HydraulicControlBoard_LIGHT_GJ - eeprom_test

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Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

main.cpp@15:bd0d12728506, 2019-08-30 (annotated)

Committer:: Lightvalve
Date:: Fri Aug 30 02:26:11 2019 +0000
Revision:: 15:bd0d12728506
Parent:: 14:8e7590227d22
Child:: 16:903b5a4433b4

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
GiJeongKim	0:51c43836c1d7	9
jobuuu	7:e9086c72bb22	10	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	11	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	12	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	13	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	14	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	15	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	16	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	17	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	18
jobuuu	7:e9086c72bb22	19	// PWM ///////////////////////////////////////////
jobuuu	2:a1c0a37df760	20	double dtc_v=0.0;
jobuuu	2:a1c0a37df760	21	double dtc_w=0.0;
GiJeongKim	0:51c43836c1d7	22
jobuuu	7:e9086c72bb22	23	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	24	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	25	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	26	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// SPI ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
GiJeongKim	0:51c43836c1d7	30	DigitalOut eeprom_cs(PB_12);
GiJeongKim	0:51c43836c1d7	31	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	32	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	33	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	34
jobuuu	7:e9086c72bb22	35	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	36	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	37
jobuuu	7:e9086c72bb22	38	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	39	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	40	CANMessage msg;
Lightvalve	11:82d8768d7351	41	void onMsgReceived()
Lightvalve	11:82d8768d7351	42	{
Lightvalve	11:82d8768d7351	43	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	44	}
jobuuu	2:a1c0a37df760	45
jobuuu	7:e9086c72bb22	46	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	47	State pos;
jobuuu	7:e9086c72bb22	48	State vel;
jobuuu	7:e9086c72bb22	49	State Vout;
jobuuu	7:e9086c72bb22	50	State torq;
jobuuu	7:e9086c72bb22	51	State pres_A;
jobuuu	7:e9086c72bb22	52	State pres_B;
jobuuu	7:e9086c72bb22	53	State cur;
Lightvalve	14:8e7590227d22	54	State valve_pos;
Lightvalve	14:8e7590227d22	55
Lightvalve	14:8e7590227d22	56	State INIT_Vout;
Lightvalve	14:8e7590227d22	57	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	58	State INIT_Pos;
Lightvalve	14:8e7590227d22	59	State INIT_torq;
jobuuu	5:a4319f79457b	60
jobuuu	5:a4319f79457b	61	double V_out=0.0;
jobuuu	5:a4319f79457b	62	double V_rem=0.0; // for anti-windup
jobuuu	5:a4319f79457b	63	double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
jobuuu	5:a4319f79457b	64
jobuuu	5:a4319f79457b	65	double PWM_out=0.0;
Lightvalve	12:6f2531038ea4	66
Lightvalve	13:747daba9cf59	67
jobuuu	7:e9086c72bb22	68	// =============================================================================
jobuuu	7:e9086c72bb22	69	// =============================================================================
jobuuu	7:e9086c72bb22	70	// =============================================================================
jobuuu	7:e9086c72bb22	71
Lightvalve	12:6f2531038ea4	72	/*******************************************************************************
Lightvalve	12:6f2531038ea4	73	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	74	******************************************************************************/
Lightvalve	13:747daba9cf59	75	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	76	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	77	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	78	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	79	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	80	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	81	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	82	};
Lightvalve	12:6f2531038ea4	83
Lightvalve	12:6f2531038ea4	84	/*******************************************************************************
Lightvalve	12:6f2531038ea4	85	* CONTROL MODE
Lightvalve	12:6f2531038ea4	86	******************************************************************************/
Lightvalve	13:747daba9cf59	87	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	88	//control mode
Lightvalve	12:6f2531038ea4	89	MODE_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	90	MODE_VALVE_OPEN_LOOP, //1
Lightvalve	12:6f2531038ea4	91	MODE_VALVE_POSITION_CONTROL, //2
Lightvalve	13:747daba9cf59	92
Lightvalve	12:6f2531038ea4	93	MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve	12:6f2531038ea4	94	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	95	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	96
Lightvalve	12:6f2531038ea4	97	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	98	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	99	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	100
Lightvalve	12:6f2531038ea4	101	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	102	MODE_TEST_PWM_CONTROL, //10
Lightvalve	14:8e7590227d22	103
Lightvalve	14:8e7590227d22	104	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	105	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	106	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	107
Lightvalve	12:6f2531038ea4	108	//utility
Lightvalve	12:6f2531038ea4	109	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	110	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	111	MODE_FIND_HOME, //22
Lightvalve	12:6f2531038ea4	112	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	113	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	114	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	115	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	116
Lightvalve	12:6f2531038ea4	117	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	118	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	119	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	12:6f2531038ea4	120	};
Lightvalve	12:6f2531038ea4	121
GiJeongKim	0:51c43836c1d7	122	int main()
GiJeongKim	0:51c43836c1d7	123	{
jobuuu	6:df07d3491e3a	124	/*********************************
jobuuu	1:e04e563be5ce	125	*** Initialization
jobuuu	6:df07d3491e3a	126	*********************************/
Lightvalve	13:747daba9cf59	127
Lightvalve	11:82d8768d7351	128	LED = 1;
jobuuu	1:e04e563be5ce	129	pc.baud(9600);
Lightvalve	14:8e7590227d22	130
Lightvalve	14:8e7590227d22	131	//eeprom
Lightvalve	14:8e7590227d22	132	ROM_INIT_DATA();
Lightvalve	14:8e7590227d22	133	make_delay();
jobuuu	2:a1c0a37df760	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
GiJeongKim	0:51c43836c1d7	143	eeprom.format(8,3);
GiJeongKim	0:51c43836c1d7	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	13:747daba9cf59	148
GiJeongKim	0:51c43836c1d7	149	// ADC init
jobuuu	5:a4319f79457b	150	Init_ADC();
Lightvalve	11:82d8768d7351	151	make_delay();
jobuuu	2:a1c0a37df760	152
GiJeongKim	0:51c43836c1d7	153	// Pwm init
GiJeongKim	0:51c43836c1d7	154	Init_PWM();
GiJeongKim	0:51c43836c1d7	155	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	156	make_delay();
Lightvalve	13:747daba9cf59	157
Lightvalve	11:82d8768d7351	158	// TMR3 init
Lightvalve	11:82d8768d7351	159	Init_TMR3();
Lightvalve	11:82d8768d7351	160	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	161	make_delay();
Lightvalve	14:8e7590227d22	162
GiJeongKim	0:51c43836c1d7	163	// CAN
jobuuu	2:a1c0a37df760	164	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	165	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	166	make_delay();
Lightvalve	13:747daba9cf59	167
GiJeongKim	0:51c43836c1d7	168	// spi _ enc
GiJeongKim	0:51c43836c1d7	169	spi_enc_set_init();
Lightvalve	11:82d8768d7351	170	make_delay();
Lightvalve	13:747daba9cf59	171
Lightvalve	14:8e7590227d22	172
Lightvalve	13:747daba9cf59	173
Lightvalve	11:82d8768d7351	174	//DAC init
Lightvalve	14:8e7590227d22	175	//dac_1 = PRES_A_VREF/3.3;
Lightvalve	14:8e7590227d22	176	dac_1 = 0.0;
Lightvalve	15:bd0d12728506	177	//dac_2 = PRES_B_VREF/3.3;
Lightvalve	15:bd0d12728506	178	dac_2 = 0.0;
Lightvalve	11:82d8768d7351	179	make_delay();
Lightvalve	13:747daba9cf59	180
Lightvalve	13:747daba9cf59	181	for (int i=0; i<100; i++) {
Lightvalve	11:82d8768d7351	182	if(i%2==0)
Lightvalve	11:82d8768d7351	183	ID_index_array[i] = - i * 0.5;
Lightvalve	11:82d8768d7351	184	else
Lightvalve	11:82d8768d7351	185	ID_index_array[i] = (i+1) * 0.5;
Lightvalve	11:82d8768d7351	186	}
Lightvalve	13:747daba9cf59	187
Lightvalve	13:747daba9cf59	188
jobuuu	6:df07d3491e3a	189	/************************************
jobuuu	1:e04e563be5ce	190	*** Program is operating!
