Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

Dependencies:   mbed FastPWM

main.cpp@16:903b5a4433b4, 2019-09-02 (annotated)

Committer:
Lightvalve
Date:
Mon Sep 02 13:32:33 2019 +0000
Revision:
16:903b5a4433b4
Parent:
15:bd0d12728506
Child:
17:1865016ca2e7
190902

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 11
jobuuu 7:e9086c72bb22 12 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 13 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 14 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 15 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 16 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 17 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 18 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 19 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 20
jobuuu 7:e9086c72bb22 21 // PWM ///////////////////////////////////////////
jobuuu 2:a1c0a37df760 22 double dtc_v=0.0;
jobuuu 2:a1c0a37df760 23 double dtc_w=0.0;
GiJeongKim 0:51c43836c1d7 24
jobuuu 7:e9086c72bb22 25 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 26 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 27 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 28 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 29
jobuuu 7:e9086c72bb22 30 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 31 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 32 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 33 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 34 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 35 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 36 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 37
jobuuu 7:e9086c72bb22 38 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 39 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 43 CANMessage msg;
Lightvalve 11:82d8768d7351 44 void onMsgReceived()
Lightvalve 11:82d8768d7351 45 {
Lightvalve 11:82d8768d7351 46 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 47 }
jobuuu 2:a1c0a37df760 48
jobuuu 7:e9086c72bb22 49 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 50 State pos;
jobuuu 7:e9086c72bb22 51 State vel;
jobuuu 7:e9086c72bb22 52 State Vout;
jobuuu 7:e9086c72bb22 53 State torq;
jobuuu 7:e9086c72bb22 54 State pres_A;
jobuuu 7:e9086c72bb22 55 State pres_B;
jobuuu 7:e9086c72bb22 56 State cur;
Lightvalve 14:8e7590227d22 57 State valve_pos;
Lightvalve 14:8e7590227d22 58
Lightvalve 14:8e7590227d22 59 State INIT_Vout;
Lightvalve 14:8e7590227d22 60 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 61 State INIT_Pos;
Lightvalve 14:8e7590227d22 62 State INIT_torq;
jobuuu 5:a4319f79457b 63
jobuuu 5:a4319f79457b 64 double V_out=0.0;
jobuuu 5:a4319f79457b 65 double V_rem=0.0; // for anti-windup
jobuuu 5:a4319f79457b 66 double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 67
jobuuu 5:a4319f79457b 68 double PWM_out=0.0;
Lightvalve 12:6f2531038ea4 69
Lightvalve 13:747daba9cf59 70
jobuuu 7:e9086c72bb22 71 // =============================================================================
jobuuu 7:e9086c72bb22 72 // =============================================================================
jobuuu 7:e9086c72bb22 73 // =============================================================================
jobuuu 7:e9086c72bb22 74
Lightvalve 12:6f2531038ea4 75 /*******************************************************************************
Lightvalve 12:6f2531038ea4 76 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 77 ******************************************************************************/
Lightvalve 13:747daba9cf59 78 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 79 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 80 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 81 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 82 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 83 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 84 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 85 };
Lightvalve 12:6f2531038ea4 86
Lightvalve 12:6f2531038ea4 87 /*******************************************************************************
Lightvalve 12:6f2531038ea4 88 * CONTROL MODE
Lightvalve 12:6f2531038ea4 89 ******************************************************************************/
Lightvalve 13:747daba9cf59 90 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 91 //control mode
Lightvalve 12:6f2531038ea4 92 MODE_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 93 MODE_VALVE_OPEN_LOOP, //1
Lightvalve 12:6f2531038ea4 94 MODE_VALVE_POSITION_CONTROL, //2
Lightvalve 13:747daba9cf59 95
Lightvalve 12:6f2531038ea4 96 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve 12:6f2531038ea4 97 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 98 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 99
Lightvalve 12:6f2531038ea4 100 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 101 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 102 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 103
Lightvalve 12:6f2531038ea4 104 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 105 MODE_TEST_PWM_CONTROL, //10
Lightvalve 14:8e7590227d22 106
Lightvalve 14:8e7590227d22 107 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 108 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 109 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 110
Lightvalve 12:6f2531038ea4 111 //utility
Lightvalve 12:6f2531038ea4 112 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 114 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 116 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 117 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 118 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 119
Lightvalve 12:6f2531038ea4 120 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 121 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 122 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 123 };
Lightvalve 12:6f2531038ea4 124
GiJeongKim 0:51c43836c1d7 125 int main()
GiJeongKim 0:51c43836c1d7 126 {
jobuuu 6:df07d3491e3a 127 /*********************************
jobuuu 1:e04e563be5ce 128 *** Initialization
jobuuu 6:df07d3491e3a 129 *********************************/
Lightvalve 16:903b5a4433b4 130 pc.printf("a00000");
Lightvalve 16:903b5a4433b4 131
Lightvalve 11:82d8768d7351 132 LED = 1;
jobuuu 1:e04e563be5ce 133 pc.baud(9600);
Lightvalve 14:8e7590227d22 134
GiJeongKim 0:51c43836c1d7 135 // i2c init
Lightvalve 8:5d2eebdad025 136 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 137 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 138 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 139 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 140 make_delay();
jobuuu 2:a1c0a37df760 141
GiJeongKim 0:51c43836c1d7 142 // // spi init
Lightvalve 16:903b5a4433b4 143 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 144 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 145 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 146 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 147 make_delay();
Lightvalve 16:903b5a4433b4 148
Lightvalve 16:903b5a4433b4 149 //rom
Lightvalve 16:903b5a4433b4 150
Lightvalve 16:903b5a4433b4 151 ROM_INIT_DATA();
Lightvalve 16:903b5a4433b4 152 make_delay();
Lightvalve 13:747daba9cf59 153
GiJeongKim 0:51c43836c1d7 154 // ADC init
jobuuu 5:a4319f79457b 155 Init_ADC();
Lightvalve 11:82d8768d7351 156 make_delay();
jobuuu 2:a1c0a37df760 157
GiJeongKim 0:51c43836c1d7 158 // Pwm init
GiJeongKim 0:51c43836c1d7 159 Init_PWM();
GiJeongKim 0:51c43836c1d7 160 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 161 make_delay();
Lightvalve 13:747daba9cf59 162
Lightvalve 11:82d8768d7351 163 // TMR3 init
Lightvalve 11:82d8768d7351 164 Init_TMR3();
Lightvalve 11:82d8768d7351 165 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 166 make_delay();
Lightvalve 14:8e7590227d22 167
GiJeongKim 0:51c43836c1d7 168 // CAN
jobuuu 2:a1c0a37df760 169 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 170 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 171 make_delay();
Lightvalve 13:747daba9cf59 172
GiJeongKim 0:51c43836c1d7 173 // spi _ enc
GiJeongKim 0:51c43836c1d7 174 spi_enc_set_init();
Lightvalve 11:82d8768d7351 175 make_delay();
Lightvalve 13:747daba9cf59 176
Lightvalve 11:82d8768d7351 177 //DAC init
Lightvalve 16:903b5a4433b4 178 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 179 //dac_1 = 0.0;
Lightvalve 16:903b5a4433b4 180 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 16:903b5a4433b4 181 //dac_2 = 0.0;
Lightvalve 11:82d8768d7351 182 make_delay();
Lightvalve 13:747daba9cf59 183
Lightvalve 13:747daba9cf59 184 for (int i=0; i<100; i++) {
Lightvalve 11:82d8768d7351 185 if(i%2==0)
Lightvalve 11:82d8768d7351 186 ID_index_array[i] = - i * 0.5;
Lightvalve 11:82d8768d7351 187 else
Lightvalve 11:82d8768d7351 188 ID_index_array[i] = (i+1) * 0.5;
Lightvalve 11:82d8768d7351 189 }
Lightvalve 13:747daba9cf59 190
jobuuu 6:df07d3491e3a 191 /************************************
jobuuu 1:e04e563be5ce 192 *** Program is operating!
