d22	650
Lightvalve	15:bd0d12728506	651	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	652	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	653	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	654	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	655	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	656	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	657	VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	658
Lightvalve	14:8e7590227d22	659	valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	660	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	19:23b7c1ad8683	661
Lightvalve	14:8e7590227d22	662	break;
Lightvalve	14:8e7590227d22	663	}
Lightvalve	14:8e7590227d22	664
Lightvalve	14:8e7590227d22	665	case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	666
Lightvalve	14:8e7590227d22	667	break;
Lightvalve	14:8e7590227d22	668	}
Lightvalve	14:8e7590227d22	669
Lightvalve	19:23b7c1ad8683	670
Lightvalve	19:23b7c1ad8683	671	case MODE_TEST_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	672	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	673	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	674	}
Lightvalve	19:23b7c1ad8683	675	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	676
Lightvalve	19:23b7c1ad8683	677	// Set Current Reference
Lightvalve	30:8d561f16383b	678	float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve	30:8d561f16383b	679	float I_REF_MID = 0.0f;
Lightvalve	14:8e7590227d22	680	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	30:8d561f16383b	681	I_REF = I_REF_MID + 1.0f;
Lightvalve	14:8e7590227d22	682	} else {
Lightvalve	30:8d561f16383b	683	I_REF = I_REF_MID - 1.0f;
Lightvalve	19:23b7c1ad8683	684	}
Lightvalve	30:8d561f16383b	685	// float T = 1.0; // wave period
Lightvalve	30:8d561f16383b	686	// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve	30:8d561f16383b	687	// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve	19:23b7c1ad8683	688
Lightvalve	14:8e7590227d22	689	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	23:59218d4a256d	690	//CAN_TX_PRES((int16_t)(I_REF1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	691	}
Lightvalve	14:8e7590227d22	692	break;
Lightvalve	14:8e7590227d22	693	}
Lightvalve	19:23b7c1ad8683	694
Lightvalve	19:23b7c1ad8683	695	case MODE_TEST_PWM_CONTROL: {
Lightvalve	14:8e7590227d22	696	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	697	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	698	}
Lightvalve	19:23b7c1ad8683	699	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	700
Lightvalve	14:8e7590227d22	701	// Set PWM reference
Lightvalve	30:8d561f16383b	702	float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve	30:8d561f16383b	703	//float I_REF_MID = 0.0f;
Lightvalve	14:8e7590227d22	704	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	705	CUR_PWM = 1000;
Lightvalve	14:8e7590227d22	706	} else {
Lightvalve	14:8e7590227d22	707	CUR_PWM = -1000;
Lightvalve	19:23b7c1ad8683	708	}
Lightvalve	19:23b7c1ad8683	709
Lightvalve	14:8e7590227d22	710	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	30:8d561f16383b	711	//CAN_TX_PRES((int16_t)(u_CUR[0]1000.0f), (int16_t) (CUR_CURRENT1000.0f)); // to check the datas
Lightvalve	14:8e7590227d22	712	}
Lightvalve	13:747daba9cf59	713	break;
Lightvalve	13:747daba9cf59	714	}
Lightvalve	19:23b7c1ad8683	715
Lightvalve	19:23b7c1ad8683	716
Lightvalve	14:8e7590227d22	717	case MODE_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	718
Lightvalve	14:8e7590227d22	719	cur.ref = cur.ref; // Unit : mA
Lightvalve	14:8e7590227d22	720	CurrentControl();
Lightvalve	14:8e7590227d22	721	break;
Lightvalve	14:8e7590227d22	722	}
Lightvalve	19:23b7c1ad8683	723
Lightvalve	14:8e7590227d22	724	case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve	30:8d561f16383b	725	float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve	30:8d561f16383b	726	float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve	30:8d561f16383b	727	float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	728	float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	729
Lightvalve	14:8e7590227d22	730	// feedback input for position control
Lightvalve	14:8e7590227d22	731	pos.err = pos.ref - pos.sen;
Lightvalve	30:8d561f16383b	732	float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f3.1415f50.0f)); // f_cutoff : 50Hz
Lightvalve	30:8d561f16383b	733	float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve	30:8d561f16383b	734	pos.err_diff = (1.0f-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	735	pos.err_old = pos.err;
Lightvalve	30:8d561f16383b	736	I_REF_POS_FB = 0.001f((float)P_GAIN_JOINT_POSITION pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve	19:23b7c1ad8683	737
Lightvalve	14:8e7590227d22	738	// feedforward input for position control
Lightvalve	30:8d561f16383b	739	float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	740	float K_ff = 1.3f;
Lightvalve	30:8d561f16383b	741	float K_v = 0.0f;
Lightvalve	30:8d561f16383b	742	if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve	30:8d561f16383b	743	if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	744	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	745
Lightvalve	14:8e7590227d22	746	// feedback input for position control
Lightvalve	30:8d561f16383b	747	I_REF_FORCE_FB = 0.0f;
Lightvalve	19:23b7c1ad8683	748
Lightvalve	14:8e7590227d22	749	// feedforward input for position control
Lightvalve	30:8d561f16383b	750	I_REF_FORCE_FF = 0.0f;
Lightvalve	19:23b7c1ad8683	751
Lightvalve	14:8e7590227d22	752	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	753
Lightvalve	14:8e7590227d22	754	CurrentControl();
Lightvalve	19:23b7c1ad8683	755
Lightvalve	13:747daba9cf59	756	break;
Lightvalve	13:747daba9cf59	757	}
Lightvalve	19:23b7c1ad8683	758
Lightvalve	14:8e7590227d22	759	case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve	30:8d561f16383b	760	//float T_REF = 0.0; // Torque Reference
Lightvalve	30:8d561f16383b	761	float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	762	float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve	19:23b7c1ad8683	763
Lightvalve	14:8e7590227d22	764	// feedback input for position control
Lightvalve	30:8d561f16383b	765	//float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	766	//float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	767	//float K_spring = 0.7f;
Lightvalve	30:8d561f16383b	768	//float D_damper = 0.02f;
Lightvalve	14:8e7590227d22	769	// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve	19:23b7c1ad8683	770
Lightvalve	14:8e7590227d22	771	// torque feedback
Lightvalve	15:bd0d12728506	772	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	773	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	774	// torq.err_old = torq.err;
Lightvalve	30:8d561f16383b	775	torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	776	I_REF_FORCE_FB = 0.001f((float)P_GAIN_JOINT_TORQUE torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	19:23b7c1ad8683	777
Lightvalve	14:8e7590227d22	778	// velocity compensation for torque control
Lightvalve	30:8d561f16383b	779	float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	780	float K_vc = 1.5f; // Velocity comp. gain
Lightvalve	30:8d561f16383b	781	float K_v = 0.0f; // Valve gain
Lightvalve	30:8d561f16383b	782	if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve	30:8d561f16383b	783	if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve	14:8e7590227d22	784	I_REF_VC = K_vcK_vJoint_Vel_Act;
Lightvalve	19:23b7c1ad8683	785
Lightvalve	14:8e7590227d22	786	cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	787	// cur.ref = I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	788
Lightvalve	30:8d561f16383b	789	float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	30:8d561f16383b	790	float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve	14:8e7590227d22	791	if(cur.ref > I_MAX) {