jobuuu	6:df07d3491e3a	191	*************************************/
GiJeongKim	0:51c43836c1d7	192	while(1) {
Lightvalve	13:747daba9cf59	193
GiJeongKim	0:51c43836c1d7	194	//spi _ enc
Lightvalve	11:82d8768d7351	195	//int a = spi_enc_read();
Lightvalve	14:8e7590227d22	196	//pc.printf("Message received: %d\n", msg.data[0]);
Lightvalve	14:8e7590227d22	197	//pc.printf("Message received: %d\n", 13);
Lightvalve	9:7f07aa6ff49a	198	//i2c
Lightvalve	15:bd0d12728506	199	read_field(i2c_slave_addr1);
GiJeongKim	0:51c43836c1d7	200	}
jobuuu	1:e04e563be5ce	201	}
jobuuu	1:e04e563be5ce	202
Lightvalve	14:8e7590227d22	203	int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	204	{
Lightvalve	14:8e7590227d22	205
Lightvalve	13:747daba9cf59	206	int i = 0;
Lightvalve	13:747daba9cf59	207	int Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	14:8e7590227d22	208	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	209	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	210	if(i==0) {
Lightvalve	13:747daba9cf59	211	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	212	} else {
Lightvalve	13:747daba9cf59	213	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	214	}
Lightvalve	13:747daba9cf59	215	break;
Lightvalve	13:747daba9cf59	216	}
Lightvalve	13:747daba9cf59	217	}
Lightvalve	14:8e7590227d22	218	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	13:747daba9cf59	219	Ref_Valve_Pos_FF = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	220	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	13:747daba9cf59	221	Ref_Valve_Pos_FF = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	222	}
Lightvalve	13:747daba9cf59	223	return Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	224	}
jobuuu	6:df07d3491e3a	225
jobuuu	6:df07d3491e3a	226
Lightvalve	14:8e7590227d22	227	void VALVE_POS_CONTROL(double REF_VALVE_POS)
Lightvalve	14:8e7590227d22	228	{
Lightvalve	13:747daba9cf59	229	int i = 0;
Lightvalve	13:747daba9cf59	230
Lightvalve	13:747daba9cf59	231	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	232	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	233	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	234	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	235	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	236	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	237
Lightvalve	13:747daba9cf59	238	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	239
Lightvalve	14:8e7590227d22	240	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	241	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	242	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	243	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	244	}
Lightvalve	14:8e7590227d22	245
Lightvalve	14:8e7590227d22	246	for(i=0; i<16; i++) {
Lightvalve	14:8e7590227d22	247	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	248	if(i==0) {
Lightvalve	13:747daba9cf59	249	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	250	} else {
Lightvalve	13:747daba9cf59	251	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	252	}
Lightvalve	13:747daba9cf59	253	break;
Lightvalve	13:747daba9cf59	254	}
Lightvalve	13:747daba9cf59	255	}
Lightvalve	14:8e7590227d22	256	V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	257	}
Lightvalve	13:747daba9cf59	258
Lightvalve	14:8e7590227d22	259	#define LT_MAX_IDX 57
Lightvalve	14:8e7590227d22	260	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	261	-19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
Lightvalve	14:8e7590227d22	262	-9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
Lightvalve	14:8e7590227d22	263	1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
Lightvalve	14:8e7590227d22	264	11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
Lightvalve	14:8e7590227d22	265	25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
Lightvalve	14:8e7590227d22	266	}; // duty
Lightvalve	14:8e7590227d22	267	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	268	-196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
Lightvalve	14:8e7590227d22	269	-156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
Lightvalve	14:8e7590227d22	270	12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
Lightvalve	14:8e7590227d22	271	173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
Lightvalve	14:8e7590227d22	272	214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
Lightvalve	14:8e7590227d22	273	}; // mV
Lightvalve	13:747daba9cf59	274
Lightvalve	14:8e7590227d22	275	double PWM_duty_byLT(double Ref_V)
Lightvalve	14:8e7590227d22	276	{
Lightvalve	13:747daba9cf59	277	double PWM_duty = 0.0;
Lightvalve	13:747daba9cf59	278	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	13:747daba9cf59	279	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	280	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	13:747daba9cf59	281	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	282	} else {
Lightvalve	13:747daba9cf59	283	int idx = 0;
Lightvalve	13:747daba9cf59	284	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	13:747daba9cf59	285	double ini_x = LT_Voltage_Output[idx];
Lightvalve	13:747daba9cf59	286	double fin_x = LT_Voltage_Output[idx+1];
Lightvalve	13:747daba9cf59	287	double ini_y = LT_PWM_duty[idx];
Lightvalve	13:747daba9cf59	288	double fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	289	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	290	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	291	break;
Lightvalve	13:747daba9cf59	292	}
Lightvalve	13:747daba9cf59	293	}
Lightvalve	13:747daba9cf59	294	}
Lightvalve	14:8e7590227d22	295
Lightvalve	13:747daba9cf59	296	return PWM_duty;
Lightvalve	13:747daba9cf59	297	}
jobuuu	6:df07d3491e3a	298
jobuuu	2:a1c0a37df760	299	/*******************************************************************************
jobuuu	2:a1c0a37df760	300	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	301	*******************************************************************************/
jobuuu	2:a1c0a37df760	302
jobuuu	2:a1c0a37df760	303	unsigned long CNT_TMR4 = 0;
jobuuu	2:a1c0a37df760	304	double FREQ_TMR4 = (double)FREQ_20k;
jobuuu	5:a4319f79457b	305	double DT_TMR4 = (double)DT_20k;
jobuuu	1:e04e563be5ce	306	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	307	{
jobuuu	2:a1c0a37df760	308	if ( TIM4->SR & TIM_SR_UIF ) {
jobuuu	1:e04e563be5ce	309	/*******************************************************
Lightvalve	13:747daba9cf59	310	*** Sensor Read & Data Handling
jobuuu	1:e04e563be5ce	311	********************************************************/
Lightvalve	13:747daba9cf59	312
Lightvalve	15:bd0d12728506	313	if((CNT_TMR4%20)==0) {
Lightvalve	15:bd0d12728506	314	//Using LoadCell
Lightvalve	15:bd0d12728506	315	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	15:bd0d12728506	316	// //while((ADC1->SR & 0b10));
Lightvalve	15:bd0d12728506	317	// double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0));
Lightvalve	15:bd0d12728506	318	// double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
Lightvalve	15:bd0d12728506	319	// torq.sen = torq.sen(1.0-alpha_update_torque)+torque_new(alpha_update_torque);
Lightvalve	15:bd0d12728506	320
Lightvalve	14:8e7590227d22	321	//Pressure sensor A
Lightvalve	14:8e7590227d22	322	ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	14:8e7590227d22	323	//while((ADC1->SR & 0b10));
Lightvalve	14:8e7590227d22	324	double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0));
Lightvalve	14:8e7590227d22	325	double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR + 1.0;
Lightvalve	14:8e7590227d22	326	pres_A.sen = pres_A.sen(1.0-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	14:8e7590227d22	327	//Pressure sensor 1B
Lightvalve	15:bd0d12728506	328	ADC2->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	15:bd0d12728506	329	//while((ADC2->SR & 0b10));
Lightvalve	14:8e7590227d22	330	double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0));
Lightvalve	14:8e7590227d22	331	double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR + 1.0;
Lightvalve	14:8e7590227d22	332	pres_B.sen = pres_B.sen(1.0-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	15:bd0d12728506	333	torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
Lightvalve	14:8e7590227d22	334
Lightvalve	15:bd0d12728506	335	/*
Lightvalve	14:8e7590227d22	336	//Current
jobuuu	5:a4319f79457b	337	ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	11:82d8768d7351	338	// a1=ADC2->DR;
Lightvalve	11:82d8768d7351	339	// int raw_cur = ADC3->DR;
jobuuu	5:a4319f79457b	340	while((ADC3->SR & 0b10));
jobuuu	5:a4319f79457b	341	double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0)); // f_cutoff : 500Hz
jobuuu	5:a4319f79457b	342	double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
jobuuu	7:e9086c72bb22	343	cur.sen=cur.sen(1.0-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	14:8e7590227d22	344	*/
jobuuu	2:a1c0a37df760	345	}
jobuuu	1:e04e563be5ce	346
Lightvalve	11:82d8768d7351	347	/*******************************************************
Lightvalve	11:82d8768d7351	348	*** Timer Counting & etc.
Lightvalve	11:82d8768d7351	349	********************************************************/
Lightvalve	13:747daba9cf59	350	CNT_TMR4++;
Lightvalve	11:82d8768d7351	351	}
Lightvalve	11:82d8768d7351	352	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	353	}
Lightvalve	11:82d8768d7351	354
Lightvalve	11:82d8768d7351	355	unsigned long CNT_TMR3 = 0;
Lightvalve	11:82d8768d7351	356	double FREQ_TMR3 = (double)FREQ_5k;
Lightvalve	11:82d8768d7351	357	double DT_TMR3 = (double)DT_5k;
Lightvalve	11:82d8768d7351	358	extern "C" void TIM3_IRQHandler(void)
Lightvalve	11:82d8768d7351	359	{
Lightvalve	11:82d8768d7351	360	if ( TIM3->SR & TIM_SR_UIF ) {
Lightvalve	14:8e7590227d22	361
Lightvalve	12:6f2531038ea4	362	ENC_UPDATE();
Lightvalve	13:747daba9cf59	363
Lightvalve	14:8e7590227d22	364	/*
Lightvalve	13:747daba9cf59	365	// Reference Loop
Lightvalve	12:6f2531038ea4	366	switch (REFERENCE_MODE) {
Lightvalve	13:747daba9cf59	367	case MODE_REF_NO_ACT: {
Lightvalve	12:6f2531038ea4	368	break;
Lightvalve	12:6f2531038ea4	369	}
Lightvalve	13:747daba9cf59	370	case MODE_REF_DIRECT: {
Lightvalve	12:6f2531038ea4	371	if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve	14:8e7590227d22	372	Vout.ref = (double) Vout.ref;
Lightvalve	12:6f2531038ea4	373	}
Lightvalve	12:6f2531038ea4	374	if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve	14:8e7590227d22	375	valve_pos.ref = (double) valve_pos.ref;
Lightvalve	12:6f2531038ea4	376	}
Lightvalve	12:6f2531038ea4	377	if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve	14:8e7590227d22	378	pos.ref = (double) pos.ref;
Lightvalve	14:8e7590227d22	379	vel.ref = (double) vel.ref;
Lightvalve	12:6f2531038ea4	380	}
Lightvalve	12:6f2531038ea4	381	if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve	14:8e7590227d22	382	torq.ref = (double) torq.ref;
Lightvalve	14:8e7590227d22	383	}
Lightvalve	14:8e7590227d22	384	if (FLAG_REFERENCE_CURRENT) {
Lightvalve	14:8e7590227d22	385	cur.ref = ((double)cur.ref);
Lightvalve	12:6f2531038ea4	386	}
Lightvalve	12:6f2531038ea4	387	break;
Lightvalve	12:6f2531038ea4	388	}
Lightvalve	14:8e7590227d22	389
Lightvalve	13:747daba9cf59	390	case MODE_REF_COS_INC: {
Lightvalve	12:6f2531038ea4	391	if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve	14:8e7590227d22	392	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	393	}
Lightvalve	12:6f2531038ea4	394	if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve	14:8e7590227d22	395	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	396	}
Lightvalve	12:6f2531038ea4	397	if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve	14:8e7590227d22	398	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	399	vel.ref = 0.0;
Lightvalve	12:6f2531038ea4	400	}
Lightvalve	12:6f2531038ea4	401	if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve	14:8e7590227d22	402	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	403	}
Lightvalve	14:8e7590227d22	404	TMR3_COUNT_REFERENCE++;
Lightvalve	14:8e7590227d22	405	if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
Lightvalve	14:8e7590227d22	406	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	14:8e7590227d22	407	TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
Lightvalve	14:8e7590227d22	408	//TMR3_COUNT_REFERENCE = 0;
Lightvalve	12:6f2531038ea4	409	}
Lightvalve	12:6f2531038ea4	410	break;
Lightvalve	12:6f2531038ea4	411	}
Lightvalve	13:747daba9cf59	412
Lightvalve	13:747daba9cf59	413
Lightvalve	13:747daba9cf59	414	case MODE_REF_LINE_INC: {
Lightvalve	12:6f2531038ea4	415	if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve	14:8e7590227d22	416	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	417	}
Lightvalve	12:6f2531038ea4	418	if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve	14:8e7590227d22	419	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	420	}
Lightvalve	12:6f2531038ea4	421	if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve	14:8e7590227d22	422	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	423	vel.ref = ((double) pos.ref - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k; // pulse/sec
Lightvalve	12:6f2531038ea4	424	}
Lightvalve	12:6f2531038ea4	425	if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve	14:8e7590227d22	426	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	427	}
Lightvalve	14:8e7590227d22	428	TMR3_COUNT_REFERENCE++;
Lightvalve	14:8e7590227d22	429	if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
Lightvalve	12:6f2531038ea4	430	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	14:8e7590227d22	431	TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