jobuuu 6:df07d3491e3a 193 *************************************/
GiJeongKim 0:51c43836c1d7 194 while(1) {
Lightvalve 13:747daba9cf59 195
GiJeongKim 0:51c43836c1d7 196 //spi _ enc
Lightvalve 11:82d8768d7351 197 //int a = spi_enc_read();
Lightvalve 14:8e7590227d22 198 //pc.printf("Message received: %d\n", msg.data[0]);
Lightvalve 14:8e7590227d22 199 //pc.printf("Message received: %d\n", 13);
Lightvalve 9:7f07aa6ff49a 200 //i2c
Lightvalve 16:903b5a4433b4 201 //read_field(i2c_slave_addr1);
Lightvalve 16:903b5a4433b4 202 //wait(1);
GiJeongKim 0:51c43836c1d7 203 }
jobuuu 1:e04e563be5ce 204 }
jobuuu 1:e04e563be5ce 205
Lightvalve 14:8e7590227d22 206 int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 207 {
Lightvalve 14:8e7590227d22 208
Lightvalve 13:747daba9cf59 209 int i = 0;
Lightvalve 13:747daba9cf59 210 int Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 211 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 212 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 213 if(i==0) {
Lightvalve 13:747daba9cf59 214 Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 14:8e7590227d22 215 } else {
Lightvalve 13:747daba9cf59 216 Ref_Valve_Pos_FF = ((int) 50.0*(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 + 50*ID_index_array[i-1];
Lightvalve 13:747daba9cf59 217 }
Lightvalve 13:747daba9cf59 218 break;
Lightvalve 13:747daba9cf59 219 }
Lightvalve 13:747daba9cf59 220 }
Lightvalve 14:8e7590227d22 221 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 222 Ref_Valve_Pos_FF = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 223 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 224 Ref_Valve_Pos_FF = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 225 }
Lightvalve 13:747daba9cf59 226 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 227 }
jobuuu 6:df07d3491e3a 228
jobuuu 6:df07d3491e3a 229
Lightvalve 14:8e7590227d22 230 void VALVE_POS_CONTROL(double REF_VALVE_POS)
Lightvalve 14:8e7590227d22 231 {
Lightvalve 13:747daba9cf59 232 int i = 0;
Lightvalve 13:747daba9cf59 233
Lightvalve 13:747daba9cf59 234 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 235 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 236 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 237 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 238 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 239 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 240
Lightvalve 13:747daba9cf59 241 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 242
Lightvalve 14:8e7590227d22 243 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 244 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 245 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 246 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 247 }
Lightvalve 14:8e7590227d22 248
Lightvalve 14:8e7590227d22 249 for(i=0; i<16; i++) {
Lightvalve 14:8e7590227d22 250 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 251 if(i==0) {
Lightvalve 13:747daba9cf59 252 VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 253 } else {
Lightvalve 13:747daba9cf59 254 VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1];
Lightvalve 13:747daba9cf59 255 }
Lightvalve 13:747daba9cf59 256 break;
Lightvalve 13:747daba9cf59 257 }
Lightvalve 13:747daba9cf59 258 }
Lightvalve 14:8e7590227d22 259 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 260 }
Lightvalve 13:747daba9cf59 261
Lightvalve 14:8e7590227d22 262 #define LT_MAX_IDX 57
Lightvalve 14:8e7590227d22 263 double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0,
Lightvalve 14:8e7590227d22 264 -19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
Lightvalve 14:8e7590227d22 265 -9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
Lightvalve 14:8e7590227d22 266 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
Lightvalve 14:8e7590227d22 267 11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
Lightvalve 14:8e7590227d22 268 25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
Lightvalve 14:8e7590227d22 269 }; // duty
Lightvalve 14:8e7590227d22 270 double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8,
Lightvalve 14:8e7590227d22 271 -196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
Lightvalve 14:8e7590227d22 272 -156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
Lightvalve 14:8e7590227d22 273 12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
Lightvalve 14:8e7590227d22 274 173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
Lightvalve 14:8e7590227d22 275 214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
Lightvalve 14:8e7590227d22 276 }; // mV
Lightvalve 13:747daba9cf59 277
Lightvalve 14:8e7590227d22 278 double PWM_duty_byLT(double Ref_V)
Lightvalve 14:8e7590227d22 279 {
Lightvalve 13:747daba9cf59 280 double PWM_duty = 0.0;
Lightvalve 13:747daba9cf59 281 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 13:747daba9cf59 282 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 283 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 13:747daba9cf59 284 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 285 } else {
Lightvalve 13:747daba9cf59 286 int idx = 0;
Lightvalve 13:747daba9cf59 287 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 13:747daba9cf59 288 double ini_x = LT_Voltage_Output[idx];
Lightvalve 13:747daba9cf59 289 double fin_x = LT_Voltage_Output[idx+1];
Lightvalve 13:747daba9cf59 290 double ini_y = LT_PWM_duty[idx];
Lightvalve 13:747daba9cf59 291 double fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 292 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 293 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 294 break;
Lightvalve 13:747daba9cf59 295 }
Lightvalve 13:747daba9cf59 296 }
Lightvalve 13:747daba9cf59 297 }
Lightvalve 14:8e7590227d22 298
Lightvalve 13:747daba9cf59 299 return PWM_duty;
Lightvalve 13:747daba9cf59 300 }
jobuuu 6:df07d3491e3a 301
jobuuu 2:a1c0a37df760 302 /*******************************************************************************
jobuuu 2:a1c0a37df760 303 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 304 *******************************************************************************/
jobuuu 2:a1c0a37df760 305
jobuuu 2:a1c0a37df760 306 unsigned long CNT_TMR4 = 0;
jobuuu 2:a1c0a37df760 307 double FREQ_TMR4 = (double)FREQ_20k;
jobuuu 5:a4319f79457b 308 double DT_TMR4 = (double)DT_20k;
jobuuu 1:e04e563be5ce 309 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 310 {
jobuuu 2:a1c0a37df760 311 if ( TIM4->SR & TIM_SR_UIF ) {
jobuuu 1:e04e563be5ce 312 /*******************************************************
Lightvalve 13:747daba9cf59 313 *** Sensor Read & Data Handling
jobuuu 1:e04e563be5ce 314 ********************************************************/
Lightvalve 13:747daba9cf59 315
Lightvalve 16:903b5a4433b4 316 if((CNT_TMR4%2)==0) {
Lightvalve 15:bd0d12728506 317 //Using LoadCell
Lightvalve 15:bd0d12728506 318 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 319 // //while((ADC1->SR & 0b10));
Lightvalve 15:bd0d12728506 320 // double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 15:bd0d12728506 321 // double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
Lightvalve 15:bd0d12728506 322 // torq.sen = torq.sen*(1.0-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 15:bd0d12728506 323
Lightvalve 14:8e7590227d22 324 //Pressure sensor A
Lightvalve 14:8e7590227d22 325 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 14:8e7590227d22 326 //while((ADC1->SR & 0b10));
Lightvalve 14:8e7590227d22 327 double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 14:8e7590227d22 328 double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR + 1.0;
Lightvalve 14:8e7590227d22 329 pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 14:8e7590227d22 330 //Pressure sensor 1B
Lightvalve 15:bd0d12728506 331 ADC2->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 332 //while((ADC2->SR & 0b10));
Lightvalve 14:8e7590227d22 333 double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 14:8e7590227d22 334 double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR + 1.0;
Lightvalve 14:8e7590227d22 335 pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 15:bd0d12728506 336 torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
Lightvalve 14:8e7590227d22 337
Lightvalve 15:bd0d12728506 338 /*
Lightvalve 14:8e7590227d22 339 //Current
jobuuu 5:a4319f79457b 340 ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 341 // a1=ADC2->DR;
Lightvalve 11:82d8768d7351 342 // int raw_cur = ADC3->DR;
jobuuu 5:a4319f79457b 343 while((ADC3->SR & 0b10));
jobuuu 5:a4319f79457b 344 double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
jobuuu 5:a4319f79457b 345 double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
jobuuu 7:e9086c72bb22 346 cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 14:8e7590227d22 347 */
jobuuu 2:a1c0a37df760 348 }
jobuuu 1:e04e563be5ce 349
Lightvalve 11:82d8768d7351 350 /*******************************************************
Lightvalve 11:82d8768d7351 351 *** Timer Counting & etc.
Lightvalve 11:82d8768d7351 352 ********************************************************/
Lightvalve 13:747daba9cf59 353 CNT_TMR4++;
Lightvalve 11:82d8768d7351 354 }
Lightvalve 11:82d8768d7351 355 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 356 }
Lightvalve 11:82d8768d7351 357
Lightvalve 11:82d8768d7351 358 unsigned long CNT_TMR3 = 0;
Lightvalve 11:82d8768d7351 359 double FREQ_TMR3 = (double)FREQ_5k;
Lightvalve 11:82d8768d7351 360 double DT_TMR3 = (double)DT_5k;
Lightvalve 11:82d8768d7351 361 extern "C" void TIM3_IRQHandler(void)
Lightvalve 11:82d8768d7351 362 {
Lightvalve 11:82d8768d7351 363 if ( TIM3->SR & TIM_SR_UIF ) {
Lightvalve 14:8e7590227d22 364
Lightvalve 12:6f2531038ea4 365 ENC_UPDATE();
Lightvalve 13:747daba9cf59 366
Lightvalve 14:8e7590227d22 367 /*
Lightvalve 13:747daba9cf59 368 // Reference Loop
Lightvalve 12:6f2531038ea4 369 switch (REFERENCE_MODE) {
Lightvalve 13:747daba9cf59 370 case MODE_REF_NO_ACT: {
Lightvalve 12:6f2531038ea4 371 break;
Lightvalve 12:6f2531038ea4 372 }
Lightvalve 13:747daba9cf59 373 case MODE_REF_DIRECT: {
Lightvalve 12:6f2531038ea4 374 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 375 Vout.ref = (double) Vout.ref;
Lightvalve 12:6f2531038ea4 376 }
Lightvalve 12:6f2531038ea4 377 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 378 valve_pos.ref = (double) valve_pos.ref;
Lightvalve 12:6f2531038ea4 379 }
Lightvalve 12:6f2531038ea4 380 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 381 pos.ref = (double) pos.ref;
Lightvalve 14:8e7590227d22 382 vel.ref = (double) vel.ref;
Lightvalve 12:6f2531038ea4 383 }
Lightvalve 12:6f2531038ea4 384 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 385 torq.ref = (double) torq.ref;
Lightvalve 14:8e7590227d22 386 }
Lightvalve 14:8e7590227d22 387 if (FLAG_REFERENCE_CURRENT) {
Lightvalve 14:8e7590227d22 388 cur.ref = ((double)cur.ref);
Lightvalve 12:6f2531038ea4 389 }
Lightvalve 12:6f2531038ea4 390 break;
Lightvalve 12:6f2531038ea4 391 }
Lightvalve 14:8e7590227d22 392
Lightvalve 13:747daba9cf59 393 case MODE_REF_COS_INC: {
Lightvalve 12:6f2531038ea4 394 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 395 Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Vout.ref;
Lightvalve 12:6f2531038ea4 396 }
Lightvalve 12:6f2531038ea4 397 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 398 valve_pos.ref = ((double) valve_pos.ref - (double) INIT_Valve_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Valve_Pos.ref;
Lightvalve 12:6f2531038ea4 399 }
Lightvalve 12:6f2531038ea4 400 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 401 pos.ref = ((double) pos.ref - (double) INIT_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Pos.ref;
Lightvalve 14:8e7590227d22 402 vel.ref = 0.0;
Lightvalve 12:6f2531038ea4 403 }
Lightvalve 12:6f2531038ea4 404 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 405 torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_torq.ref;
Lightvalve 12:6f2531038ea4 406 }
Lightvalve 14:8e7590227d22 407 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 408 if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
Lightvalve 14:8e7590227d22 409 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 410 TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
Lightvalve 14:8e7590227d22 411 //TMR3_COUNT_REFERENCE = 0;
Lightvalve 12:6f2531038ea4 412 }
Lightvalve 12:6f2531038ea4 413 break;
Lightvalve 12:6f2531038ea4 414 }
Lightvalve 13:747daba9cf59 415
Lightvalve 13:747daba9cf59 416
Lightvalve 13:747daba9cf59 417 case MODE_REF_LINE_INC: {
Lightvalve 12:6f2531038ea4 418 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 419 Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_Vout.ref;
Lightvalve 12:6f2531038ea4 420 }
Lightvalve 12:6f2531038ea4 421 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 422 valve_pos.ref = ((double) valve_pos.ref - (double) INIT_valve_pos.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_valve_pos.ref;
Lightvalve 12:6f2531038ea4 423 }
Lightvalve 12:6f2531038ea4 424 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 425 pos.ref = ((double) pos.ref - (double) INIT_REF_POS)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_POS;
Lightvalve 14:8e7590227d22 426 vel.ref = ((double) pos.ref - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k; // pulse/sec
Lightvalve 12:6f2531038ea4 427 }
Lightvalve 12:6f2531038ea4 428 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 429 torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_torq.ref;