Lightvalve	30:8d561f16383b	792	float I_rem = cur.ref-I_MAX;
Lightvalve	14:8e7590227d22	793	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	794	cur.ref = I_MAX;
Lightvalve	30:8d561f16383b	795	torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	796	} else if(cur.ref < -I_MAX) {
Lightvalve	30:8d561f16383b	797	float I_rem = cur.ref-(-I_MAX);
Lightvalve	19:23b7c1ad8683	798	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	799	cur.ref = -I_MAX;
Lightvalve	30:8d561f16383b	800	torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	801	}
Lightvalve	19:23b7c1ad8683	802
Lightvalve	14:8e7590227d22	803	CurrentControl();
Lightvalve	19:23b7c1ad8683	804
Lightvalve	19:23b7c1ad8683	805
Lightvalve	14:8e7590227d22	806	/*
Lightvalve	30:8d561f16383b	807	float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve	30:8d561f16383b	808	float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve	30:8d561f16383b	809	float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	810	float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	811
Lightvalve	14:8e7590227d22	812	// feedback input for position control
Lightvalve	14:8e7590227d22	813	pos.err = pos.ref - pos.sen;
Lightvalve	30:8d561f16383b	814	float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f3.1415f50.0f)); // f_cutoff : 50Hz
Lightvalve	30:8d561f16383b	815	float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve	30:8d561f16383b	816	pos.err_diff = (1.0f-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	817	pos.err_old = pos.err;
Lightvalve	30:8d561f16383b	818	I_REF_POS_FB = 0.001f((float)P_GAIN_JOINT_POSITION pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve	19:23b7c1ad8683	819
Lightvalve	14:8e7590227d22	820	// feedforward input for position control
Lightvalve	30:8d561f16383b	821	float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	822	float K_ff = 1.3f;
Lightvalve	30:8d561f16383b	823	float K_v = 0.0f;
Lightvalve	30:8d561f16383b	824	if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve	30:8d561f16383b	825	if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	826	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	827
Lightvalve	14:8e7590227d22	828	// feedback input for position control
Lightvalve	30:8d561f16383b	829	I_REF_FORCE_FB = 0.0f;
Lightvalve	19:23b7c1ad8683	830
Lightvalve	14:8e7590227d22	831	// feedforward input for position control
Lightvalve	30:8d561f16383b	832	I_REF_FORCE_FF = 0.0f;
Lightvalve	19:23b7c1ad8683	833
Lightvalve	14:8e7590227d22	834	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	835
Lightvalve	14:8e7590227d22	836	CurrentControl();
Lightvalve	14:8e7590227d22	837	*/
Lightvalve	19:23b7c1ad8683	838
Lightvalve	13:747daba9cf59	839	break;
Lightvalve	13:747daba9cf59	840	}
Lightvalve	14:8e7590227d22	841
Lightvalve	14:8e7590227d22	842	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	843	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	844	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	845	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	846
Lightvalve	14:8e7590227d22	847	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	848	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	849	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	850
Lightvalve	43:b084e5f5d0d5	851	TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	852
Lightvalve	30:8d561f16383b	853	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	13:747daba9cf59	854	if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve	43:b084e5f5d0d5	855
Lightvalve	16:903b5a4433b4	856	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	857	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	858	}
Lightvalve	13:747daba9cf59	859	} else {
Lightvalve	13:747daba9cf59	860	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	861	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	862	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	863	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	864
Lightvalve	16:903b5a4433b4	865	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	866
Lightvalve	16:903b5a4433b4	867	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	19:23b7c1ad8683	868
Lightvalve	17:1865016ca2e7	869	//pc.printf("%f\n", TORQUE_VREF);
Lightvalve	30:8d561f16383b	870	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	871
Lightvalve	13:747daba9cf59	872	}
Lightvalve	14:8e7590227d22	873	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	874	break;
Lightvalve	43:b084e5f5d0d5	875
Lightvalve	43:b084e5f5d0d5	876
Lightvalve	43:b084e5f5d0d5	877
Lightvalve	43:b084e5f5d0d5	878	// // DAC Voltage reference set
Lightvalve	43:b084e5f5d0d5	879	// if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	43:b084e5f5d0d5	880	// CUR_PRES_A_sum += pres_A.sen;
Lightvalve	43:b084e5f5d0d5	881	// CUR_PRES_B_sum += pres_B.sen;
Lightvalve	43:b084e5f5d0d5	882	//
Lightvalve	43:b084e5f5d0d5	883	// if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	43:b084e5f5d0d5	884	// CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	43:b084e5f5d0d5	885	// CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	43:b084e5f5d0d5	886	// CUR_PRES_A_sum = 0;
Lightvalve	43:b084e5f5d0d5	887	// CUR_PRES_B_sum = 0;
Lightvalve	43:b084e5f5d0d5	888	//
Lightvalve	43:b084e5f5d0d5	889	// float VREF_NullingGain = 0.0003f;
Lightvalve	43:b084e5f5d0d5	890	// PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve	43:b084e5f5d0d5	891	// PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve	43:b084e5f5d0d5	892	//
Lightvalve	43:b084e5f5d0d5	893	// if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	43:b084e5f5d0d5	894	// if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	43:b084e5f5d0d5	895	// if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	43:b084e5f5d0d5	896	// if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	43:b084e5f5d0d5	897	//
Lightvalve	43:b084e5f5d0d5	898	// dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	899	// dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	900	// }
Lightvalve	43:b084e5f5d0d5	901	// } else {
Lightvalve	43:b084e5f5d0d5	902	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	43:b084e5f5d0d5	903	// TMR3_COUNT_PRES_NULL = 0;
Lightvalve	43:b084e5f5d0d5	904	// CUR_PRES_A_sum = 0;
Lightvalve	43:b084e5f5d0d5	905	// CUR_PRES_B_sum = 0;
Lightvalve	43:b084e5f5d0d5	906	// CUR_PRES_A_mean = 0;
Lightvalve	43:b084e5f5d0d5	907	// CUR_PRES_B_mean = 0;
Lightvalve	43:b084e5f5d0d5	908	//
Lightvalve	43:b084e5f5d0d5	909	// ROM_RESET_DATA();
Lightvalve	43:b084e5f5d0d5	910	//
Lightvalve	43:b084e5f5d0d5	911	// dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	912	// dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	913	// //pc.printf("nulling end");
Lightvalve	43:b084e5f5d0d5	914	// }
Lightvalve	43:b084e5f5d0d5	915	// TMR3_COUNT_PRES_NULL++;
Lightvalve	43:b084e5f5d0d5	916	// break;
Lightvalve	43:b084e5f5d0d5	917
Lightvalve	43:b084e5f5d0d5	918
Lightvalve	43:b084e5f5d0d5	919
Lightvalve	43:b084e5f5d0d5	920
Lightvalve	43:b084e5f5d0d5	921
Lightvalve	19:23b7c1ad8683	922	}
Lightvalve	14:8e7590227d22	923
Lightvalve	14:8e7590227d22	924	case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	14:8e7590227d22	925	if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	13:747daba9cf59	926	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	927	else temp_time = 0;
Lightvalve	13:747daba9cf59	928	}
Lightvalve	13:747daba9cf59	929	if (need_enc_init) {
Lightvalve	30:8d561f16383b	930	if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	931	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	932	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	933	} else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	934	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	935	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	936	} else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	13:747daba9cf59	937	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	938	}