Lightvalve	14:8e7590227d22	432	//TMR3_COUNT_REFERENCE = 0;
Lightvalve	12:6f2531038ea4	433	}
Lightvalve	12:6f2531038ea4	434	break;
Lightvalve	12:6f2531038ea4	435	}
Lightvalve	13:747daba9cf59	436
Lightvalve	13:747daba9cf59	437	case MODE_REF_SIN_WAVE: {
Lightvalve	12:6f2531038ea4	438	if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve	14:8e7590227d22	439	Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
Lightvalve	12:6f2531038ea4	440	}
Lightvalve	12:6f2531038ea4	441	if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve	14:8e7590227d22	442	valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
Lightvalve	12:6f2531038ea4	443	}
Lightvalve	12:6f2531038ea4	444	if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve	14:8e7590227d22	445	Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
Lightvalve	12:6f2531038ea4	446	}
Lightvalve	12:6f2531038ea4	447	if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve	14:8e7590227d22	448	Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
Lightvalve	12:6f2531038ea4	449	}
Lightvalve	14:8e7590227d22	450	TMR3_COUNT_REFERENCE++;
Lightvalve	14:8e7590227d22	451	if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
Lightvalve	12:6f2531038ea4	452	REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	14:8e7590227d22	453	TMR3_COUNT_REFERENCE = 0;
Lightvalve	12:6f2531038ea4	454	}
Lightvalve	12:6f2531038ea4	455	break;
Lightvalve	12:6f2531038ea4	456	}
Lightvalve	13:747daba9cf59	457
Lightvalve	13:747daba9cf59	458	case MODE_REF_SQUARE_WAVE: {
Lightvalve	12:6f2531038ea4	459	if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve	14:8e7590227d22	460	Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
Lightvalve	14:8e7590227d22	461	if (Vout.ref >= Vout.ref) Vout.ref = REF_MAG + Vout.ref;
Lightvalve	14:8e7590227d22	462	else Vout.ref = -REF_MAG + Vout.ref;
Lightvalve	12:6f2531038ea4	463	}
Lightvalve	12:6f2531038ea4	464	if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve	14:8e7590227d22	465	valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
Lightvalve	14:8e7590227d22	466	if (valve_pos.ref >= valve_pos.ref) valve_pos.ref = REF_MAG + valve_pos.ref;
Lightvalve	14:8e7590227d22	467	else valve_pos.ref = -REF_MAG + valve_pos.ref;
Lightvalve	12:6f2531038ea4	468	}
Lightvalve	12:6f2531038ea4	469	if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve	14:8e7590227d22	470	Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
Lightvalve	14:8e7590227d22	471	if (Ref_Joint_Pos >= pos.ref) valve_pos.ref = REF_MAG + pos.ref;
Lightvalve	14:8e7590227d22	472	else Ref_Joint_Pos = -REF_MAG + pos.ref;
Lightvalve	12:6f2531038ea4	473	}
Lightvalve	12:6f2531038ea4	474	if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve	14:8e7590227d22	475	Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
Lightvalve	14:8e7590227d22	476	if (Ref_Joint_Torq >= torq.ref) valve_pos.ref = REF_MAG + torq.ref;
Lightvalve	14:8e7590227d22	477	else Ref_Joint_Torq = -REF_MAG + torq.ref;
Lightvalve	12:6f2531038ea4	478	}
Lightvalve	14:8e7590227d22	479	TMR3_COUNT_REFERENCE++;
Lightvalve	14:8e7590227d22	480	if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
Lightvalve	14:8e7590227d22	481	REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	14:8e7590227d22	482	TMR3_COUNT_REFERENCE = 0;
Lightvalve	14:8e7590227d22	483	}
Lightvalve	13:747daba9cf59	484	break;
Lightvalve	13:747daba9cf59	485	}
Lightvalve	13:747daba9cf59	486
Lightvalve	14:8e7590227d22	487	default:
Lightvalve	14:8e7590227d22	488	break;
Lightvalve	14:8e7590227d22	489	}
Lightvalve	14:8e7590227d22	490
Lightvalve	14:8e7590227d22	491	*/
Lightvalve	14:8e7590227d22	492
Lightvalve	14:8e7590227d22	493	// CONTROL LOOP ------------------------------------------------------------
Lightvalve	14:8e7590227d22	494	switch (CONTROL_MODE) {
Lightvalve	14:8e7590227d22	495	case MODE_NO_ACT: {
Lightvalve	14:8e7590227d22	496	// SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
Lightvalve	14:8e7590227d22	497	V_out = 0;
Lightvalve	13:747daba9cf59	498	break;
Lightvalve	13:747daba9cf59	499	}
Lightvalve	14:8e7590227d22	500
Lightvalve	14:8e7590227d22	501	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	14:8e7590227d22	502	V_out = Vout.ref;
Lightvalve	14:8e7590227d22	503	break;
Lightvalve	14:8e7590227d22	504	}
Lightvalve	14:8e7590227d22	505
Lightvalve	14:8e7590227d22	506	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	14:8e7590227d22	507	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	508	break;
Lightvalve	14:8e7590227d22	509	}
Lightvalve	14:8e7590227d22	510
Lightvalve	14:8e7590227d22	511	case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve	13:747daba9cf59	512	double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
Lightvalve	13:747daba9cf59	513	double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
Lightvalve	13:747daba9cf59	514	double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
Lightvalve	14:8e7590227d22	515
Lightvalve	13:747daba9cf59	516	// feedback input for position control
Lightvalve	14:8e7590227d22	517	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	518	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	519	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	520	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	521	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	522	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	523	// 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	524	PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve	13:747daba9cf59	525	PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
Lightvalve	14:8e7590227d22	526
Lightvalve	13:747daba9cf59	527	// feedforward input for position control
Lightvalve	14:8e7590227d22	528	double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	13:747daba9cf59	529	double K_ff = 0.9;
Lightvalve	14:8e7590227d22	530	if(Ref_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve	14:8e7590227d22	531	if(Ref_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve	14:8e7590227d22	532	PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;
Lightvalve	14:8e7590227d22	533
Lightvalve	13:747daba9cf59	534	// torque feedback
Lightvalve	15:bd0d12728506	535	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	536	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	537	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	538	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	539	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	540	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	541	// 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	542	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve	15:bd0d12728506	543
Lightvalve	13:747daba9cf59	544	PWM_RAW_FORCE_FB = 0.0;
Lightvalve	14:8e7590227d22	545
Lightvalve	14:8e7590227d22	546	V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve	14:8e7590227d22	547
Lightvalve	13:747daba9cf59	548	break;
Lightvalve	13:747daba9cf59	549	}
Lightvalve	14:8e7590227d22	550
Lightvalve	14:8e7590227d22	551	case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve	13:747daba9cf59	552	double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
Lightvalve	13:747daba9cf59	553	double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
Lightvalve	13:747daba9cf59	554	double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
Lightvalve	13:747daba9cf59	555	int DDV_JOINT_CAN = 0;
Lightvalve	13:747daba9cf59	556	// feedback input for position control
Lightvalve	14:8e7590227d22	557	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	558	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	559	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	560	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	561	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	562	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	563	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	564	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
Lightvalve	14:8e7590227d22	565
Lightvalve	14:8e7590227d22	566
Lightvalve	13:747daba9cf59	567	//Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve	13:747daba9cf59	568	// feedforward input for position control
Lightvalve	14:8e7590227d22	569	// double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	570	// double K_ff = 0.9;
Lightvalve	14:8e7590227d22	571	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve	14:8e7590227d22	572	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve	14:8e7590227d22	573	// VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
Lightvalve	14:8e7590227d22	574
Lightvalve	13:747daba9cf59	575	// torque feedback
Lightvalve	15:bd0d12728506	576	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	577	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	578	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	579	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	580	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	581	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	582	// 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	583	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve	13:747daba9cf59	584	VALVE_POS_RAW_FORCE_FB = 0.0;
Lightvalve	14:8e7590227d22	585
Lightvalve	14:8e7590227d22	586	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve	14:8e7590227d22	587	//valve_pos.ref = DDV_JOINT_POS_FF(Ref_Joint_Vel);
Lightvalve	14:8e7590227d22	588
Lightvalve	14:8e7590227d22	589	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	590	break;
Lightvalve	13:747daba9cf59	591	}
Lightvalve	14:8e7590227d22	592
Lightvalve	14:8e7590227d22	593	case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	594
Lightvalve	13:747daba9cf59	595	break;
Lightvalve	13:747daba9cf59	596	}
Lightvalve	14:8e7590227d22	597
Lightvalve	14:8e7590227d22	598	case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve	14:8e7590227d22	599	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	600	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	601	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	602	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	603	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	604	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	605	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	606
Lightvalve	14:8e7590227d22	607	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	608	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	609	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	610	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	611	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	612	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	613	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	614
Lightvalve	13:747daba9cf59	615	VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve	14:8e7590227d22	616
Lightvalve	14:8e7590227d22	617	V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	618
Lightvalve	13:747daba9cf59	619	CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
Lightvalve	13:747daba9cf59	620	CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2pi/655365000(pulse/tic to rad/s) 0.5757=0.025250.020.00952601000 (radius area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve	13:747daba9cf59	621	if (DIR_VALVE > 0) {
Lightvalve	13:747daba9cf59	622	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	623	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	624	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	625	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	626	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	627	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve	13:747daba9cf59	628	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	629	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	630	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	631	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	632	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	633	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	634	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	635	} else {
Lightvalve	13:747daba9cf59	636	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	637	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	638	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	639	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	640	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	641	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve	13:747daba9cf59	642	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	643	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	644	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	645	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	646	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	647	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	648	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	649	}
Lightvalve	13:747daba9cf59	650	// VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
Lightvalve	14:8e7590227d22	651
Lightvalve	13:747daba9cf59	652	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	653	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	654
Lightvalve	14:8e7590227d22	655	V_out = V_out + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
Lightvalve	14:8e7590227d22	656	break;
Lightvalve	14:8e7590227d22	657	}
Lightvalve	14:8e7590227d22	658
Lightvalve	14:8e7590227d22	659	case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve	14:8e7590227d22	660	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	661	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	662	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	663	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	664	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	665	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	666	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	667