Lightvalve 12:6f2531038ea4 430 }
Lightvalve 14:8e7590227d22 431 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 432 if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
Lightvalve 12:6f2531038ea4 433 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 434 TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
Lightvalve 14:8e7590227d22 435 //TMR3_COUNT_REFERENCE = 0;
Lightvalve 12:6f2531038ea4 436 }
Lightvalve 12:6f2531038ea4 437 break;
Lightvalve 12:6f2531038ea4 438 }
Lightvalve 13:747daba9cf59 439
Lightvalve 13:747daba9cf59 440 case MODE_REF_SIN_WAVE: {
Lightvalve 12:6f2531038ea4 441 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 442 Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
Lightvalve 12:6f2531038ea4 443 }
Lightvalve 12:6f2531038ea4 444 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 445 valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
Lightvalve 12:6f2531038ea4 446 }
Lightvalve 12:6f2531038ea4 447 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 448 Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
Lightvalve 12:6f2531038ea4 449 }
Lightvalve 12:6f2531038ea4 450 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 451 Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
Lightvalve 12:6f2531038ea4 452 }
Lightvalve 14:8e7590227d22 453 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 454 if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
Lightvalve 12:6f2531038ea4 455 REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 456 TMR3_COUNT_REFERENCE = 0;
Lightvalve 12:6f2531038ea4 457 }
Lightvalve 12:6f2531038ea4 458 break;
Lightvalve 12:6f2531038ea4 459 }
Lightvalve 13:747daba9cf59 460
Lightvalve 13:747daba9cf59 461 case MODE_REF_SQUARE_WAVE: {
Lightvalve 12:6f2531038ea4 462 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 463 Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
Lightvalve 14:8e7590227d22 464 if (Vout.ref >= Vout.ref) Vout.ref = REF_MAG + Vout.ref;
Lightvalve 14:8e7590227d22 465 else Vout.ref = -REF_MAG + Vout.ref;
Lightvalve 12:6f2531038ea4 466 }
Lightvalve 12:6f2531038ea4 467 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 468 valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
Lightvalve 14:8e7590227d22 469 if (valve_pos.ref >= valve_pos.ref) valve_pos.ref = REF_MAG + valve_pos.ref;
Lightvalve 14:8e7590227d22 470 else valve_pos.ref = -REF_MAG + valve_pos.ref;
Lightvalve 12:6f2531038ea4 471 }
Lightvalve 12:6f2531038ea4 472 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 473 Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
Lightvalve 14:8e7590227d22 474 if (Ref_Joint_Pos >= pos.ref) valve_pos.ref = REF_MAG + pos.ref;
Lightvalve 14:8e7590227d22 475 else Ref_Joint_Pos = -REF_MAG + pos.ref;
Lightvalve 12:6f2531038ea4 476 }
Lightvalve 12:6f2531038ea4 477 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 478 Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
Lightvalve 14:8e7590227d22 479 if (Ref_Joint_Torq >= torq.ref) valve_pos.ref = REF_MAG + torq.ref;
Lightvalve 14:8e7590227d22 480 else Ref_Joint_Torq = -REF_MAG + torq.ref;
Lightvalve 12:6f2531038ea4 481 }
Lightvalve 14:8e7590227d22 482 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 483 if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
Lightvalve 14:8e7590227d22 484 REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 485 TMR3_COUNT_REFERENCE = 0;
Lightvalve 14:8e7590227d22 486 }
Lightvalve 13:747daba9cf59 487 break;
Lightvalve 13:747daba9cf59 488 }
Lightvalve 13:747daba9cf59 489
Lightvalve 14:8e7590227d22 490 default:
Lightvalve 14:8e7590227d22 491 break;
Lightvalve 14:8e7590227d22 492 }
Lightvalve 14:8e7590227d22 493
Lightvalve 14:8e7590227d22 494 */
Lightvalve 14:8e7590227d22 495
Lightvalve 14:8e7590227d22 496 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 14:8e7590227d22 497 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 498 case MODE_NO_ACT: {
Lightvalve 14:8e7590227d22 499 V_out = 0;
Lightvalve 13:747daba9cf59 500 break;
Lightvalve 13:747daba9cf59 501 }
Lightvalve 14:8e7590227d22 502
Lightvalve 14:8e7590227d22 503 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 14:8e7590227d22 504 V_out = Vout.ref;
Lightvalve 14:8e7590227d22 505 break;
Lightvalve 14:8e7590227d22 506 }
Lightvalve 14:8e7590227d22 507
Lightvalve 14:8e7590227d22 508 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 509 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 510 break;
Lightvalve 14:8e7590227d22 511 }
Lightvalve 14:8e7590227d22 512
Lightvalve 14:8e7590227d22 513 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 13:747daba9cf59 514 double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
Lightvalve 13:747daba9cf59 515 double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
Lightvalve 13:747daba9cf59 516 double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 517
Lightvalve 13:747daba9cf59 518 // feedback input for position control
Lightvalve 14:8e7590227d22 519 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 520 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 521 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 522 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 523 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 524 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 525 // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 14:8e7590227d22 526 PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 13:747daba9cf59 527 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 528
Lightvalve 13:747daba9cf59 529 // feedforward input for position control
Lightvalve 14:8e7590227d22 530 double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 13:747daba9cf59 531 double K_ff = 0.9;
Lightvalve 14:8e7590227d22 532 if(Ref_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 533 if(Ref_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 534 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 535
Lightvalve 13:747daba9cf59 536 // torque feedback
Lightvalve 15:bd0d12728506 537 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 538 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 539 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 540 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 541 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 542 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 543 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 544 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 15:bd0d12728506 545
Lightvalve 13:747daba9cf59 546 PWM_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 547
Lightvalve 14:8e7590227d22 548 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 549
Lightvalve 13:747daba9cf59 550 break;
Lightvalve 13:747daba9cf59 551 }
Lightvalve 14:8e7590227d22 552
Lightvalve 14:8e7590227d22 553 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 13:747daba9cf59 554 double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
Lightvalve 13:747daba9cf59 555 double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
Lightvalve 13:747daba9cf59 556 double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
Lightvalve 13:747daba9cf59 557 int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 558 // feedback input for position control
Lightvalve 14:8e7590227d22 559 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 560 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 561 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 562 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 563 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 564 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 565 VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 13:747daba9cf59 566 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 567
Lightvalve 14:8e7590227d22 568
Lightvalve 13:747daba9cf59 569 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 570 // feedforward input for position control
Lightvalve 14:8e7590227d22 571 // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 572 // double K_ff = 0.9;
Lightvalve 14:8e7590227d22 573 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 574 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 575 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 576
Lightvalve 13:747daba9cf59 577 // torque feedback
Lightvalve 15:bd0d12728506 578 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 579 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 580 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 581 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 582 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 583 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 584 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 585 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 13:747daba9cf59 586 VALVE_POS_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 587
Lightvalve 14:8e7590227d22 588 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 589 //valve_pos.ref = DDV_JOINT_POS_FF(Ref_Joint_Vel);
Lightvalve 14:8e7590227d22 590
Lightvalve 14:8e7590227d22 591 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 592 break;
Lightvalve 13:747daba9cf59 593 }
Lightvalve 14:8e7590227d22 594
Lightvalve 14:8e7590227d22 595 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 596
Lightvalve 13:747daba9cf59 597 break;
Lightvalve 13:747daba9cf59 598 }
Lightvalve 14:8e7590227d22 599
Lightvalve 14:8e7590227d22 600 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 14:8e7590227d22 601 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 602 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 603 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 604 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 605 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 606 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 607 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 608
Lightvalve 14:8e7590227d22 609 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 610 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 611 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 612 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 613 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 614 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 615 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 616
Lightvalve 13:747daba9cf59 617 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 14:8e7590227d22 618
Lightvalve 14:8e7590227d22 619 V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 620
Lightvalve 13:747daba9cf59 621 CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
Lightvalve 13:747daba9cf59 622 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 623 if (DIR_VALVE > 0) {
Lightvalve 13:747daba9cf59 624 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 625 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 626 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 627 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 628 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 629 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 630 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
Lightvalve 13:747daba9cf59 631 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
Lightvalve 13:747daba9cf59 632 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
Lightvalve 13:747daba9cf59 633 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
Lightvalve 13:747daba9cf59 634 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
Lightvalve 13:747daba9cf59 635 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 636 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 637 } else {
Lightvalve 13:747daba9cf59 638 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 639 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 640 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 641 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 642 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 643 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 644 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
Lightvalve 13:747daba9cf59 645 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
Lightvalve 13:747daba9cf59 646 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
Lightvalve 13:747daba9cf59 647 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
Lightvalve 13:747daba9cf59 648 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
Lightvalve 13:747daba9cf59 649 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 650 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 651 }
Lightvalve 13:747daba9cf59 652 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
Lightvalve 14:8e7590227d22 653
Lightvalve 13:747daba9cf59 654 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
Lightvalve 13:747daba9cf59 655 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
Lightvalve 14:8e7590227d22 656
Lightvalve 14:8e7590227d22 657 V_out = V_out + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
Lightvalve 14:8e7590227d22 658 break;
Lightvalve 14:8e7590227d22 659 }
Lightvalve 14:8e7590227d22 660