Lightvalve	14:8e7590227d22	939
Lightvalve	14:8e7590227d22	940	if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	941	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	942	VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	14:8e7590227d22	943
Lightvalve	30:8d561f16383b	944	} else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	18:b8adf1582ea3	945	V_out = 0;
Lightvalve	13:747daba9cf59	946	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	14:8e7590227d22	947	} else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	948	if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	949	else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	950	else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	13:747daba9cf59	951	else DZ_temp_cnt2 = DZ_end;
Lightvalve	13:747daba9cf59	952	CUR_VELOCITY_sum = 0;
Lightvalve	14:8e7590227d22	953	} else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	954	if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	14:8e7590227d22	955
Lightvalve	13:747daba9cf59	956	// Position of Dead Zone
Lightvalve	13:747daba9cf59	957	// (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	14:8e7590227d22	958	// \| / \| / \|/
Lightvalve	13:747daba9cf59	959	// \| ______/ ___\|___/ ______/\|
Lightvalve	13:747daba9cf59	960	// \|/ / \| / \|
Lightvalve	13:747daba9cf59	961	// /\| / \| / \|
Lightvalve	13:747daba9cf59	962	// 0V 0V 0V
Lightvalve	14:8e7590227d22	963
Lightvalve	13:747daba9cf59	964	if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	14:8e7590227d22	965	if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	13:747daba9cf59	966	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	13:747daba9cf59	967	} else {
Lightvalve	18:b8adf1582ea3	968	V_out -= DZ_dir;
Lightvalve	13:747daba9cf59	969	if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	13:747daba9cf59	970	CUR_VELOCITY_sum = 0;
Lightvalve	13:747daba9cf59	971	}
Lightvalve	13:747daba9cf59	972	if (DZ_temp_cnt == 5) {
Lightvalve	18:b8adf1582ea3	973	if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	18:b8adf1582ea3	974	else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	13:747daba9cf59	975	DZ_dir = -DZ_dir;
Lightvalve	13:747daba9cf59	976	DZ_temp_cnt = 0;
Lightvalve	13:747daba9cf59	977	DZ_temp_cnt2++;
Lightvalve	13:747daba9cf59	978	}
Lightvalve	13:747daba9cf59	979	} else {
Lightvalve	14:8e7590227d22	980	TMR3_COUNT_DEADZONE = -1;
Lightvalve	13:747daba9cf59	981	VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	13:747daba9cf59	982	if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	13:747daba9cf59	983	VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	984	VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	985	}
Lightvalve	18:b8adf1582ea3	986	V_out = 0;
Lightvalve	19:23b7c1ad8683	987
Lightvalve	16:903b5a4433b4	988	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	989
Lightvalve	16:903b5a4433b4	990	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	16:903b5a4433b4	991	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	14:8e7590227d22	992
Lightvalve	13:747daba9cf59	993	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	994	DZ_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	995	}
Lightvalve	13:747daba9cf59	996	}
Lightvalve	14:8e7590227d22	997	TMR3_COUNT_DEADZONE++;
Lightvalve	13:747daba9cf59	998	break;
Lightvalve	13:747daba9cf59	999	}
Lightvalve	14:8e7590227d22	1000
Lightvalve	14:8e7590227d22	1001	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	1002	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	1003	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	1004	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	1005	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	29:69f3f5445d6d	1006	pos.ref_home_pos = pos.sen;
Lightvalve	30:8d561f16383b	1007	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1008	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	40:3f2c0619c8c4	1009	CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
Lightvalve	29:69f3f5445d6d	1010	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	29:69f3f5445d6d	1011	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	29:69f3f5445d6d	1012	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	1013	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	1014	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	1015	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	1016	}
Lightvalve	29:69f3f5445d6d	1017	cnt_findhome++;
Lightvalve	30:8d561f16383b	1018	//if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve	14:8e7590227d22	1019
Lightvalve	29:69f3f5445d6d	1020	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	1021	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	1022	} else {
Lightvalve	29:69f3f5445d6d	1023	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	1024	}
Lightvalve	19:23b7c1ad8683	1025
Lightvalve	30:8d561f16383b	1026	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome <= 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	1027	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	30:8d561f16383b	1028	if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve	30:8d561f16383b	1029	else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve	29:69f3f5445d6d	1030	pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	30:8d561f16383b	1031	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	30:8d561f16383b	1032	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve	30:8d561f16383b	1033	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	29:69f3f5445d6d	1034	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	29:69f3f5445d6d	1035	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	1036
Lightvalve	30:8d561f16383b	1037	//float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1038	//I_REF = 0.04fwn_Pos((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve	29:69f3f5445d6d	1039	//// L velocity >> mA convert
Lightvalve	30:8d561f16383b	1040	//if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve	30:8d561f16383b	1041	//if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve	29:69f3f5445d6d	1042	//FLAG_CURRNET_CONTROL = true;
Lightvalve	29:69f3f5445d6d	1043	} else {
Lightvalve	29:69f3f5445d6d	1044	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	29:69f3f5445d6d	1045	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	1046	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	1047	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	1048	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	1049	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	1050	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	1051	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	1052	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	1053	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	29:69f3f5445d6d	1054	}
Lightvalve	29:69f3f5445d6d	1055	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	1056	int T_move = 2*TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	1057	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	1058	vel.ref_home_pos = 0.0f;
Lightvalve	19:23b7c1ad8683	1059
Lightvalve	29:69f3f5445d6d	1060	// input for position control
Lightvalve	40:3f2c0619c8c4	1061	pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve	30:8d561f16383b	1062	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	30:8d561f16383b	1063	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve	30:8d561f16383b	1064	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	29:69f3f5445d6d	1065	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	29:69f3f5445d6d	1066	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	1067
Lightvalve	19:23b7c1ad8683	1068
Lightvalve	29:69f3f5445d6d	1069	// if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	30:8d561f16383b	1070	// float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1071	// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve	29:69f3f5445d6d	1072	// // L when P-gain = 100, f_cut = 10Hz