Lightvalve	15:bd0d12728506	668	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	669	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	670	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	671	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	672	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	673	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	674	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	675
Lightvalve	14:8e7590227d22	676	valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	677	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	678
Lightvalve	14:8e7590227d22	679	break;
Lightvalve	14:8e7590227d22	680	}
Lightvalve	14:8e7590227d22	681
Lightvalve	14:8e7590227d22	682	case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	683
Lightvalve	14:8e7590227d22	684	break;
Lightvalve	14:8e7590227d22	685	}
Lightvalve	14:8e7590227d22	686
Lightvalve	14:8e7590227d22	687
Lightvalve	14:8e7590227d22	688	case MODE_TEST_CURRENT_CONTROL:
Lightvalve	14:8e7590227d22	689	{
Lightvalve	14:8e7590227d22	690	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	691	TMR3_COUNT_IREF = 0;
Lightvalve	14:8e7590227d22	692	} TMR3_COUNT_IREF++;
Lightvalve	14:8e7590227d22	693
Lightvalve	14:8e7590227d22	694	// Set Current Reference
Lightvalve	14:8e7590227d22	695	double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve	14:8e7590227d22	696	double I_REF_MID = 0.0;
Lightvalve	14:8e7590227d22	697	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	698	I_REF = I_REF_MID + 1.0;
Lightvalve	14:8e7590227d22	699	} else {
Lightvalve	14:8e7590227d22	700	I_REF = I_REF_MID - 1.0;
Lightvalve	14:8e7590227d22	701	}
Lightvalve	14:8e7590227d22	702	// double T = 1.0; // wave period
Lightvalve	14:8e7590227d22	703	// I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
Lightvalve	14:8e7590227d22	704	// 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	705
Lightvalve	14:8e7590227d22	706	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	14:8e7590227d22	707	CAN_TX_PRES((int16_t)(I_REF1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	708	}
Lightvalve	14:8e7590227d22	709	break;
Lightvalve	14:8e7590227d22	710	}
Lightvalve	14:8e7590227d22	711
Lightvalve	14:8e7590227d22	712	case MODE_TEST_PWM_CONTROL:
Lightvalve	14:8e7590227d22	713	{
Lightvalve	14:8e7590227d22	714	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	715	TMR3_COUNT_IREF = 0;
Lightvalve	14:8e7590227d22	716	} TMR3_COUNT_IREF++;
Lightvalve	14:8e7590227d22	717
Lightvalve	14:8e7590227d22	718	// Set PWM reference
Lightvalve	14:8e7590227d22	719	double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve	14:8e7590227d22	720	double I_REF_MID = 0.0;
Lightvalve	14:8e7590227d22	721	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	722	CUR_PWM = 1000;
Lightvalve	14:8e7590227d22	723	} else {
Lightvalve	14:8e7590227d22	724	CUR_PWM = -1000;
Lightvalve	14:8e7590227d22	725	}
Lightvalve	14:8e7590227d22	726
Lightvalve	14:8e7590227d22	727	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	14:8e7590227d22	728	CAN_TX_PRES((int16_t)(u_CUR[0]1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	729	}
Lightvalve	13:747daba9cf59	730	break;
Lightvalve	13:747daba9cf59	731	}
Lightvalve	13:747daba9cf59	732
Lightvalve	14:8e7590227d22	733
Lightvalve	14:8e7590227d22	734	case MODE_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	735
Lightvalve	14:8e7590227d22	736	cur.ref = cur.ref; // Unit : mA
Lightvalve	14:8e7590227d22	737	CurrentControl();
Lightvalve	14:8e7590227d22	738	break;
Lightvalve	14:8e7590227d22	739	}
Lightvalve	14:8e7590227d22	740
Lightvalve	14:8e7590227d22	741	case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve	14:8e7590227d22	742	double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve	14:8e7590227d22	743	double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve	14:8e7590227d22	744	double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve	14:8e7590227d22	745	double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve	14:8e7590227d22	746
Lightvalve	14:8e7590227d22	747	// feedback input for position control
Lightvalve	14:8e7590227d22	748	pos.err = pos.ref - pos.sen;
Lightvalve	14:8e7590227d22	749	double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.03.141550.0)); // f_cutoff : 50Hz
Lightvalve	14:8e7590227d22	750	double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve	14:8e7590227d22	751	pos.err_diff = (1.0-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	752	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	753	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	754
Lightvalve	14:8e7590227d22	755	// feedforward input for position control
Lightvalve	14:8e7590227d22	756	double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	757	double K_ff = 1.3;
Lightvalve	14:8e7590227d22	758	double K_v = 0.0;
Lightvalve	14:8e7590227d22	759	if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	760	if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	761	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	13:747daba9cf59	762
Lightvalve	14:8e7590227d22	763	// feedback input for position control
Lightvalve	14:8e7590227d22	764	I_REF_FORCE_FB = 0.0;
Lightvalve	13:747daba9cf59	765
Lightvalve	14:8e7590227d22	766	// feedforward input for position control
Lightvalve	14:8e7590227d22	767	I_REF_FORCE_FF = 0.0;
Lightvalve	14:8e7590227d22	768
Lightvalve	14:8e7590227d22	769	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	13:747daba9cf59	770
Lightvalve	14:8e7590227d22	771	CurrentControl();
Lightvalve	13:747daba9cf59	772
Lightvalve	13:747daba9cf59	773	break;
Lightvalve	13:747daba9cf59	774	}
Lightvalve	13:747daba9cf59	775
Lightvalve	14:8e7590227d22	776	case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve	14:8e7590227d22	777	double T_REF = 0.0; // Torque Reference
Lightvalve	14:8e7590227d22	778	double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve	14:8e7590227d22	779	double I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve	14:8e7590227d22	780
Lightvalve	14:8e7590227d22	781	// feedback input for position control
Lightvalve	14:8e7590227d22	782	double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	783	double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	784	double K_spring = 0.7;
Lightvalve	14:8e7590227d22	785	double D_damper = 0.02;
Lightvalve	14:8e7590227d22	786	// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve	14:8e7590227d22	787
Lightvalve	14:8e7590227d22	788	// torque feedback
Lightvalve	15:bd0d12728506	789	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	790	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	791	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	792	torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	793	I_REF_FORCE_FB = 0.001((double)P_GAIN_JOINT_TORQUE torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	14:8e7590227d22	794
Lightvalve	14:8e7590227d22	795	// velocity compensation for torque control
Lightvalve	14:8e7590227d22	796	double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	797	double K_vc = 1.5; // Velocity comp. gain
Lightvalve	14:8e7590227d22	798	double K_v = 0.0; // Valve gain
Lightvalve	14:8e7590227d22	799	if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
Lightvalve	14:8e7590227d22	800	if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
Lightvalve	14:8e7590227d22	801	I_REF_VC = K_vcK_vJoint_Vel_Act;
Lightvalve	13:747daba9cf59	802
Lightvalve	14:8e7590227d22	803	cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve	14:8e7590227d22	804	// cur.ref = I_REF_FORCE_FB;
Lightvalve	14:8e7590227d22	805
Lightvalve	14:8e7590227d22	806	double I_MAX = 10.00; // Maximum Current : 10mV
Lightvalve	14:8e7590227d22	807	double Ka = 1.0/I_GAIN_JOINT_TORQUE;
Lightvalve	14:8e7590227d22	808	if(cur.ref > I_MAX) {
Lightvalve	14:8e7590227d22	809	double I_rem = cur.ref-I_MAX;
Lightvalve	14:8e7590227d22	810	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	811	cur.ref = I_MAX;
Lightvalve	14:8e7590227d22	812	torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	813	} else if(cur.ref < -I_MAX) {
Lightvalve	14:8e7590227d22	814	double I_rem = cur.ref-(-I_MAX);
Lightvalve	14:8e7590227d22	815	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	816	cur.ref = -I_MAX;
Lightvalve	14:8e7590227d22	817	torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	818	}
Lightvalve	14:8e7590227d22	819
Lightvalve	14:8e7590227d22	820	CurrentControl();
Lightvalve	14:8e7590227d22	821
Lightvalve	14:8e7590227d22	822
Lightvalve	14:8e7590227d22	823	/*
Lightvalve	14:8e7590227d22	824	double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve	14:8e7590227d22	825	double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve	14:8e7590227d22	826	double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve	14:8e7590227d22	827	double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve	14:8e7590227d22	828
Lightvalve	14:8e7590227d22	829	// feedback input for position control
Lightvalve	14:8e7590227d22	830	pos.err = pos.ref - pos.sen;
Lightvalve	14:8e7590227d22	831	double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.03.141550.0)); // f_cutoff : 50Hz
Lightvalve	14:8e7590227d22	832	double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve	14:8e7590227d22	833	pos.err_diff = (1.0-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	834	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	835	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	836
Lightvalve	14:8e7590227d22	837	// feedforward input for position control
Lightvalve	14:8e7590227d22	838	double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	839	double K_ff = 1.3;
Lightvalve	14:8e7590227d22	840	double K_v = 0.0;
Lightvalve	14:8e7590227d22	841	if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	842	if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	843	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	14:8e7590227d22	844
Lightvalve	14:8e7590227d22	845	// feedback input for position control
Lightvalve	14:8e7590227d22	846	I_REF_FORCE_FB = 0.0;
Lightvalve	14:8e7590227d22	847
Lightvalve	14:8e7590227d22	848	// feedforward input for position control
Lightvalve	14:8e7590227d22	849	I_REF_FORCE_FF = 0.0;
Lightvalve	14:8e7590227d22	850
Lightvalve	14:8e7590227d22	851	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	14:8e7590227d22	852
Lightvalve	14:8e7590227d22	853	CurrentControl();
Lightvalve	14:8e7590227d22	854	*/
Lightvalve	14:8e7590227d22	855
Lightvalve	13:747daba9cf59	856	break;
Lightvalve	13:747daba9cf59	857	}
Lightvalve	14:8e7590227d22	858
Lightvalve	14:8e7590227d22	859	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	860	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	861	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	862	CUR_TORQUE_sum += torq.sen;
Lightvalve	15:bd0d12728506	863
Lightvalve	14:8e7590227d22	864	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	13:747daba9cf59	865	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
Lightvalve	13:747daba9cf59	866	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	867
Lightvalve	13:747daba9cf59	868	TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve	15:bd0d12728506	869
Lightvalve	13:747daba9cf59	870	if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
Lightvalve	13:747daba9cf59	871	if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve	13:747daba9cf59	872	}
Lightvalve	13:747daba9cf59	873	} else {
Lightvalve	13:747daba9cf59	874	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	875	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	876	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	877	CUR_TORQUE_mean = 0;
Lightvalve	13:747daba9cf59	878	spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	15:bd0d12728506	879
Lightvalve	15:bd0d12728506	880	pc.printf("%f\n", TORQUE_VREF);
Lightvalve	14:8e7590227d22	881
Lightvalve	13:747daba9cf59	882	}
Lightvalve	14:8e7590227d22	883	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	884	break;
Lightvalve	14:8e7590227d22	885	}
Lightvalve	14:8e7590227d22	886
Lightvalve	14:8e7590227d22	887	case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	14:8e7590227d22	888	if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	13:747daba9cf59	889	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	890	else temp_time = 0;
Lightvalve	13:747daba9cf59	891	}
Lightvalve	13:747daba9cf59	892	if (need_enc_init) {
Lightvalve	14:8e7590227d22	893	if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	894	VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	895	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	896	} else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	897	VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	898	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	899	} else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	13:747daba9cf59	900	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	901	}
Lightvalve	14:8e7590227d22	902
Lightvalve	14:8e7590227d22	903	if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	904	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	905	VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	14:8e7590227d22	906
Lightvalve	14:8e7590227d22	907	} else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
Lightvalve	13:747daba9cf59	908	VALVE_PWM_RAW = 0;