Lightvalve 14:8e7590227d22 661 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 14:8e7590227d22 662 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 663 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 664 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 665 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 666 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 667 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 668 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 669
Lightvalve 15:bd0d12728506 670 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 671 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 672 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 673 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 674 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 675 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 676 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 677
Lightvalve 14:8e7590227d22 678 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 679 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 680
Lightvalve 14:8e7590227d22 681 break;
Lightvalve 14:8e7590227d22 682 }
Lightvalve 14:8e7590227d22 683
Lightvalve 14:8e7590227d22 684 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 685
Lightvalve 14:8e7590227d22 686 break;
Lightvalve 14:8e7590227d22 687 }
Lightvalve 14:8e7590227d22 688
Lightvalve 14:8e7590227d22 689
Lightvalve 14:8e7590227d22 690 case MODE_TEST_CURRENT_CONTROL:
Lightvalve 14:8e7590227d22 691 {
Lightvalve 14:8e7590227d22 692 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 693 TMR3_COUNT_IREF = 0;
Lightvalve 14:8e7590227d22 694 } TMR3_COUNT_IREF++;
Lightvalve 14:8e7590227d22 695
Lightvalve 14:8e7590227d22 696 // Set Current Reference
Lightvalve 14:8e7590227d22 697 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 14:8e7590227d22 698 double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 699 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 700 I_REF = I_REF_MID + 1.0;
Lightvalve 14:8e7590227d22 701 } else {
Lightvalve 14:8e7590227d22 702 I_REF = I_REF_MID - 1.0;
Lightvalve 14:8e7590227d22 703 }
Lightvalve 14:8e7590227d22 704 // double T = 1.0; // wave period
Lightvalve 14:8e7590227d22 705 // I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
Lightvalve 14:8e7590227d22 706 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 14:8e7590227d22 707
Lightvalve 14:8e7590227d22 708 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 14:8e7590227d22 709 CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 710 }
Lightvalve 14:8e7590227d22 711 break;
Lightvalve 14:8e7590227d22 712 }
Lightvalve 14:8e7590227d22 713
Lightvalve 14:8e7590227d22 714 case MODE_TEST_PWM_CONTROL:
Lightvalve 14:8e7590227d22 715 {
Lightvalve 14:8e7590227d22 716 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 717 TMR3_COUNT_IREF = 0;
Lightvalve 14:8e7590227d22 718 } TMR3_COUNT_IREF++;
Lightvalve 14:8e7590227d22 719
Lightvalve 14:8e7590227d22 720 // Set PWM reference
Lightvalve 14:8e7590227d22 721 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 14:8e7590227d22 722 double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 723 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 724 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 725 } else {
Lightvalve 14:8e7590227d22 726 CUR_PWM = -1000;
Lightvalve 14:8e7590227d22 727 }
Lightvalve 14:8e7590227d22 728
Lightvalve 14:8e7590227d22 729 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 14:8e7590227d22 730 CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 731 }
Lightvalve 13:747daba9cf59 732 break;
Lightvalve 13:747daba9cf59 733 }
Lightvalve 13:747daba9cf59 734
Lightvalve 14:8e7590227d22 735
Lightvalve 14:8e7590227d22 736 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 737
Lightvalve 14:8e7590227d22 738 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 739 CurrentControl();
Lightvalve 14:8e7590227d22 740 break;
Lightvalve 14:8e7590227d22 741 }
Lightvalve 14:8e7590227d22 742
Lightvalve 14:8e7590227d22 743 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 14:8e7590227d22 744 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 745 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 746 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 747 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 14:8e7590227d22 748
Lightvalve 14:8e7590227d22 749 // feedback input for position control
Lightvalve 14:8e7590227d22 750 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 751 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 752 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 753 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 754 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 755 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 14:8e7590227d22 756
Lightvalve 14:8e7590227d22 757 // feedforward input for position control
Lightvalve 14:8e7590227d22 758 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 759 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 760 double K_v = 0.0;
Lightvalve 14:8e7590227d22 761 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 762 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 763 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 13:747daba9cf59 764
Lightvalve 14:8e7590227d22 765 // feedback input for position control
Lightvalve 14:8e7590227d22 766 I_REF_FORCE_FB = 0.0;
Lightvalve 13:747daba9cf59 767
Lightvalve 14:8e7590227d22 768 // feedforward input for position control
Lightvalve 14:8e7590227d22 769 I_REF_FORCE_FF = 0.0;
Lightvalve 14:8e7590227d22 770
Lightvalve 14:8e7590227d22 771 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 13:747daba9cf59 772
Lightvalve 14:8e7590227d22 773 CurrentControl();
Lightvalve 13:747daba9cf59 774
Lightvalve 13:747daba9cf59 775 break;
Lightvalve 13:747daba9cf59 776 }
Lightvalve 13:747daba9cf59 777
Lightvalve 14:8e7590227d22 778 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 14:8e7590227d22 779 double T_REF = 0.0; // Torque Reference
Lightvalve 14:8e7590227d22 780 double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 781 double I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 14:8e7590227d22 782
Lightvalve 14:8e7590227d22 783 // feedback input for position control
Lightvalve 14:8e7590227d22 784 double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 785 double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 786 double K_spring = 0.7;
Lightvalve 14:8e7590227d22 787 double D_damper = 0.02;
Lightvalve 14:8e7590227d22 788 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 14:8e7590227d22 789
Lightvalve 14:8e7590227d22 790 // torque feedback
Lightvalve 15:bd0d12728506 791 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 792 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 793 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 794 torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 795 I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 14:8e7590227d22 796
Lightvalve 14:8e7590227d22 797 // velocity compensation for torque control
Lightvalve 14:8e7590227d22 798 double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 799 double K_vc = 1.5; // Velocity comp. gain
Lightvalve 14:8e7590227d22 800 double K_v = 0.0; // Valve gain
Lightvalve 14:8e7590227d22 801 if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
Lightvalve 14:8e7590227d22 802 if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
Lightvalve 14:8e7590227d22 803 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 13:747daba9cf59 804
Lightvalve 14:8e7590227d22 805 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 14:8e7590227d22 806 // cur.ref = I_REF_FORCE_FB;
Lightvalve 14:8e7590227d22 807
Lightvalve 14:8e7590227d22 808 double I_MAX = 10.00; // Maximum Current : 10mV
Lightvalve 14:8e7590227d22 809 double Ka = 1.0/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 810 if(cur.ref > I_MAX) {
Lightvalve 14:8e7590227d22 811 double I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 812 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 813 cur.ref = I_MAX;
Lightvalve 14:8e7590227d22 814 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 815 } else if(cur.ref < -I_MAX) {
Lightvalve 14:8e7590227d22 816 double I_rem = cur.ref-(-I_MAX);
Lightvalve 14:8e7590227d22 817 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 818 cur.ref = -I_MAX;
Lightvalve 14:8e7590227d22 819 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 820 }
Lightvalve 14:8e7590227d22 821
Lightvalve 14:8e7590227d22 822 CurrentControl();
Lightvalve 14:8e7590227d22 823
Lightvalve 14:8e7590227d22 824
Lightvalve 14:8e7590227d22 825 /*
Lightvalve 14:8e7590227d22 826 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 827 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 828 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 829 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 14:8e7590227d22 830
Lightvalve 14:8e7590227d22 831 // feedback input for position control
Lightvalve 14:8e7590227d22 832 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 833 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 834 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 835 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 836 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 837 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 14:8e7590227d22 838
Lightvalve 14:8e7590227d22 839 // feedforward input for position control
Lightvalve 14:8e7590227d22 840 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 841 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 842 double K_v = 0.0;
Lightvalve 14:8e7590227d22 843 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 844 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 845 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 14:8e7590227d22 846
Lightvalve 14:8e7590227d22 847 // feedback input for position control
Lightvalve 14:8e7590227d22 848 I_REF_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 849
Lightvalve 14:8e7590227d22 850 // feedforward input for position control
Lightvalve 14:8e7590227d22 851 I_REF_FORCE_FF = 0.0;
Lightvalve 14:8e7590227d22 852
Lightvalve 14:8e7590227d22 853 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 14:8e7590227d22 854
Lightvalve 14:8e7590227d22 855 CurrentControl();
Lightvalve 14:8e7590227d22 856 */
Lightvalve 14:8e7590227d22 857
Lightvalve 13:747daba9cf59 858 break;
Lightvalve 13:747daba9cf59 859 }
Lightvalve 14:8e7590227d22 860
Lightvalve 14:8e7590227d22 861 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 862 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 863 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 864 CUR_TORQUE_sum += torq.sen;
Lightvalve 15:bd0d12728506 865
Lightvalve 14:8e7590227d22 866 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 867 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
Lightvalve 13:747daba9cf59 868 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 869
Lightvalve 13:747daba9cf59 870 TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve 15:bd0d12728506 871
Lightvalve 13:747daba9cf59 872 if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
Lightvalve 13:747daba9cf59 873 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 16:903b5a4433b4 874
Lightvalve 16:903b5a4433b4 875 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 876
Lightvalve 16:903b5a4433b4 877 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 16:903b5a4433b4 878 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 13:747daba9cf59 879 }
Lightvalve 13:747daba9cf59 880 } else {
Lightvalve 13:747daba9cf59 881 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 882 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 883 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 884 CUR_TORQUE_mean = 0;
Lightvalve 16:903b5a4433b4 885
Lightvalve 16:903b5a4433b4 886 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 887
Lightvalve 16:903b5a4433b4 888 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 15:bd0d12728506 889
Lightvalve 15:bd0d12728506 890 pc.printf("%f\n", TORQUE_VREF);
Lightvalve 16:903b5a4433b4 891 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 14:8e7590227d22 892
Lightvalve 13:747daba9cf59 893 }
Lightvalve 14:8e7590227d22 894 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 895 break;
Lightvalve 14:8e7590227d22 896 }
Lightvalve 14:8e7590227d22 897
Lightvalve 14:8e7590227d22 898 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 899 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 900 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 901 else temp_time = 0;
Lightvalve 13:747daba9cf59 902 }
Lightvalve 13:747daba9cf59 903 if (need_enc_init) {
Lightvalve 14:8e7590227d22 904 if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 905 VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 906 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 907 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 908 VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 909 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 910 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 911 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 912 }
Lightvalve 14:8e7590227d22 913
Lightvalve 14:8e7590227d22 914 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 915 VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 916 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 917
Lightvalve 14:8e7590227d22 918 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
Lightvalve 13:747daba9cf59 919 VALVE_PWM_RAW = 0;