Lightvalve	30:8d561f16383b	1073	// if (temp_vel > 0.0f ) I_REF = temp_vel((float)PISTON_AREA_A0.00006f/(K_vsqrt(2.0falpha3/(alpha3+1.0f))));
Lightvalve	30:8d561f16383b	1074	// else I_REF = temp_vel((float)PISTON_AREA_B0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve	29:69f3f5445d6d	1075	// // ------------------------------------------------------------------------
Lightvalve	29:69f3f5445d6d	1076	// // L thetadot(rad/s) >> I_ref(mA)
Lightvalve	29:69f3f5445d6d	1077	// } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve	30:8d561f16383b	1078	// float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1079	// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve	29:69f3f5445d6d	1080	// // L when P-gain = 100, f_cut = 10Hz
Lightvalve	30:8d561f16383b	1081	// if (temp_vel > 0.0f ) I_REF = temp_vel((float)PISTON_AREA_A0.00006f/(K_vsqrt(2.0falpha3/(alpha3+1.0f))));
Lightvalve	30:8d561f16383b	1082	// else I_REF = temp_vel((float)PISTON_AREA_B0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve	29:69f3f5445d6d	1083	// // ------------------------------------------------------------------------
Lightvalve	29:69f3f5445d6d	1084	// // L xdot(mm/s) >> I_ref(mA)
Lightvalve	29:69f3f5445d6d	1085	// }
Lightvalve	29:69f3f5445d6d	1086
Lightvalve	29:69f3f5445d6d	1087	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	1088	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	1089	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	1090	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1091	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1092	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1093	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1094	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1095	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	48:889798ff9329	1096	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	1097	}
Lightvalve	13:747daba9cf59	1098	}
Lightvalve	19:23b7c1ad8683	1099
Lightvalve	13:747daba9cf59	1100	break;
Lightvalve	13:747daba9cf59	1101	}
Lightvalve	14:8e7590227d22	1102
Lightvalve	14:8e7590227d22	1103	case MODE_VALVE_GAIN_SETTING: {
Lightvalve	14:8e7590227d22	1104	if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	13:747daba9cf59	1105	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	1106	else {
Lightvalve	18:b8adf1582ea3	1107	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1108	temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	13:747daba9cf59	1109	}
Lightvalve	13:747daba9cf59	1110	}
Lightvalve	13:747daba9cf59	1111	if (need_enc_init) {
Lightvalve	30:8d561f16383b	1112	if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1113	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1114	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1115	} else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1116	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1117	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	1118	} else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1119	need_enc_init = false;
Lightvalve	30:8d561f16383b	1120	check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	30:8d561f16383b	1121	check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	1122	check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	13:747daba9cf59	1123	}
Lightvalve	13:747daba9cf59	1124	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	1125	}
Lightvalve	14:8e7590227d22	1126	TMR3_COUNT_FLOWRATE++;
Lightvalve	14:8e7590227d22	1127	if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	13:747daba9cf59	1128	if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	30:8d561f16383b	1129	VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1130	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1131	if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1132	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1133	} else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	30:8d561f16383b	1134	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=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	30:8d561f16383b	1135	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	13:747daba9cf59	1136	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1137	}
Lightvalve	13:747daba9cf59	1138	} else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	30:8d561f16383b	1139	VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1140	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1141	if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1142	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1143	} else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	30:8d561f16383b	1144	VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	30:8d561f16383b	1145	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	13:747daba9cf59	1146	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1147	}
Lightvalve	13:747daba9cf59	1148	}
Lightvalve	13:747daba9cf59	1149	if (fl_temp_cnt2 == 100) {
Lightvalve	19:23b7c1ad8683	1150
Lightvalve	16:903b5a4433b4	1151	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1152
Lightvalve	30:8d561f16383b	1153	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	13:747daba9cf59	1154	cur_vel_sum = 0;
Lightvalve	13:747daba9cf59	1155	fl_temp_cnt = 0;
Lightvalve	13:747daba9cf59	1156	fl_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	1157	flag_flowrate++;
Lightvalve	13:747daba9cf59	1158	}
Lightvalve	13:747daba9cf59	1159	if (flag_flowrate == 10) {
Lightvalve	18:b8adf1582ea3	1160	V_out = 0;
Lightvalve	13:747daba9cf59	1161	flag_flowrate = 0;
Lightvalve	14:8e7590227d22	1162	TMR3_COUNT_FLOWRATE = 0;
Lightvalve	13:747daba9cf59	1163	valve_gain_repeat_cnt++;
Lightvalve	13:747daba9cf59	1164	if (valve_gain_repeat_cnt >= 1) {
Lightvalve	13:747daba9cf59	1165	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1166	valve_gain_repeat_cnt = 0;
Lightvalve	13:747daba9cf59	1167	}
Lightvalve	14:8e7590227d22	1168
Lightvalve	13:747daba9cf59	1169	}
Lightvalve	13:747daba9cf59	1170	break;
Lightvalve	13:747daba9cf59	1171	}
Lightvalve	14:8e7590227d22	1172
Lightvalve	13:747daba9cf59	1173	}
Lightvalve	14:8e7590227d22	1174
Lightvalve	14:8e7590227d22	1175	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1176	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1177	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1178	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1179	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1180
Lightvalve	14:8e7590227d22	1181	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1182	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1183	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1184	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1185	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1186
Lightvalve	38:118df027d851	1187	float VREF_NullingGain = 0.0003f;
Lightvalve	38:118df027d851	1188	PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve	38:118df027d851	1189	PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve	14:8e7590227d22	1190
Lightvalve	30:8d561f16383b	1191	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1192	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1193	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1194	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1195
Lightvalve	30:8d561f16383b	1196	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1197	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1198	}
Lightvalve	13:747daba9cf59	1199	} else {
Lightvalve	13:747daba9cf59	1200	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1201	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1202	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1203	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1204	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1205	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1206