Lightvalve	13:747daba9cf59	909	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	14:8e7590227d22	910	} else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	911	if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	912	else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	913	else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	13:747daba9cf59	914	else DZ_temp_cnt2 = DZ_end;
Lightvalve	13:747daba9cf59	915	CUR_VELOCITY_sum = 0;
Lightvalve	14:8e7590227d22	916	} else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	917	if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	14:8e7590227d22	918
Lightvalve	13:747daba9cf59	919	// Position of Dead Zone
Lightvalve	13:747daba9cf59	920	// (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	14:8e7590227d22	921	// \| / \| / \|/
Lightvalve	13:747daba9cf59	922	// \| ______/ ___\|___/ ______/\|
Lightvalve	13:747daba9cf59	923	// \|/ / \| / \|
Lightvalve	13:747daba9cf59	924	// /\| / \| / \|
Lightvalve	13:747daba9cf59	925	// 0V 0V 0V
Lightvalve	14:8e7590227d22	926
Lightvalve	13:747daba9cf59	927	if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	14:8e7590227d22	928	if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	13:747daba9cf59	929	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	13:747daba9cf59	930	} else {
Lightvalve	13:747daba9cf59	931	VALVE_PWM_RAW -= DZ_dir;
Lightvalve	13:747daba9cf59	932	if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	13:747daba9cf59	933	CUR_VELOCITY_sum = 0;
Lightvalve	13:747daba9cf59	934	}
Lightvalve	13:747daba9cf59	935	if (DZ_temp_cnt == 5) {
Lightvalve	13:747daba9cf59	936	if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW;
Lightvalve	13:747daba9cf59	937	else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW;
Lightvalve	13:747daba9cf59	938	DZ_dir = -DZ_dir;
Lightvalve	13:747daba9cf59	939	DZ_temp_cnt = 0;
Lightvalve	13:747daba9cf59	940	DZ_temp_cnt2++;
Lightvalve	13:747daba9cf59	941	}
Lightvalve	13:747daba9cf59	942	} else {
Lightvalve	14:8e7590227d22	943	TMR3_COUNT_DEADZONE = -1;
Lightvalve	13:747daba9cf59	944	VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	13:747daba9cf59	945	if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	13:747daba9cf59	946	VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	947	VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	948	}
Lightvalve	13:747daba9cf59	949	VALVE_PWM_RAW = 0;
Lightvalve	13:747daba9cf59	950	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	13:747daba9cf59	951	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	14:8e7590227d22	952
Lightvalve	13:747daba9cf59	953	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	954	DZ_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	955	}
Lightvalve	13:747daba9cf59	956	}
Lightvalve	14:8e7590227d22	957	TMR3_COUNT_DEADZONE++;
Lightvalve	13:747daba9cf59	958	break;
Lightvalve	13:747daba9cf59	959	}
Lightvalve	14:8e7590227d22	960
Lightvalve	14:8e7590227d22	961	case MODE_FIND_HOME: {
Lightvalve	14:8e7590227d22	962
Lightvalve	14:8e7590227d22	963
Lightvalve	14:8e7590227d22	964	////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
Lightvalve	14:8e7590227d22	965	if (FLAG_FIND_HOME == true) {
Lightvalve	14:8e7590227d22	966	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	967	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	968	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	14:8e7590227d22	969	pos.ref = pos.sen;
Lightvalve	14:8e7590227d22	970	FLAG_FIND_HOME = false;
Lightvalve	14:8e7590227d22	971	}
Lightvalve	14:8e7590227d22	972
Lightvalve	14:8e7590227d22	973	int check_enc = (TMR_FREQ_5k/10);
Lightvalve	14:8e7590227d22	974	if(cnt_findhome%check_enc == 0) {
Lightvalve	14:8e7590227d22	975	FINDHOME_POSITION = pos.sen;
Lightvalve	14:8e7590227d22	976	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	14:8e7590227d22	977	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	14:8e7590227d22	978	}
Lightvalve	14:8e7590227d22	979	cnt_findhome++;
Lightvalve	14:8e7590227d22	980	if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve	14:8e7590227d22	981
Lightvalve	14:8e7590227d22	982	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	14:8e7590227d22	983	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	14:8e7590227d22	984	} else {
Lightvalve	14:8e7590227d22	985	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	986	}
Lightvalve	14:8e7590227d22	987
Lightvalve	14:8e7590227d22	988	if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	989	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	14:8e7590227d22	990	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
Lightvalve	14:8e7590227d22	991	else pos.ref = pos.ref - 1.0;
Lightvalve	14:8e7590227d22	992	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	993	V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
Lightvalve	14:8e7590227d22	994	// if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
Lightvalve	14:8e7590227d22	995	// else VALVE_PWM_RAW = -100;
Lightvalve	14:8e7590227d22	996	} else {
Lightvalve	14:8e7590227d22	997	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	14:8e7590227d22	998	FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve	14:8e7590227d22	999	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	14:8e7590227d22	1000	REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	1001	TMR3_COUNT_REFERENCE = 0;
Lightvalve	14:8e7590227d22	1002	vel.ref = 0.0;
Lightvalve	14:8e7590227d22	1003	//REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve	14:8e7590227d22	1004	CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
Lightvalve	14:8e7590227d22	1005
Lightvalve	14:8e7590227d22	1006	FINDHOME_POSITION = 0;
Lightvalve	14:8e7590227d22	1007	FINDHOME_POSITION_OLD = 0;
Lightvalve	14:8e7590227d22	1008	FINDHOME_VELOCITY = 0;
Lightvalve	14:8e7590227d22	1009	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	1010	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	1011	}
Lightvalve	14:8e7590227d22	1012
Lightvalve	14:8e7590227d22	1013	/*
Lightvalve	14:8e7590227d22	1014	////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
Lightvalve	13:747daba9cf59	1015	if (FLAG_FIND_HOME == true) {
Lightvalve	13:747daba9cf59	1016	cnt_findhome = 0;
Lightvalve	13:747daba9cf59	1017	cnt_vel_findhome = 0;
Lightvalve	13:747daba9cf59	1018	REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	14:8e7590227d22	1019	Ref_Joint_Pos = pos.sen;
Lightvalve	13:747daba9cf59	1020	FLAG_FIND_HOME = false;
Lightvalve	13:747daba9cf59	1021	}
Lightvalve	13:747daba9cf59	1022
Lightvalve	14:8e7590227d22	1023	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	14:8e7590227d22	1024	if(cnt_findhome%cnt_check_enc == 0){
Lightvalve	14:8e7590227d22	1025	FINDHOME_POSITION = pos.sen;
Lightvalve	13:747daba9cf59	1026	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	13:747daba9cf59	1027	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	13:747daba9cf59	1028	} cnt_findhome++;
Lightvalve	13:747daba9cf59	1029	if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve	13:747daba9cf59	1030
Lightvalve	13:747daba9cf59	1031	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	13:747daba9cf59	1032	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	13:747daba9cf59	1033	} else {
Lightvalve	13:747daba9cf59	1034	cnt_vel_findhome = 0;
Lightvalve	13:747daba9cf59	1035	}
Lightvalve	13:747daba9cf59	1036
Lightvalve	14:8e7590227d22	1037	if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
Lightvalve	13:747daba9cf59	1038	REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	13:747daba9cf59	1039	if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
Lightvalve	13:747daba9cf59	1040	else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
Lightvalve	14:8e7590227d22	1041	pos.err = Ref_Joint_Pos - pos.sen;
Lightvalve	14:8e7590227d22	1042	I_REF = 0.001*((double)pos.err);
Lightvalve	14:8e7590227d22	1043	if(I_REF>5.0) I_REF = 5.0;
Lightvalve	14:8e7590227d22	1044	if(I_REF<-5.0) I_REF = -5.0;
Lightvalve	14:8e7590227d22	1045	cur.ref = I_REF;
Lightvalve	14:8e7590227d22	1046	CurrentControl();
Lightvalve	13:747daba9cf59	1047	} else {
Lightvalve	13:747daba9cf59	1048	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	13:747daba9cf59	1049	FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve	13:747daba9cf59	1050	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	13:747daba9cf59	1051	REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	1052	TMR3_COUNT_REFERENCE = 0;
Lightvalve	13:747daba9cf59	1053	Ref_Joint_Vel = 0.0;
Lightvalve	13:747daba9cf59	1054	REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve	14:8e7590227d22	1055	CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve	13:747daba9cf59	1056
Lightvalve	13:747daba9cf59	1057	FINDHOME_POSITION = 0;
Lightvalve	13:747daba9cf59	1058	FINDHOME_POSITION_OLD = 0;
Lightvalve	13:747daba9cf59	1059	FINDHOME_VELOCITY = 0;
Lightvalve	13:747daba9cf59	1060	cnt_findhome = 0;
Lightvalve	13:747daba9cf59	1061	cnt_vel_findhome = 0;
Lightvalve	13:747daba9cf59	1062	}
Lightvalve	14:8e7590227d22	1063	*/
Lightvalve	14:8e7590227d22	1064
Lightvalve	13:747daba9cf59	1065	break;
Lightvalve	13:747daba9cf59	1066	}
Lightvalve	14:8e7590227d22	1067
Lightvalve	14:8e7590227d22	1068	case MODE_VALVE_GAIN_SETTING: {
Lightvalve	14:8e7590227d22	1069	if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	13:747daba9cf59	1070	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	1071	else {
Lightvalve	13:747daba9cf59	1072	VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	13:747daba9cf59	1073	temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
Lightvalve	13:747daba9cf59	1074	}
Lightvalve	13:747daba9cf59	1075	}
Lightvalve	13:747daba9cf59	1076	if (need_enc_init) {
Lightvalve	14:8e7590227d22	1077	if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1078	VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1079	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1080	} else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1081	VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1082	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	1083	} else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1084	need_enc_init = false;
Lightvalve	13:747daba9cf59	1085	check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	1086	check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	1087	check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	13:747daba9cf59	1088	}
Lightvalve	13:747daba9cf59	1089	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	1090	}
Lightvalve	14:8e7590227d22	1091	TMR3_COUNT_FLOWRATE++;
Lightvalve	14:8e7590227d22	1092	if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	13:747daba9cf59	1093	if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	13:747daba9cf59	1094	VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1);
Lightvalve	13:747daba9cf59	1095	VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1096	if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1097	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1098	} else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	13:747daba9cf59	1099	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=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	13:747daba9cf59	1100	// 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	1101	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1102	}
Lightvalve	13:747daba9cf59	1103	} else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	13:747daba9cf59	1104	VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
Lightvalve	13:747daba9cf59	1105	VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1106	if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1107	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1108	} else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	13:747daba9cf59	1109	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	1110	// 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	1111	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1112	}
Lightvalve	13:747daba9cf59	1113	}
Lightvalve	13:747daba9cf59	1114	if (fl_temp_cnt2 == 100) {
Lightvalve	13:747daba9cf59	1115	spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
Lightvalve	13:747daba9cf59	1116	cur_vel_sum = 0;
Lightvalve	13:747daba9cf59	1117	fl_temp_cnt = 0;
Lightvalve	13:747daba9cf59	1118	fl_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	1119	flag_flowrate++;
Lightvalve	13:747daba9cf59	1120	}
Lightvalve	13:747daba9cf59	1121	if (flag_flowrate == 10) {
Lightvalve	13:747daba9cf59	1122	VALVE_PWM_RAW = 0;
Lightvalve	13:747daba9cf59	1123	flag_flowrate = 0;
Lightvalve	14:8e7590227d22	1124	TMR3_COUNT_FLOWRATE = 0;
Lightvalve	13:747daba9cf59	1125	valve_gain_repeat_cnt++;
Lightvalve	13:747daba9cf59	1126	if (valve_gain_repeat_cnt >= 1) {
Lightvalve	13:747daba9cf59	1127	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1128	valve_gain_repeat_cnt = 0;
Lightvalve	13:747daba9cf59	1129	}
Lightvalve	14:8e7590227d22	1130
Lightvalve	13:747daba9cf59	1131	}
Lightvalve	13:747daba9cf59	1132	break;
Lightvalve	13:747daba9cf59	1133	}
Lightvalve	14:8e7590227d22	1134
Lightvalve	13:747daba9cf59	1135	}
Lightvalve	14:8e7590227d22	1136
Lightvalve	14:8e7590227d22	1137	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1138	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1139	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1140	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1141	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1142
Lightvalve	14:8e7590227d22	1143	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	13:747daba9cf59	1144	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
Lightvalve	13:747daba9cf59	1145	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