Lightvalve 13:747daba9cf59 920 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 921 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 922 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 923 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 924 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 925 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 926 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 927 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 928 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 929
Lightvalve 13:747daba9cf59 930 // Position of Dead Zone
Lightvalve 13:747daba9cf59 931 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 932 // | / | / |/
Lightvalve 13:747daba9cf59 933 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 934 // |/ / | / |
Lightvalve 13:747daba9cf59 935 // /| / | / |
Lightvalve 13:747daba9cf59 936 // 0V 0V 0V
Lightvalve 14:8e7590227d22 937
Lightvalve 13:747daba9cf59 938 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 939 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 940 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 941 } else {
Lightvalve 13:747daba9cf59 942 VALVE_PWM_RAW -= DZ_dir;
Lightvalve 13:747daba9cf59 943 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 944 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 945 }
Lightvalve 13:747daba9cf59 946 if (DZ_temp_cnt == 5) {
Lightvalve 13:747daba9cf59 947 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW;
Lightvalve 13:747daba9cf59 948 else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW;
Lightvalve 13:747daba9cf59 949 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 950 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 951 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 952 }
Lightvalve 13:747daba9cf59 953 } else {
Lightvalve 14:8e7590227d22 954 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 955 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 956 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 957 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 958 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 959 }
Lightvalve 13:747daba9cf59 960 VALVE_PWM_RAW = 0;
Lightvalve 16:903b5a4433b4 961
Lightvalve 16:903b5a4433b4 962 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 963
Lightvalve 16:903b5a4433b4 964 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 965 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 966
Lightvalve 13:747daba9cf59 967 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 968 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 969 }
Lightvalve 13:747daba9cf59 970 }
Lightvalve 14:8e7590227d22 971 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 972 break;
Lightvalve 13:747daba9cf59 973 }
Lightvalve 14:8e7590227d22 974
Lightvalve 14:8e7590227d22 975 case MODE_FIND_HOME: {
Lightvalve 14:8e7590227d22 976
Lightvalve 14:8e7590227d22 977
Lightvalve 14:8e7590227d22 978 ////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
Lightvalve 14:8e7590227d22 979 if (FLAG_FIND_HOME == true) {
Lightvalve 14:8e7590227d22 980 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 981 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 982 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 983 pos.ref = pos.sen;
Lightvalve 14:8e7590227d22 984 FLAG_FIND_HOME = false;
Lightvalve 14:8e7590227d22 985 }
Lightvalve 14:8e7590227d22 986
Lightvalve 14:8e7590227d22 987 int check_enc = (TMR_FREQ_5k/10);
Lightvalve 14:8e7590227d22 988 if(cnt_findhome%check_enc == 0) {
Lightvalve 14:8e7590227d22 989 FINDHOME_POSITION = pos.sen;
Lightvalve 14:8e7590227d22 990 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 14:8e7590227d22 991 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 14:8e7590227d22 992 }
Lightvalve 14:8e7590227d22 993 cnt_findhome++;
Lightvalve 14:8e7590227d22 994 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 995
Lightvalve 14:8e7590227d22 996 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 14:8e7590227d22 997 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 14:8e7590227d22 998 } else {
Lightvalve 14:8e7590227d22 999 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1000 }
Lightvalve 14:8e7590227d22 1001
Lightvalve 14:8e7590227d22 1002 if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1003 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 14:8e7590227d22 1004 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
Lightvalve 14:8e7590227d22 1005 else pos.ref = pos.ref - 1.0;
Lightvalve 14:8e7590227d22 1006 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 1007 V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
Lightvalve 14:8e7590227d22 1008 // if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
Lightvalve 14:8e7590227d22 1009 // else VALVE_PWM_RAW = -100;
Lightvalve 14:8e7590227d22 1010 } else {
Lightvalve 14:8e7590227d22 1011 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 14:8e7590227d22 1012 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 14:8e7590227d22 1013 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 14:8e7590227d22 1014 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1015 TMR3_COUNT_REFERENCE = 0;
Lightvalve 14:8e7590227d22 1016 vel.ref = 0.0;
Lightvalve 14:8e7590227d22 1017 //REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 1018 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
Lightvalve 14:8e7590227d22 1019
Lightvalve 14:8e7590227d22 1020 FINDHOME_POSITION = 0;
Lightvalve 14:8e7590227d22 1021 FINDHOME_POSITION_OLD = 0;
Lightvalve 14:8e7590227d22 1022 FINDHOME_VELOCITY = 0;
Lightvalve 14:8e7590227d22 1023 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1024 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1025 }
Lightvalve 14:8e7590227d22 1026
Lightvalve 14:8e7590227d22 1027 /*
Lightvalve 14:8e7590227d22 1028 ////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
Lightvalve 13:747daba9cf59 1029 if (FLAG_FIND_HOME == true) {
Lightvalve 13:747daba9cf59 1030 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1031 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1032 REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 1033 Ref_Joint_Pos = pos.sen;
Lightvalve 13:747daba9cf59 1034 FLAG_FIND_HOME = false;
Lightvalve 13:747daba9cf59 1035 }
Lightvalve 13:747daba9cf59 1036
Lightvalve 14:8e7590227d22 1037 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 14:8e7590227d22 1038 if(cnt_findhome%cnt_check_enc == 0){
Lightvalve 14:8e7590227d22 1039 FINDHOME_POSITION = pos.sen;
Lightvalve 13:747daba9cf59 1040 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 1041 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 1042 } cnt_findhome++;
Lightvalve 13:747daba9cf59 1043 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1044
Lightvalve 13:747daba9cf59 1045 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 13:747daba9cf59 1046 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 13:747daba9cf59 1047 } else {
Lightvalve 13:747daba9cf59 1048 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1049 }
Lightvalve 13:747daba9cf59 1050
Lightvalve 14:8e7590227d22 1051 if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 13:747daba9cf59 1052 REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 13:747daba9cf59 1053 if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
Lightvalve 13:747daba9cf59 1054 else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
Lightvalve 14:8e7590227d22 1055 pos.err = Ref_Joint_Pos - pos.sen;
Lightvalve 14:8e7590227d22 1056 I_REF = 0.001*((double)pos.err);
Lightvalve 14:8e7590227d22 1057 if(I_REF>5.0) I_REF = 5.0;
Lightvalve 14:8e7590227d22 1058 if(I_REF<-5.0) I_REF = -5.0;
Lightvalve 14:8e7590227d22 1059 cur.ref = I_REF;
Lightvalve 14:8e7590227d22 1060 CurrentControl();
Lightvalve 13:747daba9cf59 1061 } else {
Lightvalve 13:747daba9cf59 1062 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 13:747daba9cf59 1063 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 13:747daba9cf59 1064 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 13:747daba9cf59 1065 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1066 TMR3_COUNT_REFERENCE = 0;
Lightvalve 13:747daba9cf59 1067 Ref_Joint_Vel = 0.0;
Lightvalve 13:747daba9cf59 1068 REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 1069 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 13:747daba9cf59 1070
Lightvalve 13:747daba9cf59 1071 FINDHOME_POSITION = 0;
Lightvalve 13:747daba9cf59 1072 FINDHOME_POSITION_OLD = 0;
Lightvalve 13:747daba9cf59 1073 FINDHOME_VELOCITY = 0;
Lightvalve 13:747daba9cf59 1074 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1075 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1076 }
Lightvalve 14:8e7590227d22 1077 */
Lightvalve 14:8e7590227d22 1078
Lightvalve 13:747daba9cf59 1079 break;
Lightvalve 13:747daba9cf59 1080 }
Lightvalve 14:8e7590227d22 1081
Lightvalve 14:8e7590227d22 1082 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1083 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1084 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1085 else {
Lightvalve 13:747daba9cf59 1086 VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 13:747daba9cf59 1087 temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1088 }
Lightvalve 13:747daba9cf59 1089 }
Lightvalve 13:747daba9cf59 1090 if (need_enc_init) {
Lightvalve 14:8e7590227d22 1091 if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1092 VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1093 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1094 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1095 VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1096 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1097 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1098 need_enc_init = false;
Lightvalve 13:747daba9cf59 1099 check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1100 check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1101 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1102 }
Lightvalve 13:747daba9cf59 1103 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1104 }
Lightvalve 14:8e7590227d22 1105 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1106 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1107 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 13:747daba9cf59 1108 VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1);
Lightvalve 13:747daba9cf59 1109 VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1110 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1111 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1112 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1113 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 13:747daba9cf59 1114 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 13:747daba9cf59 1115 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1116 }
Lightvalve 13:747daba9cf59 1117 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 13:747daba9cf59 1118 VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
Lightvalve 13:747daba9cf59 1119 VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1120 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1121 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1122 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1123 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 13:747daba9cf59 1124 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 13:747daba9cf59 1125 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1126 }
Lightvalve 13:747daba9cf59 1127 }
Lightvalve 13:747daba9cf59 1128 if (fl_temp_cnt2 == 100) {
Lightvalve 16:903b5a4433b4 1129
Lightvalve 16:903b5a4433b4 1130 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1131
Lightvalve 16:903b5a4433b4 1132 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
Lightvalve 13:747daba9cf59 1133 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1134 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1135 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1136 flag_flowrate++;
Lightvalve 13:747daba9cf59 1137 }
Lightvalve 13:747daba9cf59 1138 if (flag_flowrate == 10) {
Lightvalve 13:747daba9cf59 1139 VALVE_PWM_RAW = 0;
Lightvalve 13:747daba9cf59 1140 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1141 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1142 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1143 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1144 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1145 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1146 }
Lightvalve 14:8e7590227d22 1147
Lightvalve 13:747daba9cf59 1148 }
Lightvalve 13:747daba9cf59 1149 break;
Lightvalve 13:747daba9cf59 1150 }
Lightvalve 14:8e7590227d22 1151
Lightvalve 13:747daba9cf59 1152 }
Lightvalve 14:8e7590227d22 1153
Lightvalve 14:8e7590227d22 1154 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1155 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1156 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1157 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1158 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1159
Lightvalve 14:8e7590227d22 1160 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 1161 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
Lightvalve 13:747daba9cf59 1162 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
Lightvalve 13:747daba9cf59 1163 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1164 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1165