Lightvalve	16:903b5a4433b4	1207	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1208
Lightvalve	30:8d561f16383b	1209	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1210	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1211	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1212	}
Lightvalve	14:8e7590227d22	1213	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1214	break;
Lightvalve	13:747daba9cf59	1215	}
Lightvalve	14:8e7590227d22	1216
Lightvalve	14:8e7590227d22	1217	case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	14:8e7590227d22	1218	if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1219	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1220	if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1221	CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	13:747daba9cf59	1222	}
Lightvalve	14:8e7590227d22	1223	} else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1224	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1225	if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1226	CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	13:747daba9cf59	1227	}
Lightvalve	13:747daba9cf59	1228	} else {
Lightvalve	13:747daba9cf59	1229	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1230	TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	18:b8adf1582ea3	1231	V_out = 0;
Lightvalve	30:8d561f16383b	1232	PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	30:8d561f16383b	1233	PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	30:8d561f16383b	1234	PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	30:8d561f16383b	1235	PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	13:747daba9cf59	1236	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1237	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1238	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1239	CUR_PRES_B_mean = 0;
Lightvalve	19:23b7c1ad8683	1240
Lightvalve	16:903b5a4433b4	1241	ROM_RESET_DATA();
Lightvalve	14:8e7590227d22	1242
Lightvalve	30:8d561f16383b	1243	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	30:8d561f16383b	1244	//spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	13:747daba9cf59	1245	}
Lightvalve	14:8e7590227d22	1246	TMR3_COUNT_PRES_CALIB++;
Lightvalve	13:747daba9cf59	1247	break;
Lightvalve	13:747daba9cf59	1248	}
Lightvalve	14:8e7590227d22	1249
Lightvalve	14:8e7590227d22	1250	case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	30:8d561f16383b	1251	if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve	30:8d561f16383b	1252	V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	18:b8adf1582ea3	1253	if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	18:b8adf1582ea3	1254	else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1255	TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	14:8e7590227d22	1256	if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	1257	TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	30:8d561f16383b	1258	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1259	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1260	}
Lightvalve	13:747daba9cf59	1261	break;
Lightvalve	13:747daba9cf59	1262	}
Lightvalve	14:8e7590227d22	1263
Lightvalve	14:8e7590227d22	1264	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	13:747daba9cf59	1265	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1266
Lightvalve	14:8e7590227d22	1267	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	30:8d561f16383b	1268	V_out = 3000.0f * sin(23.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1269	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	30:8d561f16383b	1270	V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1271	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1272	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1273	data_num = 0;
Lightvalve	14:8e7590227d22	1274	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1275	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1276	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1277	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1278	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1279	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1280	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1281	}
Lightvalve	14:8e7590227d22	1282
Lightvalve	17:1865016ca2e7	1283	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1284	int i;
Lightvalve	13:747daba9cf59	1285	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1286	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1287	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1288	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1289	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1290	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1291	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1292	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1293	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1294	}
Lightvalve	13:747daba9cf59	1295	}
Lightvalve	27:a2254a485f23	1296	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1297	ID_index = 0;
Lightvalve	13:747daba9cf59	1298	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1299	}
Lightvalve	14:8e7590227d22	1300
Lightvalve	14:8e7590227d22	1301
Lightvalve	13:747daba9cf59	1302	break;
Lightvalve	13:747daba9cf59	1303	}
Lightvalve	14:8e7590227d22	1304
Lightvalve	14:8e7590227d22	1305	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	14:8e7590227d22	1306
Lightvalve	13:747daba9cf59	1307	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1308	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1309	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1310	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1311	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1312	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1313	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1314	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1315	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1316	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1317	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1318	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1319	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1320	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1321	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1322	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	1323	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1324	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1325	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1326	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	1327	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1328	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1329	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1330	data_num = 0;
Lightvalve	14:8e7590227d22	1331
Lightvalve	30:8d561f16383b	1332	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1333	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1334	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1335
Lightvalve	30:8d561f16383b	1336	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1337	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1338	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1339	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1340	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1341	else
Lightvalve	13:747daba9cf59	1342	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1343	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1344	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1345	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1346	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1347