Lightvalve	13:747daba9cf59	1146	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1147	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1148
Lightvalve	13:747daba9cf59	1149	double VREF_NullingGain = 0.0003;
Lightvalve	13:747daba9cf59	1150	PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve	13:747daba9cf59	1151	PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve	14:8e7590227d22	1152
Lightvalve	13:747daba9cf59	1153	if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
Lightvalve	13:747daba9cf59	1154	if (PRES_A_VREF < 0) PRES_A_VREF = 0;
Lightvalve	13:747daba9cf59	1155	if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
Lightvalve	13:747daba9cf59	1156	if (PRES_B_VREF < 0) PRES_B_VREF = 0;
Lightvalve	14:8e7590227d22	1157
Lightvalve	15:bd0d12728506	1158	// spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
Lightvalve	15:bd0d12728506	1159	// spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
Lightvalve	13:747daba9cf59	1160	}
Lightvalve	13:747daba9cf59	1161	} else {
Lightvalve	13:747daba9cf59	1162	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1163	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1164	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1165	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1166	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1167	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1168
Lightvalve	13:747daba9cf59	1169	spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
Lightvalve	13:747daba9cf59	1170	spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
Lightvalve	15:bd0d12728506	1171
Lightvalve	15:bd0d12728506	1172	dac_1 = PRES_A_VREF / 3.3;
Lightvalve	15:bd0d12728506	1173	dac_2 = PRES_B_VREF / 3.3;
Lightvalve	15:bd0d12728506	1174	pc.printf("%f\n", PRES_A_VREF);
Lightvalve	15:bd0d12728506	1175	pc.printf("%f\n", PRES_B_VREF);
Lightvalve	13:747daba9cf59	1176	}
Lightvalve	14:8e7590227d22	1177	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1178	break;
Lightvalve	13:747daba9cf59	1179	}
Lightvalve	14:8e7590227d22	1180
Lightvalve	14:8e7590227d22	1181	case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	14:8e7590227d22	1182	if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1183	VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
Lightvalve	14:8e7590227d22	1184	if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1185	CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	13:747daba9cf59	1186	}
Lightvalve	14:8e7590227d22	1187	} else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1188	VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
Lightvalve	14:8e7590227d22	1189	if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1190	CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	13:747daba9cf59	1191	}
Lightvalve	13:747daba9cf59	1192	} else {
Lightvalve	13:747daba9cf59	1193	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1194	TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	13:747daba9cf59	1195	VALVE_PWM_RAW = 0;
Lightvalve	13:747daba9cf59	1196	PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL;
Lightvalve	13:747daba9cf59	1197	PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
Lightvalve	13:747daba9cf59	1198	PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL;
Lightvalve	13:747daba9cf59	1199	PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
Lightvalve	13:747daba9cf59	1200	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1201	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1202	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1203	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1204
Lightvalve	13:747daba9cf59	1205	spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
Lightvalve	13:747daba9cf59	1206	spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
Lightvalve	13:747daba9cf59	1207	}
Lightvalve	14:8e7590227d22	1208	TMR3_COUNT_PRES_CALIB++;
Lightvalve	13:747daba9cf59	1209	break;
Lightvalve	13:747daba9cf59	1210	}
Lightvalve	14:8e7590227d22	1211
Lightvalve	14:8e7590227d22	1212	case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	14:8e7590227d22	1213	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	1214	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	1215	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL;
Lightvalve	13:747daba9cf59	1216	else VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1217	TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	14:8e7590227d22	1218	if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	1219	TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	13:747daba9cf59	1220	VALVE_PWM_RAW = 0;
Lightvalve	13:747daba9cf59	1221	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1222	}
Lightvalve	13:747daba9cf59	1223	break;
Lightvalve	13:747daba9cf59	1224	}
Lightvalve	14:8e7590227d22	1225
Lightvalve	14:8e7590227d22	1226	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	13:747daba9cf59	1227	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1228
Lightvalve	14:8e7590227d22	1229	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	13:747daba9cf59	1230	VALVE_PWM_RAW = 3000 * sin(23.14VALVE_ID_timer/TMR_FREQ_5k * 100);
Lightvalve	14:8e7590227d22	1231	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1232	VALVE_PWM_RAW = 1000*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1233	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1234	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1235	data_num = 0;
Lightvalve	14:8e7590227d22	1236	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1237	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1238	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1239	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1240	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1241	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1242	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1243	}
Lightvalve	14:8e7590227d22	1244
Lightvalve	14:8e7590227d22	1245	if(ID_index>=18) {
Lightvalve	13:747daba9cf59	1246	int i;
Lightvalve	13:747daba9cf59	1247	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	14:8e7590227d22	1248	for(i=0; i<18; i++) {
Lightvalve	13:747daba9cf59	1249	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	13:747daba9cf59	1250	spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
Lightvalve	14:8e7590227d22	1251	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1252	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1253	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1254	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1255	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1256	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1257	}
Lightvalve	13:747daba9cf59	1258	}
Lightvalve	13:747daba9cf59	1259	spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
Lightvalve	13:747daba9cf59	1260	spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
Lightvalve	13:747daba9cf59	1261	CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve	13:747daba9cf59	1262	ID_index = 0;
Lightvalve	13:747daba9cf59	1263	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1264	}
Lightvalve	14:8e7590227d22	1265
Lightvalve	14:8e7590227d22	1266
Lightvalve	13:747daba9cf59	1267	break;
Lightvalve	13:747daba9cf59	1268	}
Lightvalve	14:8e7590227d22	1269
Lightvalve	14:8e7590227d22	1270	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	14:8e7590227d22	1271
Lightvalve	13:747daba9cf59	1272	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1273	if(first_check == 0) {
Lightvalve	14:8e7590227d22	1274	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1275	V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1276	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1277	V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1278	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1279	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1280	V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1281	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1282	V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1283	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	1284	} else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1285	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	1286	} else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1287	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	1288	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1289	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1290	} else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1291	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	1292	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1293	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1294	CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve	13:747daba9cf59	1295	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1296	data_num = 0;
Lightvalve	14:8e7590227d22	1297
Lightvalve	14:8e7590227d22	1298	} else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1299	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1300	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1301	//CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve	14:8e7590227d22	1302
Lightvalve	14:8e7590227d22	1303	} else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1304	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1305	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1306	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1307	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1308	else
Lightvalve	13:747daba9cf59	1309	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1310	} else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1311	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1312	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1313	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1314	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1315	// {
Lightvalve	14:8e7590227d22	1316	// DZ_case = 1;
Lightvalve	14:8e7590227d22	1317	// }
Lightvalve	14:8e7590227d22	1318	// else
Lightvalve	14:8e7590227d22	1319	// {
Lightvalve	14:8e7590227d22	1320	// DZ_case = -1;
Lightvalve	14:8e7590227d22	1321	// }
Lightvalve	14:8e7590227d22	1322	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1323	// {
Lightvalve	14:8e7590227d22	1324	// DZ_case = 0;
Lightvalve	14:8e7590227d22	1325	// }
Lightvalve	14:8e7590227d22	1326
Lightvalve	14:8e7590227d22	1327	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1328	DZ_case = 1;
Lightvalve	14:8e7590227d22	1329	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	13:747daba9cf59	1330	DZ_case = -1;
Lightvalve	14:8e7590227d22	1331	} else {
Lightvalve	13:747daba9cf59	1332	DZ_case = 0;
Lightvalve	13:747daba9cf59	1333	}
Lightvalve	14:8e7590227d22	1334
Lightvalve	14:8e7590227d22	1335	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1336	first_check = 1;
Lightvalve	13:747daba9cf59	1337	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1338	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1339	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1340	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1341	DZ_index = 1;
Lightvalve	13:747daba9cf59	1342	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve	14:8e7590227d22	1343
Lightvalve	13:747daba9cf59	1344	}
Lightvalve	14:8e7590227d22	1345	}else {
Lightvalve	14:8e7590227d22	1346	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	14:8e7590227d22	1347	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1348	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	1349	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1350	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1351	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1352	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1353	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1354	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1355	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1356	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1357	}
Lightvalve	14:8e7590227d22	1358	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1359	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1360	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1361	else
Lightvalve	13:747daba9cf59	1362	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1363	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1364	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1365	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1366	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1367	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1368	// else
Lightvalve	14:8e7590227d22	1369	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1370	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1371	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1372
Lightvalve	14:8e7590227d22	1373	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1374	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1375	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1376	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1377	} else {
Lightvalve	13:747daba9cf59	1378	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1379	}
Lightvalve	14:8e7590227d22	1380
Lightvalve	14:8e7590227d22	1381	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1382
Lightvalve	13:747daba9cf59	1383	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1384	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1385	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1386	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1387	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1388	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1389	DZ_index = 1;