Lightvalve 16:903b5a4433b4 1166 double VREF_NullingGain = 0.003;
Lightvalve 13:747daba9cf59 1167 PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 13:747daba9cf59 1168 PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1169
Lightvalve 13:747daba9cf59 1170 if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
Lightvalve 13:747daba9cf59 1171 if (PRES_A_VREF < 0) PRES_A_VREF = 0;
Lightvalve 13:747daba9cf59 1172 if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
Lightvalve 13:747daba9cf59 1173 if (PRES_B_VREF < 0) PRES_B_VREF = 0;
Lightvalve 16:903b5a4433b4 1174
Lightvalve 16:903b5a4433b4 1175 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 1176 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 13:747daba9cf59 1177 }
Lightvalve 13:747daba9cf59 1178 } else {
Lightvalve 13:747daba9cf59 1179 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1180 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1181 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1182 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1183 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1184 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1185
Lightvalve 16:903b5a4433b4 1186 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1187
Lightvalve 15:bd0d12728506 1188 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 15:bd0d12728506 1189 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 16:903b5a4433b4 1190 pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1191 }
Lightvalve 14:8e7590227d22 1192 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1193 break;
Lightvalve 13:747daba9cf59 1194 }
Lightvalve 14:8e7590227d22 1195
Lightvalve 14:8e7590227d22 1196 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1197 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1198 VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
Lightvalve 14:8e7590227d22 1199 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1200 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1201 }
Lightvalve 14:8e7590227d22 1202 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1203 VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
Lightvalve 14:8e7590227d22 1204 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1205 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1206 }
Lightvalve 13:747daba9cf59 1207 } else {
Lightvalve 13:747daba9cf59 1208 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1209 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 13:747daba9cf59 1210 VALVE_PWM_RAW = 0;
Lightvalve 13:747daba9cf59 1211 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL;
Lightvalve 13:747daba9cf59 1212 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
Lightvalve 13:747daba9cf59 1213 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL;
Lightvalve 13:747daba9cf59 1214 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
Lightvalve 13:747daba9cf59 1215 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1216 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1217 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1218 CUR_PRES_B_mean = 0;
Lightvalve 16:903b5a4433b4 1219
Lightvalve 16:903b5a4433b4 1220 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1221
Lightvalve 16:903b5a4433b4 1222 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
Lightvalve 16:903b5a4433b4 1223 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
Lightvalve 13:747daba9cf59 1224 }
Lightvalve 14:8e7590227d22 1225 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1226 break;
Lightvalve 13:747daba9cf59 1227 }
Lightvalve 14:8e7590227d22 1228
Lightvalve 14:8e7590227d22 1229 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 14:8e7590227d22 1230 if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
Lightvalve 14:8e7590227d22 1231 VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
Lightvalve 13:747daba9cf59 1232 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL;
Lightvalve 13:747daba9cf59 1233 else VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1234 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1235 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1236 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 13:747daba9cf59 1237 VALVE_PWM_RAW = 0;
Lightvalve 13:747daba9cf59 1238 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1239 }
Lightvalve 13:747daba9cf59 1240 break;
Lightvalve 13:747daba9cf59 1241 }
Lightvalve 14:8e7590227d22 1242
Lightvalve 14:8e7590227d22 1243 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1244 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1245
Lightvalve 14:8e7590227d22 1246 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 13:747daba9cf59 1247 VALVE_PWM_RAW = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100);
Lightvalve 14:8e7590227d22 1248 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1249 VALVE_PWM_RAW = 1000*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1250 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1251 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1252 data_num = 0;
Lightvalve 14:8e7590227d22 1253 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1254 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1255 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1256 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1257 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1258 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1259 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1260 }
Lightvalve 14:8e7590227d22 1261
Lightvalve 14:8e7590227d22 1262 if(ID_index>=18) {
Lightvalve 13:747daba9cf59 1263 int i;
Lightvalve 13:747daba9cf59 1264 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 14:8e7590227d22 1265 for(i=0; i<18; i++) {
Lightvalve 13:747daba9cf59 1266 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 16:903b5a4433b4 1267
Lightvalve 16:903b5a4433b4 1268 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1269
Lightvalve 16:903b5a4433b4 1270 //spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
Lightvalve 14:8e7590227d22 1271 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1272 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1273 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1274 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1275 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1276 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1277 }
Lightvalve 13:747daba9cf59 1278 }
Lightvalve 16:903b5a4433b4 1279
Lightvalve 16:903b5a4433b4 1280 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1281
Lightvalve 16:903b5a4433b4 1282 //spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
Lightvalve 16:903b5a4433b4 1283 //spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
Lightvalve 13:747daba9cf59 1284 CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 13:747daba9cf59 1285 ID_index = 0;
Lightvalve 13:747daba9cf59 1286 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1287 }
Lightvalve 14:8e7590227d22 1288
Lightvalve 14:8e7590227d22 1289
Lightvalve 13:747daba9cf59 1290 break;
Lightvalve 13:747daba9cf59 1291 }
Lightvalve 14:8e7590227d22 1292
Lightvalve 14:8e7590227d22 1293 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1294
Lightvalve 13:747daba9cf59 1295 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1296 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1297 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1298 V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1299 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1300 V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1301 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1302 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1303 V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1304 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1305 V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1306 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1307 } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1308 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1309 } else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1310 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1311 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1312 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1313 } else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1314 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1315 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1316 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1317 CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1318 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1319 data_num = 0;
Lightvalve 14:8e7590227d22 1320
Lightvalve 14:8e7590227d22 1321 } else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1322 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1323 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1324 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1325
Lightvalve 14:8e7590227d22 1326 } else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1327 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1328 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1329 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1330 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1331 else
Lightvalve 13:747daba9cf59 1332 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1333 } else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1334 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1335 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1336 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1337 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1338 // {
Lightvalve 14:8e7590227d22 1339 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1340 // }
Lightvalve 14:8e7590227d22 1341 // else
Lightvalve 14:8e7590227d22 1342 // {
Lightvalve 14:8e7590227d22 1343 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1344 // }
Lightvalve 14:8e7590227d22 1345 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1346 // {
Lightvalve 14:8e7590227d22 1347 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1348 // }
Lightvalve 14:8e7590227d22 1349
Lightvalve 14:8e7590227d22 1350 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1351 DZ_case = 1;
Lightvalve 14:8e7590227d22 1352 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1353 DZ_case = -1;
Lightvalve 14:8e7590227d22 1354 } else {
Lightvalve 13:747daba9cf59 1355 DZ_case = 0;
Lightvalve 13:747daba9cf59 1356 }
Lightvalve 14:8e7590227d22 1357
Lightvalve 14:8e7590227d22 1358 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1359 first_check = 1;
Lightvalve 13:747daba9cf59 1360 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1361 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1362 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1363 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1364 DZ_index = 1;
Lightvalve 13:747daba9cf59 1365 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1366
Lightvalve 13:747daba9cf59 1367 }
Lightvalve 14:8e7590227d22 1368 }else {
Lightvalve 14:8e7590227d22 1369 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 14:8e7590227d22 1370 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1371 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1372 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1373 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1374 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1375 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1376 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1377 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1378 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1379 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1380 }
Lightvalve 14:8e7590227d22 1381 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1382 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1383 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1384 else
Lightvalve 13:747daba9cf59 1385 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1386 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1387 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1388 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1389 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1390 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1391 // else
Lightvalve 14:8e7590227d22 1392 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1393 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1394 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1395
Lightvalve 14:8e7590227d22 1396 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1397 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1398 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1399 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1400 } else {
Lightvalve 13:747daba9cf59 1401 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1402 }
Lightvalve 14:8e7590227d22 1403
Lightvalve 14:8e7590227d22 1404 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1405
Lightvalve 13:747daba9cf59 1406 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1407 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1408 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1409 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1410 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1411 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1412 DZ_index = 1;