Lightvalve	14:8e7590227d22	1348	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1349	DZ_case = 1;
Lightvalve	14:8e7590227d22	1350	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	13:747daba9cf59	1351	DZ_case = -1;
Lightvalve	14:8e7590227d22	1352	} else {
Lightvalve	13:747daba9cf59	1353	DZ_case = 0;
Lightvalve	13:747daba9cf59	1354	}
Lightvalve	14:8e7590227d22	1355
Lightvalve	14:8e7590227d22	1356	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1357	first_check = 1;
Lightvalve	13:747daba9cf59	1358	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1359	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1360	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1361	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1362	DZ_index = 1;
Lightvalve	14:8e7590227d22	1363
Lightvalve	13:747daba9cf59	1364	}
Lightvalve	19:23b7c1ad8683	1365	} else {
Lightvalve	14:8e7590227d22	1366	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1367	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1368	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1369	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1370	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1371	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1372	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1373	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1374	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1375	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1376	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1377	}
Lightvalve	14:8e7590227d22	1378	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1379	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1380	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1381	else
Lightvalve	13:747daba9cf59	1382	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1383	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1384	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1385	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1386
Lightvalve	14:8e7590227d22	1387	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1388	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1389	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1390	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1391	} else {
Lightvalve	13:747daba9cf59	1392	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1393	}
Lightvalve	14:8e7590227d22	1394
Lightvalve	14:8e7590227d22	1395	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1396
Lightvalve	13:747daba9cf59	1397	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1398	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1399	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1400	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1401	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1402	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1403	DZ_index = 1;
Lightvalve	13:747daba9cf59	1404	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1405	}
Lightvalve	13:747daba9cf59	1406	}
Lightvalve	14:8e7590227d22	1407	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1408	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1409	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1410	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1411	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1412	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1413	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1414	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1415	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1416	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1417	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1418	}
Lightvalve	14:8e7590227d22	1419	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1420	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1421	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1422	else
Lightvalve	13:747daba9cf59	1423	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1424	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1425	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1426	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1427
Lightvalve	14:8e7590227d22	1428	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1429	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1430	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1431	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1432	} else {
Lightvalve	13:747daba9cf59	1433	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1434	}
Lightvalve	14:8e7590227d22	1435
Lightvalve	14:8e7590227d22	1436	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1437
Lightvalve	14:8e7590227d22	1438
Lightvalve	13:747daba9cf59	1439	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1440	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1441	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1442	SECOND_DZ = valve_pos.ref;
Lightvalve	33:91b17819ec30	1443	DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve	13:747daba9cf59	1444	first_check = 0;
Lightvalve	33:91b17819ec30	1445	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1446	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1447
Lightvalve	16:903b5a4433b4	1448	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1449
Lightvalve	13:747daba9cf59	1450	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1451	DZ_index = 1;
Lightvalve	13:747daba9cf59	1452	}
Lightvalve	13:747daba9cf59	1453	}
Lightvalve	14:8e7590227d22	1454	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1455	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1456	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1457	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1458	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1459	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1460	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1461	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1462	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1463	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1464	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1465	}
Lightvalve	14:8e7590227d22	1466	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1467	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1468	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1469	else
Lightvalve	13:747daba9cf59	1470	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1471	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1472	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1473	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1474
Lightvalve	14:8e7590227d22	1475	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1476	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1477	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1478	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1479	} else {
Lightvalve	13:747daba9cf59	1480	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1481	}
Lightvalve	14:8e7590227d22	1482
Lightvalve	14:8e7590227d22	1483	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1484	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1485	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1486	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1487	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1488	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1489	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1490	DZ_index = 1;
Lightvalve	13:747daba9cf59	1491	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1492	}
Lightvalve	13:747daba9cf59	1493	}
Lightvalve	14:8e7590227d22	1494	} else {