Lightvalve	13:747daba9cf59	1390	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1391	}
Lightvalve	14:8e7590227d22	1392
Lightvalve	13:747daba9cf59	1393	//CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1394	}
Lightvalve	14:8e7590227d22	1395	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	14:8e7590227d22	1396	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1397	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	1398	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1399	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1400	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1401	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION + 64 / DZ_index;
Lightvalve	14:8e7590227d22	1402	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1403	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1404	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1405	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1406	}
Lightvalve	14:8e7590227d22	1407	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1408	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1409	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1410	else
Lightvalve	13:747daba9cf59	1411	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1412	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1413	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1414	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1415	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1416	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1417	// else
Lightvalve	14:8e7590227d22	1418	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1419	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1420	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1421
Lightvalve	14:8e7590227d22	1422	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1423	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1424	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1425	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1426	} else {
Lightvalve	13:747daba9cf59	1427	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1428	}
Lightvalve	14:8e7590227d22	1429
Lightvalve	14:8e7590227d22	1430	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1431
Lightvalve	14:8e7590227d22	1432
Lightvalve	13:747daba9cf59	1433	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1434	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1435	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1436	SECOND_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1437	DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1438	first_check = 0;
Lightvalve	13:747daba9cf59	1439	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve	13:747daba9cf59	1440	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve	13:747daba9cf59	1441	spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
Lightvalve	13:747daba9cf59	1442	//CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve	13:747daba9cf59	1443	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1444	DZ_index = 1;
Lightvalve	13:747daba9cf59	1445	}
Lightvalve	14:8e7590227d22	1446
Lightvalve	13:747daba9cf59	1447	CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1448	}
Lightvalve	14:8e7590227d22	1449	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	14:8e7590227d22	1450	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1451	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	1452	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1453	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1454	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1455	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1456	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1457	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1458	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1459	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1460	}
Lightvalve	14:8e7590227d22	1461	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1462	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1463	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1464	else
Lightvalve	13:747daba9cf59	1465	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1466	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1467	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1468	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1469	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1470	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1471	// else
Lightvalve	14:8e7590227d22	1472	// DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1473	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1474	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1475
Lightvalve	14:8e7590227d22	1476	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1477	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1478	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1479	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1480	} else {
Lightvalve	13:747daba9cf59	1481	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1482	}
Lightvalve	14:8e7590227d22	1483
Lightvalve	14:8e7590227d22	1484	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1485	//CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve	13:747daba9cf59	1486	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1487	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1488	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1489	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1490	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1491	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1492	DZ_index = 1;
Lightvalve	13:747daba9cf59	1493	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1494	}
Lightvalve	13:747daba9cf59	1495	}
Lightvalve	14:8e7590227d22	1496	} else {
Lightvalve	14:8e7590227d22	1497	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1498	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	1499	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1500	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1501	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1502	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1503	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1504	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1505	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1506	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1507	}
Lightvalve	14:8e7590227d22	1508	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1509	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1510	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1511	else
Lightvalve	13:747daba9cf59	1512	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1513	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1514	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1515	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1516	if(VEL_POINT >= 0)
Lightvalve	13:747daba9cf59	1517	DZ_DIRECTION = -1;
Lightvalve	13:747daba9cf59	1518	else
Lightvalve	13:747daba9cf59	1519	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1520	if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	13:747daba9cf59	1521	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1522
Lightvalve	14:8e7590227d22	1523	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1524
Lightvalve	14:8e7590227d22	1525
Lightvalve	13:747daba9cf59	1526	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1527	//CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1528	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1529	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1530	SECOND_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1531	DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1532	first_check = 0;
Lightvalve	13:747daba9cf59	1533	VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve	13:747daba9cf59	1534	spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve	13:747daba9cf59	1535	VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve	13:747daba9cf59	1536	spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve	13:747daba9cf59	1537	spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
Lightvalve	13:747daba9cf59	1538	CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve	13:747daba9cf59	1539	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1540	DZ_index = 1;
Lightvalve	13:747daba9cf59	1541	}
Lightvalve	14:8e7590227d22	1542
Lightvalve	13:747daba9cf59	1543	//CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1544	}
Lightvalve	13:747daba9cf59	1545	}
Lightvalve	14:8e7590227d22	1546	}
Lightvalve	13:747daba9cf59	1547	break;
Lightvalve	13:747daba9cf59	1548	}
Lightvalve	14:8e7590227d22	1549
Lightvalve	14:8e7590227d22	1550	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	13:747daba9cf59	1551	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1552	if(first_check == 0) {
Lightvalve	14:8e7590227d22	1553	if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1554	V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	13:747daba9cf59	1555	CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	14:8e7590227d22	1556	} else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1557	V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1558	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1559	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	14:8e7590227d22	1560	} else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1561	V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1562	} else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1563	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	14:8e7590227d22	1564	V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve	14:8e7590227d22	1565	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1566	first_check = 1;
Lightvalve	13:747daba9cf59	1567	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1568	valve_pos.ref = DDV_CENTER;
Lightvalve	13:747daba9cf59	1569	ID_index = 0;
Lightvalve	13:747daba9cf59	1570	max_check = 0;
Lightvalve	13:747daba9cf59	1571	min_check = 0;
Lightvalve	13:747daba9cf59	1572	}
Lightvalve	14:8e7590227d22	1573	} else {
Lightvalve	14:8e7590227d22	1574	if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1575	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	1576	} else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1577	data_num = 0;
Lightvalve	14:8e7590227d22	1578	valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1579
Lightvalve	14:8e7590227d22	1580	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1581	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1582	} else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1583	valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1584	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1585	data_num = data_num + 1;
Lightvalve	14:8e7590227d22	1586	if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000) {
Lightvalve	14:8e7590227d22	1587	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1588	one_period_end = 1;
Lightvalve	13:747daba9cf59	1589	}
Lightvalve	14:8e7590227d22	1590	} else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1591	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1592	one_period_end = 1;
Lightvalve	13:747daba9cf59	1593	}
Lightvalve	14:8e7590227d22	1594
Lightvalve	14:8e7590227d22	1595	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1596	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1597	max_check = 1;
Lightvalve	14:8e7590227d22	1598	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1599	min_check = 1;
Lightvalve	13:747daba9cf59	1600	}
Lightvalve	13:747daba9cf59	1601	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	13:747daba9cf59	1602	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	13:747daba9cf59	1603	spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve	13:747daba9cf59	1604	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1605	one_period_end = 0;
Lightvalve	13:747daba9cf59	1606	ID_index= ID_index +1;
Lightvalve	14:8e7590227d22	1607	// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve	13:747daba9cf59	1608	}
Lightvalve	14:8e7590227d22	1609
Lightvalve	14:8e7590227d22	1610	if(max_check == 1 && min_check == 1) {
Lightvalve	13:747daba9cf59	1611	spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve	13:747daba9cf59	1612	VALVE_POS_NUM = ID_index;
Lightvalve	13:747daba9cf59	1613	ID_index = 0;
Lightvalve	13:747daba9cf59	1614	first_check = 0;
Lightvalve	13:747daba9cf59	1615	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1616	// CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve	13:747daba9cf59	1617	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1618	}
Lightvalve	13:747daba9cf59	1619	}
Lightvalve	13:747daba9cf59	1620	break;
Lightvalve	13:747daba9cf59	1621	}
Lightvalve	14:8e7590227d22	1622
Lightvalve	12:6f2531038ea4	1623	default:
Lightvalve	12:6f2531038ea4	1624	break;
Lightvalve	12:6f2531038ea4	1625	}
Lightvalve	14:8e7590227d22	1626
Lightvalve	13:747daba9cf59	1627	if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve	13:747daba9cf59	1628	// Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve	14:8e7590227d22	1629	// if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve	14:8e7590227d22	1630	// if (V_out > 0.) {
Lightvalve	14:8e7590227d22	1631	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1632	// } else if (V_out < 0.) {
Lightvalve	14:8e7590227d22	1633	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1634	// } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1635	// } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve	14:8e7590227d22	1636