Lightvalve 13:747daba9cf59 1413 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1414 }
Lightvalve 14:8e7590227d22 1415
Lightvalve 13:747daba9cf59 1416 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1417 }
Lightvalve 14:8e7590227d22 1418 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 14:8e7590227d22 1419 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1420 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1421 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1422 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1423 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1424 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION + 64 / DZ_index;
Lightvalve 14:8e7590227d22 1425 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1426 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1427 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1428 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1429 }
Lightvalve 14:8e7590227d22 1430 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1431 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1432 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1433 else
Lightvalve 13:747daba9cf59 1434 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1435 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1436 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1437 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1438 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1439 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1440 // else
Lightvalve 14:8e7590227d22 1441 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1442 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1443 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1444
Lightvalve 14:8e7590227d22 1445 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1446 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1447 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1448 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1449 } else {
Lightvalve 13:747daba9cf59 1450 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1451 }
Lightvalve 14:8e7590227d22 1452
Lightvalve 14:8e7590227d22 1453 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1454
Lightvalve 14:8e7590227d22 1455
Lightvalve 13:747daba9cf59 1456 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1457 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1458 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1459 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1460 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1461 first_check = 0;
Lightvalve 16:903b5a4433b4 1462
Lightvalve 16:903b5a4433b4 1463 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1464
Lightvalve 16:903b5a4433b4 1465 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 16:903b5a4433b4 1466 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 16:903b5a4433b4 1467 //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
Lightvalve 13:747daba9cf59 1468 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1469 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1470 DZ_index = 1;
Lightvalve 13:747daba9cf59 1471 }
Lightvalve 14:8e7590227d22 1472
Lightvalve 13:747daba9cf59 1473 CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1474 }
Lightvalve 14:8e7590227d22 1475 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 14:8e7590227d22 1476 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1477 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1478 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1479 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1480 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1481 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1482 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1483 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1484 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1485 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 14:8e7590227d22 1487 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1488 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1489 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1490 else
Lightvalve 13:747daba9cf59 1491 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1492 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1493 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1494 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1495 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1496 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1497 // else
Lightvalve 14:8e7590227d22 1498 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1499 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1500 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1501
Lightvalve 14:8e7590227d22 1502 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1503 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1504 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1505 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1506 } else {
Lightvalve 13:747daba9cf59 1507 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1508 }
Lightvalve 14:8e7590227d22 1509
Lightvalve 14:8e7590227d22 1510 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1511 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1512 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1513 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1514 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1515 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1516 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1517 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1518 DZ_index = 1;
Lightvalve 13:747daba9cf59 1519 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1520 }
Lightvalve 13:747daba9cf59 1521 }
Lightvalve 14:8e7590227d22 1522 } else {
Lightvalve 14:8e7590227d22 1523 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1524 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1525 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1526 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1527 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1528 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1529 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1530 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1531 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1532 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1533 }
Lightvalve 14:8e7590227d22 1534 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1535 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1536 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1537 else
Lightvalve 13:747daba9cf59 1538 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1539 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1540 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1541 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1542 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1543 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1544 else
Lightvalve 13:747daba9cf59 1545 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1546 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1547 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1548
Lightvalve 14:8e7590227d22 1549 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1550
Lightvalve 14:8e7590227d22 1551
Lightvalve 13:747daba9cf59 1552 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1553 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1554 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1555 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1556 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1557 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1558 first_check = 0;
Lightvalve 13:747daba9cf59 1559 VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve 16:903b5a4433b4 1560
Lightvalve 16:903b5a4433b4 1561 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1562
Lightvalve 16:903b5a4433b4 1563 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 13:747daba9cf59 1564 VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve 16:903b5a4433b4 1565
Lightvalve 16:903b5a4433b4 1566 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1567
Lightvalve 16:903b5a4433b4 1568 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 16:903b5a4433b4 1569 //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
Lightvalve 13:747daba9cf59 1570 CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1571 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1572 DZ_index = 1;
Lightvalve 13:747daba9cf59 1573 }
Lightvalve 14:8e7590227d22 1574
Lightvalve 13:747daba9cf59 1575 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1576 }
Lightvalve 13:747daba9cf59 1577 }
Lightvalve 14:8e7590227d22 1578 }
Lightvalve 13:747daba9cf59 1579 break;
Lightvalve 13:747daba9cf59 1580 }
Lightvalve 14:8e7590227d22 1581
Lightvalve 14:8e7590227d22 1582 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1583 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1584 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1585 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1586 V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 13:747daba9cf59 1587 CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 14:8e7590227d22 1588 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1589 V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1590 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1591 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 14:8e7590227d22 1592 } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1593 V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1594 } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1595 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 14:8e7590227d22 1596 V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1597 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1598 first_check = 1;
Lightvalve 13:747daba9cf59 1599 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1600 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1601 ID_index = 0;
Lightvalve 13:747daba9cf59 1602 max_check = 0;
Lightvalve 13:747daba9cf59 1603 min_check = 0;
Lightvalve 13:747daba9cf59 1604 }
Lightvalve 14:8e7590227d22 1605 } else {
Lightvalve 14:8e7590227d22 1606 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1607 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1608 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1609 data_num = 0;
Lightvalve 14:8e7590227d22 1610 valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1611
Lightvalve 14:8e7590227d22 1612 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1613 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1614 } else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1615 valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1616 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1617 data_num = data_num + 1;
Lightvalve 14:8e7590227d22 1618 if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000) {
Lightvalve 14:8e7590227d22 1619 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1620 one_period_end = 1;
Lightvalve 13:747daba9cf59 1621 }
Lightvalve 14:8e7590227d22 1622 } else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1623 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1624 one_period_end = 1;
Lightvalve 13:747daba9cf59 1625 }
Lightvalve 14:8e7590227d22 1626
Lightvalve 14:8e7590227d22 1627 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1628 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1629 max_check = 1;
Lightvalve 14:8e7590227d22 1630 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1631 min_check = 1;
Lightvalve 13:747daba9cf59 1632 }
Lightvalve 13:747daba9cf59 1633 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 16:903b5a4433b4 1634
Lightvalve 16:903b5a4433b4 1635 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1636
Lightvalve 16:903b5a4433b4 1637 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1638 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1639 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1640 one_period_end = 0;
Lightvalve 13:747daba9cf59 1641 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1642 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1643 }
Lightvalve 14:8e7590227d22 1644
Lightvalve 14:8e7590227d22 1645 if(max_check == 1 && min_check == 1) {
Lightvalve 16:903b5a4433b4 1646
Lightvalve 16:903b5a4433b4 1647 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1648
Lightvalve 16:903b5a4433b4 1649 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1650 VALVE_POS_NUM = ID_index;
Lightvalve 13:747daba9cf59 1651 ID_index = 0;
Lightvalve 13:747daba9cf59 1652 first_check = 0;
Lightvalve 13:747daba9cf59 1653 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1654 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1655 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1656 }
Lightvalve 13:747daba9cf59 1657 }
Lightvalve 13:747daba9cf59 1658 break;
Lightvalve 13:747daba9cf59 1659 }
Lightvalve 14:8e7590227d22 1660
Lightvalve 12:6f2531038ea4 1661 default:
Lightvalve 12:6f2531038ea4 1662 break;
Lightvalve 12:6f2531038ea4 1663 }
Lightvalve 14:8e7590227d22 1664