Lightvalve	30:8d561f16383b	1495	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1496	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1497	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1498	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1499	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1500	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1501	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1502	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1503	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1504	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1505	}
Lightvalve	14:8e7590227d22	1506	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1507	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1508	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1509	else
Lightvalve	13:747daba9cf59	1510	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1511	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1512	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1513	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1514	if(VEL_POINT >= 0)
Lightvalve	13:747daba9cf59	1515	DZ_DIRECTION = -1;
Lightvalve	13:747daba9cf59	1516	else
Lightvalve	13:747daba9cf59	1517	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1518	if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	13:747daba9cf59	1519	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1520
Lightvalve	14:8e7590227d22	1521	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1522
Lightvalve	14:8e7590227d22	1523
Lightvalve	13:747daba9cf59	1524	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1525	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1526	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1527	SECOND_DZ = valve_pos.ref;
Lightvalve	33:91b17819ec30	1528	DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve	13:747daba9cf59	1529	first_check = 0;
Lightvalve	33:91b17819ec30	1530	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1531	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	34:bb2ca2fc2a8e	1532
Lightvalve	13:747daba9cf59	1533	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1534	DZ_index = 1;
Lightvalve	13:747daba9cf59	1535	}
Lightvalve	13:747daba9cf59	1536	}
Lightvalve	13:747daba9cf59	1537	}
Lightvalve	14:8e7590227d22	1538	}
Lightvalve	13:747daba9cf59	1539	break;
Lightvalve	13:747daba9cf59	1540	}
Lightvalve	14:8e7590227d22	1541
Lightvalve	14:8e7590227d22	1542	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	13:747daba9cf59	1543	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1544	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1545	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1546	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	23:59218d4a256d	1547	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1548	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1549	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1550	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1551	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1552	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1553	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1554	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1555	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	18:b8adf1582ea3	1556	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1557	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1558	first_check = 1;
Lightvalve	13:747daba9cf59	1559	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1560	valve_pos.ref = DDV_CENTER;
Lightvalve	13:747daba9cf59	1561	ID_index = 0;
Lightvalve	13:747daba9cf59	1562	max_check = 0;
Lightvalve	13:747daba9cf59	1563	min_check = 0;
Lightvalve	13:747daba9cf59	1564	}
Lightvalve	14:8e7590227d22	1565	} else {
Lightvalve	30:8d561f16383b	1566	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1567	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1568	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1569	data_num = 0;
Lightvalve	33:91b17819ec30	1570	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1571
Lightvalve	14:8e7590227d22	1572	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1573	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1574	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	33:91b17819ec30	1575	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1576	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1577	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1578	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1579	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1580	one_period_end = 1;
Lightvalve	13:747daba9cf59	1581	}
Lightvalve	30:8d561f16383b	1582	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1583	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1584	one_period_end = 1;
Lightvalve	13:747daba9cf59	1585	}
Lightvalve	14:8e7590227d22	1586
Lightvalve	14:8e7590227d22	1587	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1588	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1589	max_check = 1;
Lightvalve	14:8e7590227d22	1590	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1591	min_check = 1;
Lightvalve	13:747daba9cf59	1592	}
Lightvalve	13:747daba9cf59	1593	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1594
Lightvalve	19:23b7c1ad8683	1595	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1596	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1597	one_period_end = 0;
Lightvalve	13:747daba9cf59	1598	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1599	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1600	}
Lightvalve	14:8e7590227d22	1601
Lightvalve	14:8e7590227d22	1602	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1603
Lightvalve	13:747daba9cf59	1604	VALVE_POS_NUM = ID_index;
Lightvalve	27:a2254a485f23	1605	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1606	ID_index = 0;
Lightvalve	13:747daba9cf59	1607	first_check = 0;
Lightvalve	13:747daba9cf59	1608	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1609	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1610	}
Lightvalve	13:747daba9cf59	1611	}
Lightvalve	13:747daba9cf59	1612	break;
Lightvalve	13:747daba9cf59	1613	}
Lightvalve	14:8e7590227d22	1614
Lightvalve	12:6f2531038ea4	1615	default:
Lightvalve	12:6f2531038ea4	1616	break;
Lightvalve	12:6f2531038ea4	1617	}
Lightvalve	14:8e7590227d22	1618
Lightvalve	13:747daba9cf59	1619	if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve	13:747daba9cf59	1620	// Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve	14:8e7590227d22	1621	// if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve	14:8e7590227d22	1622	// if (V_out > 0.) {
Lightvalve	14:8e7590227d22	1623	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1624	// } else if (V_out < 0.) {
Lightvalve	14:8e7590227d22	1625	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1626	// } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1627	// } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve	14:8e7590227d22	1628
Lightvalve	14:8e7590227d22	1629	if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1630	else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1631
Lightvalve	14:8e7590227d22	1632	VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1633
Lightvalve	13:747daba9cf59	1634	// Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	30:8d561f16383b	1635	float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve	30:8d561f16383b	1636	float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	14:8e7590227d22	1637
Lightvalve	14:8e7590227d22	1638	if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve	14:8e7590227d22	1639	else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve	14:8e7590227d22	1640	else V_out = CUR_PWM_DZ;
Lightvalve	13:747daba9cf59	1641	} else {
Lightvalve	17:1865016ca2e7	1642	V_out = V_out;
Lightvalve	13:747daba9cf59	1643	}
Lightvalve	14:8e7590227d22	1644
jobuuu	7:e9086c72bb22	1645	/*******************************************************
jobuuu	7:e9086c72bb22	1646	*** PWM
jobuuu	7:e9086c72bb22	1647	********************************************************/