Lightvalve	14:8e7590227d22	1637	if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1638	else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1639
Lightvalve	14:8e7590227d22	1640	VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1641
Lightvalve	13:747daba9cf59	1642	// Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	13:747daba9cf59	1643	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOLSUPPLY_VOLTAGE1000.0; // convert PWM duty to mV
Lightvalve	13:747daba9cf59	1644	double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	14:8e7590227d22	1645
Lightvalve	14:8e7590227d22	1646	if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve	14:8e7590227d22	1647	else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve	14:8e7590227d22	1648	else V_out = CUR_PWM_DZ;
Lightvalve	13:747daba9cf59	1649	} else {
Lightvalve	14:8e7590227d22	1650	CUR_PWM = V_out;
Lightvalve	13:747daba9cf59	1651	}
Lightvalve	14:8e7590227d22	1652
Lightvalve	14:8e7590227d22	1653	//VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
Lightvalve	15:bd0d12728506	1654	//PWM_out = CUR_PWM;
Lightvalve	14:8e7590227d22	1655
Lightvalve	14:8e7590227d22	1656
Lightvalve	14:8e7590227d22	1657
Lightvalve	14:8e7590227d22	1658	//CAN ----------------------------------------------------------------------
Lightvalve	14:8e7590227d22	1659	//if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	14:8e7590227d22	1660	if (TMR3_COUNT_CAN_TX % 10 == 0) {
Lightvalve	14:8e7590227d22	1661
Lightvalve	13:747daba9cf59	1662	if (flag_data_request[0] == HIGH) {
Lightvalve	13:747daba9cf59	1663	//position+velocity
Lightvalve	14:8e7590227d22	1664	CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve	14:8e7590227d22	1665	//pc.printf("can good");
Lightvalve	13:747daba9cf59	1666	// CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.));
Lightvalve	13:747daba9cf59	1667	// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve	13:747daba9cf59	1668	}
Lightvalve	14:8e7590227d22	1669
Lightvalve	13:747daba9cf59	1670	if (flag_data_request[1] == HIGH) {
Lightvalve	13:747daba9cf59	1671	//torque
Lightvalve	13:747daba9cf59	1672	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve	13:747daba9cf59	1673	CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve	13:747daba9cf59	1674	// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve	13:747daba9cf59	1675	}
Lightvalve	14:8e7590227d22	1676
Lightvalve	13:747daba9cf59	1677	if (flag_data_request[2] == HIGH) {
Lightvalve	14:8e7590227d22	1678	//pressure A and B
Lightvalve	14:8e7590227d22	1679	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	15:bd0d12728506	1680	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	13:747daba9cf59	1681	// CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve	13:747daba9cf59	1682	// CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)1000.), (int16_t) ((DEADZONE_PLUS + 1.))1000.);
Lightvalve	13:747daba9cf59	1683	// CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve	14:8e7590227d22	1684
Lightvalve	13:747daba9cf59	1685	}
Lightvalve	14:8e7590227d22	1686
Lightvalve	13:747daba9cf59	1687	if (flag_data_request[3] == HIGH) {
Lightvalve	13:747daba9cf59	1688	//PWM
Lightvalve	13:747daba9cf59	1689	CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve	13:747daba9cf59	1690	// CAN_TX_PWM((int16_t) (CONTROL_MODE));
Lightvalve	13:747daba9cf59	1691	// CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve	13:747daba9cf59	1692	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve	13:747daba9cf59	1693	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve	14:8e7590227d22	1694
Lightvalve	13:747daba9cf59	1695	}
Lightvalve	14:8e7590227d22	1696
Lightvalve	13:747daba9cf59	1697	if (flag_data_request[4] == HIGH) {
Lightvalve	13:747daba9cf59	1698	//valve position
Lightvalve	14:8e7590227d22	1699	CAN_TX_VALVE_POSITION((int16_t) (value));
Lightvalve	13:747daba9cf59	1700	//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	13:747daba9cf59	1701	//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve	14:8e7590227d22	1702
Lightvalve	14:8e7590227d22	1703
Lightvalve	13:747daba9cf59	1704	//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve	13:747daba9cf59	1705	// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE));
Lightvalve	13:747daba9cf59	1706	// CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	13:747daba9cf59	1707	// CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve	13:747daba9cf59	1708	// CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve	13:747daba9cf59	1709	}
Lightvalve	14:8e7590227d22	1710
Lightvalve	13:747daba9cf59	1711	TMR3_COUNT_CAN_TX = 0;
Lightvalve	14:8e7590227d22	1712
Lightvalve	13:747daba9cf59	1713	}
Lightvalve	13:747daba9cf59	1714	TMR3_COUNT_CAN_TX++;
Lightvalve	14:8e7590227d22	1715
Lightvalve	14:8e7590227d22	1716
Lightvalve	14:8e7590227d22	1717
Lightvalve	13:747daba9cf59	1718
jobuuu	1:e04e563be5ce	1719	/*******************************************************
Lightvalve	13:747daba9cf59	1720	*** Valve Control
jobuuu	1:e04e563be5ce	1721	********************************************************/
Lightvalve	14:8e7590227d22	1722	//ValveControl(CONTROL_MODE);
Lightvalve	13:747daba9cf59	1723
Lightvalve	14:8e7590227d22	1724	// double t = (double)CNT_TMR4*DT_TMR4;
Lightvalve	14:8e7590227d22	1725	// double T = 1.0;
Lightvalve	14:8e7590227d22	1726	// V_out = 1000.0sin(2.0PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
jobuuu	7:e9086c72bb22	1727	// if(V_out > 0.0) V_out = 1000.0;
Lightvalve	13:747daba9cf59	1728	// else if(V_out < 0.0) V_out = -1000.0;
jobuuu	5:a4319f79457b	1729
jobuuu	7:e9086c72bb22	1730	/*******************************************************
jobuuu	7:e9086c72bb22	1731	*** PWM
jobuuu	7:e9086c72bb22	1732	********************************************************/
jobuuu	5:a4319f79457b	1733	PWM_out= V_out/12000.0; // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1734
jobuuu	2:a1c0a37df760	1735	// Saturation of output voltage to 5.0V
jobuuu	5:a4319f79457b	1736	if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
jobuuu	5:a4319f79457b	1737	else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve	13:747daba9cf59	1738
jobuuu	2:a1c0a37df760	1739	if (PWM_out>0.0) {
jobuuu	2:a1c0a37df760	1740	dtc_v=0.0;
jobuuu	1:e04e563be5ce	1741	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1742	} else {
jobuuu	2:a1c0a37df760	1743	dtc_v=-PWM_out;
jobuuu	2:a1c0a37df760	1744	dtc_w=0.0;
jobuuu	1:e04e563be5ce	1745	}
Lightvalve	13:747daba9cf59	1746
jobuuu	1:e04e563be5ce	1747	//pwm
jobuuu	2:a1c0a37df760	1748	TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
jobuuu	2:a1c0a37df760	1749	TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
Lightvalve	13:747daba9cf59	1750
jobuuu	1:e04e563be5ce	1751	/*******************************************************
jobuuu	2:a1c0a37df760	1752	*** Data Send (CAN) & Print out (UART)
jobuuu	1:e04e563be5ce	1753	********************************************************/
Lightvalve	14:8e7590227d22	1754	// if((CNT_TMR3%1000)==0){
Lightvalve	11:82d8768d7351	1755	// msg.id = 50;
Lightvalve	11:82d8768d7351	1756	// msg.len = 4;
Lightvalve	11:82d8768d7351	1757	// int temp_CUR = (int)(cur.sen*1000.0);
Lightvalve	11:82d8768d7351	1758	// msg.data[0]=0x00FF&temp_CUR;
Lightvalve	11:82d8768d7351	1759	// msg.data[1]=0x00FF&(temp_CUR>>8);
Lightvalve	11:82d8768d7351	1760	// int temp_PWM = (int)(V_out);
Lightvalve	11:82d8768d7351	1761	// msg.data[2]=0x00FF&temp_PWM;
Lightvalve	11:82d8768d7351	1762	// msg.data[3]=0x00FF&(temp_PWM>>8);
Lightvalve	11:82d8768d7351	1763	// can.write(msg);
Lightvalve	11:82d8768d7351	1764	// }
Lightvalve	11:82d8768d7351	1765
Lightvalve	13:747daba9cf59	1766	if((CNT_TMR3%5000)==0) {
Lightvalve	13:747daba9cf59	1767	if(LED==1) {
Lightvalve	11:82d8768d7351	1768	LED=0;
Lightvalve	13:747daba9cf59	1769	} else
Lightvalve	11:82d8768d7351	1770	LED = 1;
Lightvalve	11:82d8768d7351	1771	// LED != LED;
Lightvalve	15:bd0d12728506	1772	// pc.printf("A %f\n", (double) pres_A.sen);
Lightvalve	15:bd0d12728506	1773	// pc.printf("A %f\n", PRES_SENSOR_A_PULSE_PER_BAR);
Lightvalve	15:bd0d12728506	1774	// pc.printf("B %f\n", (double) pres_B.sen);
Lightvalve	15:bd0d12728506	1775	// pc.printf("B %f\n", PRES_SENSOR_B_PULSE_PER_BAR);
jobuuu	2:a1c0a37df760	1776	}
jobuuu	1:e04e563be5ce	1777
jobuuu	1:e04e563be5ce	1778	/*******************************************************
jobuuu	1:e04e563be5ce	1779	*** Timer Counting & etc.
jobuuu	1:e04e563be5ce	1780	********************************************************/
Lightvalve	13:747daba9cf59	1781	CNT_TMR3++;
jobuuu	1:e04e563be5ce	1782	}
Lightvalve	11:82d8768d7351	1783	TIM3->SR = 0x0; // reset the status register
jobuuu	7:e9086c72bb22	1784	}
jobuuu	7:e9086c72bb22	1785
Lightvalve	14:8e7590227d22	1786	/*
jobuuu	7:e9086c72bb22	1787	void ValveControl(unsigned int ControlMode)
jobuuu	7:e9086c72bb22	1788	{
jobuuu	7:e9086c72bb22	1789	switch (ControlMode) {
jobuuu	7:e9086c72bb22	1790	case MODE_NO_ACT: // 0
jobuuu	7:e9086c72bb22	1791	V_out = 0.0;
jobuuu	7:e9086c72bb22	1792	break;
jobuuu	7:e9086c72bb22	1793	case MODE_VALVE_OPEN_LOOP: // 1
jobuuu	7:e9086c72bb22	1794	V_out = Vout.ref;
Lightvalve	13:747daba9cf59	1795	break;
jobuuu	7:e9086c72bb22	1796	case MODE_VALVE_POSITION_CONTROL: // 2
jobuuu	7:e9086c72bb22	1797	CurrentControl();
Lightvalve	13:747daba9cf59	1798	break;
jobuuu	7:e9086c72bb22	1799	case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3
jobuuu	7:e9086c72bb22	1800	V_out = 0.0;
Lightvalve	13:747daba9cf59	1801	break;
jobuuu	7:e9086c72bb22	1802	case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4
jobuuu	7:e9086c72bb22	1803	double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
jobuuu	7:e9086c72bb22	1804	double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve	13:747daba9cf59	1805
jobuuu	7:e9086c72bb22	1806	// feedback input for position control
jobuuu	7:e9086c72bb22	1807	pos.err = pos.ref - pos.sen;
jobuuu	7:e9086c72bb22	1808	double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.03.141550.0)); // f_cutoff : 50Hz
jobuuu	7:e9086c72bb22	1809	double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
jobuuu	7:e9086c72bb22	1810	pos.err_diff = (1.0-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
jobuuu	7:e9086c72bb22	1811	pos.err_old = pos.err;
jobuuu	7:e9086c72bb22	1812	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	1813
jobuuu	7:e9086c72bb22	1814	// feedforward input for position control
Lightvalve	13:747daba9cf59	1815	double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
jobuuu	7:e9086c72bb22	1816	double K_ff = 1.3;
jobuuu	7:e9086c72bb22	1817	double K_v = 0.0;
jobuuu	7:e9086c72bb22	1818	if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve	13:747daba9cf59	1819	if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
jobuuu	7:e9086c72bb22	1820	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	13:747daba9cf59	1821
jobuuu	7:e9086c72bb22	1822	cur.ref = I_REF_POS_FF + I_REF_POS_FB;
Lightvalve	13:747daba9cf59	1823	break;
jobuuu	7:e9086c72bb22	1824	case MODE_TEST_CURRENT_CONTROL: // 9
jobuuu	7:e9086c72bb22	1825	V_out = 0.0;
Lightvalve	13:747daba9cf59	1826	break;
jobuuu	7:e9086c72bb22	1827	case MODE_TEST_PWM_CONTROL: // 10
jobuuu	7:e9086c72bb22	1828	V_out = 0.0;
Lightvalve	13:747daba9cf59	1829	break;
jobuuu	7:e9086c72bb22	1830	case MODE_FIND_HOME: // 22
jobuuu	7:e9086c72bb22	1831	V_out = 0.0;
Lightvalve	13:747daba9cf59	1832	break;
jobuuu	7:e9086c72bb22	1833	default:
jobuuu	7:e9086c72bb22	1834	V_out = 0.0;
jobuuu	7:e9086c72bb22	1835	break;
Lightvalve	13:747daba9cf59	1836
jobuuu	7:e9086c72bb22	1837	}
jobuuu	7:e9086c72bb22	1838	}
Lightvalve	14:8e7590227d22	1839	*/
jobuuu	7:e9086c72bb22	1840
Lightvalve	13:747daba9cf59	1841	void CurrentControl()
Lightvalve	13:747daba9cf59	1842	{
jobuuu	7:e9086c72bb22	1843	cur.err = cur.ref - cur.sen;
jobuuu	7:e9086c72bb22	1844	cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu	7:e9086c72bb22	1845	cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu	7:e9086c72bb22	1846	cur.err_old = cur.err;
jobuuu	7:e9086c72bb22	1847
jobuuu	7:e9086c72bb22	1848	double R_model = 150.0; // ohm
jobuuu	7:e9086c72bb22	1849	double L_model = 0.3;
jobuuu	7:e9086c72bb22	1850	double w0 = 2.03.1490.0;
jobuuu	7:e9086c72bb22	1851	double KP_I = L_model*w0;
jobuuu	7:e9086c72bb22	1852	double KI_I = R_model*w0;
jobuuu	7:e9086c72bb22	1853	double KD_I = 0.0;
jobuuu	7:e9086c72bb22	1854
jobuuu	7:e9086c72bb22	1855	double FF_gain = 0.0;
jobuuu	7:e9086c72bb22	1856	V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu	7:e9086c72bb22	1857	// V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu	7:e9086c72bb22	1858	V_out = V_out + FF_gain * (R_modelcur.ref + L_modelcur.ref_diff); // Unit : mV
Lightvalve	13:747daba9cf59	1859
Lightvalve	13:747daba9cf59	1860	double Ka = 5.0/KP_I;
jobuuu	7:e9086c72bb22	1861	if(V_out > V_MAX) {
jobuuu	7:e9086c72bb22	1862	V_rem = V_out-V_MAX;
jobuuu	7:e9086c72bb22	1863	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1864	V_out = V_MAX;
jobuuu	7:e9086c72bb22	1865	cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu	7:e9086c72bb22	1866	} else if(V_out < -V_MAX) {
jobuuu	7:e9086c72bb22	1867	V_rem = V_out-(-V_MAX);
Lightvalve	13:747daba9cf59	1868	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1869	V_out = -V_MAX;
jobuuu	7:e9086c72bb22	1870	cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve	13:747daba9cf59	1871	}
GiJeongKim	0:51c43836c1d7	1872	}

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

main.cpp@15:bd0d12728506, 2019-08-30 (annotated)

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