Lightvalve 13:747daba9cf59 1665 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1666 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1667 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1668 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1669 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1670 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1671 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1672 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1673 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1674
Lightvalve 14:8e7590227d22 1675 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1676 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1677
Lightvalve 14:8e7590227d22 1678 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1679
Lightvalve 13:747daba9cf59 1680 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 13:747daba9cf59 1681 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV
Lightvalve 13:747daba9cf59 1682 double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1683
Lightvalve 14:8e7590227d22 1684 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1685 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1686 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1687 } else {
Lightvalve 14:8e7590227d22 1688 CUR_PWM = V_out;
Lightvalve 13:747daba9cf59 1689 }
Lightvalve 14:8e7590227d22 1690
Lightvalve 14:8e7590227d22 1691 //VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
Lightvalve 15:bd0d12728506 1692 //PWM_out = CUR_PWM;
Lightvalve 14:8e7590227d22 1693
Lightvalve 14:8e7590227d22 1694
Lightvalve 14:8e7590227d22 1695
Lightvalve 14:8e7590227d22 1696 //CAN ----------------------------------------------------------------------
Lightvalve 14:8e7590227d22 1697 //if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 14:8e7590227d22 1698 if (TMR3_COUNT_CAN_TX % 10 == 0) {
Lightvalve 14:8e7590227d22 1699
Lightvalve 13:747daba9cf59 1700 if (flag_data_request[0] == HIGH) {
Lightvalve 13:747daba9cf59 1701 //position+velocity
Lightvalve 16:903b5a4433b4 1702 CAN_TX_POSITION((int32_t) PRES_A_VREF, (int32_t) PRES_B_VREF);
Lightvalve 14:8e7590227d22 1703 //pc.printf("can good");
Lightvalve 13:747daba9cf59 1704 // CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.));
Lightvalve 13:747daba9cf59 1705 // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve 13:747daba9cf59 1706 }
Lightvalve 14:8e7590227d22 1707
Lightvalve 13:747daba9cf59 1708 if (flag_data_request[1] == HIGH) {
Lightvalve 13:747daba9cf59 1709 //torque
Lightvalve 13:747daba9cf59 1710 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 13:747daba9cf59 1711 CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 13:747daba9cf59 1712 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 13:747daba9cf59 1713 }
Lightvalve 14:8e7590227d22 1714
Lightvalve 13:747daba9cf59 1715 if (flag_data_request[2] == HIGH) {
Lightvalve 14:8e7590227d22 1716 //pressure A and B
Lightvalve 14:8e7590227d22 1717 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 15:bd0d12728506 1718 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 13:747daba9cf59 1719 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 13:747daba9cf59 1720 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 13:747daba9cf59 1721 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 14:8e7590227d22 1722
Lightvalve 13:747daba9cf59 1723 }
Lightvalve 14:8e7590227d22 1724
Lightvalve 13:747daba9cf59 1725 if (flag_data_request[3] == HIGH) {
Lightvalve 13:747daba9cf59 1726 //PWM
Lightvalve 13:747daba9cf59 1727 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 13:747daba9cf59 1728 // CAN_TX_PWM((int16_t) (CONTROL_MODE));
Lightvalve 13:747daba9cf59 1729 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 13:747daba9cf59 1730 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 13:747daba9cf59 1731 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 14:8e7590227d22 1732
Lightvalve 13:747daba9cf59 1733 }
Lightvalve 14:8e7590227d22 1734
Lightvalve 13:747daba9cf59 1735 if (flag_data_request[4] == HIGH) {
Lightvalve 13:747daba9cf59 1736 //valve position
Lightvalve 14:8e7590227d22 1737 CAN_TX_VALVE_POSITION((int16_t) (value));
Lightvalve 13:747daba9cf59 1738 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 13:747daba9cf59 1739 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve 14:8e7590227d22 1740
Lightvalve 14:8e7590227d22 1741
Lightvalve 13:747daba9cf59 1742 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 13:747daba9cf59 1743 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE));
Lightvalve 13:747daba9cf59 1744 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 13:747daba9cf59 1745 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 13:747daba9cf59 1746 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 13:747daba9cf59 1747 }
Lightvalve 14:8e7590227d22 1748
Lightvalve 13:747daba9cf59 1749 TMR3_COUNT_CAN_TX = 0;
Lightvalve 14:8e7590227d22 1750
Lightvalve 13:747daba9cf59 1751 }
Lightvalve 13:747daba9cf59 1752 TMR3_COUNT_CAN_TX++;
Lightvalve 14:8e7590227d22 1753
Lightvalve 14:8e7590227d22 1754
Lightvalve 14:8e7590227d22 1755
Lightvalve 13:747daba9cf59 1756
jobuuu 1:e04e563be5ce 1757 /*******************************************************
Lightvalve 13:747daba9cf59 1758 *** Valve Control
jobuuu 1:e04e563be5ce 1759 ********************************************************/
Lightvalve 14:8e7590227d22 1760 //ValveControl(CONTROL_MODE);
Lightvalve 13:747daba9cf59 1761
Lightvalve 14:8e7590227d22 1762 // double t = (double)CNT_TMR4*DT_TMR4;
Lightvalve 14:8e7590227d22 1763 // double T = 1.0;
Lightvalve 14:8e7590227d22 1764 // V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
jobuuu 7:e9086c72bb22 1765 // if(V_out > 0.0) V_out = 1000.0;
Lightvalve 13:747daba9cf59 1766 // else if(V_out < 0.0) V_out = -1000.0;
jobuuu 5:a4319f79457b 1767
jobuuu 7:e9086c72bb22 1768 /*******************************************************
jobuuu 7:e9086c72bb22 1769 *** PWM
jobuuu 7:e9086c72bb22 1770 ********************************************************/
jobuuu 5:a4319f79457b 1771 PWM_out= V_out/12000.0; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1772
jobuuu 2:a1c0a37df760 1773 // Saturation of output voltage to 5.0V
jobuuu 5:a4319f79457b 1774 if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
jobuuu 5:a4319f79457b 1775 else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 13:747daba9cf59 1776
jobuuu 2:a1c0a37df760 1777 if (PWM_out>0.0) {
jobuuu 2:a1c0a37df760 1778 dtc_v=0.0;
jobuuu 1:e04e563be5ce 1779 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1780 } else {
jobuuu 2:a1c0a37df760 1781 dtc_v=-PWM_out;
jobuuu 2:a1c0a37df760 1782 dtc_w=0.0;
jobuuu 1:e04e563be5ce 1783 }
Lightvalve 13:747daba9cf59 1784
jobuuu 1:e04e563be5ce 1785 //pwm
jobuuu 2:a1c0a37df760 1786 TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
jobuuu 2:a1c0a37df760 1787 TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
Lightvalve 13:747daba9cf59 1788
jobuuu 1:e04e563be5ce 1789 /*******************************************************
jobuuu 2:a1c0a37df760 1790 *** Data Send (CAN) & Print out (UART)
jobuuu 1:e04e563be5ce 1791 ********************************************************/
Lightvalve 14:8e7590227d22 1792 // if((CNT_TMR3%1000)==0){
Lightvalve 11:82d8768d7351 1793 // msg.id = 50;
Lightvalve 11:82d8768d7351 1794 // msg.len = 4;
Lightvalve 11:82d8768d7351 1795 // int temp_CUR = (int)(cur.sen*1000.0);
Lightvalve 11:82d8768d7351 1796 // msg.data[0]=0x00FF&temp_CUR;
Lightvalve 11:82d8768d7351 1797 // msg.data[1]=0x00FF&(temp_CUR>>8);
Lightvalve 11:82d8768d7351 1798 // int temp_PWM = (int)(V_out);
Lightvalve 11:82d8768d7351 1799 // msg.data[2]=0x00FF&temp_PWM;
Lightvalve 11:82d8768d7351 1800 // msg.data[3]=0x00FF&(temp_PWM>>8);
Lightvalve 11:82d8768d7351 1801 // can.write(msg);
Lightvalve 11:82d8768d7351 1802 // }
Lightvalve 11:82d8768d7351 1803
Lightvalve 13:747daba9cf59 1804 if((CNT_TMR3%5000)==0) {
Lightvalve 13:747daba9cf59 1805 if(LED==1) {
Lightvalve 11:82d8768d7351 1806 LED=0;
Lightvalve 13:747daba9cf59 1807 } else
Lightvalve 11:82d8768d7351 1808 LED = 1;
Lightvalve 11:82d8768d7351 1809 // LED != LED;
Lightvalve 15:bd0d12728506 1810 // pc.printf("A %f\n", (double) pres_A.sen);
Lightvalve 15:bd0d12728506 1811 // pc.printf("A %f\n", PRES_SENSOR_A_PULSE_PER_BAR);
Lightvalve 15:bd0d12728506 1812 // pc.printf("B %f\n", (double) pres_B.sen);
Lightvalve 15:bd0d12728506 1813 // pc.printf("B %f\n", PRES_SENSOR_B_PULSE_PER_BAR);
Lightvalve 16:903b5a4433b4 1814 pc.printf("preAVref %d\n", (int) PRES_A_VREF);
jobuuu 2:a1c0a37df760 1815 }
jobuuu 1:e04e563be5ce 1816
jobuuu 1:e04e563be5ce 1817 /*******************************************************
jobuuu 1:e04e563be5ce 1818 *** Timer Counting & etc.
jobuuu 1:e04e563be5ce 1819 ********************************************************/
Lightvalve 13:747daba9cf59 1820 CNT_TMR3++;
jobuuu 1:e04e563be5ce 1821 }
Lightvalve 11:82d8768d7351 1822 TIM3->SR = 0x0; // reset the status register
jobuuu 7:e9086c72bb22 1823 }
jobuuu 7:e9086c72bb22 1824
Lightvalve 14:8e7590227d22 1825 /*
jobuuu 7:e9086c72bb22 1826 void ValveControl(unsigned int ControlMode)
jobuuu 7:e9086c72bb22 1827 {
jobuuu 7:e9086c72bb22 1828 switch (ControlMode) {
jobuuu 7:e9086c72bb22 1829 case MODE_NO_ACT: // 0
jobuuu 7:e9086c72bb22 1830 V_out = 0.0;
jobuuu 7:e9086c72bb22 1831 break;
jobuuu 7:e9086c72bb22 1832 case MODE_VALVE_OPEN_LOOP: // 1
jobuuu 7:e9086c72bb22 1833 V_out = Vout.ref;
Lightvalve 13:747daba9cf59 1834 break;
jobuuu 7:e9086c72bb22 1835 case MODE_VALVE_POSITION_CONTROL: // 2
jobuuu 7:e9086c72bb22 1836 CurrentControl();
Lightvalve 13:747daba9cf59 1837 break;
jobuuu 7:e9086c72bb22 1838 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3
jobuuu 7:e9086c72bb22 1839 V_out = 0.0;
Lightvalve 13:747daba9cf59 1840 break;
jobuuu 7:e9086c72bb22 1841 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4
jobuuu 7:e9086c72bb22 1842 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
jobuuu 7:e9086c72bb22 1843 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 13:747daba9cf59 1844
jobuuu 7:e9086c72bb22 1845 // feedback input for position control
jobuuu 7:e9086c72bb22 1846 pos.err = pos.ref - pos.sen;
jobuuu 7:e9086c72bb22 1847 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
jobuuu 7:e9086c72bb22 1848 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
jobuuu 7:e9086c72bb22 1849 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
jobuuu 7:e9086c72bb22 1850 pos.err_old = pos.err;
jobuuu 7:e9086c72bb22 1851 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 13:747daba9cf59 1852
jobuuu 7:e9086c72bb22 1853 // feedforward input for position control
Lightvalve 13:747daba9cf59 1854 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
jobuuu 7:e9086c72bb22 1855 double K_ff = 1.3;
jobuuu 7:e9086c72bb22 1856 double K_v = 0.0;
jobuuu 7:e9086c72bb22 1857 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 13:747daba9cf59 1858 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
jobuuu 7:e9086c72bb22 1859 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 13:747daba9cf59 1860
jobuuu 7:e9086c72bb22 1861 cur.ref = I_REF_POS_FF + I_REF_POS_FB;
Lightvalve 13:747daba9cf59 1862 break;
jobuuu 7:e9086c72bb22 1863 case MODE_TEST_CURRENT_CONTROL: // 9
jobuuu 7:e9086c72bb22 1864 V_out = 0.0;
Lightvalve 13:747daba9cf59 1865 break;
jobuuu 7:e9086c72bb22 1866 case MODE_TEST_PWM_CONTROL: // 10
jobuuu 7:e9086c72bb22 1867 V_out = 0.0;
Lightvalve 13:747daba9cf59 1868 break;
jobuuu 7:e9086c72bb22 1869 case MODE_FIND_HOME: // 22
jobuuu 7:e9086c72bb22 1870 V_out = 0.0;
Lightvalve 13:747daba9cf59 1871 break;
jobuuu 7:e9086c72bb22 1872 default:
jobuuu 7:e9086c72bb22 1873 V_out = 0.0;
jobuuu 7:e9086c72bb22 1874 break;
Lightvalve 13:747daba9cf59 1875
jobuuu 7:e9086c72bb22 1876 }
jobuuu 7:e9086c72bb22 1877 }
Lightvalve 14:8e7590227d22 1878 */
jobuuu 7:e9086c72bb22 1879
Lightvalve 13:747daba9cf59 1880 void CurrentControl()
Lightvalve 13:747daba9cf59 1881 {
jobuuu 7:e9086c72bb22 1882 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1883 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1884 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1885 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1886
jobuuu 7:e9086c72bb22 1887 double R_model = 150.0; // ohm
jobuuu 7:e9086c72bb22 1888 double L_model = 0.3;
jobuuu 7:e9086c72bb22 1889 double w0 = 2.0*3.14*90.0;
jobuuu 7:e9086c72bb22 1890 double KP_I = L_model*w0;
jobuuu 7:e9086c72bb22 1891 double KI_I = R_model*w0;
jobuuu 7:e9086c72bb22 1892 double KD_I = 0.0;
jobuuu 7:e9086c72bb22 1893
jobuuu 7:e9086c72bb22 1894 double FF_gain = 0.0;
jobuuu 7:e9086c72bb22 1895 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1896 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1897 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1898
Lightvalve 13:747daba9cf59 1899 double Ka = 5.0/KP_I;
jobuuu 7:e9086c72bb22 1900 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1901 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1902 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1903 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1904 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1905 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1906 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1907 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1908 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1909 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1910 }
GiJeongKim 0:51c43836c1d7 1911 }