Lightvalve	34:bb2ca2fc2a8e	1648	if (V_out >= 12000.0f) {
Lightvalve	30:8d561f16383b	1649	V_out = 12000.0f;
Lightvalve	34:bb2ca2fc2a8e	1650	} else if(V_out<=-12000.0f) {
Lightvalve	30:8d561f16383b	1651	V_out = -12000.0f;
Lightvalve	27:a2254a485f23	1652	}
Lightvalve	18:b8adf1582ea3	1653	PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1654
jobuuu	2:a1c0a37df760	1655	// Saturation of output voltage to 5.0V
Lightvalve	17:1865016ca2e7	1656	// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve	17:1865016ca2e7	1657	// else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve	19:23b7c1ad8683	1658
Lightvalve	19:23b7c1ad8683	1659	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1660	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1661	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1662
Lightvalve	30:8d561f16383b	1663	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1664	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1665	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1666	} else {
jobuuu	2:a1c0a37df760	1667	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1668	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1669	}
Lightvalve	13:747daba9cf59	1670
jobuuu	1:e04e563be5ce	1671	//pwm
Lightvalve	30:8d561f16383b	1672	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1673	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1674
jobuuu	1:e04e563be5ce	1675	}
Lightvalve	11:82d8768d7351	1676	TIM3->SR = 0x0; // reset the status register
Lightvalve	21:e5f1a43ea6f9	1677
jobuuu	7:e9086c72bb22	1678	}
jobuuu	7:e9086c72bb22	1679
Lightvalve	20:806196fda269	1680
Lightvalve	20:806196fda269	1681
Lightvalve	20:806196fda269	1682	//unsigned long CNT_TMR5 = 0;
Lightvalve	30:8d561f16383b	1683	//float FREQ_TMR5 = (float)FREQ_500;
Lightvalve	30:8d561f16383b	1684	//float DT_TMR5 = (float)DT_500;
Lightvalve	23:59218d4a256d	1685	extern "C" void TIM2_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	1686	{
Lightvalve	23:59218d4a256d	1687	if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	1688
Lightvalve	20:806196fda269	1689	//CAN ----------------------------------------------------------------------
Lightvalve	20:806196fda269	1690	if (flag_data_request[0] == HIGH) {
Lightvalve	20:806196fda269	1691	//position+velocity
Lightvalve	41:abbd4e2af68b	1692	//CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve	43:b084e5f5d0d5	1693	CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	20:806196fda269	1694	}
Lightvalve	20:806196fda269	1695
Lightvalve	20:806196fda269	1696	if (flag_data_request[1] == HIGH) {
Lightvalve	20:806196fda269	1697	//torque
Lightvalve	20:806196fda269	1698	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve	20:806196fda269	1699	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve	48:889798ff9329	1700	double t_value = 0;
Lightvalve	48:889798ff9329	1701	if(value>=DDV_CENTER){
Lightvalve	48:889798ff9329	1702	t_value = 10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MAX_POS-(double)DDV_CENTER);
Lightvalve	48:889798ff9329	1703	}else{
Lightvalve	48:889798ff9329	1704	t_value = -10000.0f*((double)value-(double)DDV_CENTER)/((double)VALVE_MIN_POS-(double)DDV_CENTER);
Lightvalve	48:889798ff9329	1705	}
Lightvalve	48:889798ff9329	1706	CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve	20:806196fda269	1707	}
Lightvalve	20:806196fda269	1708
Lightvalve	20:806196fda269	1709	if (flag_data_request[2] == HIGH) {
Lightvalve	20:806196fda269	1710	//pressure A and B
Lightvalve	38:118df027d851	1711	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF * 1000.0)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	38:118df027d851	1712	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	20:806196fda269	1713	// CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve	20:806196fda269	1714	// CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)1000.), (int16_t) ((DEADZONE_PLUS + 1.))1000.);
Lightvalve	20:806196fda269	1715	// CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve	20:806196fda269	1716
Lightvalve	20:806196fda269	1717	}
Lightvalve	20:806196fda269	1718
Lightvalve	20:806196fda269	1719	if (flag_data_request[3] == HIGH) {
Lightvalve	20:806196fda269	1720	//PWM
Lightvalve	48:889798ff9329	1721	CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve	20:806196fda269	1722	// CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve	20:806196fda269	1723	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve	20:806196fda269	1724	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve	20:806196fda269	1725
Lightvalve	20:806196fda269	1726	}
Lightvalve	20:806196fda269	1727
Lightvalve	20:806196fda269	1728	if (flag_data_request[4] == HIGH) {
Lightvalve	20:806196fda269	1729	//valve position
Lightvalve	48:889798ff9329	1730	CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve	33:91b17819ec30	1731	//CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve	20:806196fda269	1732
Lightvalve	20:806196fda269	1733	//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve	20:806196fda269	1734	// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve	20:806196fda269	1735	// CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	20:806196fda269	1736	// CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve	20:806196fda269	1737	// CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve	20:806196fda269	1738	}
Lightvalve	48:889798ff9329	1739
Lightvalve	20:806196fda269	1740
Lightvalve	20:806196fda269	1741	}
Lightvalve	23:59218d4a256d	1742	TIM2->SR = 0x0; // reset the status register
Lightvalve	20:806196fda269	1743	}
Lightvalve	20:806196fda269	1744
Lightvalve	20:806196fda269	1745
Lightvalve	20:806196fda269	1746
Lightvalve	13:747daba9cf59	1747	void CurrentControl()
Lightvalve	13:747daba9cf59	1748	{
jobuuu	7:e9086c72bb22	1749	cur.err = cur.ref - cur.sen;
jobuuu	7:e9086c72bb22	1750	cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu	7:e9086c72bb22	1751	cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu	7:e9086c72bb22	1752	cur.err_old = cur.err;
jobuuu	7:e9086c72bb22	1753
Lightvalve	30:8d561f16383b	1754	float R_model = 150.0f; // ohm
Lightvalve	30:8d561f16383b	1755	float L_model = 0.3f;
Lightvalve	30:8d561f16383b	1756	float w0 = 2.0f3.14f90.0f;
Lightvalve	30:8d561f16383b	1757	float KP_I = L_model*w0;
Lightvalve	30:8d561f16383b	1758	float KI_I = R_model*w0;
Lightvalve	30:8d561f16383b	1759	float KD_I = 0.0f;
jobuuu	7:e9086c72bb22	1760
Lightvalve	30:8d561f16383b	1761	float FF_gain = 0.0f;
jobuuu	7:e9086c72bb22	1762	V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu	7:e9086c72bb22	1763	// V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu	7:e9086c72bb22	1764	V_out = V_out + FF_gain * (R_modelcur.ref + L_modelcur.ref_diff); // Unit : mV
Lightvalve	13:747daba9cf59	1765
Lightvalve	30:8d561f16383b	1766	float Ka = 5.0f/KP_I;
jobuuu	7:e9086c72bb22	1767	if(V_out > V_MAX) {
jobuuu	7:e9086c72bb22	1768	V_rem = V_out-V_MAX;
jobuuu	7:e9086c72bb22	1769	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1770	V_out = V_MAX;
jobuuu	7:e9086c72bb22	1771	cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu	7:e9086c72bb22	1772	} else if(V_out < -V_MAX) {
jobuuu	7:e9086c72bb22	1773	V_rem = V_out-(-V_MAX);
Lightvalve	13:747daba9cf59	1774	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1775	V_out = -V_MAX;
jobuuu	7:e9086c72bb22	1776	cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve	13:747daba9cf59	1777	}
Lightvalve	21:e5f1a43ea6f9	1778	}
Lightvalve	23:59218d4a256d	1779
Lightvalve	28:2a62d73e3dd0	1780
Lightvalve	30:8d561f16383b	1781
Lightvalve	32:4b8c0fedaf2c	1782
Lightvalve	36:a46e63505ed8	1783
Lightvalve	42:1cf66990ccab	1784
Lightvalve	44:fe7d5cfd2eea	1785

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	20 Jul 2020
Imports:	1
Forks:	0
Commits:	69
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@48:889798ff9329, 2020-01-29 (annotated)

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